adhoc

completed
2026-08-13T00:26:51.650224+00:00 inspect-robots 0.53.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
12000
duration
1612 s
total steps
895
operator
0
scenes
1
trials
1
errored
0

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

give_up

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteOverhead view shows two small blocks near the middle of the table: a blue one on the left (~x=88) and a red/orange one to its right (~x=138). I'm bringing the left arm up into a gripper-down pose roughly 20 cm above the blue block to calibrate the camera scale and my reach.
move_joints
left_j0-0.7000left_j11.9600left_j21.7200left_j3-1.3300left_j40.0000left_j5-0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0315 left_j4=0.0029 left_j5=-0.0219 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0048 right_j5=-0.0044 right_gripper=0.9994 state[joint_eff]: [0.1026, 1.1282, 5.9009, 2.1709, -0.0757, 0.1392, -0.1148, -0.0889, 1.4154, 6.3658, 2.254, 0.0464, -0.022, -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": -0.7, "left_j1": 1.96, "left_j2": 1.72, "left_j3": -1.33, "left_j4": 0.0, "left_j5": -0.7, "left_gripper": 1.0}, "note": "Overhead view shows two small blocks near the middle of the table: a blue one on the left (~x=88) and a red/orange one to its right (~x=138). I'm bringing the left arm up into a gripper-down pose roughly 20 cm above the blue block to calibrate the camera scale and my reach."})
tool
executing move_joints over 32 steps (3.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe left wrist camera now clearly shows the blue block near the top of the frame, meaning it sits farther out radially than my gripper. I'm extending the reach by a calibrated 5 cm at constant height to both approach it and measure the wrist-camera pixel scale.
move_joints
left_j12.1550left_j22.0180left_j3-1.4340
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6907 left_j1=1.9545 left_j2=1.6913 left_j3=-1.3025 left_j4=-0.0036 left_j5=-0.688 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0498 right_j4=-0.0124 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.7179, -10.4957, 7.6923, 0.1099, -0.0122, -0.0855, -0.1197, -0.1299, 2.0444, 7.3231, 1.9316, 0.0269, -0.0464, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.155, "left_j2": 2.018, "left_j3": -1.434}, "note": "The left wrist camera now clearly shows the blue block near the top of the frame, meaning it sits farther out radially than my gripper. I'm extending the reach by a calibrated 5 cm at constant height to both approach it and measure the wrist-camera pixel scale."})
tool
executing move_joints over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe 5 cm reach extension moved the block 35 px down in the wrist view, giving me a rough scale (~7 px/cm) — the block is still well ahead of the jaws. Now descending ~8 cm at the same radius to close in and see how much descent shifts the view.
move_joints
left_j12.2410left_j21.8220left_j3-1.1510
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6941 left_j1=2.154 left_j2=1.9888 left_j3=-1.4281 left_j4=-0.0013 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0536 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.335, -11.5077, 7.665, 0.1538, -0.0855, -0.022, -0.0171, -0.0205, 1.6479, 6.9949, 1.9316, 0.0024, -0.0757, -0.0073] 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_j1": 2.241, "left_j2": 1.822, "left_j3": -1.151}, "note": "The 5 cm reach extension moved the block 35 px down in the wrist view, giving me a rough scale (~7 px/cm) \u2014 the block is still well ahead of the jaws. Now descending ~8 cm at the same radius to close in and see how much descent shifts the view."})
tool
executing move_joints over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteAfter descending, the blue block fills the lower-left of the wrist view — it is left of the jaw gap and still slightly ahead of the grasp point. I'm yawing the base 0.1 rad to the arm's left, which should slide the block toward the jaw centreline and calibrate the lateral direction in this rolled camera frame.
move_joints
left_j0-0.5950
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6952 left_j1=2.2272 left_j2=1.8339 left_j3=-1.1893 left_j4=-0.004 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.0889, -10.7282, 4.8752, 0.6667, -0.0317, -0.0415, -0.0122, 0.0068, 1.6479, 6.9949, 1.9121, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.595}, "note": "After descending, the blue block fills the lower-left of the wrist view \u2014 it is left of the jaw gap and still slightly ahead of the grasp point. I'm yawing the base 0.1 rad to the arm's left, which should slide the block toward the jaw centreline and calibrate the lateral direction in this rolled camera frame."})
tool
executing move_joints over 2 steps (0.2s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe 0.074 rad yaw shifted the block ~20 px right in the wrist view, so the lateral scale is ~7 px per cm; the block still sits well left of the jaw gap. Yawing further left to bring it onto the jaw centreline before descending.
move_joints
left_j0-0.4500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6209 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1965 left_j4=-0.001 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0601 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.3761, -11.8222, 5.8735, 0.2711, -0.0806, -0.0073, -0.0122, -0.1299, 1.812, 7.2137, 1.9414, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.45}, "note": "The 0.074 rad yaw shifted the block ~20 px right in the wrist view, so the lateral scale is ~7 px per cm; the block still sits well left of the jaw gap. Yawing further left to bring it onto the jaw centreline before descending."})
tool
executing move_joints over 3 steps (0.3s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe last yaw barely changed the wrist view, so I don't trust my read of that image — the large blue/white box may not be the block. Parking the left arm back near its base to get an unobstructed overhead view of both blocks before planning the grasp.
move_joints
left_j00.0000left_j10.7000left_j21.3000left_j3-0.7000left_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1995 left_j4=-0.0006 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.3214, -11.959, 5.7231, 0.2808, -0.0317, -0.0659, -0.0122, -0.0479, 1.6342, 6.9949, 1.9121, -0.0024, -0.0562, -0.0073] 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": 0.0, "left_j1": 0.7, "left_j2": 1.3, "left_j3": -0.7, "left_j5": 0.0}, "note": "The last yaw barely changed the wrist view, so I don't trust my read of that image \u2014 the large blue/white box may not be the block. Parking the left arm back near its base to get an unobstructed overhead view of both blocks before planning the grasp."})
tool
executing move_joints over 25 steps (2.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteClean overhead view now: the blue block sits at image (62,100) and the red block at (137,111), both roughly 14 px across. I'm sending the left gripper to a known pose (straight ahead, 0.40 m out, ~10 cm up, jaws down) so I can see where it lands in the overhead frame and calibrate pixels-to-centimetres and the arm's frame.
move_joints
left_j00.0000left_j12.3200left_j21.8700left_j3-1.1200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0059 left_j1=0.6926 left_j2=1.2957 left_j3=-0.7296 left_j4=-0.0048 left_j5=-0.0223 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.4308, 2.0581, 5.5863, 2.2198, -0.0171, 0.188, -0.0171, -0.2256, 1.6342, 6.9949, 1.917, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.0, "left_j1": 2.32, "left_j2": 1.87, "left_j3": -1.12}, "note": "Clean overhead view now: the blue block sits at image (62,100) and the red block at (137,111), both roughly 14 px across. I'm sending the left gripper to a known pose (straight ahead, 0.40 m out, ~10 cm up, jaws down) so I can see where it lands in the overhead frame and calibrate pixels-to-centimetres and the arm's frame."})
tool
executing move_joints over 26 steps (2.6s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteWith the arm straight ahead at 0.40 m I can see the left gripper at the top-left of the overhead frame, which pins down the arm's frame: ~3.3 px/cm, base off-frame at about image (25,195). Using that, the blue block is ~0.31 m out at j0≈-0.37, so I'm moving to hover ~12 cm above it with the jaws rolled to stay square to the block.
move_joints
left_j0-0.3720left_j11.7100left_j21.4000left_j3-1.2600left_j5-0.3720
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=2.3077 left_j2=1.8427 left_j3=-1.0954 left_j4=-0.0048 left_j5=-0.0257 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.335, -12.9573, 8.212, 0.0464, -0.0806, -0.022, -0.0122, -0.2393, 1.4154, 7.0496, 1.8779, -0.0024, -0.0708, -0.0073] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.372, "left_j1": 1.71, "left_j2": 1.4, "left_j3": -1.26, "left_j5": -0.372}, "note": "With the arm straight ahead at 0.40 m I can see the left gripper at the top-left of the overhead frame, which pins down the arm's frame: ~3.3 px/cm, base off-frame at about image (25,195). Using that, the blue block is ~0.31 m out at j0\u2248-0.37, so I'm moving to hover ~12 cm above it with the jaws rolled to stay square to the block."})
tool
executing move_joints over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe wrist camera shows the blue block bright at the top of the frame, i.e. still ahead of the jaws, but at this height a block on the table would project off the bottom edge anyway. Descending ~7 cm (to roughly block-top height) so the wrist view becomes interpretable before I commit to a radial approach.
move_joints
left_j11.8300left_j21.2300left_j3-0.9700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3576 left_j1=1.7527 left_j2=1.4162 left_j3=-1.2381 left_j4=-0.0059 left_j5=-0.3294 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.1983, -9.2786, 5.7231, 0.4908, -0.0513, -0.0464, -0.022, -0.1983, 1.7436, 6.9812, 1.9121, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.83, "left_j2": 1.23, "left_j3": -0.97}, "note": "The wrist camera shows the blue block bright at the top of the frame, i.e. still ahead of the jaws, but at this height a block on the table would project off the bottom edge anyway. Descending ~7 cm (to roughly block-top height) so the wrist view becomes interpretable before I commit to a radial approach."})
tool
executing move_joints over 5 steps (0.5s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteI now believe the bright blue shape in the wrist view is a distant background object, not the block — it barely moves when I yaw, and the near table ahead of the jaws is empty. Yawing 0.3 rad to the arm's right so the gripper steps clear of the blue block in the overhead view and I can measure their pixel offset directly.
move_joints
left_j0-0.6600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3603 left_j1=1.8294 left_j2=1.2396 left_j3=-1.037 left_j4=-0.0051 left_j5=-0.3397 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0154 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.1983, -8.3897, 5.8872, 0.3687, -0.0513, 0.0806, -0.0122, -0.2256, 1.5385, 7.0222, 1.873, -0.0122, -0.0659, -0.0073] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.66}, "note": "I now believe the bright blue shape in the wrist view is a distant background object, not the block \u2014 it barely moves when I yaw, and the near table ahead of the jaws is empty. Yawing 0.3 rad to the arm's right so the gripper steps clear of the blue block in the overhead view and I can measure their pixel offset directly."})
tool
executing move_joints over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe overhead view is still ambiguous — I can only clearly see one red block plus a dark blob beside it, with the left arm covering the area where I thought a second block was. Parking the left arm back at its base for a completely unobstructed overhead look.
move_joints
left_j00.0000left_j10.7000left_j21.3000left_j3-0.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6376 left_j1=1.8294 left_j2=1.2301 left_j3=-1.0317 left_j4=-0.0032 left_j5=-0.3412 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.212, -8.4034, 6.4752, 0.0952, -0.0952, -0.0073, -0.0122, -0.1709, 2.1402, 7.2684, 1.917, 0.0024, -0.0611, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.0, "left_j1": 0.7, "left_j2": 1.3, "left_j3": -0.7}, "note": "The overhead view is still ambiguous \u2014 I can only clearly see one red block plus a dark blob beside it, with the left arm covering the area where I thought a second block was. Parking the left arm back at its base for a completely unobstructed overhead look."})
tool
executing move_joints over 18 steps (1.8s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteClean overhead view: blue block at image (63,101), red block at (137,111), and using the two arm bases as a ruler the scale is ~3.0 px/cm, putting the blue block 0.29 m out at j0≈-0.49 from the left arm. Moving to hover ~8 cm above the blue block with the jaws rolled square to it.
move_joints
left_j0-0.4850left_j11.7310left_j21.2480left_j3-1.0880left_j5-0.4850
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0158 left_j1=0.7246 left_j2=1.2686 left_j3=-0.7528 left_j4=-0.0078 left_j5=-0.3458 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.017 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.4444, 1.1282, 8.3077, 2.2784, 0.022, -0.0269, -0.0122, -0.0752, 1.6615, 7.159, 1.8974, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.485, "left_j1": 1.731, "left_j2": 1.248, "left_j3": -1.088, "left_j5": -0.485}, "note": "Clean overhead view: blue block at image (63,101), red block at (137,111), and using the two arm bases as a ruler the scale is ~3.0 px/cm, putting the blue block 0.29 m out at j0\u2248-0.49 from the left arm. Moving to hover ~8 cm above the blue block with the jaws rolled square to it."})
tool
executing move_joints over 17 steps (1.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteHovering over the blue block's estimated position (the block is now hidden beneath the gripper in the overhead view). Descending ~10 cm with the jaws open and straddling the block, watching j1 effort for table contact to calibrate my height bias.
move_joints
left_j11.9940left_j21.0830left_j3-0.6610
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4706 left_j1=1.7184 left_j2=1.2514 left_j3=-1.0557 left_j4=-0.0074 left_j5=-0.4728 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.3487, -8.5812, 5.6274, 0.2955, -0.022, -0.1685, -0.0122, -0.0752, 1.5111, 7.2, 1.8779, -0.022, -0.0415, -0.0073] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.994, "left_j2": 1.083, "left_j3": -0.661}, "note": "Hovering over the blue block's estimated position (the block is now hidden beneath the gripper in the overhead view). Descending ~10 cm with the jaws open and straddling the block, watching j1 effort for table contact to calibrate my height bias."})
tool
executing move_joints over 7 steps (0.7s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent notej1 stalled at 1.898 with its holding torque relaxing from -8.6 to -1.0 N·m, so the fingertips are on the table (FK reads z=+0.094 there, giving me a 9.4 cm height bias), and the wrist camera shows the blue block right up close. Closing the jaws to test whether the block is actually between them — the residual will tell me.
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=-0.4717 left_j1=1.8984 left_j2=1.1381 left_j3=-0.8219 left_j4=0.0143 left_j5=-0.4759 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.1709, -0.9778, 0.7453, 1.8877, -0.2515, 0.0122, -0.0171, -0.0752, 1.6479, 7.0222, 1.9316, -0.0611, -0.0513, -0.0171] 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_gripper": 0.0}, "note": "j1 stalled at 1.898 with its holding torque relaxing from -8.6 to -1.0 N\u00b7m, so the fingertips are on the table (FK reads z=+0.094 there, giving me a 9.4 cm height bias), and the wrist camera shows the blue block right up close. Closing the jaws to test whether the block is actually between them \u2014 the residual will tell me."})
tool
executing move_joints over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe close came back with residual 0.01 and only moderate effort — the jaws shut on nothing, so the block was not between them (and I now confirm the jaws converge at image (110,200) in the wrist view). Lifting straight up and folding the wrist back to clear the view so I can see where the blue block actually is.
move_joints
left_j11.4000left_j21.5000left_j3-1.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4717 left_j1=1.89 left_j2=1.1404 left_j3=-0.8291 left_j4=0.0181 left_j5=-0.4797 left_gripper=0.0099 right_j0=-0.0006 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0044 right_gripper=0.9994 state[joint_eff]: [-0.1026, -7.9385, 4.9026, 0.3199, -0.0611, 0.0366, 0.8132, -0.0615, 1.5795, 7.0496, 1.8926, -0.0366, -0.0317, -0.0073] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.4, "left_j2": 1.5, "left_j3": -1.4, "left_gripper": 1.0}, "note": "The close came back with residual 0.01 and only moderate effort \u2014 the jaws shut on nothing, so the block was not between them (and I now confirm the jaws converge at image (110,200) in the wrist view). Lifting straight up and folding the wrist back to clear the view so I can see where the blue block actually is."})
tool
executing move_joints over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteNow the wrist camera clearly shows the blue block (white "1" label) ahead of the jaws and the red block at the right edge — combining the pixel offsets with my touch-calibrated geometry says the block sits about 4 cm further out than where I closed. Moving to that radius at ~3 cm above the table to re-check before grasping.
move_joints
left_j11.9420left_j21.3570left_j3-0.9860
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4717 left_j1=1.4342 left_j2=1.4647 left_j3=-1.3334 left_j4=0.0189 left_j5=-0.4923 left_gripper=0.9949 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0044 right_gripper=0.9994 state[joint_eff]: [-0.253, -5.9419, 7.5692, 0.7253, -0.0855, 0.1001, -0.0806, -0.212, 1.812, 7.0222, 1.873, -0.022, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_j1": 1.942, "left_j2": 1.357, "left_j3": -0.986}, "note": "Now the wrist camera clearly shows the blue block (white \"1\" label) ahead of the jaws and the red block at the right edge \u2014 combining the pixel offsets with my touch-calibrated geometry says the block sits about 4 cm further out than where I closed. Moving to that radius at ~3 cm above the table to re-check before grasping."})
tool
executing move_joints over 9 steps (0.9s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe wrist view is confusing me (the blue block looms huge at the frame edge), so I'm parking the left arm clear of the workspace to get a clean overhead shot and check whether the block is still at image (63,101) or whether my earlier close nudged it.
move_joints
left_j00.2000left_j10.7000left_j21.3000left_j3-0.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4717 left_j1=1.9316 left_j2=1.3663 left_j3=-1.0374 left_j4=0.0181 left_j5=-0.4961 left_gripper=0.9965 right_j0=-0.0006 right_j1=0.0269 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.1299, -10.2906, 5.4496, 0.2808, -0.0171, -0.0269, 0.1538, -0.1436, 1.347, 7.0359, 1.8632, -0.022, -0.0464, -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_j0": 0.2, "left_j1": 0.7, "left_j2": 1.3, "left_j3": -0.7}, "note": "The wrist view is confusing me (the blue block looms huge at the frame edge), so I'm parking the left arm clear of the workspace to get a clean overhead shot and check whether the block is still at image (63,101) or whether my earlier close nudged it."})
tool
executing move_joints over 20 steps (2.0s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteClean overhead check confirms nothing moved: blue block still at (63,100), red at (140,110). New plan — approach the blue block radially from the inside at ~5 cm height with jaws open, stepping outward and using the overhead view (the block stays visible until the gripper reaches it) to judge contact distance.
move_joints
left_j0-0.4850left_j11.6230left_j21.0520left_j3-0.9990left_j5-0.4850
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.1852 left_j1=0.7227 left_j2=1.3029 left_j3=-0.7525 left_j4=0.0151 left_j5=-0.4995 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.4034, 1.5932, 5.0393, 2.3223, -0.0317, -0.0317, 0.0024, -0.3761, 1.6752, 7.0359, 1.917, -0.022, -0.0708, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.485, "left_j1": 1.623, "left_j2": 1.052, "left_j3": -0.999, "left_j5": -0.485}, "note": "Clean overhead check confirms nothing moved: blue block still at (63,100), red at (140,110). New plan \u2014 approach the blue block radially from the inside at ~5 cm height with jaws open, stepping outward and using the overhead view (the block stays visible until the gripper reaches it) to judge contact distance."})
tool
executing move_joints over 15 steps (1.5s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteOverhead now shows the gripper hiding the blue block, so I'm within a few cm of it but I can't resolve the sign of my radial error from the images. Taking the pragmatic route: descend to table level 4 cm further out than my failed attempt (jaws open, straddling the expected block position) and then test with a close.
move_joints
left_j11.9970left_j21.3200left_j3-0.8930left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4656 left_j1=1.6112 left_j2=1.0622 left_j3=-0.9684 left_j4=0.0166 left_j5=-0.4953 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.1983, -7.5829, 5.8051, 0.1783, -0.0952, 0.1001, -0.0073, -0.1026, 1.5385, 7.2274, 1.873, -0.0122, -0.0806, -0.0073] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.997, "left_j2": 1.32, "left_j3": -0.893, "left_gripper": 1.0}, "note": "Overhead now shows the gripper hiding the blue block, so I'm within a few cm of it but I can't resolve the sign of my radial error from the images. Taking the pragmatic route: descend to table level 4 cm further out than my failed attempt (jaws open, straddling the expected block position) and then test with a close."})
tool
executing move_joints over 7 steps (0.7s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteAt table height 4 cm further out, the wrist camera shows the blue block filling the frame directly ahead of and just above the jaw silhouettes — it is right at the gripper. Closing the jaws to grasp; the residual will confirm whether I have the block.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.469 left_j1=1.9835 left_j2=1.2884 left_j3=-0.9222 left_j4=0.0158 left_j5=-0.4995 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0345 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.0615, -9.9077, 7.1179, 0.3101, -0.0024, -0.0024, -0.1978, -0.1709, 1.4427, 7.0632, 1.8974, -0.0366, -0.0708, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "At table height 4 cm further out, the wrist camera shows the blue block filling the frame directly ahead of and just above the jaw silhouettes \u2014 it is right at the gripper. Closing the jaws to grasp; the residual will confirm whether I have the block."})
tool
executing move_joints over 10 steps (1.0s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteSecond close also came back empty (residual 0.01), and both cameras agree the block sits to the arm's LEFT of the jaws — that lateral offset, not radius, is what I keep missing. Shifting ~2.5 cm to the arm's left and splitting the difference in radius, jaws open at table height.
move_joints
left_j0-0.3840left_j11.9050left_j21.1800left_j3-0.8460left_j5-0.3840left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4694 left_j1=1.9976 left_j2=1.2976 left_j3=-0.9203 left_j4=0.0216 left_j5=-0.503 left_gripper=0.01 right_j0=-0.0006 right_j1=0.0349 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.0205, -10.4547, 4.3966, 0.188, -0.0757, 0.0269, 0.8083, -0.0479, 1.5658, 7.0496, 1.9023, -0.0122, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.384, "left_j1": 1.905, "left_j2": 1.18, "left_j3": -0.846, "left_j5": -0.384, "left_gripper": 1.0}, "note": "Second close also came back empty (residual 0.01), and both cameras agree the block sits to the arm's LEFT of the jaws \u2014 that lateral offset, not radius, is what I keep missing. Shifting ~2.5 cm to the arm's left and splitting the difference in radius, jaws open at table height."})
tool
executing move_joints over 10 steps (1.0s)
step 252
top_cam
camera top_cam step 252
left_cam
camera left_cam step 252
right_cam
camera right_cam step 252
assistant
agent noteRepositioned 2.5 cm to the arm's left at table height with jaws open; testing this cell of my small search grid by closing and reading the residual.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3962 left_j1=1.9278 left_j2=1.1965 left_j3=-0.8612 left_j4=0.0223 left_j5=-0.4103 left_gripper=0.9946 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.8547, -10.6462, 4.1504, 0.3639, -0.0562, 0.1734, -0.0708, -0.212, 1.7983, 7.2957, 1.873, -0.0171, -0.0513, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Repositioned 2.5 cm to the arm's left at table height with jaws open; testing this cell of my small search grid by closing and reading the residual."})
tool
executing move_joints over 10 steps (1.0s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
right_cam
camera right_cam step 262
assistant
agent noteThird empty close — something is systematically wrong with my picture of the scene, and the wrist view is dominated by an unidentified blue surface. Lifting straight up to 20 cm above the table at the same spot: if that blue surface shrinks away I'll know it is on the table, and I should see the block from directly above.
move_joints
left_j11.6680left_j21.7430left_j3-1.6460left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.395 left_j1=1.9224 left_j2=1.19 left_j3=-0.8593 left_j4=0.0189 left_j5=-0.4164 left_gripper=0.0104 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.4308, -8.5812, 5.6547, 0.2076, 0.0073, 0.0757, 0.8425, -0.1162, 1.7709, 7.0496, 1.9512, -0.0317, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.668, "left_j2": 1.743, "left_j3": -1.646, "left_gripper": 1.0}, "note": "Third empty close \u2014 something is systematically wrong with my picture of the scene, and the wrist view is dominated by an unidentified blue surface. Lifting straight up to 20 cm above the table at the same spot: if that blue surface shrinks away I'll know it is on the table, and I should see the block from directly above."})
tool
executing move_joints over 13 steps (1.3s)
step 275
top_cam
camera top_cam step 275
left_cam
camera left_cam step 275
right_cam
camera right_cam step 275
assistant
agent noteFrom 20 cm up the wrist view finally makes sense: the table is clear and the small blue block sits at the top of the frame, and in the overhead view I can see the block at (65,100) with the gripper displaced up-left of it — so I have been reaching ~7 cm too far out. Pulling the gripper 7 cm back toward the base at the same height to line up over the block.
move_joints
left_j11.4020left_j21.5350left_j3-1.7040
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.395 left_j1=1.7012 left_j2=1.7077 left_j3=-1.5715 left_j4=0.0193 left_j5=-0.4236 left_gripper=0.9961 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.0479, -9.2103, 7.3778, 0.1392, -0.0122, 0.0562, 0.0171, -0.2803, 1.9214, 7.0496, 1.8632, -0.0073, -0.0122, -0.0122] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.402, "left_j2": 1.535, "left_j3": -1.704}, "note": "From 20 cm up the wrist view finally makes sense: the table is clear and the small blue block sits at the top of the frame, and in the overhead view I can see the block at (65,100) with the gripper displaced up-left of it \u2014 so I have been reaching ~7 cm too far out. Pulling the gripper 7 cm back toward the base at the same height to line up over the block."})
tool
executing move_joints over 5 steps (0.5s)
step 280
top_cam
camera top_cam step 280
left_cam
camera left_cam step 280
right_cam
camera right_cam step 280
assistant
agent notePulling back moved the block up and out of the wrist frame, which confirms that outward motion is what brings it down toward the jaws — so my grasps were falling short, not long. Extending 13 cm outward at 20 cm height to re-acquire the block lower in the wrist view before descending.
move_joints
left_j11.9060left_j22.0360left_j3-1.7010
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.395 left_j1=1.4296 left_j2=1.5517 left_j3=-1.6695 left_j4=0.0189 left_j5=-0.424 left_gripper=0.9971 right_j0=-0.0006 right_j1=0.0368 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.2667, -4.4786, 5.1214, 0.4567, -0.0366, -0.0415, 0.1001, -0.2667, 1.9077, 7.2, 1.9121, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.906, "left_j2": 2.036, "left_j3": -1.701}, "note": "Pulling back moved the block up and out of the wrist frame, which confirms that outward motion is what brings it down toward the jaws \u2014 so my grasps were falling short, not long. Extending 13 cm outward at 20 cm height to re-acquire the block lower in the wrist view before descending."})
tool
executing move_joints over 8 steps (0.8s)
step 288
top_cam
camera top_cam step 288
left_cam
camera left_cam step 288
right_cam
camera right_cam step 288
assistant
agent noteThe wrist view still can't settle whether the block is inside or outside my gripper radius, so I'm switching to a touch probe: placing the open jaws on the table well beyond the block (radius 0.40) at its bearing, then I will sweep inward until the block is either captured between the jaws or visibly nudged in the overhead view.
move_joints
left_j12.3180left_j21.8690left_j3-1.1220left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.395 left_j1=1.8908 left_j2=1.9987 left_j3=-1.6985 left_j4=0.0223 left_j5=-0.4271 left_gripper=0.9974 right_j0=-0.0006 right_j1=0.0402 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.2256, -9.3607, 6.9949, 0.0757, -0.0659, -0.0269, 0.0073, -0.1709, 1.347, 7.1863, 1.8779, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.318, "left_j2": 1.869, "left_j3": -1.122, "left_gripper": 1.0}, "note": "The wrist view still can't settle whether the block is inside or outside my gripper radius, so I'm switching to a touch probe: placing the open jaws on the table well beyond the block (radius 0.40) at its bearing, then I will sweep inward until the block is either captured between the jaws or visibly nudged in the overhead view."})
tool
executing move_joints over 10 steps (1.0s)
step 298
top_cam
camera top_cam step 298
left_cam
camera left_cam step 298
right_cam
camera right_cam step 298
assistant
agent noteBreakthrough — at radius 0.40 the wrist camera shows the blue block sitting right in the jaw opening at the bottom of the frame, so my earlier attempts were 7-10 cm short. Closing the gripper now; a residual near 0.4 will mean I have the 4 cm block.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3935 left_j1=2.2723 left_j2=1.8942 left_j3=-1.2404 left_j4=-0.0139 left_j5=-0.4313 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.0205, -8.6496, 3.5624, 1.033, 0.4127, 0.0611, -0.1929, -0.2256, 1.894, 7.3504, 2.0, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Breakthrough \u2014 at radius 0.40 the wrist camera shows the blue block sitting right in the jaw opening at the bottom of the frame, so my earlier attempts were 7-10 cm short. Closing the gripper now; a residual near 0.4 will mean I have the 4 cm block."})
tool
executing move_joints over 10 steps (1.0s)
step 308
top_cam
camera top_cam step 308
left_cam
camera left_cam step 308
right_cam
camera right_cam step 308
assistant
agent noteGrasp confirmed: the gripper closed to 0.447 (≈4.2 cm of block) with holding effort, and the wrist camera shows the block's face filling the jaws. Lifting it 10 cm straight up; the block in the gripper now also gives me a clean marker in the overhead view to calibrate the move to the red block.
move_joints
left_j12.1600left_j22.0150left_j3-1.4260
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3946 left_j1=2.3299 left_j2=1.8717 left_j3=-1.235 left_j4=-0.0078 left_j5=-0.4347 left_gripper=0.4467 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.2393, -17.1009, 7.3504, 0.0024, -0.1197, -0.0073, 1.033, -0.212, 1.5385, 7.0769, 1.9365, -0.0269, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.16, "left_j2": 2.015, "left_j3": -1.426}, "note": "Grasp confirmed: the gripper closed to 0.447 (\u22484.2 cm of block) with holding effort, and the wrist camera shows the block's face filling the jaws. Lifting it 10 cm straight up; the block in the gripper now also gives me a clean marker in the overhead view to calibrate the move to the red block."})
tool
executing move_joints over 4 steps (0.4s)
step 312
top_cam
camera top_cam step 312
left_cam
camera left_cam step 312
right_cam
camera right_cam step 312
assistant
agent noteBlock is up and clearly visible in the gripper from overhead. Swinging the base 0.3 rad toward the red block with everything else fixed: this both makes progress and gives me a clean pixel-per-metre calibration from the block's measured travel.
move_joints
left_j0-0.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3946 left_j1=2.2501 left_j2=1.9678 left_j3=-1.3705 left_j4=-0.0071 left_j5=-0.4419 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.3214, -16.4991, 8.1299, 0.1441, -0.0415, 0.1099, 1.033, -0.1436, 1.5932, 7.1726, 1.8926, -0.022, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.7}, "note": "Block is up and clearly visible in the gripper from overhead. Swinging the base 0.3 rad toward the red block with everything else fixed: this both makes progress and gives me a clean pixel-per-metre calibration from the block's measured travel."})
tool
executing move_joints over 5 steps (0.5s)
step 317
top_cam
camera top_cam step 317
left_cam
camera left_cam step 317
right_cam
camera right_cam step 317
assistant
agent noteThe block's measured travel across that 0.3 rad swing calibrates the overhead view (~2.85 px/cm, left base near image (25,190)), which puts the red block at bearing j0≈-0.95 and about 5.5 cm further out than where I picked up the blue one. Swinging there at ~10 cm height, keeping the block's world orientation by rolling the wrist with the base.
move_joints
left_j0-0.9500left_j12.4280left_j22.4860left_j3-1.6280left_j5-0.9800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6891 left_j1=2.2871 left_j2=1.9594 left_j3=-1.3731 left_j4=-0.0036 left_j5=-0.4458 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [1.1829, -15.1863, 6.3385, 0.0611, -0.0659, -0.0317, 1.0281, 0.0068, 1.5658, 7.0769, 1.8974, -0.0415, -0.0611, -0.0073] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.95, "left_j1": 2.428, "left_j2": 2.486, "left_j3": -1.628, "left_j5": -0.98}, "note": "The block's measured travel across that 0.3 rad swing calibrates the overhead view (~2.85 px/cm, left base near image (25,190)), which puts the red block at bearing j0\u2248-0.95 and about 5.5 cm further out than where I picked up the blue one. Swinging there at ~10 cm height, keeping the block's world orientation by rolling the wrist with the base."})
tool
executing move_joints over 9 steps (0.9s)
step 326
top_cam
camera top_cam step 326
left_cam
camera left_cam step 326
right_cam
camera right_cam step 326
assistant
agent noteBoth views show I'm close but the red target block (white 'a' label) sits a few cm to the arm's right of my carried block. Yawing ~0.13 rad further right and dropping ~3 cm, still clear above the red block, before the final alignment.
move_joints
left_j0-1.0800left_j12.4280left_j22.3640left_j3-1.5060left_j5-1.1100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9325 left_j1=2.4191 left_j2=2.4481 left_j3=-1.5982 left_j4=-0.0036 left_j5=-0.9161 left_gripper=0.4497 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.4991, -12.3009, 7.665, 0.0269, -0.0317, 0.0366, 1.0281, -0.3214, 1.5521, 7.0632, 1.9267, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.08, "left_j1": 2.428, "left_j2": 2.364, "left_j3": -1.506, "left_j5": -1.11}, "note": "Both views show I'm close but the red target block (white 'a' label) sits a few cm to the arm's right of my carried block. Yawing ~0.13 rad further right and dropping ~3 cm, still clear above the red block, before the final alignment."})
tool
executing move_joints over 4 steps (0.4s)
step 330
top_cam
camera top_cam step 330
left_cam
camera left_cam step 330
right_cam
camera right_cam step 330
assistant
agent noteThe rolled wrist makes the wrist-camera axes ambiguous and my two views disagree on which way to correct. Rolling the wrist to zero so image-right = arm-right and image-up = outward exactly, giving me an unambiguous read on the offset to the red block.
move_joints
left_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0538 left_j1=2.439 left_j2=2.3745 left_j3=-1.5322 left_j4=-0.0067 left_j5=-1.0538 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.2803, -13.7094, 5.4359, 0.2759, -0.0611, -0.1587, 1.033, -0.1162, 1.6068, 7.1179, 1.8681, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.0}, "note": "The rolled wrist makes the wrist-camera axes ambiguous and my two views disagree on which way to correct. Rolling the wrist to zero so image-right = arm-right and image-up = outward exactly, giving me an unambiguous read on the offset to the red block."})
tool
executing move_joints over 17 steps (1.7s)
step 347
top_cam
camera top_cam step 347
left_cam
camera left_cam step 347
right_cam
camera right_cam step 347
assistant
agent noteWith the wrist roll zeroed the wrist view is unambiguous: the red block sits up and to the arm's LEFT of my carried block, so my previous yaw went the wrong way. Yawing back 0.17 rad to the left and holding ~6 cm of clearance above the red block.
move_joints
left_j0-0.8850left_j12.4330left_j22.3310left_j3-1.4690
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0538 left_j1=2.4405 left_j2=2.3688 left_j3=-1.549 left_j4=-0.0036 left_j5=-0.0952 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.1573, -13.4359, 5.9966, 0.3053, -0.0757, 0.2857, 1.0281, 0.0068, 1.7026, 7.0906, 1.8779, -0.0024, -0.0317, -0.0122] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.885, "left_j1": 2.433, "left_j2": 2.331, "left_j3": -1.469}, "note": "With the wrist roll zeroed the wrist view is unambiguous: the red block sits up and to the arm's LEFT of my carried block, so my previous yaw went the wrong way. Yawing back 0.17 rad to the left and holding ~6 cm of clearance above the red block."})
tool
executing move_joints over 3 steps (0.3s)
step 350
top_cam
camera top_cam step 350
left_cam
camera left_cam step 350
right_cam
camera right_cam step 350
assistant
agent noteMy two views still disagree about radial distance, so I'm settling it with a measurement: lowering the carried block until it touches the table here. Then its top face and the red block's top face are at the same height in the overhead image and I can read off the exact remaining offset with no parallax error.
move_joints
left_j12.5000left_j22.1610left_j3-1.2320
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9413 left_j1=2.4405 left_j2=2.3379 left_j3=-1.5047 left_j4=0.0074 left_j5=-0.0753 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [1.0188, -13.9009, 5.5179, 0.2906, -0.1197, -0.022, 1.0281, -0.0068, 1.5658, 7.0906, 1.8926, -0.0317, -0.0464, -0.0073] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5, "left_j2": 2.161, "left_j3": -1.232}, "note": "My two views still disagree about radial distance, so I'm settling it with a measurement: lowering the carried block until it touches the table here. Then its top face and the red block's top face are at the same height in the overhead image and I can read off the exact remaining offset with no parallax error."})
tool
executing move_joints over 5 steps (0.5s)
step 355
top_cam
camera top_cam step 355
left_cam
camera left_cam step 355
right_cam
camera right_cam step 355
assistant
agent noteTouching down revealed the truth: the wrist camera shows the red block right beside my carried block, only about 5 cm away to the arm's left and outward — the two are nearly touching. Lifting ~9 cm so I can translate over the red block without knocking it.
move_joints
left_j12.3930left_j22.3410left_j3-1.5190
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9512 left_j1=2.5011 left_j2=2.1796 left_j3=-1.3098 left_j4=-0.0002 left_j5=-0.094 left_gripper=0.4504 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.4444, -13.2718, 4.6838, 0.9255, 0.0513, 0.1197, 0.5788, -0.0479, 1.6068, 7.2274, 1.956, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.393, "left_j2": 2.341, "left_j3": -1.519}, "note": "Touching down revealed the truth: the wrist camera shows the red block right beside my carried block, only about 5 cm away to the arm's left and outward \u2014 the two are nearly touching. Lifting ~9 cm so I can translate over the red block without knocking it."})
tool
executing move_joints over 4 steps (0.4s)
step 359
top_cam
camera top_cam step 359
left_cam
camera left_cam step 359
right_cam
camera right_cam step 359
assistant
agent noteBoth blocks are clearly visible in the wrist view now: the red target sits up-left of my carried block by roughly 4-5 cm outward and 1.5 cm to the arm's left. Translating by that amount at ~5 cm clearance to hover the blue block over the red one.
move_joints
left_j0-0.9190left_j12.6560left_j22.7130left_j3-1.6270
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9497 left_j1=2.4836 left_j2=2.3024 left_j3=-1.4528 left_j4=-0.0006 left_j5=-0.0978 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.294, -19.7538, 8.1162, 0.0122, -0.0562, -0.0024, 0.7839, -0.0205, 1.5795, 7.0632, 1.9414, -0.0024, -0.0806, -0.0122] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.919, "left_j1": 2.656, "left_j2": 2.713, "left_j3": -1.627}, "note": "Both blocks are clearly visible in the wrist view now: the red target sits up-left of my carried block by roughly 4-5 cm outward and 1.5 cm to the arm's left. Translating by that amount at ~5 cm clearance to hover the blue block over the red one."})
tool
executing move_joints over 7 steps (0.7s)
step 366
top_cam
camera top_cam step 366
left_cam
camera left_cam step 366
right_cam
camera right_cam step 366
assistant
agent noteThe lateral alignment looks good in the wrist view (target and carried block share the same image column). Lowering ~1.5 cm to just below the red block's top face: if my block is truly above it the descent will stall on contact, which is the test I need.
move_joints
left_j12.6310left_j22.5830left_j3-1.5220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9249 left_j1=2.6461 left_j2=2.6717 left_j3=-1.6169 left_j4=-0.0006 left_j5=-0.1055 left_gripper=0.4553 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [0.5949, -13.135, 7.2547, 0.2222, -0.0269, 0.0562, 0.7692, -0.1436, 1.5385, 7.2, 1.9707, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.631, "left_j2": 2.583, "left_j3": -1.522}, "note": "The lateral alignment looks good in the wrist view (target and carried block share the same image column). Lowering ~1.5 cm to just below the red block's top face: if my block is truly above it the descent will stall on contact, which is the test I need."})
tool
executing move_joints over 2 steps (0.2s)
step 368
top_cam
camera top_cam step 368
left_cam
camera left_cam step 368
right_cam
camera right_cam step 368
assistant
agent noteMy block descended to 3.5 cm without touching the red block, so it is beside it, not above it — and the overhead view can't separate them. Raising the idle right arm into a lookout pose so its wrist camera gives me a side view of the two blocks.
move_joints
right_j00.7000right_j10.8000right_j21.4000right_j3-1.0000right_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9234 left_j1=2.6534 left_j2=2.6221 left_j3=-1.5959 left_j4=-0.0006 left_j5=-0.1051 left_gripper=0.456 right_j0=-0.0002 right_j1=0.0433 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.4444, -16.0615, 4.1231, 0.8913, -0.0073, -0.0366, 0.823, -0.0068, 1.5248, 7.0632, 1.8681, -0.0415, -0.0806, -0.0073] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7, "right_j1": 0.8, "right_j2": 1.4, "right_j3": -1.0, "right_j5": 0.0}, "note": "My block descended to 3.5 cm without touching the red block, so it is beside it, not above it \u2014 and the overhead view can't separate them. Raising the idle right arm into a lookout pose so its wrist camera gives me a side view of the two blocks."})
tool
executing move_joints over 23 steps (2.3s)
step 391
top_cam
camera top_cam step 391
left_cam
camera left_cam step 391
right_cam
camera right_cam step 391
assistant
agent noteTo break the deadlock between my two views I'm retracting 7 cm and lifting to ~13 cm: that displaces my carried block well away from the red block in the overhead image so I can finally tell the two apart and measure their true separation.
move_joints
left_j12.2020left_j22.1770left_j3-1.5460
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9234 left_j1=2.6442 left_j2=2.6068 left_j3=-1.5944 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4586 right_j0=0.6884 right_j1=0.7918 right_j2=1.3628 right_j3=-0.9668 right_j4=-0.0193 right_j5=-0.0051 right_gripper=0.9994 state[joint_eff]: [-0.2256, -13.2991, 6.694, 0.0952, -0.0317, -0.0415, 0.6032, 0.2667, 0.6906, 6.4752, 1.8486, 0.0269, -0.022, -0.0122] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.202, "left_j2": 2.177, "left_j3": -1.546}, "note": "To break the deadlock between my two views I'm retracting 7 cm and lifting to ~13 cm: that displaces my carried block well away from the red block in the overhead image so I can finally tell the two apart and measure their true separation."})
tool
executing move_joints over 8 steps (0.8s)
step 399
top_cam
camera top_cam step 399
left_cam
camera left_cam step 399
right_cam
camera right_cam step 399
assistant
agent noteMeasurements now agree that the red block sits ~5 cm beyond the left arm's gripper-down reach limit, so I'm changing plan: the left arm parks (still holding the blue block) and the right arm, which reaches the red block easily, will pick it up and move it closer for stacking.
move_joints
left_j0-0.3000left_j10.9000left_j21.4000left_j3-0.8000right_j00.5700right_j12.1550right_j22.2240right_j3-1.6400right_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9234 left_j1=2.2547 left_j2=2.1975 left_j3=-1.5513 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4606 right_j0=0.6899 right_j1=0.7975 right_j2=1.3636 right_j3=-0.9997 right_j4=-0.0196 right_j5=-0.0051 right_gripper=0.9994 state[joint_eff]: [-0.1162, -14.3795, 5.2855, 0.4762, -0.0611, -0.0366, 0.5299, -0.2393, 0.5949, 5.2718, 2.1172, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.3, "left_j1": 0.9, "left_j2": 1.4, "left_j3": -0.8, "right_j0": 0.57, "right_j1": 2.155, "right_j2": 2.224, "right_j3": -1.64, "right_j5": 0.0}, "note": "Measurements now agree that the red block sits ~5 cm beyond the left arm's gripper-down reach limit, so I'm changing plan: the left arm parks (still holding the blue block) and the right arm, which reaches the red block easily, will pick it up and move it closer for stacking."})
tool
executing move_joints over 22 steps (2.2s)
step 421
top_cam
camera top_cam step 421
left_cam
camera left_cam step 421
right_cam
camera right_cam step 421
assistant
agent noteThe right arm's wrist camera has the red block nicely centered and its lateral alignment already looks good; the block is just outward of the jaws. Descending 15 cm to table height (watching effort for contact) before closing the last few cm of reach.
move_joints
right_j12.2830right_j21.8050right_j3-1.0920
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3141 left_j1=0.9268 left_j2=1.4101 left_j3=-0.8764 left_j4=-0.004 left_j5=-0.1051 left_gripper=0.4631 right_j0=0.5735 right_j1=2.1387 right_j2=2.1956 right_j3=-1.6012 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994 state[joint_eff]: [0.5128, -0.4991, 5.9556, 2.4689, -0.0317, -0.0269, 0.2466, -0.5265, -11.6855, 7.3778, 0.0317, -0.0269, 0.0562, -0.0122] camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.283, "right_j2": 1.805, "right_j3": -1.092}, "note": "The right arm's wrist camera has the red block nicely centered and its lateral alignment already looks good; the block is just outward of the jaws. Descending 15 cm to table height (watching effort for contact) before closing the last few cm of reach."})
tool
executing move_joints over 9 steps (0.9s)
step 430
top_cam
camera top_cam step 430
left_cam
camera left_cam step 430
right_cam
camera right_cam step 430
assistant
agent noteThe red block is now sitting right between the right arm's open jaws at table height. Rolling the wrist to match the base yaw so the jaws close square on the block's faces rather than on its corners.
move_joints
right_j50.5720
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9367 left_j2=1.3991 left_j3=-0.8944 left_j4=-0.0074 left_j5=-0.1055 left_gripper=0.4651 right_j0=0.572 right_j1=2.2745 right_j2=1.8187 right_j3=-1.1633 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994 state[joint_eff]: [-0.4308, -1.4154, 6.5026, 1.9951, -0.0073, -0.0806, 0.1929, -0.0342, -11.6718, 6.1333, 0.3394, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 430): [image omitted: streamed camera frame] camera 'left_cam' (step 430): [image omitted: streamed camera frame] camera 'right_cam' (step 430): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.572}, "note": "The red block is now sitting right between the right arm's open jaws at table height. Rolling the wrist to match the base yaw so the jaws close square on the block's faces rather than on its corners."})
tool
executing move_joints over 10 steps (1.0s)
step 440
top_cam
camera top_cam step 440
left_cam
camera left_cam step 440
right_cam
camera right_cam step 440
assistant
agent noteThe red block is at the very bottom of the right wrist frame, i.e. right at the grasp point between the jaws. Closing to grip it; I expect a residual near 0.44 (4.2 cm) if it's a good grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9428 left_j2=1.3991 left_j3=-0.9028 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4667 right_j0=0.572 right_j1=2.2871 right_j2=1.8015 right_j3=-1.1728 right_j4=-0.02 right_j5=0.487 right_gripper=0.9994 state[joint_eff]: [-0.0479, -1.3607, 5.6547, 1.873, -0.022, -0.0513, 0.1538, -0.3214, -13.2444, 6.9812, 0.2222, -0.0415, 0.1685, -0.0073] camera 'top_cam' (step 440): [image omitted: streamed camera frame] camera 'left_cam' (step 440): [image omitted: streamed camera frame] camera 'right_cam' (step 440): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The red block is at the very bottom of the right wrist frame, i.e. right at the grasp point between the jaws. Closing to grip it; I expect a residual near 0.44 (4.2 cm) if it's a good grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 450
top_cam
camera top_cam step 450
left_cam
camera left_cam step 450
right_cam
camera right_cam step 450
assistant
agent noteThe right gripper closed empty — the block is sitting just off the jaws to the arm's right and slightly inward. Re-opening and shifting ~3.5 cm right and 2 cm inward at table height for another attempt.
move_joints
right_j00.4820right_j12.2160right_j21.6850right_j3-1.0400right_j50.4820right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9501 left_j2=1.3991 left_j3=-0.9203 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.468 right_j0=0.572 right_j1=2.2871 right_j2=1.8011 right_j3=-1.1755 right_j4=-0.0204 right_j5=0.4854 right_gripper=0.0115 state[joint_eff]: [-0.294, -1.4017, 5.6684, 1.9707, -0.022, -0.0317, 0.1197, -0.1299, -12.1094, 5.4632, 0.1343, -0.0611, 0.0024, 1.0476] camera 'top_cam' (step 450): [image omitted: streamed camera frame] camera 'left_cam' (step 450): [image omitted: streamed camera frame] camera 'right_cam' (step 450): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.482, "right_j1": 2.216, "right_j2": 1.685, "right_j3": -1.04, "right_j5": 0.482, "right_gripper": 1.0}, "note": "The right gripper closed empty \u2014 the block is sitting just off the jaws to the arm's right and slightly inward. Re-opening and shifting ~3.5 cm right and 2 cm inward at table height for another attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 460
top_cam
camera top_cam step 460
left_cam
camera left_cam step 460
right_cam
camera right_cam step 460
assistant
agent noteAfter the shift, only a sliver of the block shows at the very bottom edge of the right wrist frame, which is where an object right at the grasp point appears. Closing to try the grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9546 left_j2=1.3991 left_j3=-0.9394 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4687 right_j0=0.487 right_j1=2.2456 right_j2=1.6947 right_j3=-1.0729 right_j4=-0.0307 right_j5=0.4786 right_gripper=0.9957 state[joint_eff]: [-0.1983, -1.3333, 5.8051, 2.0244, -0.0464, -0.0562, 0.0611, -0.4308, -14.1197, 5.1761, 0.2808, 0.0904, -0.0366, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 460): [image omitted: streamed camera frame] camera 'left_cam' (step 460): [image omitted: streamed camera frame] camera 'right_cam' (step 460): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "After the shift, only a sliver of the block shows at the very bottom edge of the right wrist frame, which is where an object right at the grasp point appears. Closing to try the grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 470
top_cam
camera top_cam step 470
left_cam
camera left_cam step 470
right_cam
camera right_cam step 470
assistant
agent noteStill empty: the block shows only as a sliver at the very bottom edge of the wrist frame, meaning it is nearer than the grasp point, and both decompositions agree it is also a couple of cm to the arm's right. Backing off 3 cm and shifting 2 cm right for another attempt.
move_joints
right_j00.4330right_j12.1220right_j21.5230right_j3-0.9710right_j50.4330right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9611 left_j2=1.3991 left_j3=-0.947 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4688 right_j0=0.4877 right_j1=2.244 right_j2=1.6928 right_j3=-1.0702 right_j4=-0.0383 right_j5=0.4786 right_gripper=0.0115 state[joint_eff]: [-0.1436, -1.5795, 5.6821, 1.8291, -0.0513, -0.0415, -0.0024, -0.253, -11.7812, 5.5726, 0.1929, 0.0415, 0.0122, 1.0672] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 470): [image omitted: streamed camera frame] camera 'left_cam' (step 470): [image omitted: streamed camera frame] camera 'right_cam' (step 470): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.433, "right_j1": 2.122, "right_j2": 1.523, "right_j3": -0.971, "right_j5": 0.433, "right_gripper": 1.0}, "note": "Still empty: the block shows only as a sliver at the very bottom edge of the wrist frame, meaning it is nearer than the grasp point, and both decompositions agree it is also a couple of cm to the arm's right. Backing off 3 cm and shifting 2 cm right for another attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 480
top_cam
camera top_cam step 480
left_cam
camera left_cam step 480
right_cam
camera right_cam step 480
assistant
agent noteThe red block is now clearly visible low in the right wrist frame but slightly nearer and to the image-left of the jaw gap. Nudging 2 cm further in and ~1 cm to the arm's left to put it exactly at the grasp point.
move_joints
right_j00.4680right_j12.0580right_j21.4180right_j3-0.9310right_j50.4680
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9653 left_j2=1.3983 left_j3=-0.9649 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4689 right_j0=0.4381 right_j1=2.1517 right_j2=1.5383 right_j3=-0.9928 right_j4=-0.0422 right_j5=0.4358 right_gripper=0.9955 state[joint_eff]: [-0.1299, -0.8684, 5.8735, 1.9805, -0.0659, -0.0513, -0.0073, -0.4855, -13.2034, 4.6154, 0.3785, 0.0122, -0.0611, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 480): [image omitted: streamed camera frame] camera 'left_cam' (step 480): [image omitted: streamed camera frame] camera 'right_cam' (step 480): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.468, "right_j1": 2.058, "right_j2": 1.418, "right_j3": -0.931, "right_j5": 0.468}, "note": "The red block is now clearly visible low in the right wrist frame but slightly nearer and to the image-left of the jaw gap. Nudging 2 cm further in and ~1 cm to the arm's left to put it exactly at the grasp point."})
tool
executing move_joints over 2 steps (0.2s)
step 482
top_cam
camera top_cam step 482
left_cam
camera left_cam step 482
right_cam
camera right_cam step 482
assistant
agent noteThe right arm's j1 effort (-11 N·m) shows it is still holding against gravity, i.e. the fingertips never actually reached the table — my closes may simply have been too high. Commanding 5 cm lower to find true table contact for this arm.
move_joints
right_j12.1850right_j21.3690right_j3-0.7540
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9676 left_j2=1.3979 left_j3=-0.968 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4695 right_j0=0.4503 right_j1=2.0968 right_j2=1.459 right_j3=-0.9535 right_j4=-0.0353 right_j5=0.4461 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.0598, 5.7231, 1.7802, -0.0757, -0.0708, 0.0562, 1.0462, -11.2342, 5.2308, 0.486, -0.0171, 0.1734, 0.0855] camera 'top_cam' (step 482): [image omitted: streamed camera frame] camera 'left_cam' (step 482): [image omitted: streamed camera frame] camera 'right_cam' (step 482): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.185, "right_j2": 1.369, "right_j3": -0.754}, "note": "The right arm's j1 effort (-11 N\u00b7m) shows it is still holding against gravity, i.e. the fingertips never actually reached the table \u2014 my closes may simply have been too high. Commanding 5 cm lower to find true table contact for this arm."})
tool
executing move_joints over 4 steps (0.4s)
step 486
top_cam
camera top_cam step 486
left_cam
camera left_cam step 486
right_cam
camera right_cam step 486
assistant
agent noteTable contact confirmed for the right arm (j1 stalled, effort relaxed from -11 to -3 N·m), giving a z bias of 0.090 — nearly the same as the left arm. The block sits between the jaws at the bottom of the wrist frame, so closing now.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9726 left_j2=1.3979 left_j3=-0.9871 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4696 right_j0=0.4625 right_j1=2.0903 right_j2=1.4208 right_j3=-0.9161 right_j4=-0.0231 right_j5=0.453 right_gripper=0.9966 state[joint_eff]: [-0.253, -1.4974, 5.7094, 1.9805, -0.0513, -0.0122, -0.0024, -0.7453, -2.988, 1.1282, 1.8828, -0.1685, -0.0952, -0.0073] camera 'top_cam' (step 486): [image omitted: streamed camera frame] camera 'left_cam' (step 486): [image omitted: streamed camera frame] camera 'right_cam' (step 486): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Table contact confirmed for the right arm (j1 stalled, effort relaxed from -11 to -3 N\u00b7m), giving a z bias of 0.090 \u2014 nearly the same as the left arm. The block sits between the jaws at the bottom of the wrist frame, so closing now."})
tool
executing move_joints over 10 steps (1.0s)
step 496
top_cam
camera top_cam step 496
left_cam
camera left_cam step 496
right_cam
camera right_cam step 496
assistant
agent noteThat close shoved the red block ~8 cm inward (it now shows at image (152,130)), which tells me the fingers were sitting outward of it — the radial tolerance of these thin fingers is only a couple of cm. Re-opening and pulling back 6 cm to line up on the block's new position.
move_joints
right_j00.4630right_j11.9030right_j21.1210right_j3-0.7890right_j50.4630right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9764 left_j2=1.3975 left_j3=-1.0073 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4702 right_j0=0.4648 right_j1=2.083 right_j2=1.4235 right_j3=-0.9241 right_j4=-0.0402 right_j5=0.4446 right_gripper=0.0115 state[joint_eff]: [-0.1299, -1.2103, 5.7231, 1.9072, -0.0513, -0.0415, 0.0464, -0.253, -9.9624, 5.4632, 0.3394, 0.1392, 0.0855, 1.0965] camera 'top_cam' (step 496): [image omitted: streamed camera frame] camera 'left_cam' (step 496): [image omitted: streamed camera frame] camera 'right_cam' (step 496): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.463, "right_j1": 1.903, "right_j2": 1.121, "right_j3": -0.789, "right_j5": 0.463, "right_gripper": 1.0}, "note": "That close shoved the red block ~8 cm inward (it now shows at image (152,130)), which tells me the fingers were sitting outward of it \u2014 the radial tolerance of these thin fingers is only a couple of cm. Re-opening and pulling back 6 cm to line up on the block's new position."})
tool
executing move_joints over 10 steps (1.0s)
step 506
top_cam
camera top_cam step 506
left_cam
camera left_cam step 506
right_cam
camera right_cam step 506
assistant
agent noteAfter the 6 cm pullback the red block sits squarely in the jaw gap at the bottom of the wrist frame, fingertips at table level. Closing to grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3122 left_j1=0.984 left_j2=1.3975 left_j3=-1.0279 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4703 right_j0=0.4648 right_j1=1.8992 right_j2=1.1545 right_j3=-0.7948 right_j4=-0.0452 right_j5=0.4522 right_gripper=0.9957 state[joint_eff]: [0.1162, -1.347, 6.0103, 1.9121, -0.0611, -0.0708, -0.0024, -0.253, -7.9521, 3.6581, 0.3639, -0.0366, 0.0366, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 506): [image omitted: streamed camera frame] camera 'left_cam' (step 506): [image omitted: streamed camera frame] camera 'right_cam' (step 506): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "After the 6 cm pullback the red block sits squarely in the jaw gap at the bottom of the wrist frame, fingertips at table level. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 516
top_cam
camera top_cam step 516
left_cam
camera left_cam step 516
right_cam
camera right_cam step 516
assistant
agent noteAnother shove inward (block now at image (155,140)) confirms my fingers keep landing ~2 cm outboard of the block. Re-opening and pulling back 5 cm to its new position plus that 2 cm bias correction.
move_joints
right_j00.4900right_j11.7480right_j20.9070right_j3-0.7290right_j50.4900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9894 left_j2=1.3975 left_j3=-1.0515 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4637 right_j1=1.8927 right_j2=1.1465 right_j3=-0.7929 right_j4=-0.0429 right_j5=0.4458 right_gripper=0.0115 state[joint_eff]: [-0.3487, -1.6752, 5.7915, 1.9267, -0.0269, -0.0659, -0.0073, -0.0068, -8.1299, 5.8188, 0.3004, -0.0952, 0.0611, 1.072] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 516): [image omitted: streamed camera frame] camera 'left_cam' (step 516): [image omitted: streamed camera frame] camera 'right_cam' (step 516): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.49, "right_j1": 1.748, "right_j2": 0.907, "right_j3": -0.729, "right_j5": 0.49, "right_gripper": 1.0}, "note": "Another shove inward (block now at image (155,140)) confirms my fingers keep landing ~2 cm outboard of the block. Re-opening and pulling back 5 cm to its new position plus that 2 cm bias correction."})
tool
executing move_joints over 10 steps (1.0s)
step 526
top_cam
camera top_cam step 526
left_cam
camera left_cam step 526
right_cam
camera right_cam step 526
assistant
agent noteThe red block is now framed exactly between the two jaw silhouettes at the bottom of the wrist view — the same signature as my successful left-arm grasp. Closing.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3122 left_j1=0.9962 left_j2=1.3972 left_j3=-1.0737 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4911 right_j1=1.7374 right_j2=0.9443 right_j3=-0.7136 right_j4=-0.046 right_j5=0.4747 right_gripper=0.9954 state[joint_eff]: [-0.0615, -1.4564, 5.8735, 1.8632, -0.0659, -0.022, -0.0073, -0.0068, -5.8462, 3.1248, 0.2222, 0.0073, 0.1636, 0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 526): [image omitted: streamed camera frame] camera 'left_cam' (step 526): [image omitted: streamed camera frame] camera 'right_cam' (step 526): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The red block is now framed exactly between the two jaw silhouettes at the bottom of the wrist view \u2014 the same signature as my successful left-arm grasp. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 536
top_cam
camera top_cam step 536
left_cam
camera left_cam step 536
right_cam
camera right_cam step 536
assistant
agent noteRed block grasped by the right arm (residual 0.447 ≈ 4.2 cm, holding effort 1.0). Lifting it straight up 10 cm before transporting it into the left arm's comfortable reach.
move_joints
right_j11.5230right_j21.2030right_j3-1.2510
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=0.9989 left_j2=1.3972 left_j3=-1.0821 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.7313 right_j2=0.9382 right_j3=-0.7185 right_j4=-0.0418 right_j5=0.4709 right_gripper=0.4467 state[joint_eff]: [-0.0342, -1.388, 5.6957, 1.7021, -0.0513, -0.022, -0.0122, -0.1026, -6.7624, 5.6, 0.4322, -0.0855, 0.0269, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 536): [image omitted: streamed camera frame] camera 'left_cam' (step 536): [image omitted: streamed camera frame] camera 'right_cam' (step 536): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.523, "right_j2": 1.203, "right_j3": -1.251}, "note": "Red block grasped by the right arm (residual 0.447 \u2248 4.2 cm, holding effort 1.0). Lifting it straight up 10 cm before transporting it into the left arm's comfortable reach."})
tool
executing move_joints over 9 steps (0.9s)
step 545
top_cam
camera top_cam step 545
left_cam
camera left_cam step 545
right_cam
camera right_cam step 545
assistant
agent noteCarrying the red block up and to the left, to a spot near the middle of the table (overhead ~(100,125)) that sits comfortably inside the left arm's reach, keeping the wrist roll matched to the base yaw so the block stays square.
move_joints
right_j00.8720right_j12.0990right_j21.9310right_j3-1.4030right_j50.8720
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0054 left_j2=1.3972 left_j3=-1.0969 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.5486 right_j2=1.1748 right_j3=-1.1835 right_j4=-0.0418 right_j5=0.4706 right_gripper=0.4494 state[joint_eff]: [-0.2256, -1.4427, 5.9419, 1.7607, -0.0611, -0.0073, -0.0171, -0.0615, -7.1043, 7.6239, 0.2613, -0.0659, -0.0269, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 545): [image omitted: streamed camera frame] camera 'left_cam' (step 545): [image omitted: streamed camera frame] camera 'right_cam' (step 545): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.872, "right_j1": 2.099, "right_j2": 1.931, "right_j3": -1.403, "right_j5": 0.872}, "note": "Carrying the red block up and to the left, to a spot near the middle of the table (overhead ~(100,125)) that sits comfortably inside the left arm's reach, keeping the wrist roll matched to the base yaw so the block stays square."})
tool
executing move_joints over 13 steps (1.3s)
step 558
top_cam
camera top_cam step 558
left_cam
camera left_cam step 558
right_cam
camera right_cam step 558
assistant
agent notePositioned over the drop spot; lowering the red block to the table before releasing it.
move_joints
right_j12.2320right_j21.7140right_j3-1.0530
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0145 left_j2=1.3945 left_j3=-1.1194 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.86 right_j1=2.0853 right_j2=1.8938 right_j3=-1.3895 right_j4=-0.0395 right_j5=0.8211 right_gripper=0.4514 state[joint_eff]: [-0.1026, -2.1265, 5.9419, 1.7753, 0.0024, -0.022, -0.0171, 0.1983, -10.7692, 7.1316, 0.0855, -0.0317, 0.1197, 0.8034] camera 'top_cam' (step 558): [image omitted: streamed camera frame] camera 'left_cam' (step 558): [image omitted: streamed camera frame] camera 'right_cam' (step 558): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.232, "right_j2": 1.714, "right_j3": -1.053}, "note": "Positioned over the drop spot; lowering the red block to the table before releasing it."})
tool
executing move_joints over 6 steps (0.6s)
step 564
top_cam
camera top_cam step 564
left_cam
camera left_cam step 564
right_cam
camera right_cam step 564
assistant
agent noteBlock is ~1.5 cm above the table at the new spot; opening the jaws to release it there.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0199 left_j2=1.3918 left_j3=-1.1271 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2238 right_j2=1.7226 right_j3=-1.1206 right_j4=-0.0422 right_j5=0.8265 right_gripper=0.4545 state[joint_eff]: [-0.1846, -1.894, 6.106, 1.6337, -0.0269, -0.0171, -0.0122, -0.1573, -11.453, 5.9282, 0.2711, -0.0073, -0.105, 0.7057] camera 'top_cam' (step 564): [image omitted: streamed camera frame] camera 'left_cam' (step 564): [image omitted: streamed camera frame] camera 'right_cam' (step 564): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "Block is ~1.5 cm above the table at the new spot; opening the jaws to release it there."})
tool
executing move_joints over 6 steps (0.6s)
step 570
top_cam
camera top_cam step 570
left_cam
camera left_cam step 570
right_cam
camera right_cam step 570
assistant
agent noteRed block released at its new spot. Lifting the right gripper straight up off it so I don't drag it when I retract the arm.
move_joints
right_j12.0990right_j21.9310right_j3-1.4030
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0214 left_j2=1.3907 left_j3=-1.1416 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2406 right_j2=1.713 right_j3=-1.1217 right_j4=-0.0422 right_j5=0.8211 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.6889, 5.9419, 1.6874, -0.0464, -0.0464, -0.0122, -0.1436, -12.9299, 6.188, 0.1978, -0.0317, 0.0611, -0.1148] camera 'top_cam' (step 570): [image omitted: streamed camera frame] camera 'left_cam' (step 570): [image omitted: streamed camera frame] camera 'right_cam' (step 570): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.099, "right_j2": 1.931, "right_j3": -1.403}, "note": "Red block released at its new spot. Lifting the right gripper straight up off it so I don't drag it when I retract the arm."})
tool
executing move_joints over 5 steps (0.5s)
step 575
top_cam
camera top_cam step 575
left_cam
camera left_cam step 575
right_cam
camera right_cam step 575
assistant
agent noteRed block is now sitting alone at overhead (117,140), well inside the left arm's reach. Parking the right arm back at its base to clear the workspace before the left arm comes in to stack.
move_joints
right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0241 left_j2=1.3907 left_j3=-1.1488 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.1464 right_j2=1.8996 right_j3=-1.3426 right_j4=-0.0422 right_j5=0.8192 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.6752, 5.7504, 1.6288, 0.0073, -0.0513, -0.0171, -0.1709, -13.3949, 6.8855, 0.1734, -0.0562, -0.0024, 0.0708] camera 'top_cam' (step 575): [image omitted: streamed camera frame] camera 'left_cam' (step 575): [image omitted: streamed camera frame] camera 'right_cam' (step 575): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "Red block is now sitting alone at overhead (117,140), well inside the left arm's reach. Parking the right arm back at its base to clear the workspace before the left arm comes in to stack."})
tool
executing move_joints over 25 steps (2.5s)
step 600
top_cam
camera top_cam step 600
left_cam
camera left_cam step 600
right_cam
camera right_cam step 600
assistant
agent noteWorkspace is clear with the red block alone at overhead (111,140). Using my grasp-anchored pixel-to-joint mapping, I'm bringing the left arm (still holding the blue block) to hover ~15 cm directly above it.
move_joints
left_j0-0.9260left_j12.0980left_j22.1350left_j3-1.6070left_j5-0.9800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3126 left_j1=1.0306 left_j2=1.3869 left_j3=-1.1648 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.0109 right_j1=0.6224 right_j2=1.2079 right_j3=-0.6674 right_j4=-0.054 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.894, 6.0239, 1.7314, -0.0611, -0.0366, -0.0122, -0.1709, 2.1812, 5.5726, 2.4689, 0.1099, -0.0171, -0.0073] camera 'top_cam' (step 600): [image omitted: streamed camera frame] camera 'left_cam' (step 600): [image omitted: streamed camera frame] camera 'right_cam' (step 600): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.926, "left_j1": 2.098, "left_j2": 2.135, "left_j3": -1.607, "left_j5": -0.98}, "note": "Workspace is clear with the red block alone at overhead (111,140). Using my grasp-anchored pixel-to-joint mapping, I'm bringing the left arm (still holding the blue block) to hover ~15 cm directly above it."})
tool
executing move_joints over 17 steps (1.7s)
step 617
top_cam
camera top_cam step 617
left_cam
camera left_cam step 617
right_cam
camera right_cam step 617
assistant
agent noteHovering with the carried block lined up in the same image column as the red block. Descending to ~1 cm above the red block's top face: at that height both blocks are at nearly the same height in the overhead view, so I can check alignment with almost no parallax error before releasing.
move_joints
left_j12.1610left_j21.8180left_j3-1.2280
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9073 left_j1=2.0834 left_j2=2.0972 left_j3=-1.5681 left_j4=-0.0071 left_j5=-0.918 left_gripper=0.4711 right_j0=0.0101 right_j1=0.6243 right_j2=1.2045 right_j3=-0.6823 right_j4=-0.0578 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.3487, -11.2342, 8.0205, -0.0904, -0.0708, -0.1099, 0.0562, -0.0205, 1.4974, 5.4769, 2.0586, 0.0562, -0.0171, -0.0122] camera 'top_cam' (step 617): [image omitted: streamed camera frame] camera 'left_cam' (step 617): [image omitted: streamed camera frame] camera 'right_cam' (step 617): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.161, "left_j2": 1.818, "left_j3": -1.228}, "note": "Hovering with the carried block lined up in the same image column as the red block. Descending to ~1 cm above the red block's top face: at that height both blocks are at nearly the same height in the overhead view, so I can check alignment with almost no parallax error before releasing."})
tool
executing move_joints over 6 steps (0.6s)
step 623
top_cam
camera top_cam step 623
left_cam
camera left_cam step 623
right_cam
camera right_cam step 623
assistant
agent noteThe wrist view shows the two blocks side by side and nearly touching, with the red one about 4 cm further out. Translating 4 cm outward at this height (1 cm of clearance over the red block) to bring my block directly over it.
move_joints
left_j12.3160left_j22.0830left_j3-1.3380
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9092 left_j1=2.1555 left_j2=1.837 left_j3=-1.2942 left_j4=-0.0074 left_j5=-0.931 left_gripper=0.4717 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.6876 right_j4=-0.0582 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.3214, -10.865, 5.9556, 0.2857, -0.022, 0.1099, 0.0562, -0.1026, 1.5658, 5.5726, 1.9707, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 623): [image omitted: streamed camera frame] camera 'left_cam' (step 623): [image omitted: streamed camera frame] camera 'right_cam' (step 623): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.316, "left_j2": 2.083, "left_j3": -1.338}, "note": "The wrist view shows the two blocks side by side and nearly touching, with the red one about 4 cm further out. Translating 4 cm outward at this height (1 cm of clearance over the red block) to bring my block directly over it."})
tool
executing move_joints over 4 steps (0.4s)
step 627
top_cam
camera top_cam step 627
left_cam
camera left_cam step 627
right_cam
camera right_cam step 627
assistant
agent noteNow that the blocks are at the same height in the wrist view, the remaining error is clearly lateral: the red block sits ~4 cm to the arm's left of my carried block. Shifting left by that amount (and 1 cm further out) while keeping 1 cm of vertical clearance.
move_joints
left_j0-0.8150left_j12.3600left_j22.1590left_j3-1.3700left_j5-0.8450
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.91 left_j1=2.3127 left_j2=2.0407 left_j3=-1.322 left_j4=-0.0071 left_j5=-0.9405 left_gripper=0.4723 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.701 right_j4=-0.0608 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.253, -13.2034, 8.0615, 0.0708, -0.0855, 0.0073, 0.0415, -0.3487, 1.6752, 5.2308, 2.0, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 627): [image omitted: streamed camera frame] camera 'left_cam' (step 627): [image omitted: streamed camera frame] camera 'right_cam' (step 627): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.815, "left_j1": 2.36, "left_j2": 2.159, "left_j3": -1.37, "left_j5": -0.845}, "note": "Now that the blocks are at the same height in the wrist view, the remaining error is clearly lateral: the red block sits ~4 cm to the arm's left of my carried block. Shifting left by that amount (and 1 cm further out) while keeping 1 cm of vertical clearance."})
tool
executing move_joints over 2 steps (0.2s)
step 629
top_cam
camera top_cam step 629
left_cam
camera left_cam step 629
right_cam
camera right_cam step 629
assistant
agent noteThe yaw badly undershot (only 0.03 of 0.095 rad) and j0 effort rose, so I may be brushing the red block. Lifting 2 cm for clearance and re-commanding the leftward yaw with a stronger target.
move_joints
left_j0-0.7800left_j12.3460left_j22.2160left_j3-1.4410left_j5-0.8200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.881 left_j1=2.3489 left_j2=2.1101 left_j3=-1.3613 left_j4=0.0002 left_j5=-0.9051 left_gripper=0.4723 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7055 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [3.2752, -12.6974, 7.5009, 0.1636, -0.1148, 0.149, -0.0024, -0.1436, 1.7846, 5.2171, 1.9902, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 629): [image omitted: streamed camera frame] camera 'left_cam' (step 629): [image omitted: streamed camera frame] camera 'right_cam' (step 629): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.78, "left_j1": 2.346, "left_j2": 2.216, "left_j3": -1.441, "left_j5": -0.82}, "note": "The yaw badly undershot (only 0.03 of 0.095 rad) and j0 effort rose, so I may be brushing the red block. Lifting 2 cm for clearance and re-commanding the leftward yaw with a stronger target."})
tool
executing move_joints over 2 steps (0.2s)
step 631
top_cam
camera top_cam step 631
left_cam
camera left_cam step 631
right_cam
camera right_cam step 631
assistant
agent noteThe red block has disappeared from the wrist view, which should mean it is now directly beneath my carried block. Descending 5 cm — if the blocks are stacked the descent will stall on contact about 1.5 cm early, which is my confirmation.
move_joints
left_j12.3930left_j22.0920left_j3-1.2690
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8055 left_j1=2.3699 left_j2=2.1632 left_j3=-1.4048 left_j4=-0.0029 left_j5=-0.852 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7097 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [1.5521, -14.8171, 8.6769, 0.2759, 0.0122, 0.2906, -0.0073, -0.335, 1.6479, 5.3265, 1.9267, -0.0806, -0.0708, -0.0122] camera 'top_cam' (step 631): [image omitted: streamed camera frame] camera 'left_cam' (step 631): [image omitted: streamed camera frame] camera 'right_cam' (step 631): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.393, "left_j2": 2.092, "left_j3": -1.269}, "note": "The red block has disappeared from the wrist view, which should mean it is now directly beneath my carried block. Descending 5 cm \u2014 if the blocks are stacked the descent will stall on contact about 1.5 cm early, which is my confirmation."})
tool
executing move_joints over 3 steps (0.3s)
step 634
top_cam
camera top_cam step 634
left_cam
camera left_cam step 634
right_cam
camera right_cam step 634
assistant
agent noteThe descent went below the red block's top with no contact, and the red block vanished from the wrist view — which for this camera means it is nearer than the grasp point, i.e. inboard of my block. Lifting for clearance and retracting 6 cm to bring my block back over it.
move_joints
left_j12.0820left_j21.7790left_j3-1.2670
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7998 left_j1=2.3856 left_j2=2.1071 left_j3=-1.3357 left_j4=-0.0036 left_j5=-0.8452 left_gripper=0.4724 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.294, -12.4923, 5.7641, 0.3639, -0.0464, -0.0806, -0.0171, -0.0752, 2.0581, 5.3949, 2.0586, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 634): [image omitted: streamed camera frame] camera 'left_cam' (step 634): [image omitted: streamed camera frame] camera 'right_cam' (step 634): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.082, "left_j2": 1.779, "left_j3": -1.267}, "note": "The descent went below the red block's top with no contact, and the red block vanished from the wrist view \u2014 which for this camera means it is nearer than the grasp point, i.e. inboard of my block. Lifting for clearance and retracting 6 cm to bring my block back over it."})
tool
executing move_joints over 6 steps (0.6s)
step 640
top_cam
camera top_cam step 640
left_cam
camera left_cam step 640
right_cam
camera right_cam step 640
assistant
agent noteA sliver of the red block is just peeking above my carried block in the wrist view, so it is nearly under me. Retracting the last 1.5 cm while descending 3.5 cm — if it lands on the red block the descent will stall at ~4 cm with rising effort.
move_joints
left_j12.1160left_j21.6330left_j3-1.0880
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8028 left_j1=2.1269 left_j2=1.8053 left_j3=-1.2709 left_j4=-0.004 left_j5=-0.8532 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.3487, -12.8342, 5.3812, 0.4664, -0.0611, 0.0513, -0.0122, -0.1709, 1.7983, 5.3949, 2.0098, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 640): [image omitted: streamed camera frame] camera 'left_cam' (step 640): [image omitted: streamed camera frame] camera 'right_cam' (step 640): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.116, "left_j2": 1.633, "left_j3": -1.088}, "note": "A sliver of the red block is just peeking above my carried block in the wrist view, so it is nearly under me. Retracting the last 1.5 cm while descending 3.5 cm \u2014 if it lands on the red block the descent will stall at ~4 cm with rising effort."})
tool
executing move_joints over 3 steps (0.3s)
step 643
top_cam
camera top_cam step 643
left_cam
camera left_cam step 643
right_cam
camera right_cam step 643
assistant
agent noteThe descent stopped ~0.9 cm high with j1's holding torque easing from -12.8 to -9.8 N·m, which looks like the block has landed on the red one. Commanding 2 cm lower as a confirmation: if it refuses to descend further, we are truly resting on the block.
move_joints
left_j12.1290left_j21.6090left_j3-1.0510
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8028 left_j1=2.1082 left_j2=1.6577 left_j3=-1.1484 left_j4=-0.0036 left_j5=-0.8555 left_gripper=0.4726 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.1162, -9.8393, 5.2171, 0.2613, -0.0513, 0.0171, 0.0269, -0.1983, 1.7299, 5.2171, 2.0391, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 643): [image omitted: streamed camera frame] camera 'left_cam' (step 643): [image omitted: streamed camera frame] camera 'right_cam' (step 643): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.129, "left_j2": 1.609, "left_j3": -1.051}, "note": "The descent stopped ~0.9 cm high with j1's holding torque easing from -12.8 to -9.8 N\u00b7m, which looks like the block has landed on the red one. Commanding 2 cm lower as a confirmation: if it refuses to descend further, we are truly resting on the block."})
tool
executing move_joints over 2 steps (0.2s)
step 645
top_cam
camera top_cam step 645
left_cam
camera left_cam step 645
right_cam
camera right_cam step 645
assistant
agent noteThe arm has stalled against something at ~4 cm height, exactly the red block's top face, so I'm opening the jaws to release the blue block there. I'll pull the arm away next and check the stack from overhead.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8009 left_j1=2.1075 left_j2=1.6405 left_j3=-1.1172 left_j4=-0.0044 left_j5=-0.8566 left_gripper=0.4731 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7509 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.335, -9.3197, 3.7265, 0.6618, -0.0757, -0.0269, 0.0366, -0.0068, 1.6342, 5.4222, 1.9219, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 645): [image omitted: streamed camera frame] camera 'left_cam' (step 645): [image omitted: streamed camera frame] camera 'right_cam' (step 645): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "The arm has stalled against something at ~4 cm height, exactly the red block's top face, so I'm opening the jaws to release the blue block there. I'll pull the arm away next and check the stack from overhead."})
tool
executing move_joints over 6 steps (0.6s)
step 651
top_cam
camera top_cam step 651
left_cam
camera left_cam step 651
right_cam
camera right_cam step 651
assistant
agent noteBlock released. Lifting the open gripper straight up off it so I can see from overhead whether it actually landed on top of the red block.
move_joints
left_j11.9900left_j21.9730left_j3-1.5540
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8009 left_j1=2.125 left_j2=1.6169 left_j3=-1.1076 left_j4=-0.004 left_j5=-0.8608 left_gripper=0.9959 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.762 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.335, -12.4513, 7.9248, 0.0708, -0.0366, -0.0171, -0.1392, -0.1846, 1.6205, 5.2308, 1.9805, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 651): [image omitted: streamed camera frame] camera 'left_cam' (step 651): [image omitted: streamed camera frame] camera 'right_cam' (step 651): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.99, "left_j2": 1.973, "left_j3": -1.554}, "note": "Block released. Lifting the open gripper straight up off it so I can see from overhead whether it actually landed on top of the red block."})
tool
executing move_joints over 8 steps (0.8s)
step 659
top_cam
camera top_cam step 659
left_cam
camera left_cam step 659
right_cam
camera right_cam step 659
assistant
agent noteClear view now: the two blocks are side by side, not stacked — the wooden block landed ~5 cm outboard of the red one. Descending straight back down onto the wooden block (it is exactly where my fingertips were when I released it) to re-grasp it.
move_joints
left_j12.1810left_j21.5750left_j3-0.9650left_j5-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8009 left_j1=2.0323 left_j2=1.9354 left_j3=-1.4872 left_j4=-0.0036 left_j5=-0.8639 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7841 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.1436, -12.8615, 7.5692, 0.0904, -0.0122, -0.0366, 0.0757, -0.0615, 1.853, 5.2034, 2.1465, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 659): [image omitted: streamed camera frame] camera 'left_cam' (step 659): [image omitted: streamed camera frame] camera 'right_cam' (step 659): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.181, "left_j2": 1.575, "left_j3": -0.965, "left_j5": -0.8}, "note": "Clear view now: the two blocks are side by side, not stacked \u2014 the wooden block landed ~5 cm outboard of the red one. Descending straight back down onto the wooden block (it is exactly where my fingertips were when I released it) to re-grasp it."})
tool
executing move_joints over 9 steps (0.9s)
step 668
top_cam
camera top_cam step 668
left_cam
camera left_cam step 668
right_cam
camera right_cam step 668
assistant
agent noteFingertips are back at table level with the wooden block filling the jaw gap in the wrist view. 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=-0.8009 left_j1=2.1681 left_j2=1.5909 left_j3=-1.0359 left_j4=-0.004 left_j5=-0.8146 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7918 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.0615, -10.6051, 5.4769, 0.4615, -0.0562, 0.0952, -0.0073, -0.0615, 1.7573, 5.3675, 2.0147, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 668): [image omitted: streamed camera frame] camera 'left_cam' (step 668): [image omitted: streamed camera frame] camera 'right_cam' (step 668): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are back at table level with the wooden block filling the jaw gap in the wrist view. Closing to re-grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 678
top_cam
camera top_cam step 678
left_cam
camera left_cam step 678
right_cam
camera right_cam step 678
assistant
agent noteRe-grasped the wooden block (residual 0.443, holding effort 1.0). Lifting 10 cm straight up before translating over the red block.
move_joints
left_j12.0140left_j21.8020left_j3-1.3590
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8009 left_j1=2.1735 left_j2=1.5837 left_j3=-1.0252 left_j4=-0.001 left_j5=-0.8154 left_gripper=0.4433 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7994 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.1573, -11.3573, 6.0103, 0.0757, -0.0952, -0.0317, 1.033, -0.2256, 1.6479, 5.3402, 1.9365, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 678): [image omitted: streamed camera frame] camera 'left_cam' (step 678): [image omitted: streamed camera frame] camera 'right_cam' (step 678): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.014, "left_j2": 1.802, "left_j3": -1.359}, "note": "Re-grasped the wooden block (residual 0.443, holding effort 1.0). Lifting 10 cm straight up before translating over the red block."})
tool
executing move_joints over 6 steps (0.6s)
step 684
top_cam
camera top_cam step 684
left_cam
camera left_cam step 684
right_cam
camera right_cam step 684
assistant
agent noteRed block clearly visible at overhead (107,145). Using my anchored mapping plus the bias I measured from the last attempt (my placements land ~2.5 cm outboard), I'm moving the carried block to hover 10 cm above the red block.
move_joints
left_j0-1.0000left_j11.9400left_j21.6970left_j3-1.3270left_j5-1.0300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8009 left_j1=2.0628 left_j2=1.7683 left_j3=-1.2976 left_j4=-0.0002 left_j5=-0.8188 left_gripper=0.4463 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8104 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.1436, -12.8889, 7.5829, 0.0904, -0.0611, -0.022, 1.0183, -0.3487, 1.894, 5.2308, 2.0244, -0.0317, -0.0073, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 684): [image omitted: streamed camera frame] camera 'left_cam' (step 684): [image omitted: streamed camera frame] camera 'right_cam' (step 684): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.0, "left_j1": 1.94, "left_j2": 1.697, "left_j3": -1.327, "left_j5": -1.03}, "note": "Red block clearly visible at overhead (107,145). Using my anchored mapping plus the bias I measured from the last attempt (my placements land ~2.5 cm outboard), I'm moving the carried block to hover 10 cm above the red block."})
tool
executing move_joints over 4 steps (0.4s)
step 688
top_cam
camera top_cam step 688
left_cam
camera left_cam step 688
right_cam
camera right_cam step 688
assistant
agent noteHovering 8 cm above the red block with a sliver of it just visible past my carried block. Lowering to ~4.5 cm, just above the red block's top face, and watching for the contact stall.
move_joints
left_j12.0370left_j21.5960left_j3-1.1290
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9859 left_j1=2.0102 left_j2=1.7027 left_j3=-1.3209 left_j4=-0.0021 left_j5=-0.9646 left_gripper=0.4468 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8154 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [1.1692, -15.0496, 5.6957, 0.1929, -0.0415, -0.105, 1.0379, 0.0615, 1.9897, 5.2171, 1.9316, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 688): [image omitted: streamed camera frame] camera 'left_cam' (step 688): [image omitted: streamed camera frame] camera 'right_cam' (step 688): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.037, "left_j2": 1.596, "left_j3": -1.129}, "note": "Hovering 8 cm above the red block with a sliver of it just visible past my carried block. Lowering to ~4.5 cm, just above the red block's top face, and watching for the contact stall."})
tool
executing move_joints over 4 steps (0.4s)
step 692
top_cam
camera top_cam step 692
left_cam
camera left_cam step 692
right_cam
camera right_cam step 692
assistant
agent noteThis pose matches both my corrected mapping and the direct error correction measured from the failed attempt. Descending ~2 cm to below the red block's top face: a stall means the block is resting on it.
move_joints
left_j12.0570left_j21.5390left_j3-1.0520
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9894 left_j1=2.0464 left_j2=1.6047 left_j3=-1.1866 left_j4=0.0074 left_j5=-0.9802 left_gripper=0.4469 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8356 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.3897, -11.5077, 6.0786, 0.2906, -0.0904, 0.0513, 1.0183, -0.1709, 1.6479, 5.2034, 2.0977, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 692): [image omitted: streamed camera frame] camera 'left_cam' (step 692): [image omitted: streamed camera frame] camera 'right_cam' (step 692): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.057, "left_j2": 1.539, "left_j3": -1.052}, "note": "This pose matches both my corrected mapping and the direct error correction measured from the failed attempt. Descending ~2 cm to below the red block's top face: a stall means the block is resting on it."})
tool
executing move_joints over 3 steps (0.3s)
step 695
top_cam
camera top_cam step 695
left_cam
camera left_cam step 695
right_cam
camera right_cam step 695
assistant
agent noteStill not stacked — the red block remains visible beside my block. Last attempt taught me that at this wrist roll the wrist image's left/right is inverted, so that offset means the red block is ~2.7 cm to the arm's right; lifting for clearance and yawing right by that amount.
move_joints
left_j0-1.0900left_j11.9990left_j21.6080left_j3-1.1800left_j5-1.0700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9909 left_j1=2.0552 left_j2=1.5639 left_j3=-1.1061 left_j4=0.0078 left_j5=-0.9771 left_gripper=0.4475 right_j0=0.0101 right_j1=0.6258 right_j2=1.2045 right_j3=-0.844 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.1436, -10.4, 3.8496, 0.6227, -0.0122, -0.1001, 0.9499, -0.2256, 2.0444, 5.3402, 1.9463, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 695): [image omitted: streamed camera frame] camera 'left_cam' (step 695): [image omitted: streamed camera frame] camera 'right_cam' (step 695): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.09, "left_j1": 1.999, "left_j2": 1.608, "left_j3": -1.18, "left_j5": -1.07}, "note": "Still not stacked \u2014 the red block remains visible beside my block. Last attempt taught me that at this wrist roll the wrist image's left/right is inverted, so that offset means the red block is ~2.7 cm to the arm's right; lifting for clearance and yawing right by that amount."})
tool
executing move_joints over 2 steps (0.2s)
step 697
top_cam
camera top_cam step 697
left_cam
camera left_cam step 697
right_cam
camera right_cam step 697
assistant
agent noteThe yaw stalled with negative j0 effort, meaning my block is pressing against the red block's side. Lifting cleanly to ~9 cm first so I can shift sideways without shoving it.
move_joints
left_j11.9610left_j21.6830left_j3-1.2930
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0286 left_j1=2.0491 left_j2=1.573 left_j3=-1.132 left_j4=-0.0002 left_j5=-1.018 left_gripper=0.4497 right_j0=0.0101 right_j1=0.6262 right_j2=1.2045 right_j3=-0.8528 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-2.5915, -14.4205, 8.1162, 0.2125, 0.0806, -0.0415, 0.8669, -0.1846, 1.9214, 5.3265, 1.9512, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 697): [image omitted: streamed camera frame] camera 'left_cam' (step 697): [image omitted: streamed camera frame] camera 'right_cam' (step 697): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.961, "left_j2": 1.683, "left_j3": -1.293}, "note": "The yaw stalled with negative j0 effort, meaning my block is pressing against the red block's side. Lifting cleanly to ~9 cm first so I can shift sideways without shoving it."})
tool
executing move_joints over 3 steps (0.3s)
step 700
top_cam
camera top_cam step 700
left_cam
camera left_cam step 700
right_cam
camera right_cam step 700
assistant
agent noteI have been nudging the red block around, so my position estimates are stale. Pulling the left arm (still holding the block) back near its base for one clean, unobstructed overhead look at where the red block actually is now.
move_joints
left_j0-0.4000left_j11.0000left_j21.4500left_j3-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0328 left_j1=2.0331 left_j2=1.6417 left_j3=-1.2392 left_j4=0.0139 left_j5=-1.0389 left_gripper=0.4527 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8589 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.759, -15.2, 8.5402, 0.0611, -0.1783, 0.2027, 0.6813, -0.0615, 1.6615, 5.3402, 1.9414, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 700): [image omitted: streamed camera frame] camera 'left_cam' (step 700): [image omitted: streamed camera frame] camera 'right_cam' (step 700): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4, "left_j1": 1.0, "left_j2": 1.45, "left_j3": -0.85}, "note": "I have been nudging the red block around, so my position estimates are stale. Pulling the left arm (still holding the block) back near its base for one clean, unobstructed overhead look at where the red block actually is now."})
tool
executing move_joints over 17 steps (1.7s)
step 717
top_cam
camera top_cam step 717
left_cam
camera left_cam step 717
right_cam
camera right_cam step 717
assistant
agent noteClean shot: the red block is alone at overhead (105,148). Solving directly from my one measured placement trial (aim pose → where the block actually landed), the stack point is r=0.322 m at j0=-0.99; moving there at 6.6 cm height.
move_joints
left_j0-1.0100left_j11.9510left_j21.5380left_j3-1.1580
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4175 left_j1=1.0317 left_j2=1.4544 left_j3=-0.9108 left_j4=0.0154 left_j5=-1.0477 left_gripper=0.455 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8665 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [0.3487, -1.7846, 5.6684, 2.2833, -0.0171, 0.0562, 0.486, -0.0205, 1.7573, 5.3675, 1.9414, -0.0708, -0.0171, -0.0122] camera 'top_cam' (step 717): [image omitted: streamed camera frame] camera 'left_cam' (step 717): [image omitted: streamed camera frame] camera 'right_cam' (step 717): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.01, "left_j1": 1.951, "left_j2": 1.538, "left_j3": -1.158}, "note": "Clean shot: the red block is alone at overhead (105,148). Solving directly from my one measured placement trial (aim pose \u2192 where the block actually landed), the stack point is r=0.322 m at j0=-0.99; moving there at 6.6 cm height."})
tool
executing move_joints over 15 steps (1.5s)
step 732
top_cam
camera top_cam step 732
left_cam
camera left_cam step 732
right_cam
camera right_cam step 732
assistant
agent noteOverhead says I'm within ~2 cm: the red block is a touch to the arm's left and inboard of my carried block. Applying that small correction while descending onto the red block's top face.
move_joints
left_j0-1.0220left_j11.9020left_j21.3960left_j3-1.0640
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.992 left_j1=1.9381 left_j2=1.515 left_j3=-1.1267 left_j4=0.0166 left_j5=-1.0481 left_gripper=0.455 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8845 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.253, -10.8103, 8.1299, 0.0122, -0.0855, -0.0269, 0.5543, -0.2803, 1.5658, 5.2171, 2.1026, -0.0415, -0.0024, -0.0122] camera 'top_cam' (step 732): [image omitted: streamed camera frame] camera 'left_cam' (step 732): [image omitted: streamed camera frame] camera 'right_cam' (step 732): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.022, "left_j1": 1.902, "left_j2": 1.396, "left_j3": -1.064}, "note": "Overhead says I'm within ~2 cm: the red block is a touch to the arm's left and inboard of my carried block. Applying that small correction while descending onto the red block's top face."})
tool
executing move_joints over 2 steps (0.2s)
step 734
top_cam
camera top_cam step 734
left_cam
camera left_cam step 734
right_cam
camera right_cam step 734
assistant
agent noteThe red block has disappeared from the overhead view — hidden beneath my carried block, which is what I want. Pressing 1.5 cm lower to seat the block on top of it and confirm contact.
move_joints
left_j11.9630left_j21.3940left_j3-1.0020
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0153 left_j1=1.9434 left_j2=1.4368 left_j3=-1.0927 left_j4=0.0177 left_j5=-1.0477 left_gripper=0.4579 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8894 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.759, -11.9316, 5.6274, 0.5592, -0.0464, -0.0366, 0.2955, -0.0205, 1.6342, 5.2034, 2.0195, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 734): [image omitted: streamed camera frame] camera 'left_cam' (step 734): [image omitted: streamed camera frame] camera 'right_cam' (step 734): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.963, "left_j2": 1.394, "left_j3": -1.002}, "note": "The red block has disappeared from the overhead view \u2014 hidden beneath my carried block, which is what I want. Pressing 1.5 cm lower to seat the block on top of it and confirm contact."})
tool
executing move_joints over 2 steps (0.2s)
step 736
top_cam
camera top_cam step 736
left_cam
camera left_cam step 736
right_cam
camera right_cam step 736
assistant
agent noteThe descent stopped dead at 4.6 cm with j1's holding torque dropping from -11.9 to -7.3 N·m — the block is resting on the red block's top face. Opening the jaws to release it there.
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=-1.0187 left_j1=1.9415 left_j2=1.3949 left_j3=-1.0584 left_j4=0.0185 left_j5=-1.0481 left_gripper=0.46 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9012 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.0068, -7.2957, 5.3812, 0.7057, -0.0269, -0.0171, 0.2173, -0.0752, 1.6342, 5.3128, 2.0195, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 736): [image omitted: streamed camera frame] camera 'left_cam' (step 736): [image omitted: streamed camera frame] camera 'right_cam' (step 736): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "The descent stopped dead at 4.6 cm with j1's holding torque dropping from -11.9 to -7.3 N\u00b7m \u2014 the block is resting on the red block's top face. Opening the jaws to release it there."})
tool
executing move_joints over 6 steps (0.6s)
step 742
top_cam
camera top_cam step 742
left_cam
camera left_cam step 742
right_cam
camera right_cam step 742
assistant
agent noteReleased. The wrist view already suggests a stack (the red block's face sits behind and below the wooden block's top face). Lifting the open gripper straight up to clear the blocks before checking from overhead.
move_joints
left_j11.8100left_j21.7300left_j3-1.4910
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0195 left_j1=1.943 left_j2=1.3937 left_j3=-1.0584 left_j4=0.0181 left_j5=-1.0481 left_gripper=0.9958 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9115 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.294, -9.6342, 5.559, 0.188, -0.0024, -0.0073, -0.1343, -0.1436, 1.894, 5.2034, 1.9756, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 742): [image omitted: streamed camera frame] camera 'left_cam' (step 742): [image omitted: streamed camera frame] camera 'right_cam' (step 742): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.81, "left_j2": 1.73, "left_j3": -1.491}, "note": "Released. The wrist view already suggests a stack (the red block's face sits behind and below the wooden block's top face). Lifting the open gripper straight up to clear the blocks before checking from overhead."})
tool
executing move_joints over 7 steps (0.7s)
step 749
top_cam
camera top_cam step 749
left_cam
camera left_cam step 749
right_cam
camera right_cam step 749
assistant
agent noteThe block slid off and ended up beside the red one again — overhead now shows the wooden block at (107,155) and the red at (111,144), i.e. the target is 3.9 cm further out and 1.4 cm right. Descending to re-grasp the wooden block where it lies.
move_joints
left_j12.0430left_j21.3410left_j3-0.8690
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0195 left_j1=1.8488 left_j2=1.6955 left_j3=-1.4189 left_j4=0.0189 left_j5=-1.0485 left_gripper=0.9967 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9222 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.3624, -11.0701, 7.4325, 0.1197, -0.0708, -0.0513, 0.0806, -0.212, 1.6752, 5.2171, 1.9707, -0.0562, -0.0073, -0.0122] camera 'top_cam' (step 749): [image omitted: streamed camera frame] camera 'left_cam' (step 749): [image omitted: streamed camera frame] camera 'right_cam' (step 749): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.043, "left_j2": 1.341, "left_j3": -0.869}, "note": "The block slid off and ended up beside the red one again \u2014 overhead now shows the wooden block at (107,155) and the red at (111,144), i.e. the target is 3.9 cm further out and 1.4 cm right. Descending to re-grasp the wooden block where it lies."})
tool
executing move_joints over 9 steps (0.9s)
step 758
top_cam
camera top_cam step 758
left_cam
camera left_cam step 758
right_cam
camera right_cam step 758
assistant
agent noteFingertips are back at table level at the wooden block's position (the red block is the one visible just beyond the jaws). Closing to re-grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0195 left_j1=2.0331 left_j2=1.3567 left_j3=-0.944 left_j4=0.0238 left_j5=-1.0489 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9283 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.0615, -9.1145, 4.547, 0.5104, -0.5006, -0.0122, -0.0024, -0.0205, 1.6479, 5.1897, 1.9512, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 758): [image omitted: streamed camera frame] camera 'left_cam' (step 758): [image omitted: streamed camera frame] camera 'right_cam' (step 758): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are back at table level at the wooden block's position (the red block is the one visible just beyond the jaws). Closing to re-grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 768
top_cam
camera top_cam step 768
left_cam
camera left_cam step 768
right_cam
camera right_cam step 768
assistant
agent noteThe close came up empty — the block had been nudged inboard to overhead (110,175). Moving over its new position at 7 cm height with jaws open for one more grasp attempt.
move_joints
left_j0-1.2760left_j11.8700left_j21.4270left_j3-1.1270left_j5-1.2800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0195 left_j1=2.0327 left_j2=1.3537 left_j3=-0.939 left_j4=0.0227 left_j5=-1.0481 left_gripper=0.0102 right_j0=0.0101 right_j1=0.6273 right_j2=1.2037 right_j3=-0.9436 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.0479, -9.8256, 5.4359, 0.149, 0.0073, 0.0122, 0.823, -0.0889, 1.7436, 5.2581, 2.0391, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 768): [image omitted: streamed camera frame] camera 'left_cam' (step 768): [image omitted: streamed camera frame] camera 'right_cam' (step 768): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.276, "left_j1": 1.87, "left_j2": 1.427, "left_j3": -1.127, "left_j5": -1.28, "left_gripper": 1.0}, "note": "The close came up empty \u2014 the block had been nudged inboard to overhead (110,175). Moving over its new position at 7 cm height with jaws open for one more grasp attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 778
top_cam
camera top_cam step 778
left_cam
camera left_cam step 778
right_cam
camera right_cam step 778
assistant
agent noteThe wooden block is centred in the wrist view just beyond the jaws. Moving 2 cm further out while descending to table level so it sits exactly in the jaw gap.
move_joints
left_j12.0780left_j21.4000left_j3-0.8920
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2629 left_j1=1.9087 left_j2=1.3998 left_j3=-1.0916 left_j4=0.0193 left_j5=-1.2469 left_gripper=0.9951 right_j0=0.0101 right_j1=0.6277 right_j2=1.2026 right_j3=-0.963 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.3214, -11.4393, 8.0479, 0.1538, -0.022, -0.1245, -0.1441, -0.0889, 1.8393, 5.2718, 2.0098, -0.0171, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 778): [image omitted: streamed camera frame] camera 'left_cam' (step 778): [image omitted: streamed camera frame] camera 'right_cam' (step 778): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.078, "left_j2": 1.4, "left_j3": -0.892}, "note": "The wooden block is centred in the wrist view just beyond the jaws. Moving 2 cm further out while descending to table level so it sits exactly in the jaw gap."})
tool
executing move_joints over 4 steps (0.4s)
step 782
top_cam
camera top_cam step 782
left_cam
camera left_cam step 782
right_cam
camera right_cam step 782
assistant
agent noteThe wooden block now fills the jaw gap at the bottom of the wrist frame. Closing to grasp it.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2579 left_j1=2.0346 left_j2=1.4109 left_j3=-1.0248 left_j4=0.0002 left_j5=-1.2575 left_gripper=0.9966 right_j0=0.0101 right_j1=0.6277 right_j2=1.2007 right_j3=-0.9707 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.5675, -8.9231, 4.3829, 0.2076, 0.0708, 0.0464, 0.1441, -0.0752, 1.6342, 5.3402, 1.9121, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 782): [image omitted: streamed camera frame] camera 'left_cam' (step 782): [image omitted: streamed camera frame] camera 'right_cam' (step 782): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The wooden block now fills the jaw gap at the bottom of the wrist frame. Closing to grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 792
top_cam
camera top_cam step 792
left_cam
camera left_cam step 792
right_cam
camera right_cam step 792
assistant
agent noteAnother empty close that shoved the block. Parking the arm for a clean overhead look to see where both blocks ended up before deciding whether another attempt is feasible.
move_joints
left_j0-0.4000left_j11.0000left_j21.4500left_j3-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2591 left_j1=2.0636 left_j2=1.409 left_j3=-1.0138 left_j4=0.0128 left_j5=-1.2572 left_gripper=0.0096 right_j0=0.0101 right_j1=0.6285 right_j2=1.1988 right_j3=-0.9752 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [0.0205, -12.3145, 5.4085, -0.0366, -0.1538, -0.0171, 0.7937, -0.0615, 1.6068, 5.3949, 1.8681, -0.0269, -0.0073, -0.0122] camera 'top_cam' (step 792): [image omitted: streamed camera frame] camera 'left_cam' (step 792): [image omitted: streamed camera frame] camera 'right_cam' (step 792): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4, "left_j1": 1.0, "left_j2": 1.45, "left_j3": -0.85}, "note": "Another empty close that shoved the block. Parking the arm for a clean overhead look to see where both blocks ended up before deciding whether another attempt is feasible."})
tool
executing move_joints over 17 steps (1.7s)
step 809
top_cam
camera top_cam step 809
left_cam
camera left_cam step 809
right_cam
camera right_cam step 809
assistant
agent noteClean overhead: red block at (110,142), wooden block at (118,158), touching diagonally. Moving the open gripper to hover 7 cm above the wooden block for another grasp.
move_joints
left_j0-1.1410left_j12.0250left_j21.6480left_j3-1.1940left_j5-1.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4198 left_j1=1.0279 left_j2=1.4185 left_j3=-0.8879 left_j4=0.0151 left_j5=-1.2652 left_gripper=0.0118 right_j0=0.0101 right_j1=0.63 right_j2=1.1988 right_j3=-0.9928 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.1709, -1.5111, 8.6222, 2.1368, -0.0562, 0.022, 0.7009, -0.1299, 1.853, 5.4359, 1.9951, -0.0562, -0.0171, -0.0122] camera 'top_cam' (step 809): [image omitted: streamed camera frame] camera 'left_cam' (step 809): [image omitted: streamed camera frame] camera 'right_cam' (step 809): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.141, "left_j1": 2.025, "left_j2": 1.648, "left_j3": -1.194, "left_j5": -1.14, "left_gripper": 1.0}, "note": "Clean overhead: red block at (110,142), wooden block at (118,158), touching diagonally. Moving the open gripper to hover 7 cm above the wooden block for another grasp."})
tool
executing move_joints over 16 steps (1.6s)
step 825
top_cam
camera top_cam step 825
left_cam
camera left_cam step 825
right_cam
camera right_cam step 825
assistant
agent noteThe wooden block is centred in the wrist frame directly ahead of the jaws. Descending to table level; I'll check the framing once more before closing.
move_joints
left_j12.1540left_j21.5280left_j3-0.9440
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1194 left_j1=2.0098 left_j2=1.6234 left_j3=-1.1664 left_j4=0.017 left_j5=-1.1648 left_gripper=0.9969 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0149 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.2393, -11.0838, 8.1162, 0.1001, -0.1099, 0.1197, -0.0952, -0.1299, 1.5385, 5.1761, 2.0195, -0.022, -0.0122, -0.0122] camera 'top_cam' (step 825): [image omitted: streamed camera frame] camera 'left_cam' (step 825): [image omitted: streamed camera frame] camera 'right_cam' (step 825): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.154, "left_j2": 1.528, "left_j3": -0.944}, "note": "The wooden block is centred in the wrist frame directly ahead of the jaws. Descending to table level; I'll check the framing once more before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 829
top_cam
camera top_cam step 829
left_cam
camera left_cam step 829
right_cam
camera right_cam step 829
assistant
agent noteThe block is framed at the bottom of the wrist view in almost exactly the position it had during my successful grasp earlier. Closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1194 left_j1=2.1441 left_j2=1.5429 left_j3=-1.0115 left_j4=0.0177 left_j5=-1.1538 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0229 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.0205, -11.8359, 5.3402, 0.2515, -0.0659, -0.1783, 0.0366, -0.0342, 1.8256, 5.2581, 1.9267, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 829): [image omitted: streamed camera frame] camera 'left_cam' (step 829): [image omitted: streamed camera frame] camera 'right_cam' (step 829): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The block is framed at the bottom of the wrist view in almost exactly the position it had during my successful grasp earlier. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 839
top_cam
camera top_cam step 839
left_cam
camera left_cam step 839
right_cam
camera right_cam step 839
assistant
agent noteEmpty again — the block was shoved rather than gripped. Retreating to the park pose for one more clean overhead fix on both blocks.
move_joints
left_j0-0.4000left_j11.0000left_j21.4500left_j3-0.8500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1194 left_j1=2.1475 left_j2=1.5375 left_j3=-1.0092 left_j4=0.0219 left_j5=-1.1561 left_gripper=0.0098 right_j0=0.0101 right_j1=0.6331 right_j2=1.198 right_j3=-1.0271 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.0615, -11.3573, 5.9282, 0.188, -0.0366, 0.0269, 0.8132, -0.212, 1.4974, 5.2581, 1.8291, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 839): [image omitted: streamed camera frame] camera 'left_cam' (step 839): [image omitted: streamed camera frame] camera 'right_cam' (step 839): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4, "left_j1": 1.0, "left_j2": 1.45, "left_j3": -0.85, "left_gripper": 1.0}, "note": "Empty again \u2014 the block was shoved rather than gripped. Retreating to the park pose for one more clean overhead fix on both blocks."})
tool
executing move_joints over 19 steps (1.9s)
step 858
top_cam
camera top_cam step 858
left_cam
camera left_cam step 858
right_cam
camera right_cam step 858
assistant
agent noteClean fix: red block at (108,143), wooden block at (125,147), side by side. Moving the open gripper to hover 7 cm over the wooden block at its freshly measured position.
move_joints
left_j0-1.0800left_j12.1580left_j21.8550left_j3-1.2690left_j5-1.0800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4164 left_j1=1.0264 left_j2=1.4528 left_j3=-0.8875 left_j4=0.0219 left_j5=-1.1717 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6353 right_j2=1.198 right_j3=-1.0378 right_j4=-0.062 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [0.212, -1.2376, 5.6274, 2.1172, 0.0073, 0.105, -0.1001, -0.1846, 1.9214, 5.2034, 1.8779, -0.0611, -0.0073, -0.0122] camera 'top_cam' (step 858): [image omitted: streamed camera frame] camera 'left_cam' (step 858): [image omitted: streamed camera frame] camera 'right_cam' (step 858): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.08, "left_j1": 2.158, "left_j2": 1.855, "left_j3": -1.269, "left_j5": -1.08}, "note": "Clean fix: red block at (108,143), wooden block at (125,147), side by side. Moving the open gripper to hover 7 cm over the wooden block at its freshly measured position."})
tool
executing move_joints over 19 steps (1.9s)
step 877
top_cam
camera top_cam step 877
left_cam
camera left_cam step 877
right_cam
camera right_cam step 877
assistant
agent noteBoth blocks are visible ahead of the jaws in the wrist view. Descending to table level, which will bring the wooden block down into the jaw gap.
move_joints
left_j12.2690left_j21.7320left_j3-1.0340
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0641 left_j1=2.1475 left_j2=1.8259 left_j3=-1.2415 left_j4=0.0227 left_j5=-1.1011 left_gripper=0.998 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0534 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966 state[joint_eff]: [-0.2803, -12.3829, 8.0479, 0.1001, -0.0317, 0.1685, 0.0513, 0.0068, 1.4838, 5.3265, 1.9365, -0.0366, -0.0024, -0.0122] camera 'top_cam' (step 877): [image omitted: streamed camera frame] camera 'left_cam' (step 877): [image omitted: streamed camera frame] camera 'right_cam' (step 877): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.269, "left_j2": 1.732, "left_j3": -1.034}, "note": "Both blocks are visible ahead of the jaws in the wrist view. Descending to table level, which will bring the wooden block down into the jaw gap."})
tool
executing move_joints over 4 steps (0.4s)
step 881
top_cam
camera top_cam step 881
left_cam
camera left_cam step 881
right_cam
camera right_cam step 881
assistant
agent noteAt table level the wooden block sits to the image-left of the jaws, which at this wrist roll means it is to the arm's right. Yawing 3 cm that way to centre it between the fingers.
move_joints
left_j0-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.066 left_j1=2.2574 left_j2=1.747 left_j3=-1.0992 left_j4=0.0219 left_j5=-1.0992 left_gripper=0.9981 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0603 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.3077, -12.3282, 5.5316, 0.2906, -0.0171, -0.0366, -0.0073, -0.0752, 1.6068, 5.2034, 1.8779, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 881): [image omitted: streamed camera frame] camera 'left_cam' (step 881): [image omitted: streamed camera frame] camera 'right_cam' (step 881): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.15}, "note": "At table level the wooden block sits to the image-left of the jaws, which at this wrist roll means it is to the arm's right. Yawing 3 cm that way to centre it between the fingers."})
tool
executing move_joints over 2 steps (0.2s)
step 883
top_cam
camera top_cam step 883
left_cam
camera left_cam step 883
right_cam
camera right_cam step 883
assistant
agent noteThe yaw stalled with -3 N·m of resistance, confirming a finger is pressed against the block on the arm's right. Lifting clear and yawing 4 cm further right so the block will fall inside the jaw gap when I come back down.
move_joints
left_j0-1.2200left_j12.1580left_j21.8550left_j3-1.2690left_j5-1.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0927 left_j1=2.2684 left_j2=1.7428 left_j3=-1.0672 left_j4=0.0185 left_j5=-1.1072 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0676 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-3.0154, -13.0803, 6.4479, 0.1245, -0.0122, 0.0855, -0.0708, -0.1709, 1.9761, 5.3675, 1.9121, -0.0415, -0.0122, -0.0122] camera 'top_cam' (step 883): [image omitted: streamed camera frame] camera 'left_cam' (step 883): [image omitted: streamed camera frame] camera 'right_cam' (step 883): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.22, "left_j1": 2.158, "left_j2": 1.855, "left_j3": -1.269, "left_j5": -1.2}, "note": "The yaw stalled with -3 N\u00b7m of resistance, confirming a finger is pressed against the block on the arm's right. Lifting clear and yawing 4 cm further right so the block will fall inside the jaw gap when I come back down."})
tool
executing move_joints over 4 steps (0.4s)
step 887
top_cam
camera top_cam step 887
left_cam
camera left_cam step 887
right_cam
camera right_cam step 887
assistant
agent noteThe lift undershot so I may have nudged the block again; descending back to table level to get a sharp look at where the block sits relative to the jaws.
move_joints
left_j12.2690left_j21.7320left_j3-1.0340
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1912 left_j1=2.2368 left_j2=1.8183 left_j3=-1.2018 left_j4=0.0219 left_j5=-1.169 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0748 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-1.3607, -17.0051, 8.0752, 0.0024, -0.0513, -0.0122, -0.0122, -0.3214, 2.0718, 5.1897, 1.8535, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 887): [image omitted: streamed camera frame] camera 'left_cam' (step 887): [image omitted: streamed camera frame] camera 'right_cam' (step 887): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.269, "left_j2": 1.732, "left_j3": -1.034}, "note": "The lift undershot so I may have nudged the block again; descending back to table level to get a sharp look at where the block sits relative to the jaws."})
tool
executing move_joints over 3 steps (0.3s)
step 890
top_cam
camera top_cam step 890
left_cam
camera left_cam step 890
right_cam
camera right_cam step 890
assistant
agent noteMoving right made the offset worse, so the wrist image is not inverted after all — the block is genuinely to the arm's left. Lifting clear and yawing 5 cm back to the left.
move_joints
left_j0-1.0500left_j12.1460left_j21.8800left_j3-1.3050left_j5-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1969 left_j1=2.2536 left_j2=1.7535 left_j3=-1.111 left_j4=0.0223 left_j5=-1.1782 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0798 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [0.212, -12.9299, 5.5453, 0.188, -0.0317, 0.0317, -0.0122, -0.0205, 1.6752, 5.1761, 1.8095, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 890): [image omitted: streamed camera frame] camera 'left_cam' (step 890): [image omitted: streamed camera frame] camera 'right_cam' (step 890): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.05, "left_j1": 2.146, "left_j2": 1.88, "left_j3": -1.305, "left_j5": -1.05}, "note": "Moving right made the offset worse, so the wrist image is not inverted after all \u2014 the block is genuinely to the arm's left. Lifting clear and yawing 5 cm back to the left."})
tool
executing move_joints over 4 steps (0.4s)
step 894
top_cam
camera top_cam step 894
left_cam
camera left_cam step 894
right_cam
camera right_cam step 894
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0653 left_j1=2.2196 left_j2=1.8412 left_j3=-1.2354 left_j4=0.033 left_j5=-1.0962 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6395 right_j2=1.1923 right_j3=-1.0904 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966 state[joint_eff]: [-0.3214, -15.9385, 8.2256, 0.1197, -0.105, 0.1441, -0.0171, -0.1846, 1.5521, 5.5179, 1.9023, -0.0513, -0.0366, -0.0073] camera 'top_cam' (step 894): [image omitted: streamed camera frame] camera 'left_cam' (step 894): [image omitted: streamed camera frame] camera 'right_cam' (step 894): [image omitted: streamed camera frame]
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 · 11.88 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3
{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0315 left_j4=0.0029 left_j5=-0.0219 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0048 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1026, 1.1282, 5.9009, 2.1709, -0.0757, 0.1392, -0.1148, -0.0889, 1.4154, 6.3658, 2.254, 0.0464, -0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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    {
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        "data": "$blob:521bcdca9b062d2eba4592b73a08a0acd5f95a604914d0e61542e094cdf313e4",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
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    {
      "text": "camera 'right_cam' (step 0):",
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wire blob 521bcdca9b06
wire blob b6bb258ea0fd
wire blob 7f7083e46b5c
call 1 attempt 0 · /messages · status 200 · 7.834 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0315 left_j4=0.0029 left_j5=-0.0219 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0048 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1026, 1.1282, 5.9009, 2.1709, -0.0757, 0.1392, -0.1148, -0.0889, 1.4154, 6.3658, 2.254, 0.0464, -0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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    {
      "source": {
        "data": "$blob:521bcdca9b062d2eba4592b73a08a0acd5f95a604914d0e61542e094cdf313e4",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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        "data": "$blob:b6bb258ea0fdc51f7a4e1302fe34d568f740a1c7dcebb78174d9ba875e23cdff",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QE1eB5YAhjiDEwoyp8sqZ3",
      "input": {
        "note": "Overhead view shows two small blocks near the middle of the table: a blue one on the left (~x=88) and a red/orange one to its right (~x=138). I'm bringing the left arm up into a gripper-down pose roughly 20 cm above the blue block to calibrate the camera scale and my reach.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.7,
          "left_j1": 1.96,
          "left_j2": 1.72,
          "left_j3": -1.33,
          "left_j4": 0.0,
          "left_j5": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 32 steps (3.2s)",
      "tool_use_id": "toolu_01QE1eB5YAhjiDEwoyp8sqZ3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6907 left_j1=1.9545 left_j2=1.6913 left_j3=-1.3025 left_j4=-0.0036 left_j5=-0.688 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0498 right_j4=-0.0124 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.4957, 7.6923, 0.1099, -0.0122, -0.0855, -0.1197, -0.1299, 2.0444, 7.3231, 1.9316, 0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f068eeeeabb13884890ec186875574030f6a36161ef91c56911c74448be7e6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af75ba8d0b93aa382422f0124979ea255629edbac6f070d47a7af92382dfee82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2cca4a216192c8c2b363c7379fdeafb601efc1bdad45c4bea5dccb54af057a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f068eeeeabb1
wire blob af75ba8d0b93
wire blob fa2cca4a2161
call 2 attempt 0 · /messages · status 200 · 13.03 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0315 left_j4=0.0029 left_j5=-0.0219 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0048 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1026, 1.1282, 5.9009, 2.1709, -0.0757, 0.1392, -0.1148, -0.0889, 1.4154, 6.3658, 2.254, 0.0464, -0.022, -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=-0.6907 left_j1=1.9545 left_j2=1.6913 left_j3=-1.3025 left_j4=-0.0036 left_j5=-0.688 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0498 right_j4=-0.0124 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.4957, 7.6923, 0.1099, -0.0122, -0.0855, -0.1197, -0.1299, 2.0444, 7.3231, 1.9316, 0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f068eeeeabb13884890ec186875574030f6a36161ef91c56911c74448be7e6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af75ba8d0b93aa382422f0124979ea255629edbac6f070d47a7af92382dfee82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2cca4a216192c8c2b363c7379fdeafb601efc1bdad45c4bea5dccb54af057a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f068eeeeabb1]
[blob af75ba8d0b93]
[blob fa2cca4a2161]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KG9ipQDtWJ86MsrAWq3F3r",
      "input": {
        "note": "The left wrist camera now clearly shows the blue block near the top of the frame, meaning it sits farther out radially than my gripper. I'm extending the reach by a calibrated 5 cm at constant height to both approach it and measure the wrist-camera pixel scale.",
        "targets": {
          "left_j1": 2.155,
          "left_j2": 2.018,
          "left_j3": -1.434
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KG9ipQDtWJ86MsrAWq3F3r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.154 left_j2=1.9888 left_j3=-1.4281 left_j4=-0.0013 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0536 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -11.5077, 7.665, 0.1538, -0.0855, -0.022, -0.0171, -0.0205, 1.6479, 6.9949, 1.9316, 0.0024, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e96b001fcf5e73afd46a9bfc31ac189da5a46f8a722bc7ad97970c13cdd45c3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54dae481f57af48304754ca7bff3ea7668bd6754c01e7cba4eb13404c5a5a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c12d209625023c0e9b97b315e090ef189ed1315d728cccc219b1c6fee3c41b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e96b001fcf5e
wire blob 3d54dae481f5
wire blob 5c12d2096250
call 3 attempt 0 · /messages · status 200 · 10.86 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0315 left_j4=0.0029 left_j5=-0.0219 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0048 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1026, 1.1282, 5.9009, 2.1709, -0.0757, 0.1392, -0.1148, -0.0889, 1.4154, 6.3658, 2.254, 0.0464, -0.022, -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=-0.6907 left_j1=1.9545 left_j2=1.6913 left_j3=-1.3025 left_j4=-0.0036 left_j5=-0.688 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0498 right_j4=-0.0124 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.4957, 7.6923, 0.1099, -0.0122, -0.0855, -0.1197, -0.1299, 2.0444, 7.3231, 1.9316, 0.0269, -0.0464, -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=-0.6941 left_j1=2.154 left_j2=1.9888 left_j3=-1.4281 left_j4=-0.0013 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0536 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -11.5077, 7.665, 0.1538, -0.0855, -0.022, -0.0171, -0.0205, 1.6479, 6.9949, 1.9316, 0.0024, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e96b001fcf5e73afd46a9bfc31ac189da5a46f8a722bc7ad97970c13cdd45c3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54dae481f57af48304754ca7bff3ea7668bd6754c01e7cba4eb13404c5a5a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c12d209625023c0e9b97b315e090ef189ed1315d728cccc219b1c6fee3c41b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e96b001fcf5e]
[blob 3d54dae481f5]
[blob 5c12d2096250]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GSruPbyRdVdfggVgVe8Ci9",
      "input": {
        "note": "The 5 cm reach extension moved the block 35 px down in the wrist view, giving me a rough scale (~7 px/cm) — the block is still well ahead of the jaws. Now descending ~8 cm at the same radius to close in and see how much descent shifts the view.",
        "targets": {
          "left_j1": 2.241,
          "left_j2": 1.822,
          "left_j3": -1.151
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GSruPbyRdVdfggVgVe8Ci9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6952 left_j1=2.2272 left_j2=1.8339 left_j3=-1.1893 left_j4=-0.004 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -10.7282, 4.8752, 0.6667, -0.0317, -0.0415, -0.0122, 0.0068, 1.6479, 6.9949, 1.9121, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1697d168f34521c1a752a3222654386f1fdad7eb65f2365949c48633c5ddff68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9477ad5b68cc8aa8ae525b37e22c69f6082886c275754e75a698e5df972495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:def68ecb977e89ca5c77a9472d25891f6f1601cdfe447e7919b95eaf2401f0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1697d168f345
wire blob 4b9477ad5b68
wire blob def68ecb977e
call 4 attempt 0 · /messages · status 200 · 16.33 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6907 left_j1=1.9545 left_j2=1.6913 left_j3=-1.3025 left_j4=-0.0036 left_j5=-0.688 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0498 right_j4=-0.0124 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.4957, 7.6923, 0.1099, -0.0122, -0.0855, -0.1197, -0.1299, 2.0444, 7.3231, 1.9316, 0.0269, -0.0464, -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=-0.6941 left_j1=2.154 left_j2=1.9888 left_j3=-1.4281 left_j4=-0.0013 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0536 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -11.5077, 7.665, 0.1538, -0.0855, -0.022, -0.0171, -0.0205, 1.6479, 6.9949, 1.9316, 0.0024, -0.0757, -0.0073]",
      "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=-0.6952 left_j1=2.2272 left_j2=1.8339 left_j3=-1.1893 left_j4=-0.004 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -10.7282, 4.8752, 0.6667, -0.0317, -0.0415, -0.0122, 0.0068, 1.6479, 6.9949, 1.9121, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1697d168f34521c1a752a3222654386f1fdad7eb65f2365949c48633c5ddff68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9477ad5b68cc8aa8ae525b37e22c69f6082886c275754e75a698e5df972495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:def68ecb977e89ca5c77a9472d25891f6f1601cdfe447e7919b95eaf2401f0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1697d168f345]
[blob 4b9477ad5b68]
[blob def68ecb977e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Na9Ur1KPHuV6odjfQKqpX3",
      "input": {
        "note": "After descending, the blue block fills the lower-left of the wrist view — it is left of the jaw gap and still slightly ahead of the grasp point. I'm yawing the base 0.1 rad to the arm's left, which should slide the block toward the jaw centreline and calibrate the lateral direction in this rolled camera frame.",
        "targets": {
          "left_j0": -0.595
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Na9Ur1KPHuV6odjfQKqpX3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6209 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1965 left_j4=-0.001 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0601 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -11.8222, 5.8735, 0.2711, -0.0806, -0.0073, -0.0122, -0.1299, 1.812, 7.2137, 1.9414, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea49b56810253c73be602b85dd872ea7072d6cc627ad9e988dd78bfe5a5171f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff03e6f718ae60d508735b7c901e34327ad49ef83c47301b372f90f46f6bad8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2026b330d76e422569f4ab984189b2226a685521847f8b48d9f30a39232f787d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ea49b568102
wire blob ff03e6f718ae
wire blob 2026b330d76e
call 5 attempt 0 · /messages · status 200 · 11.18 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.154 left_j2=1.9888 left_j3=-1.4281 left_j4=-0.0013 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0536 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -11.5077, 7.665, 0.1538, -0.0855, -0.022, -0.0171, -0.0205, 1.6479, 6.9949, 1.9316, 0.0024, -0.0757, -0.0073]",
      "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=-0.6952 left_j1=2.2272 left_j2=1.8339 left_j3=-1.1893 left_j4=-0.004 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -10.7282, 4.8752, 0.6667, -0.0317, -0.0415, -0.0122, 0.0068, 1.6479, 6.9949, 1.9121, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6209 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1965 left_j4=-0.001 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0601 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -11.8222, 5.8735, 0.2711, -0.0806, -0.0073, -0.0122, -0.1299, 1.812, 7.2137, 1.9414, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea49b56810253c73be602b85dd872ea7072d6cc627ad9e988dd78bfe5a5171f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff03e6f718ae60d508735b7c901e34327ad49ef83c47301b372f90f46f6bad8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2026b330d76e422569f4ab984189b2226a685521847f8b48d9f30a39232f787d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ea49b568102]
[blob ff03e6f718ae]
[blob 2026b330d76e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015L13xsfuE1ygntJwGaNMLe",
      "input": {
        "note": "The 0.074 rad yaw shifted the block ~20 px right in the wrist view, so the lateral scale is ~7 px per cm; the block still sits well left of the jaw gap. Yawing further left to bring it onto the jaw centreline before descending.",
        "targets": {
          "left_j0": -0.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015L13xsfuE1ygntJwGaNMLe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1995 left_j4=-0.0006 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -11.959, 5.7231, 0.2808, -0.0317, -0.0659, -0.0122, -0.0479, 1.6342, 6.9949, 1.9121, -0.0024, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2d531edb7e709aa9ccb79b765ff36f69429e1c4f0eab4b1246de7c88e6fc0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29331a67f4cbe7c507d220d34d6f13b6dbd5eedb0ec3af8d3b38d68ed6b3e0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c0c4e90b219201f8f97fe61ecb4b70db200bb80f5fc40ebca81f95a548deb13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cc2d531edb7e
wire blob 29331a67f4cb
wire blob 4c0c4e90b219
call 6 attempt 0 · /messages · status 200 · 8.87 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6952 left_j1=2.2272 left_j2=1.8339 left_j3=-1.1893 left_j4=-0.004 left_j5=-0.6895 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -10.7282, 4.8752, 0.6667, -0.0317, -0.0415, -0.0122, 0.0068, 1.6479, 6.9949, 1.9121, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6209 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1965 left_j4=-0.001 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0601 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -11.8222, 5.8735, 0.2711, -0.0806, -0.0073, -0.0122, -0.1299, 1.812, 7.2137, 1.9414, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1995 left_j4=-0.0006 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -11.959, 5.7231, 0.2808, -0.0317, -0.0659, -0.0122, -0.0479, 1.6342, 6.9949, 1.9121, -0.0024, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2d531edb7e709aa9ccb79b765ff36f69429e1c4f0eab4b1246de7c88e6fc0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29331a67f4cbe7c507d220d34d6f13b6dbd5eedb0ec3af8d3b38d68ed6b3e0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0c4e90b219201f8f97fe61ecb4b70db200bb80f5fc40ebca81f95a548deb13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cc2d531edb7e]
[blob 29331a67f4cb]
[blob 4c0c4e90b219]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AVYQMErfn6d3vfLE6EW6Mm",
      "input": {
        "note": "The last yaw barely changed the wrist view, so I don't trust my read of that image — the large blue/white box may not be the block. Parking the left arm back near its base to get an unobstructed overhead view of both blocks before planning the grasp.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 0.7,
          "left_j2": 1.3,
          "left_j3": -0.7,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_01AVYQMErfn6d3vfLE6EW6Mm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.6926 left_j2=1.2957 left_j3=-0.7296 left_j4=-0.0048 left_j5=-0.0223 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4308, 2.0581, 5.5863, 2.2198, -0.0171, 0.188, -0.0171, -0.2256, 1.6342, 6.9949, 1.917, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de0d825daae9a08ab97c5ac7b4dcf1211ce9e67a8d221b85dea75ccf27abe65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31908acf0d043103526f86a2de4c910c7a49f48d561f94e51be9850ff2b7fd7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84cb16fcdbd261f9f3af641171018c584da8f8482e64ed43cab453a3c2aad033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6de0d825daae
wire blob 31908acf0d04
wire blob 84cb16fcdbd2
call 7 attempt 0 · /messages · status 200 · 17.69 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6209 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1965 left_j4=-0.001 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0601 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -11.8222, 5.8735, 0.2711, -0.0806, -0.0073, -0.0122, -0.1299, 1.812, 7.2137, 1.9414, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1995 left_j4=-0.0006 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -11.959, 5.7231, 0.2808, -0.0317, -0.0659, -0.0122, -0.0479, 1.6342, 6.9949, 1.9121, -0.0024, -0.0562, -0.0073]",
      "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=-0.0059 left_j1=0.6926 left_j2=1.2957 left_j3=-0.7296 left_j4=-0.0048 left_j5=-0.0223 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4308, 2.0581, 5.5863, 2.2198, -0.0171, 0.188, -0.0171, -0.2256, 1.6342, 6.9949, 1.917, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de0d825daae9a08ab97c5ac7b4dcf1211ce9e67a8d221b85dea75ccf27abe65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31908acf0d043103526f86a2de4c910c7a49f48d561f94e51be9850ff2b7fd7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84cb16fcdbd261f9f3af641171018c584da8f8482e64ed43cab453a3c2aad033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6de0d825daae]
[blob 31908acf0d04]
[blob 84cb16fcdbd2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DhX2bfDdeKrcuJjTrLRSFZ",
      "input": {
        "note": "Clean overhead view now: the blue block sits at image (62,100) and the red block at (137,111), both roughly 14 px across. I'm sending the left gripper to a known pose (straight ahead, 0.40 m out, ~10 cm up, jaws down) so I can see where it lands in the overhead frame and calibrate pixels-to-centimetres and the arm's frame.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 2.32,
          "left_j2": 1.87,
          "left_j3": -1.12
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_01DhX2bfDdeKrcuJjTrLRSFZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=2.3077 left_j2=1.8427 left_j3=-1.0954 left_j4=-0.0048 left_j5=-0.0257 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -12.9573, 8.212, 0.0464, -0.0806, -0.022, -0.0122, -0.2393, 1.4154, 7.0496, 1.8779, -0.0024, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05413b37700f05bc8b6d8bd6a61c08119d097e3d85636808d4c0d2163aef1224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cfb067f68ef0ed5f7abf1b8590a1494eaeb7459ad38ad974a5ff196a0c0bc55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd3faacf61cbbacce067b22b252dc910a37b09469e3d5f28b6b355e6710f3f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 05413b37700f
wire blob 9cfb067f68ef
wire blob fd3faacf61cb
call 8 attempt 0 · /messages · status 200 · 13.38 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2272 left_j2=1.8343 left_j3=-1.1995 left_j4=-0.0006 left_j5=-0.6891 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -11.959, 5.7231, 0.2808, -0.0317, -0.0659, -0.0122, -0.0479, 1.6342, 6.9949, 1.9121, -0.0024, -0.0562, -0.0073]",
      "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=-0.0059 left_j1=0.6926 left_j2=1.2957 left_j3=-0.7296 left_j4=-0.0048 left_j5=-0.0223 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4308, 2.0581, 5.5863, 2.2198, -0.0171, 0.188, -0.0171, -0.2256, 1.6342, 6.9949, 1.917, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=2.3077 left_j2=1.8427 left_j3=-1.0954 left_j4=-0.0048 left_j5=-0.0257 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -12.9573, 8.212, 0.0464, -0.0806, -0.022, -0.0122, -0.2393, 1.4154, 7.0496, 1.8779, -0.0024, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05413b37700f05bc8b6d8bd6a61c08119d097e3d85636808d4c0d2163aef1224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cfb067f68ef0ed5f7abf1b8590a1494eaeb7459ad38ad974a5ff196a0c0bc55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3faacf61cbbacce067b22b252dc910a37b09469e3d5f28b6b355e6710f3f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 05413b37700f]
[blob 9cfb067f68ef]
[blob fd3faacf61cb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FXYogUFaU82xWSabVPKyt4",
      "input": {
        "note": "With the arm straight ahead at 0.40 m I can see the left gripper at the top-left of the overhead frame, which pins down the arm's frame: ~3.3 px/cm, base off-frame at about image (25,195). Using that, the blue block is ~0.31 m out at j0≈-0.37, so I'm moving to hover ~12 cm above it with the jaws rolled to stay square to the block.",
        "targets": {
          "left_j0": -0.372,
          "left_j1": 1.71,
          "left_j2": 1.4,
          "left_j3": -1.26,
          "left_j5": -0.372
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FXYogUFaU82xWSabVPKyt4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3576 left_j1=1.7527 left_j2=1.4162 left_j3=-1.2381 left_j4=-0.0059 left_j5=-0.3294 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.2786, 5.7231, 0.4908, -0.0513, -0.0464, -0.022, -0.1983, 1.7436, 6.9812, 1.9121, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abcd5f743df667230cb403eaf3076af0a88fbedc834aece63b44a0a405e44749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547222a14baafaafa974f65d8976521c674be58130702ef0fbb13fcd1078a3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b7e3dbece7d15bafa1e2a3632296ee44f24f3cd2a83d9efe43ba3b4199c3156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob abcd5f743df6
wire blob 547222a14baa
wire blob 7b7e3dbece7d
call 9 attempt 0 · /messages · status 200 · 23.51 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.6926 left_j2=1.2957 left_j3=-0.7296 left_j4=-0.0048 left_j5=-0.0223 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4308, 2.0581, 5.5863, 2.2198, -0.0171, 0.188, -0.0171, -0.2256, 1.6342, 6.9949, 1.917, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=2.3077 left_j2=1.8427 left_j3=-1.0954 left_j4=-0.0048 left_j5=-0.0257 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -12.9573, 8.212, 0.0464, -0.0806, -0.022, -0.0122, -0.2393, 1.4154, 7.0496, 1.8779, -0.0024, -0.0708, -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=-0.3576 left_j1=1.7527 left_j2=1.4162 left_j3=-1.2381 left_j4=-0.0059 left_j5=-0.3294 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.2786, 5.7231, 0.4908, -0.0513, -0.0464, -0.022, -0.1983, 1.7436, 6.9812, 1.9121, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abcd5f743df667230cb403eaf3076af0a88fbedc834aece63b44a0a405e44749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547222a14baafaafa974f65d8976521c674be58130702ef0fbb13fcd1078a3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7e3dbece7d15bafa1e2a3632296ee44f24f3cd2a83d9efe43ba3b4199c3156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob abcd5f743df6]
[blob 547222a14baa]
[blob 7b7e3dbece7d]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SxLxpFntDYysXTKt5qkG8o",
      "input": {
        "note": "The wrist camera shows the blue block bright at the top of the frame, i.e. still ahead of the jaws, but at this height a block on the table would project off the bottom edge anyway. Descending ~7 cm (to roughly block-top height) so the wrist view becomes interpretable before I commit to a radial approach.",
        "targets": {
          "left_j1": 1.83,
          "left_j2": 1.23,
          "left_j3": -0.97
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SxLxpFntDYysXTKt5qkG8o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3603 left_j1=1.8294 left_j2=1.2396 left_j3=-1.037 left_j4=-0.0051 left_j5=-0.3397 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0154 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.3897, 5.8872, 0.3687, -0.0513, 0.0806, -0.0122, -0.2256, 1.5385, 7.0222, 1.873, -0.0122, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d537a14cf95321de8dc7f6a9200db46512d48942afc8acf0d7bfeeb074b4706d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43efb1afc6c4f8fbe02eef004e8c3e8c2b866ce9d00f9d925dd4a709472b7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ccd64a90e07385b4456b7e325ec08b85c490d881752fbdb8d01aa969f0d36eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d537a14cf953
wire blob 43efb1afc6c4
wire blob 5ccd64a90e07
call 10 attempt 0 · /messages · status 200 · 6.552 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=2.3077 left_j2=1.8427 left_j3=-1.0954 left_j4=-0.0048 left_j5=-0.0257 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.335, -12.9573, 8.212, 0.0464, -0.0806, -0.022, -0.0122, -0.2393, 1.4154, 7.0496, 1.8779, -0.0024, -0.0708, -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=-0.3576 left_j1=1.7527 left_j2=1.4162 left_j3=-1.2381 left_j4=-0.0059 left_j5=-0.3294 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.2786, 5.7231, 0.4908, -0.0513, -0.0464, -0.022, -0.1983, 1.7436, 6.9812, 1.9121, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3603 left_j1=1.8294 left_j2=1.2396 left_j3=-1.037 left_j4=-0.0051 left_j5=-0.3397 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0154 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.3897, 5.8872, 0.3687, -0.0513, 0.0806, -0.0122, -0.2256, 1.5385, 7.0222, 1.873, -0.0122, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d537a14cf95321de8dc7f6a9200db46512d48942afc8acf0d7bfeeb074b4706d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43efb1afc6c4f8fbe02eef004e8c3e8c2b866ce9d00f9d925dd4a709472b7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ccd64a90e07385b4456b7e325ec08b85c490d881752fbdb8d01aa969f0d36eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d537a14cf953]
[blob 43efb1afc6c4]
[blob 5ccd64a90e07]
{
  "content": [
    {
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wKt5fe9BPh25Yf55gKF2xhEh5i/15Jf9E2LFoJLLYLbF5OkK5A/fa+Mc4Ma+NIF3XmglVKizHKZUAJvZgb1t2M5c0UDXsnoXPBM3V+b8Cmrlh9uR0WTWidqLXBfJmKfKSVLtodG2yH4+qB6Fdd91dEFY6jif3yNim+OCwtNHgpk9QyVe0WnkyeFtY5xf+8I+SDSP3+MIvpqawmF8azI7AZ29XLZzbfqyQ2Of8OII8LxiVMfVMbxuXHCK45Tv7/ih4CYUQ92NYg/V+a+wpTHd1clG3iEb9CJCxK7GygTxmRpttt4sxPZlHhX6tJnV5YPtJSUpDuyCpyoha2cVDqKR3ZIl/v0OEqe2dtYlaC+kkJI0lHYChRKKOAX+mFW6CwfnqDRsFjOBrLMw6SRazvkIGxrWmFHgq3KpXM3BsKd1CBEijhwCN8L7mkooYN9q8gy+k+midcsRHo4ZCr9ZCFG7Ac3svMA+9MnmNxRbMLJ3QLPAXMShnMuW8MLim+4dVsu+MoUGeRAY2esVUZl8SWiyfEqaxgjGkugox/7Yy7haVY9QvPxsZXVzN0E4CUjA5LW6Bpao3X1pMvnhSBMZSJnaHN1WaDnvaKmn26gCAH9784eEDU2XpgsM9/OFQ517hkKf5HU76zUVnrFgnfpHJDDrakRoqjyEG4i+ne6Lpqw6uinuGMN+23fyNpN3pOmCbuP951tcvzLyZjj6VZiRYO+noQjSITbQhuBuP11aigtV23BMSvgV7RS6kbe/qU/67Oc4WL9fajfroVl5ML8dcPLfmlTvYkBHKTzzCgbT5jKqOZAjaWE6+3cvorRbCreaes/C0y7LIrIXmAVFmEBzObdxWZcjvob+z++rShpjFSwquPzDttWik/qevEA3b0u/UDl8IlsM7Wnt/n6eEIxiDd0QnT8i6eCix8Cyhp35pvpi2hZ4SsgA0H5Jy8Z83+2TZhzfsjPcYctRsOMuFHCbgOZI4FA7p7b6fn9mqBr0UAKcduwsi41d1DdB/CjBe+stXJKXnBIhSpHYbpZ0e1aOaobFNF69txFAkbtW7z6yTS0g6PhvVh6dV1o0U53f0JjQwabC/9Un4Vs9JXcDLdxCsUxE+9aBLvCkKCS1r4uGyRJjE4KALVmgrmhvCABv1FkwXphWQt99UPo1p+FeCiwdoa36ZajCyiQc+qkl5YEJHVt13kmx2Z3gvGJcb/ibLOYC3bPjQ2BWEu0rhT+LCDiH2ogkSwhmDuIGHxANt5iYFgPNe7//mmvTlk+ZQoXbnxXpoVT5+xB+jyL+53B8LcS+ujHeBVnt2RzBLPARPhEc2cXEb+7aI4O8o9LLM9tGPl+fE4Ip7rV7mY0VvsxpQnSjUQFTLnE3SKzuZQMnYKnWT7P3p6f5FB4lWL0VjtqaUeXkuaRNLzXGBYZAdGnnyZCl2ldYGbaBseBgGFBVnWLEEB2nn2Dug4eR1G0odN+gI1uI6Uvanw1/3NtSl4WVeQyNpJ/bjcK4nCIpFtUf3HMs0aGSabuatgMJ2uJWy71uxJF/Y9K5x6Z1So2SpSRu671sqCvLmEfDMukITwNXq6VnnezP34gHkX5EW47SY69iVP2LSYJVyi/0Qjrihagyy8LoDmHDx8dx50f5zPrvpJhaiOsKY9+rT8KH2VqiWexSXH8e7zdbzYcHKTI985vYpZ6pU0vIPJj3zp8HWbKSO86w+Tu0WSr/ah1sf2tvUlM+7BVZWI4CttyT3E9o8OQa3fYNd2bt2toJQPQR691uyjksvVX+lULbbh6mIk9KhMVfArR+wYYsPqUgxUKcEE7uvHkfeFXbnRGVF3Hg16COoiQ/yw0Hbf41pT8mwah1icq56Lpea9X4yheyACErhNBylhfV6vfFbBvfvh/DKHR9pGhNbPuBg3Ex/1TiEmcVckCeA3f/HAPGQbeK/iEEJdWh/fikpUhDUhmaaaNL+YPv7J9f86WYboo/5KMfm8tXEwgsb52jdW3jjZqv4Gkv+eN4dO413yGVqwPQSfx4TlSUvq3eSS7i3in3/QlzYprC0OXB4ijpHJMBB77SfOrEAH8AIQHjHaRSJHTuQ9+mPxzQGmtGRD2so+T0+aP2NInoevM3QEx8CWfZaMfnMy/B/uQ6bZwS5JzjFfo9bHb1c+lyMQ0DaI4EqUYAzACrb6UkEH7IoQBb5+1jwCSHxooXxtUxu+dPU2TnUMK70AozfrMzZZ2oSv+IXERaFVtcXqvMdVw/xkuD9nf/csEHWHdjGQrP6de/OaH8lZu81MHliDFTj7nE73dXwWJM87I4kN0EyHu7av+T41u7MaZlY7TilDt3qrhUln2on5j49MpOQ3RHK2U6HoAkyzHqGxmE1BDQqU98LRnOjueXMpLIAmfA4PuRIqo71fhcl0dg+DxJ2QpbON7zvSHOVWA3P4NmLo6j5qVEB3cKFr4mMRjuUrmlx7rdvMXhlOL/siikpDdv+MVBFvM3y80d0u7rLR9JZ2SmPHy/NwvD7T11EXAeNMRaVerN6mdHhgcW7NRObYUWfp4YCg2Lyw4TSBt/50PH/3bguc/ZTY3XhpLpZyu8KwW6+yqTRBqplPGHMxa8f15zp5sUPfQTX0Mne2JRQAj5x2Laeq9wA+4oFO1XOfVRUjM8+S8XOPXxs1iZulMTn3l/36QyoLIrzf+872BV2I8Bc5qtR9d+6vWepzpXboA/lji63zP1Mh5elixNm4x3ul3XE/ZiCFjJ01jTy+m/8PGSG9txKbO1RaJ/ObCbOJpn34sm+TXdo5rhBm1QiqaVpoUV4c2mHCEi2gyDoYOWhaB3ivrKvDSGMrnu5ldKDHDyupSLjFeLNGWEdDFR61pRf0dgWMscovzTnFkzgRHWyHAo25DYQcFlYECFvSTTy9dRAYzmPC25JAdaMywDMJT5L3Hj/K5x6Spai1Xfn+rmUuuAdlW1c5W4Z6iN/gaNc9ZVew4NRMkPdoSvy78jpoSRVaO6D8NcYpcS9SbUCMpYOJxQuBwg8HIDvZaazNz+Hg7DwKZ3YY/BPp7lmMhUV/BA+iY+tmewezzkH8lx6m/KP9HPZfzYgfI1vLoKZQPUkK1bclOCS2fUewjIncQhDE5b15YQVVG4MGHKZ2GPBvKEzK24AylRaMDCcBas8FZ3ZcaqzjRYYphW+YrU2ZIwThYj9zFIwbFwBfLWSmS45IEAxzL7Jv9N/HrahXb6xvAwsbbcxgoJdmo7bL1xMWf31Le2cE+822KU04NudKjXqqebXPI4gYT/NAJa4L8ClSnFdVIr41b/jVVkX11+raQ1c8518uvBQaFii8qCTXBHjFxRG2Sr86XwgwzFpUlAssQhZIbJClYq4PQ/aChL7Era/mnum9aL9bL5+ZvgJy0wTmiyCsEqLYYK0ZnBMCKz6g34riPwBze8mFM4GvDxlNNnIrTaQcKb5NUrKkwwR3PocskMxozHHDk4W1tRuoRunXfEKkHH8X0cSRxooM7xAToJRcMrC8MKwyR4l8phX/3wLE/d0e3q3IH50keg4b3RLny//3+aFZp9dKJ0TyYooiARWd/sg6EG8Mq8UfuKV0QxNraHff64BRgZNqC6EB/071pbxNlrGYvIvg7HIxPVCZGrn9O/ssALdV63ccgvKdk2uGdJyC2arThozH6UjYwObuFe6ObcAzF1jz1QmHEeZpKtV+WU2HTVp3moozOzKvfU5RuHZJL+6LEqX48QubWX8ca9libQUZVLpHwtMfFSXct+RX8idWy88RrSmbkUwElgoD6qu1ZU6KGE937gQDtHL7RsN5vicyCFu+80RPmc+jXuk2HMSoVRDHSPW5ufrp1MlnKqCE3lKxJXZHx0TR22nhCv6QASu3O64MgdKnF83rIjh4Lqp2yvat9bu23IqkZvX6F97jh/hl3jxqGVIGPQ5sSVJ01AHjsSTecxQP56dirb2+mMjDwbKa0Z5ZTRgqYMt7pFnTiStpKRsMQlGP4pYjXwqtA/hZcOhrpRIBkM88cqCq0+rPF68zB8aviynst9OZbxLZ/9FdGFd3jhkPLFbU2sDtxAV2XRm6vEHF26kOQte+2sPzWKVkDHNlGNPsZL+bnVupAGNTs1tuPkecKQXbDbaDYSyl2KkgdsQeCwYUxJFpQv2UqVXayT8UxQ3qxfQdphotH3ZpVBIYFGtbpVHerWpNxGHE18Yp2FnLS6MHObYJjuJYHGlX4SKHk4c1Hl8BnritRvjB81lvNVZD3G7PloUueh/YHS1ZA5OUc7xREjPsXRN+W4QKS6Kevqt7ds3ELyyzTeZAvlj8rh/7rJ6Xf+7hv8iSwvp5+i5fZ2ubOFqo+gF1LcWnXOtz2D/kDFpDtijLaPEb8uytLwTjadWCJJ4KTRq/D+X2XhbkdJwzmatyFm/xKx1YkAcAlRwYsGYHG6ZLUAyiopUeoXy2bIUvhHKtOOuXxjyADiCLECXZMhSAqAw2iKFl3gZv7uqIeB/3FEKgkOgtALP5ARtP8kp/qOjbo3CUhILZmeEoyF0Q40fQIhM5r3KGXoorc+eIitxzDWNFgx49mahwLdGJNYZv6X5vllJPKIE1jeWNWh454hJB7zz25cPYNmCu+1ixb1Rq9V1YbwVqthLhzU3oHBTBV1cQQkg2V0T6pFqyj36lhjVaSESCgUkctUU/fP/SZ8AdN29hUAGVO77hjdXk9ZMXprTUqaUnNa1odsnID+JstWOhXSyp9O30HmsTzqgqN0zHdYA+/Dxp2LEL/VPFF+u9SFfH9SoHDa6v18ys8yjlNEBWg2J7zidM8xwrEpBAQBE0MkWqDoTbPC9URSk1Go5rQ9f3Sdsrmxi40fDny7draVSwb4epKIIYqrsPUQGQCDQUQkzyMKpcS1yqiQcETv6+6P+/pJ2+MVpuowgZ0BpOb+X9BUwxWkIA7k0c3hKcMJP0/VTLfgCq4IIludCIt+eytSJJG9/L/uadk1+di0GugO5FGPpmVvAYdLfgyIYNMGDPeN0mLRv6eXxBhSqesxCW3+rXYFUty+eImZZhCMAQLuOYLW0Z0rj9wxv718EO8py6l/OlVYRuJ/aSl7Tni/3msxBrcNWmzIv3eRG9V7X3Hiuz3rkYA1NG9KdKjMoNHEOraMX0TLmghGFzXdoRPmf+Ye9lXbL1cEuOP1qA0FoW1XR693D27Da7yGAWHJaQWhxReyzRwPGo5WXiYccTb7kwa4LXbrmDoNEtl8Ufd724NORDhU2LXdtR+0H7ghKrHBXqd6Fy1xOGbN2DVcWoqHzVmQ9k+7viuv/OoZv5QGGrTCVtSZ/2KPJ6BFDtyB9ITdRHxiHcZjuWKnRe0kCVkjwfQl7YW8ArnAc9TREXJH9qABOj4iFoS4gpW7d/amY7BWim1BTVzSzB5DeqSbGQpQVRL5TVlwMhGQtvhPR2OXqe7xjpG2xW5Itt/CJVSNRSxPpdLuEomCMwNrypmVdvMcD/foWcWW1QZd05U5yMEywMrS+XjHjLMYT7I7GgZNdTGEqw5KPxZrqpftuV48Wn0yy+1Ebo9zLUaNzjQwRS3J/HVfERzUeHGe2jVbY6j3toE/wqZs+s+I5LybaA/Fy/31VosdEy5VZPaZ2Esx9vNw7+9yBTo6HbEOZG7df+q9+1mT1+pDXBJiWGbZxO7yd3re+PS1ZZSA4168UtIqQsW8depVjXuaMgKOVhvYymbf2GuAk32pluM2ujR1CPCqrA90HabUaZCgYXLkPza5zM8zbcXyhpYN4zqJOJVSjdRcM/uilSTNqB5EBcyvr5Tnzi9Hm76wXuVjDtzgLSSNEcK3y9GdKeYrn9P5jf/PVzu9EVbIpI+uqIx7e3U3xq4CqWZ4+T67o8TYuAkjwHmgn2/39Lt0YYfav6jIk1t2BKE6HAS39bCT4swwdg9rWJDKPHT/Y1fZXKwlQchYEaevnxhB1Frqgk4+SurFPuxDdoQQIBq5M4VjdSrwMpqqnIpOGrbQUAsz/I+upMF8yTrtccq9DDa0Ah5JRqgacIm0fsnnWGwfT2UKTNXEQp+AhNa2iK2+8w75p6FmMSSXW0CSnZkrqf/DcirpL21onPGlJ/ZUFaQBaVPs5n2+gHBBZ+y/krzh/JDQjmjADCAHuc0cxW5xN2eFBXODCr3/IufVuvE4mUbE2ojAETKz8fEukcYkYAuTlHSSqzMlXqFr0hDNE86ScuNnrIV/YKj7278qMnJbgPmYGcBtFWTr/CcruMAvCQ9JPKIZHPIiOYFpoz1N1S38eZElGEcnBWJhjeHcHGO3R/x0P3yq1EBGHwLzjlbkrpscwyeqFd1c2z0TtrSW2Sc+npSmGjFl4sMYBEeAgAxKr4RSBVTWYfuaH7G6zgDwc6ejNqAtbuufPRf0Z36DGTosRfmlOjRykYYmxlCzdRZsHGoSBeZ+d44UPe0uDEIXl04XjA4YE4UxtB8ZY2QsJWhrFyaiBBker3ylQ+ts94HvK0qeLikrvY0NcfL3nqGtXMkA7WtMovYwkmfKJ2lFdCanMo9FWtry40i+pH7rVMfLgQBLp4aLrkHiRjIdqtBUjJDuVNMQS2rc88fU5Ekw/KxfTLDDbiqIFF5VAOWuluXTm3AJ9U+BuaiqfM0EXh2xPOXFlt0Jw5Wnb8juEJlJR0LAc5x5P/ncCLIFzFoEuPzeZGsLEWFCTQU8vG5Oiq2LG9Hqt71RezNODxq1YWhIvMsObmYdYMUi/KdvN5kRpPHlFiVC36Ji2Bz0YIUi42a/yyInAkacj9JWe2ho/GkAPDgWF7EXrYKqJD1Hr1r/oh06B6AlQg7U4a+41EkyZPhIFS3Nv7Bc5SEz89Klr3u7cg7QWXeRyojL21fkM/MQtdoJ7XEPiAn9teWPj/mYgnKVpaF2KHiDcT4nauabWvta5Fre02h3R4+gb1rsKmZ3AC9MJ2pu8+M7Z6n1dmXaN/6fXDau+wKCWPaRXLddhPPaxQyw4yilSAptNGXfF+MRG+wv62NujIsTNevCBy/aTejmktX7AGuDdN56mHFkbkm4+6iiRLv8DPfqytn0gtKjG6+PKFZZay977p2i0YuM5q1XqmDIbNzcBMvZg9weY7+SiDxrWjV+YuH20BxH4W/vpJ0tK7O8EuSh0LTx0P31BwfRCIo+bsnsK2PKCs/P7j2sktTzHH5dENWzWfbV/fi6E0jtPhEdTf1Tago6Y+t6D//6qzbSs/wxgp3tqJT5/b/xfB/ao7YpncHzPN3xQP/foXcSyLvC6BWIf0kIpywy66Ro6q/i8JgaOaikbGz3A8Cp75dUqeGXXEAKrYoX5LT7cWIF42CsdTHdQworIjrmk6W/EfjlpI5JXOTjEsl+JuTKrhsIreAXltdJqX9u/ZHkmuSqfc6igICH6qkAcvkkYVmOnKYObOuwVqnm3rIdub+m+GGgjb9rfVGYvawea+kkhCnVUqofwexSWpP5hUsYx3Io/FIF6u/vuPlLuWwWPAEhQ5elgkZLoCWQIXR1c80yjzUxSTphacM3wMHljcq2xnw5kv3J3rsTerS+/x9CvdTSpANPemlk185LQUpGEG7ucxn/CyalIszojNwU7Iu0ZHHBJy3iQNQY9nQJ5SONij5Nv5BY/pQiTF1NGdlvpFHO6ieX2wISmuXekHubppuX0IGNqTAIwStaGfXrg2goViXO9IoB5RJCyz+J8k7j7lKiW8qc8CLnDsxNbiI0j3aGO7pJcafEbcRCl2UsWFKzK8BJGmKuO/kNaiLB3otYM2rs6DkqbtmFaWNpgimvrHv8tEUegllqJ70U/RJ8hi9O23CvCNR/nsihLDX4IgTU9T4vOgkxT6gB0u/sYOPaIsKMW2zTEPC1HGV5FQjqy8mQBdxLbdIv1tDuOgZ0LkZmi1NnOcAMKLYn331BIkDGKYKNIJIJeVUSZYQ+vkteltqd+V3Of0OJHzWblbVr2IhJHbQ56b8Vk5WYs47pxD2ODQvWZLk4jCaUPjYkYKk2+oZY3/l1nSvx7GXHqmK4RpFmHMc6LWHm9ENzg38aZUHhXkxkhVcvt1EJO0ZnYMRdjX2TGrY5kS65F7cdFJsNMIv9okbp3xgyFE/sgQvheyjsve4ULF2z2XVuHPSbdov80NhS9LV3JByiImw0hd/X2OVhx4Db+JN0oDJxTBLcbHQrt5WLxV8+I43sKbOIdv9cb6A7lFMYMGAg92B55+mwt4jnDSNG9Yb2ddEWsFxc/WvFf6swQM1ui+KmMEQ+gwZ/p2x0e2OviAa5U4k2xz67QbTnpM7fCJmpiB88SMzBcPIXgBHV+qoABHuVUVktwKVjsYVRxx7EC81NR//vVoYpaCyq2h3N8jbIe0BTEIKdrU/StVHG9FazojoYtTlLqiZus7gUv+HGkPTg+wLF9rS8N4S79h+Xh//gfvqZCU6I+14Oc3PCG5oEOvJq61xfOh+5cFnYRMUlUxiQh+NLjWZQSTK9xmHXFHs+TegnCRNoedkAyD8B6gcaRYJb+o4mWJRd06800gVXRrpS4hICioaLO3BeEqRQ25muECNEb3yZNChiYgpuJFhOWh22/MDOqqsUeAJOyzPvXWD1xXnTefOcfdGddtCV0I1XFKsYl2XwGYbaVhWBoWc+uGp9FR+Ds/IHJ35GsbBkGHOZ9yGjjr4xcmpJf7h4Y+E1d3wQS/Dom0JmHFf0BpNZoC+wXfIhv2BEFJZpbqBaag1TwtB79dr55uVITrbRWbvnPBdziNho+I8JR/8hclshk5Z8x5IFmSkUM+grBfOmCyX2cTr7HB+8iYQQ43D6naEId/O10Zd0tSpbQImmnpWryoO4eCrnBLYQiX+apW9eP5khxowouwM7vSxouPwInG9BWTmLj8j+TM+sa6fkmG1YeazJJZV2y+Gbbefx+ywoVsPTu4OE0KO23g3dpEcmnAyQEnFHogn6MdeNSFcJsxl/Mm/D1A5K+hiStHwzGcUVN0l2MX+jeoXjqFgFkYqefTY2V5DYSbrTAXq3xN/khWCrmpXpA1fXLLfNv6Co6jUwFxpCwhk1ffH459viCBChDQEOspOSZ3Huq2O+SB07fmI1NeHgZklCCP2NmiVAJQRnx/tgxK7uD1Uo05kPWYgG+/+PrzFaMGW62olkF6oVM6pB7glUXYigf13Y7d8wYQL+hGUfjUJ/aqiEarDOxgjsV4wnSprV7dtKnEJJ++b1MwoHzxid/qJ2bxS0c9QZ6xoRVj2sKRSDLXr440z4FbAq/Rm6hRlpXIHJtW3vU4zRyR3ZinYA8FHFibf6W7FuKZE8fsbwuz+R3mwwHgeEnfX7fqE2Rb8LwzsTunl3PqiPoNl0nbnwsrc4sVqgobWYCyuApuDScEuqoOFeFGTxtMBggd8lTW2Mu4925i5M2uEorzVK9Ur8aH4vPjcuKMEAgVim+O+JuiKTy8ATIIkut7BC1REGidgr8qZKb88++E29l+FV3wIAdFCvr4w0yHvc3L/zTLMaKN8DOnxO0KLH29Lw+abiIMwed+dKrP9S2FXWFFiS8lV+W4DA/mabPKIyBLDfum8RFsf+BCII/YeyP4zWy3I2JtpyIPBtO7WX3M8VOEsLsmcJYLm1+J+pdMJTKt2zMb9oNw5OXqH9IIyemlzZ6Z0yNRp1v4skOvMMd9//5/2VDeJ3+wsFhszDs99Ya8l4ftGcJ6R3VqNVBXXkxm1eU5op+1cBzQkEU7uLr9FNyiejQP7z58h6tdwBguO0cSUf1wFoyNpsHQreMAlEfkq/nLUe8djDKfRMRajd68FIp9sg13mjE+wxy/mL0dhRZ36LvNSqdmXk5hhRDghZOexv1E9+740GP1n2xrYeqNfClivQ+dfgrM4W5sQrd178aJFQIyMLExqXiECFWk/JpY6KB4SD+AzQQOOfya9UFStvdcDHiHS9hmUUSMauEq7XA0OtyNJ+lE0k8EwUkbIuCi0zhxrJu5COehKHeHdiLr+cZixPS4+SFb7jrnrUOrIPDa8U0GtvVeYPgYlKp50K06M1vBOXZesliPd+YL9FxhlYeWBqC6MAWt39aX0zxao20CH+0Sp0DdLs30z+/ypFOpY/Ay1MWS+umjhHAIkwSGoRJmFIUzbWy956p18sMv3PenIbl04qym6N+uO7Lw4EUIyYl2x/kFFR4GVkaCVGA5uC9t48WaZmhm/hMk3r37BOnHMoGcH1/yX5+lhApOv1If+Qd4XulKdpmZMKN4SM9yiDOMWEDb1bwmkYeGnrpcciYL+N/2H5RPUhsjOG1FmJ9e/lDt/WOq9PbJEfTRuwKa4XVQ73QqnkmaJ6PMEfaasU1x37WtWoWAuHcfxaK2ND/T6XQ5MOL61G0SyDzMl4Ue3ThQXzlmWexHXXMvFQtgSQhFJl+lwSi2HKu3jqOKiG63zRVfm1u6vgy6z16Nlm++3wfNiCkGUhAOm/WXuLwjxpJSqgkeUXqUfbgB/1Vku5btH5l0pDCZhw5fRs8JcuJ979oDX1jNaKjIQsiA+MP/VWNVnQGrnhdBGOp5ylQNI6vP7IY3C5lwC1D6z6mcC7MtKWeZn68fXN4zYgDA8pfz/bmw4Z94I4nN32J6xrgMYyOJP8F0XyHV0q9FKE02iwC9RNyswCRXaJh3pBSUm+VQn5LBhZwHuY94TNtP9n35AmnF1lUmAPUtJ0ZwblQqsdTfgwyPYs+flmDxrc2HMKihYsnGXJCH0JwDsAVj4+JI5lg4qg6WwcjpR/LdDVml/MwD6DJK94SJda/vCLqDs0rC9SncWypx5QWRMmSqawils28GpEz/Buu0iBRUVTbDY/Ibdbgom84xuyKAw49VjNoNq36shdadBTpTu/WNbqS8sEWq9oIBBHRVYoV1ShNAm45Hum3M1ZPcJwkw4g9d9BemHDAB1XUIijTmYsUrxW07MKo6L+mCjJFS2npxM1BzZkYNXFw7sLIBtYJvC0N7tM/nigTrrBGDFBRpg1MvnetskMMJZKIkjD0AQCJKO3n5LI8+uwIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011bUt4gMmuHFKdHKG7wqR5c",
      "input": {
        "note": "I now believe the bright blue shape in the wrist view is a distant background object, not the block — it barely moves when I yaw, and the near table ahead of the jaws is empty. Yawing 0.3 rad to the arm's right so the gripper steps clear of the blue block in the overhead view and I can measure their pixel offset directly.",
        "targets": {
          "left_j0": -0.66
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_011bUt4gMmuHFKdHKG7wqR5c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6376 left_j1=1.8294 left_j2=1.2301 left_j3=-1.0317 left_j4=-0.0032 left_j5=-0.3412 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4034, 6.4752, 0.0952, -0.0952, -0.0073, -0.0122, -0.1709, 2.1402, 7.2684, 1.917, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1af118a72f732e44ba6e2a4b83f339a3876999f0c6a952e044b90da34664114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de0b366846e23e8fb1969f76597d94675ceed00b62ac71df31befa36e844964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d0a0656dad934152ac6c32cdefa10798ebf390b512a6ec38d0cdc9eaf5d44cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c1af118a72f7
wire blob 1de0b366846e
wire blob 3d0a0656dad9
call 11 attempt 0 · /messages · status 200 · 15.78 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3576 left_j1=1.7527 left_j2=1.4162 left_j3=-1.2381 left_j4=-0.0059 left_j5=-0.3294 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.2786, 5.7231, 0.4908, -0.0513, -0.0464, -0.022, -0.1983, 1.7436, 6.9812, 1.9121, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3603 left_j1=1.8294 left_j2=1.2396 left_j3=-1.037 left_j4=-0.0051 left_j5=-0.3397 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0154 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.3897, 5.8872, 0.3687, -0.0513, 0.0806, -0.0122, -0.2256, 1.5385, 7.0222, 1.873, -0.0122, -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=-0.6376 left_j1=1.8294 left_j2=1.2301 left_j3=-1.0317 left_j4=-0.0032 left_j5=-0.3412 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4034, 6.4752, 0.0952, -0.0952, -0.0073, -0.0122, -0.1709, 2.1402, 7.2684, 1.917, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1af118a72f732e44ba6e2a4b83f339a3876999f0c6a952e044b90da34664114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de0b366846e23e8fb1969f76597d94675ceed00b62ac71df31befa36e844964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0a0656dad934152ac6c32cdefa10798ebf390b512a6ec38d0cdc9eaf5d44cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c1af118a72f7]
[blob 1de0b366846e]
[blob 3d0a0656dad9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LcARLj27RH3es6RpYkyku",
      "input": {
        "note": "The overhead view is still ambiguous — I can only clearly see one red block plus a dark blob beside it, with the left arm covering the area where I thought a second block was. Parking the left arm back at its base for a completely unobstructed overhead look.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 0.7,
          "left_j2": 1.3,
          "left_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 18 steps (1.8s)",
      "tool_use_id": "toolu_015LcARLj27RH3es6RpYkyku",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0158 left_j1=0.7246 left_j2=1.2686 left_j3=-0.7528 left_j4=-0.0078 left_j5=-0.3458 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.017 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.1282, 8.3077, 2.2784, 0.022, -0.0269, -0.0122, -0.0752, 1.6615, 7.159, 1.8974, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce3a44e7a7aaefc6a55efc832192512696788246fb91a3aa6a7ae4c9624fd0ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699591e2474f0e33a92e536b6c1a2cb66e5ce86f1e46f2aff222a4e4cc15e994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51953005630a4b4f2784d2a5f5543b6d186360bc6e923dbbda1464a6727c2c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ce3a44e7a7aa
wire blob 699591e2474f
wire blob 51953005630a
call 12 attempt 0 · /messages · status 200 · 14.2 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3603 left_j1=1.8294 left_j2=1.2396 left_j3=-1.037 left_j4=-0.0051 left_j5=-0.3397 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0154 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.3897, 5.8872, 0.3687, -0.0513, 0.0806, -0.0122, -0.2256, 1.5385, 7.0222, 1.873, -0.0122, -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=-0.6376 left_j1=1.8294 left_j2=1.2301 left_j3=-1.0317 left_j4=-0.0032 left_j5=-0.3412 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4034, 6.4752, 0.0952, -0.0952, -0.0073, -0.0122, -0.1709, 2.1402, 7.2684, 1.917, 0.0024, -0.0611, -0.0073]",
      "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=-0.0158 left_j1=0.7246 left_j2=1.2686 left_j3=-0.7528 left_j4=-0.0078 left_j5=-0.3458 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.017 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.1282, 8.3077, 2.2784, 0.022, -0.0269, -0.0122, -0.0752, 1.6615, 7.159, 1.8974, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce3a44e7a7aaefc6a55efc832192512696788246fb91a3aa6a7ae4c9624fd0ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699591e2474f0e33a92e536b6c1a2cb66e5ce86f1e46f2aff222a4e4cc15e994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51953005630a4b4f2784d2a5f5543b6d186360bc6e923dbbda1464a6727c2c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ce3a44e7a7aa]
[blob 699591e2474f]
[blob 51953005630a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQJvUvrRK1VhAdTxfaJW5X",
      "input": {
        "note": "Clean overhead view: blue block at image (63,101), red block at (137,111), and using the two arm bases as a ruler the scale is ~3.0 px/cm, putting the blue block 0.29 m out at j0≈-0.49 from the left arm. Moving to hover ~8 cm above the blue block with the jaws rolled square to it.",
        "targets": {
          "left_j0": -0.485,
          "left_j1": 1.731,
          "left_j2": 1.248,
          "left_j3": -1.088,
          "left_j5": -0.485
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01CQJvUvrRK1VhAdTxfaJW5X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=1.7184 left_j2=1.2514 left_j3=-1.0557 left_j4=-0.0074 left_j5=-0.4728 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -8.5812, 5.6274, 0.2955, -0.022, -0.1685, -0.0122, -0.0752, 1.5111, 7.2, 1.8779, -0.022, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d5a5b85493d7074fdc7406948e0add2e9b0bdb1420d1eddd733f95dd42318cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845fa3b5e6bce016d7349252400a13ebeab0c8c9dc7bfd1f0a96d3c5f680a14c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ed349c9c2840c573efd204fe1a89400b210e7e75813d5eccd12712e5f5f5f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2d5a5b85493d
wire blob 845fa3b5e6bc
wire blob 5ed349c9c284
call 13 attempt 0 · /messages · status 200 · 10.62 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6376 left_j1=1.8294 left_j2=1.2301 left_j3=-1.0317 left_j4=-0.0032 left_j5=-0.3412 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0124 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4034, 6.4752, 0.0952, -0.0952, -0.0073, -0.0122, -0.1709, 2.1402, 7.2684, 1.917, 0.0024, -0.0611, -0.0073]",
      "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=-0.0158 left_j1=0.7246 left_j2=1.2686 left_j3=-0.7528 left_j4=-0.0078 left_j5=-0.3458 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.017 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.1282, 8.3077, 2.2784, 0.022, -0.0269, -0.0122, -0.0752, 1.6615, 7.159, 1.8974, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=1.7184 left_j2=1.2514 left_j3=-1.0557 left_j4=-0.0074 left_j5=-0.4728 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -8.5812, 5.6274, 0.2955, -0.022, -0.1685, -0.0122, -0.0752, 1.5111, 7.2, 1.8779, -0.022, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d5a5b85493d7074fdc7406948e0add2e9b0bdb1420d1eddd733f95dd42318cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845fa3b5e6bce016d7349252400a13ebeab0c8c9dc7bfd1f0a96d3c5f680a14c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed349c9c2840c573efd204fe1a89400b210e7e75813d5eccd12712e5f5f5f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2d5a5b85493d]
[blob 845fa3b5e6bc]
[blob 5ed349c9c284]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GkYKewUL1QtN1PEyjjgM9",
      "input": {
        "note": "Hovering over the blue block's estimated position (the block is now hidden beneath the gripper in the overhead view). Descending ~10 cm with the jaws open and straddling the block, watching j1 effort for table contact to calibrate my height bias.",
        "targets": {
          "left_j1": 1.994,
          "left_j2": 1.083,
          "left_j3": -0.661
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_016GkYKewUL1QtN1PEyjjgM9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.8984 left_j2=1.1381 left_j3=-0.8219 left_j4=0.0143 left_j5=-0.4759 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9778, 0.7453, 1.8877, -0.2515, 0.0122, -0.0171, -0.0752, 1.6479, 7.0222, 1.9316, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66dc6e72aa1c2938c942c40b2d096591dae7aa6d9d0e5646a7c6080359206b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db5234cd560fb764a20ce389aedff7c999add98aa834629867c86c04dc32c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:363b389490bbc640887350f270894f20a090ad2f225aeb046b6b861067ac8906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 66dc6e72aa1c
wire blob 5db5234cd560
wire blob 363b389490bb
call 14 attempt 0 · /messages · status 200 · 15.21 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0158 left_j1=0.7246 left_j2=1.2686 left_j3=-0.7528 left_j4=-0.0078 left_j5=-0.3458 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.017 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.1282, 8.3077, 2.2784, 0.022, -0.0269, -0.0122, -0.0752, 1.6615, 7.159, 1.8974, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=1.7184 left_j2=1.2514 left_j3=-1.0557 left_j4=-0.0074 left_j5=-0.4728 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -8.5812, 5.6274, 0.2955, -0.022, -0.1685, -0.0122, -0.0752, 1.5111, 7.2, 1.8779, -0.022, -0.0415, -0.0073]",
      "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=-0.4717 left_j1=1.8984 left_j2=1.1381 left_j3=-0.8219 left_j4=0.0143 left_j5=-0.4759 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9778, 0.7453, 1.8877, -0.2515, 0.0122, -0.0171, -0.0752, 1.6479, 7.0222, 1.9316, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66dc6e72aa1c2938c942c40b2d096591dae7aa6d9d0e5646a7c6080359206b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db5234cd560fb764a20ce389aedff7c999add98aa834629867c86c04dc32c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:363b389490bbc640887350f270894f20a090ad2f225aeb046b6b861067ac8906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 66dc6e72aa1c]
[blob 5db5234cd560]
[blob 363b389490bb]
{
  "content": [
    {
      "signature": 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Rw5sViSiqK8zuAm7Z3TAK1iX9WfXF4LIoPZfT9M41HnUkKD1dZUxASKl4aKXR8TeegrMo8C6/f8caSyaX5rLVz9qunnUrkSrCVfjQcgqRtsMUnA5i+iLNakaMUc34vYGeRkMu/c/tvCuHWW5KjQ/A4BGrMAKhMZbhvlWJ+iJyDLOuQSqILpfDvshfZM6l+chAqSMeja+niO5KcaM7GHFS4O8wLrADfN/FqsFGWv74FspXSyZwTDmZKCO6268Nz7zQadM5pNgnsBAJIJuBNZk7aJSxOc4X4SPQBJJbkOz6Go+p7ED5nuqyx3Y5k7T00zWYPQNKIezYOkJPhynztVZdaP+MDhOJzQkvP+EvGNep9yMU29toxNa3Tmiy3pZexSnBUrfhx25NsM+H3dEsp4vXFGtQ2dqsSXQKNYb0Iml5bxLw+3l0PtbOQKUuRyZZyqVTOHc6TvmBMxvGLVNmETa3vcP4wsgU86T0Tw0VfheeEPnzyWxKQVT1bENPTRoJ2EyCRjZiNDmyoul7cxTpi8pbPVWtYBUL9NqYTh63YJU6K2O5mxWL6AoagldJoUry9n+YXHvVAIc/Pprgwp18fgVdb0C3YlFUc4jUd2qkdMUWy8I8ybY+owM6t37rbmVDLkLudK+5dbWinRJ+ISzO41oP09uoLQkqXVjZE9Nms7vEwLzwg5c0p3C9QbVpeRHOiLV8bY7FsmSEWeOy75GxFchStkW7DGjRSPamHmaQCtnT4mzpOeSWCdqfjATgl+lDaOSXe1cW0k9LlFgjXkiCrblrgPycoT0k2koCZZ0GcIHnEK+hvJC3KgjIwC5hYuPFOWNCL4yt4izfUBT9Mj3s0VnG6pHc07DTyFI88ZCfr4P0PYGPv84Y7KZWc+tEnDMSKxKO4q0CIOdRk8P4ZgC2LKnpJf26zmMs/35dlRnhV8KW5yOw3JdHpjkv3V9qMg6BH+iqEey87XWmwK7d7TbEoxSHxA23NwkAgXX6Q3udZH+bu4yqKLPaYbiDEYbb+w1TZoFjedeuaCJZAxaGDvFSTRQcfk34pmxdDKiTG78XcbZZTRAUy6n18I4FGB+vwW7TvSGxtlqMEa0UDpKcjOyAyHcc0Yg7Mg90DTdAp0CcixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RVWG28LDzNccvFLRCVu9q7",
      "input": {
        "note": "j1 stalled at 1.898 with its holding torque relaxing from -8.6 to -1.0 N·m, so the fingertips are on the table (FK reads z=+0.094 there, giving me a 9.4 cm height bias), and the wrist camera shows the blue block right up close. Closing the jaws to test whether the block is actually between them — the residual will tell me.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RVWG28LDzNccvFLRCVu9q7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.89 left_j2=1.1404 left_j3=-0.8291 left_j4=0.0181 left_j5=-0.4797 left_gripper=0.0099 right_j0=-0.0006 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -7.9385, 4.9026, 0.3199, -0.0611, 0.0366, 0.8132, -0.0615, 1.5795, 7.0496, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e27bea319b29bc333e0d43fb56eb16f14b4be89d38a51248523297926c1086c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b561c5baee3d916b79d62f581b4230cc36c67ae06aeef7e0eaa8bfd340b0d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:963943fe4590146863f10941efcb79d646cecd54ca402d9a1fe35748813c7b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3e27bea319b2
wire blob 0b561c5baee3
wire blob 963943fe4590
call 15 attempt 0 · /messages · status 200 · 21.2 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=1.7184 left_j2=1.2514 left_j3=-1.0557 left_j4=-0.0074 left_j5=-0.4728 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -8.5812, 5.6274, 0.2955, -0.022, -0.1685, -0.0122, -0.0752, 1.5111, 7.2, 1.8779, -0.022, -0.0415, -0.0073]",
      "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=-0.4717 left_j1=1.8984 left_j2=1.1381 left_j3=-0.8219 left_j4=0.0143 left_j5=-0.4759 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9778, 0.7453, 1.8877, -0.2515, 0.0122, -0.0171, -0.0752, 1.6479, 7.0222, 1.9316, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.89 left_j2=1.1404 left_j3=-0.8291 left_j4=0.0181 left_j5=-0.4797 left_gripper=0.0099 right_j0=-0.0006 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -7.9385, 4.9026, 0.3199, -0.0611, 0.0366, 0.8132, -0.0615, 1.5795, 7.0496, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e27bea319b29bc333e0d43fb56eb16f14b4be89d38a51248523297926c1086c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b561c5baee3d916b79d62f581b4230cc36c67ae06aeef7e0eaa8bfd340b0d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963943fe4590146863f10941efcb79d646cecd54ca402d9a1fe35748813c7b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3e27bea319b2]
[blob 0b561c5baee3]
[blob 963943fe4590]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzX424rKWoCcuYfVYPBmkY",
      "input": {
        "note": "The close came back with residual 0.01 and only moderate effort — the jaws shut on nothing, so the block was not between them (and I now confirm the jaws converge at image (110,200) in the wrist view). Lifting straight up and folding the wrist back to clear the view so I can see where the blue block actually is.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.4,
          "left_j2": 1.5,
          "left_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CzX424rKWoCcuYfVYPBmkY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.4342 left_j2=1.4647 left_j3=-1.3334 left_j4=0.0189 left_j5=-0.4923 left_gripper=0.9949 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -5.9419, 7.5692, 0.7253, -0.0855, 0.1001, -0.0806, -0.212, 1.812, 7.0222, 1.873, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f32de6f0746863939af1450a5f6f99d94bdfd88daea4137902d80de5a38cb8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f851652235838923ebf9f076dbd6eda0ae09d30f566b2df95b842648ecc8a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa5c7fe5800b647afcaeffc45b7bdcf3374d7184b32c2a682eea1525fe298163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9f32de6f0746
wire blob 4f8516522358
wire blob aa5c7fe5800b
call 16 attempt 0 · /messages · status 200 · 29.22 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.8984 left_j2=1.1381 left_j3=-0.8219 left_j4=0.0143 left_j5=-0.4759 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9778, 0.7453, 1.8877, -0.2515, 0.0122, -0.0171, -0.0752, 1.6479, 7.0222, 1.9316, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.89 left_j2=1.1404 left_j3=-0.8291 left_j4=0.0181 left_j5=-0.4797 left_gripper=0.0099 right_j0=-0.0006 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -7.9385, 4.9026, 0.3199, -0.0611, 0.0366, 0.8132, -0.0615, 1.5795, 7.0496, 1.8926, -0.0366, -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=-0.4717 left_j1=1.4342 left_j2=1.4647 left_j3=-1.3334 left_j4=0.0189 left_j5=-0.4923 left_gripper=0.9949 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -5.9419, 7.5692, 0.7253, -0.0855, 0.1001, -0.0806, -0.212, 1.812, 7.0222, 1.873, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f32de6f0746863939af1450a5f6f99d94bdfd88daea4137902d80de5a38cb8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f851652235838923ebf9f076dbd6eda0ae09d30f566b2df95b842648ecc8a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5c7fe5800b647afcaeffc45b7bdcf3374d7184b32c2a682eea1525fe298163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9f32de6f0746]
[blob 4f8516522358]
[blob aa5c7fe5800b]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015MkvT4zFB9trma8uGc5woW",
      "input": {
        "note": "Now the wrist camera clearly shows the blue block (white \"1\" label) ahead of the jaws and the red block at the right edge — combining the pixel offsets with my touch-calibrated geometry says the block sits about 4 cm further out than where I closed. Moving to that radius at ~3 cm above the table to re-check before grasping.",
        "targets": {
          "left_j1": 1.942,
          "left_j2": 1.357,
          "left_j3": -0.986
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_015MkvT4zFB9trma8uGc5woW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.9316 left_j2=1.3663 left_j3=-1.0374 left_j4=0.0181 left_j5=-0.4961 left_gripper=0.9965 right_j0=-0.0006 right_j1=0.0269 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.2906, 5.4496, 0.2808, -0.0171, -0.0269, 0.1538, -0.1436, 1.347, 7.0359, 1.8632, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44aeedf5f5d9076b61c3f9f48d2ed0771490bac0c3c7b5237107e6749ae6a7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8175469c49c0fe2d35f50ac4cfd4bc9c96f016ebd0a799ceeb114641790766e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825046d69fcb7d6c4b71294076ecc345b8f30c0283c6877c7ee55a0d0d5e4469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 44aeedf5f5d9
wire blob f8175469c49c
wire blob 825046d69fcb
call 17 attempt 0 · /messages · status 200 · 19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.89 left_j2=1.1404 left_j3=-0.8291 left_j4=0.0181 left_j5=-0.4797 left_gripper=0.0099 right_j0=-0.0006 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -7.9385, 4.9026, 0.3199, -0.0611, 0.0366, 0.8132, -0.0615, 1.5795, 7.0496, 1.8926, -0.0366, -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=-0.4717 left_j1=1.4342 left_j2=1.4647 left_j3=-1.3334 left_j4=0.0189 left_j5=-0.4923 left_gripper=0.9949 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -5.9419, 7.5692, 0.7253, -0.0855, 0.1001, -0.0806, -0.212, 1.812, 7.0222, 1.873, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.4717 left_j1=1.9316 left_j2=1.3663 left_j3=-1.0374 left_j4=0.0181 left_j5=-0.4961 left_gripper=0.9965 right_j0=-0.0006 right_j1=0.0269 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.2906, 5.4496, 0.2808, -0.0171, -0.0269, 0.1538, -0.1436, 1.347, 7.0359, 1.8632, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44aeedf5f5d9076b61c3f9f48d2ed0771490bac0c3c7b5237107e6749ae6a7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8175469c49c0fe2d35f50ac4cfd4bc9c96f016ebd0a799ceeb114641790766e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825046d69fcb7d6c4b71294076ecc345b8f30c0283c6877c7ee55a0d0d5e4469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 44aeedf5f5d9]
[blob f8175469c49c]
[blob 825046d69fcb]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VQdJMwj6jhgWT3JWAhvo68",
      "input": {
        "note": "The wrist view is confusing me (the blue block looms huge at the frame edge), so I'm parking the left arm clear of the workspace to get a clean overhead shot and check whether the block is still at image (63,101) or whether my earlier close nudged it.",
        "targets": {
          "left_j0": 0.2,
          "left_j1": 0.7,
          "left_j2": 1.3,
          "left_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_01VQdJMwj6jhgWT3JWAhvo68",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.1852 left_j1=0.7227 left_j2=1.3029 left_j3=-0.7525 left_j4=0.0151 left_j5=-0.4995 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4034, 1.5932, 5.0393, 2.3223, -0.0317, -0.0317, 0.0024, -0.3761, 1.6752, 7.0359, 1.917, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e9e7ee2b99f042ff27c8693779d9781c8972aad7b1308065dd60de5bad7008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3adddd857784217f974f1d63904868e7449189f9ed17c56183b0b841a0d0cdd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:310a09e81b6c9bc056e71cb9996d231b7778fe93d3cca0f0b71d7ae40e0c4085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d9e9e7ee2b99
wire blob 3adddd857784
wire blob 310a09e81b6c
call 18 attempt 0 · /messages · status 200 · 25.29 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.4342 left_j2=1.4647 left_j3=-1.3334 left_j4=0.0189 left_j5=-0.4923 left_gripper=0.9949 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -5.9419, 7.5692, 0.7253, -0.0855, 0.1001, -0.0806, -0.212, 1.812, 7.0222, 1.873, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.4717 left_j1=1.9316 left_j2=1.3663 left_j3=-1.0374 left_j4=0.0181 left_j5=-0.4961 left_gripper=0.9965 right_j0=-0.0006 right_j1=0.0269 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.2906, 5.4496, 0.2808, -0.0171, -0.0269, 0.1538, -0.1436, 1.347, 7.0359, 1.8632, -0.022, -0.0464, -0.0073]",
      "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=0.1852 left_j1=0.7227 left_j2=1.3029 left_j3=-0.7525 left_j4=0.0151 left_j5=-0.4995 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4034, 1.5932, 5.0393, 2.3223, -0.0317, -0.0317, 0.0024, -0.3761, 1.6752, 7.0359, 1.917, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e9e7ee2b99f042ff27c8693779d9781c8972aad7b1308065dd60de5bad7008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3adddd857784217f974f1d63904868e7449189f9ed17c56183b0b841a0d0cdd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310a09e81b6c9bc056e71cb9996d231b7778fe93d3cca0f0b71d7ae40e0c4085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d9e9e7ee2b99]
[blob 3adddd857784]
[blob 310a09e81b6c]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VB9wz5AYwgYDrmLG2tonzs",
      "input": {
        "note": "Clean overhead check confirms nothing moved: blue block still at (63,100), red at (140,110). New plan — approach the blue block radially from the inside at ~5 cm height with jaws open, stepping outward and using the overhead view (the block stays visible until the gripper reaches it) to judge contact distance.",
        "targets": {
          "left_j0": -0.485,
          "left_j1": 1.623,
          "left_j2": 1.052,
          "left_j3": -0.999,
          "left_j5": -0.485
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01VB9wz5AYwgYDrmLG2tonzs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4656 left_j1=1.6112 left_j2=1.0622 left_j3=-0.9684 left_j4=0.0166 left_j5=-0.4953 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5829, 5.8051, 0.1783, -0.0952, 0.1001, -0.0073, -0.1026, 1.5385, 7.2274, 1.873, -0.0122, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62af23d48f085a6a903d28f31a05556e54a4bece4fe1ee559d10e47613b424bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02c9f409033b21563581ea3b997aed67c1a95b9ca45fa097ef38461ef9c71e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0616bc0a81144e2cd2f04f16c3f656d6e6dbf8e4f669fffe5bdca7bd18e840dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 62af23d48f08
wire blob 02c9f409033b
wire blob 0616bc0a8114
call 19 attempt 0 · /messages · status 200 · 8.861 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=1.9316 left_j2=1.3663 left_j3=-1.0374 left_j4=0.0181 left_j5=-0.4961 left_gripper=0.9965 right_j0=-0.0006 right_j1=0.0269 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.2906, 5.4496, 0.2808, -0.0171, -0.0269, 0.1538, -0.1436, 1.347, 7.0359, 1.8632, -0.022, -0.0464, -0.0073]",
      "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=0.1852 left_j1=0.7227 left_j2=1.3029 left_j3=-0.7525 left_j4=0.0151 left_j5=-0.4995 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4034, 1.5932, 5.0393, 2.3223, -0.0317, -0.0317, 0.0024, -0.3761, 1.6752, 7.0359, 1.917, -0.022, -0.0708, -0.0073]",
      "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=-0.4656 left_j1=1.6112 left_j2=1.0622 left_j3=-0.9684 left_j4=0.0166 left_j5=-0.4953 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5829, 5.8051, 0.1783, -0.0952, 0.1001, -0.0073, -0.1026, 1.5385, 7.2274, 1.873, -0.0122, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62af23d48f085a6a903d28f31a05556e54a4bece4fe1ee559d10e47613b424bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02c9f409033b21563581ea3b997aed67c1a95b9ca45fa097ef38461ef9c71e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0616bc0a81144e2cd2f04f16c3f656d6e6dbf8e4f669fffe5bdca7bd18e840dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 62af23d48f08]
[blob 02c9f409033b]
[blob 0616bc0a8114]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbNn9mpgPi6rUQPd7Rj6om",
      "input": {
        "note": "Overhead now shows the gripper hiding the blue block, so I'm within a few cm of it but I can't resolve the sign of my radial error from the images. Taking the pragmatic route: descend to table level 4 cm further out than my failed attempt (jaws open, straddling the expected block position) and then test with a close.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.997,
          "left_j2": 1.32,
          "left_j3": -0.893
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SbNn9mpgPi6rUQPd7Rj6om",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.469 left_j1=1.9835 left_j2=1.2884 left_j3=-0.9222 left_j4=0.0158 left_j5=-0.4995 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0345 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.9077, 7.1179, 0.3101, -0.0024, -0.0024, -0.1978, -0.1709, 1.4427, 7.0632, 1.8974, -0.0366, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49287c8c4941abf14db4711aa67b2717b0b9bdb9f92bc234498ee05383a7ab2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75e05c8d5dd0732beffa6760ae9bd2834855319e6cd3e507c53f8cfee62fb2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5709668f4c2ad37c9ca1dc87210cbbd3204ddbf09f26feed2885aa5db6df3cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 49287c8c4941
wire blob 75e05c8d5dd0
wire blob a5709668f4c2
call 20 attempt 0 · /messages · status 200 · 12.65 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.1852 left_j1=0.7227 left_j2=1.3029 left_j3=-0.7525 left_j4=0.0151 left_j5=-0.4995 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4034, 1.5932, 5.0393, 2.3223, -0.0317, -0.0317, 0.0024, -0.3761, 1.6752, 7.0359, 1.917, -0.022, -0.0708, -0.0073]",
      "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=-0.4656 left_j1=1.6112 left_j2=1.0622 left_j3=-0.9684 left_j4=0.0166 left_j5=-0.4953 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5829, 5.8051, 0.1783, -0.0952, 0.1001, -0.0073, -0.1026, 1.5385, 7.2274, 1.873, -0.0122, -0.0806, -0.0073]",
      "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=-0.469 left_j1=1.9835 left_j2=1.2884 left_j3=-0.9222 left_j4=0.0158 left_j5=-0.4995 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0345 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.9077, 7.1179, 0.3101, -0.0024, -0.0024, -0.1978, -0.1709, 1.4427, 7.0632, 1.8974, -0.0366, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49287c8c4941abf14db4711aa67b2717b0b9bdb9f92bc234498ee05383a7ab2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75e05c8d5dd0732beffa6760ae9bd2834855319e6cd3e507c53f8cfee62fb2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5709668f4c2ad37c9ca1dc87210cbbd3204ddbf09f26feed2885aa5db6df3cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 49287c8c4941]
[blob 75e05c8d5dd0]
[blob a5709668f4c2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0168cVcXQocMccD1uRHQBJ1b",
      "input": {
        "note": "At table height 4 cm further out, the wrist camera shows the blue block filling the frame directly ahead of and just above the jaw silhouettes — it is right at the gripper. Closing the jaws to grasp; the residual will confirm whether I have the block.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0168cVcXQocMccD1uRHQBJ1b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4694 left_j1=1.9976 left_j2=1.2976 left_j3=-0.9203 left_j4=0.0216 left_j5=-0.503 left_gripper=0.01 right_j0=-0.0006 right_j1=0.0349 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -10.4547, 4.3966, 0.188, -0.0757, 0.0269, 0.8083, -0.0479, 1.5658, 7.0496, 1.9023, -0.0122, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0219f77775e6db2cce75899f2aa3c49e22affb3516e4375bb0aecb91ac29d6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83fd1a3fc49fe56efdc630e010d6a1433fd93608c194a6a63583377c67e95b19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f72f8494e5b16e39731a8272ae91f9057d76dcec482bc481767f7085bb7a93ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0219f77775e6
wire blob 83fd1a3fc49f
wire blob f72f8494e5b1
call 21 attempt 0 · /messages · status 200 · 16.87 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4656 left_j1=1.6112 left_j2=1.0622 left_j3=-0.9684 left_j4=0.0166 left_j5=-0.4953 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5829, 5.8051, 0.1783, -0.0952, 0.1001, -0.0073, -0.1026, 1.5385, 7.2274, 1.873, -0.0122, -0.0806, -0.0073]",
      "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=-0.469 left_j1=1.9835 left_j2=1.2884 left_j3=-0.9222 left_j4=0.0158 left_j5=-0.4995 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0345 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.9077, 7.1179, 0.3101, -0.0024, -0.0024, -0.1978, -0.1709, 1.4427, 7.0632, 1.8974, -0.0366, -0.0708, -0.0073]",
      "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=-0.4694 left_j1=1.9976 left_j2=1.2976 left_j3=-0.9203 left_j4=0.0216 left_j5=-0.503 left_gripper=0.01 right_j0=-0.0006 right_j1=0.0349 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -10.4547, 4.3966, 0.188, -0.0757, 0.0269, 0.8083, -0.0479, 1.5658, 7.0496, 1.9023, -0.0122, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0219f77775e6db2cce75899f2aa3c49e22affb3516e4375bb0aecb91ac29d6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83fd1a3fc49fe56efdc630e010d6a1433fd93608c194a6a63583377c67e95b19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72f8494e5b16e39731a8272ae91f9057d76dcec482bc481767f7085bb7a93ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0219f77775e6]
[blob 83fd1a3fc49f]
[blob f72f8494e5b1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fy3w3TwgQwcp2da4tnwBXa",
      "input": {
        "note": "Second close also came back empty (residual 0.01), and both cameras agree the block sits to the arm's LEFT of the jaws — that lateral offset, not radius, is what I keep missing. Shifting ~2.5 cm to the arm's left and splitting the difference in radius, jaws open at table height.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.384,
          "left_j1": 1.905,
          "left_j2": 1.18,
          "left_j3": -0.846,
          "left_j5": -0.384
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fy3w3TwgQwcp2da4tnwBXa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3962 left_j1=1.9278 left_j2=1.1965 left_j3=-0.8612 left_j4=0.0223 left_j5=-0.4103 left_gripper=0.9946 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.8547, -10.6462, 4.1504, 0.3639, -0.0562, 0.1734, -0.0708, -0.212, 1.7983, 7.2957, 1.873, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76b523454fead8beead28bb77c175fa1264bf60737489bceea3ff58aa7bf678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0d3cd6ae5c92d5356a397cf8d0b642f6b24f0de6559af0b14acb854da06f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0812571fe6ad0455af35207e7a2d77beac3fa2b63851d140cac1d809821a9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b76b523454fe
wire blob 9c0d3cd6ae5c
wire blob d0812571fe6a
call 22 attempt 0 · /messages · status 200 · 9.642 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.469 left_j1=1.9835 left_j2=1.2884 left_j3=-0.9222 left_j4=0.0158 left_j5=-0.4995 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0345 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.9077, 7.1179, 0.3101, -0.0024, -0.0024, -0.1978, -0.1709, 1.4427, 7.0632, 1.8974, -0.0366, -0.0708, -0.0073]",
      "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=-0.4694 left_j1=1.9976 left_j2=1.2976 left_j3=-0.9203 left_j4=0.0216 left_j5=-0.503 left_gripper=0.01 right_j0=-0.0006 right_j1=0.0349 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -10.4547, 4.3966, 0.188, -0.0757, 0.0269, 0.8083, -0.0479, 1.5658, 7.0496, 1.9023, -0.0122, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3962 left_j1=1.9278 left_j2=1.1965 left_j3=-0.8612 left_j4=0.0223 left_j5=-0.4103 left_gripper=0.9946 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.8547, -10.6462, 4.1504, 0.3639, -0.0562, 0.1734, -0.0708, -0.212, 1.7983, 7.2957, 1.873, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76b523454fead8beead28bb77c175fa1264bf60737489bceea3ff58aa7bf678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0d3cd6ae5c92d5356a397cf8d0b642f6b24f0de6559af0b14acb854da06f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0812571fe6ad0455af35207e7a2d77beac3fa2b63851d140cac1d809821a9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b76b523454fe]
[blob 9c0d3cd6ae5c]
[blob d0812571fe6a]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GorW5MXz1VtjE2RjoUpqMR",
      "input": {
        "note": "Repositioned 2.5 cm to the arm's left at table height with jaws open; testing this cell of my small search grid by closing and reading the residual.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GorW5MXz1VtjE2RjoUpqMR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.9224 left_j2=1.19 left_j3=-0.8593 left_j4=0.0189 left_j5=-0.4164 left_gripper=0.0104 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -8.5812, 5.6547, 0.2076, 0.0073, 0.0757, 0.8425, -0.1162, 1.7709, 7.0496, 1.9512, -0.0317, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4eab40fd8b5bcb658baf076ef1714e2507d1b52666bea5ce58df1b1765e70ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f20caa64ea2693e8268cec4f2829548fc7ede7fea96578b40325c2ff6845af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b6a3db71c025e52082d1b6f64aa6678ebc011369633ac4a1f83cf880a43461f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e4eab40fd8b5
wire blob c4f20caa64ea
wire blob 4b6a3db71c02
call 23 attempt 0 · /messages · status 200 · 12.38 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4694 left_j1=1.9976 left_j2=1.2976 left_j3=-0.9203 left_j4=0.0216 left_j5=-0.503 left_gripper=0.01 right_j0=-0.0006 right_j1=0.0349 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -10.4547, 4.3966, 0.188, -0.0757, 0.0269, 0.8083, -0.0479, 1.5658, 7.0496, 1.9023, -0.0122, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3962 left_j1=1.9278 left_j2=1.1965 left_j3=-0.8612 left_j4=0.0223 left_j5=-0.4103 left_gripper=0.9946 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.8547, -10.6462, 4.1504, 0.3639, -0.0562, 0.1734, -0.0708, -0.212, 1.7983, 7.2957, 1.873, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.395 left_j1=1.9224 left_j2=1.19 left_j3=-0.8593 left_j4=0.0189 left_j5=-0.4164 left_gripper=0.0104 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -8.5812, 5.6547, 0.2076, 0.0073, 0.0757, 0.8425, -0.1162, 1.7709, 7.0496, 1.9512, -0.0317, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4eab40fd8b5bcb658baf076ef1714e2507d1b52666bea5ce58df1b1765e70ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f20caa64ea2693e8268cec4f2829548fc7ede7fea96578b40325c2ff6845af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6a3db71c025e52082d1b6f64aa6678ebc011369633ac4a1f83cf880a43461f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e4eab40fd8b5]
[blob c4f20caa64ea]
[blob 4b6a3db71c02]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vxk7hheFsHhUYwwhwyTYdL",
      "input": {
        "note": "Third empty close — something is systematically wrong with my picture of the scene, and the wrist view is dominated by an unidentified blue surface. Lifting straight up to 20 cm above the table at the same spot: if that blue surface shrinks away I'll know it is on the table, and I should see the block from directly above.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.668,
          "left_j2": 1.743,
          "left_j3": -1.646
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Vxk7hheFsHhUYwwhwyTYdL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.7012 left_j2=1.7077 left_j3=-1.5715 left_j4=0.0193 left_j5=-0.4236 left_gripper=0.9961 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.2103, 7.3778, 0.1392, -0.0122, 0.0562, 0.0171, -0.2803, 1.9214, 7.0496, 1.8632, -0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5b964b0836af4816580229e1014ccf336090b5971ed587b19b230f89c5b33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7decde9fe6c10c6cd5851ae90370696fff01cbd6550708162452a4771a17139c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1e303201057b9814eb153a6c46105bb1d87fd2cecdea7d8d06932a45af2976c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7a5b964b0836
wire blob 7decde9fe6c1
wire blob f1e303201057
call 24 attempt 0 · /messages · status 200 · 28.1 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3962 left_j1=1.9278 left_j2=1.1965 left_j3=-0.8612 left_j4=0.0223 left_j5=-0.4103 left_gripper=0.9946 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.8547, -10.6462, 4.1504, 0.3639, -0.0562, 0.1734, -0.0708, -0.212, 1.7983, 7.2957, 1.873, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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=-0.395 left_j1=1.9224 left_j2=1.19 left_j3=-0.8593 left_j4=0.0189 left_j5=-0.4164 left_gripper=0.0104 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -8.5812, 5.6547, 0.2076, 0.0073, 0.0757, 0.8425, -0.1162, 1.7709, 7.0496, 1.9512, -0.0317, -0.0464, -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 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=-0.395 left_j1=1.7012 left_j2=1.7077 left_j3=-1.5715 left_j4=0.0193 left_j5=-0.4236 left_gripper=0.9961 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.2103, 7.3778, 0.1392, -0.0122, 0.0562, 0.0171, -0.2803, 1.9214, 7.0496, 1.8632, -0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5b964b0836af4816580229e1014ccf336090b5971ed587b19b230f89c5b33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7decde9fe6c10c6cd5851ae90370696fff01cbd6550708162452a4771a17139c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1e303201057b9814eb153a6c46105bb1d87fd2cecdea7d8d06932a45af2976c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7a5b964b0836]
[blob 7decde9fe6c1]
[blob f1e303201057]
{
  "content": [
    {
      "signature": 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zv15JA1RkQPjVJODJJE0Ca+bUKVYLcubOGwEb9kmCrr32OT0Rh7PYQxZYzbltAWBiPeneBe1YEj//d2E5R8P1N8nIvHA/WvEv9KScOM7AwYIYvL0okD88dRDQVGsCKVz0QBmDvdYIKSsV4RTHsBqBimWFFEc0KtwXSP7KBxe+iHcgo+g0mogEjXMQj/EOlM98D8vAh424l+4FpFlvS9aRu4sRUdkbt90uuR0W1Tp5mOSgT2u/HM345vpMiGRnwUWMT8gj/RHDGooPyuJFXITqa/2PrcYNGmeaWsyL8xlGueTNA2W1wGz5Zo88+OCfxiSDPYneoUVcSi0xRKJ2J3J6iTXfBbxhosNmkn+r8Id15mvqXPeD9bL+ZFLbiIWLuactkJ37LurMFXDUBKFPcS6Fm/3v4Bpb+6IGhZPst4AoR3ZN6r9LgM9oGmwId6fQkulc1nPEHkklZ29k1e4hfDLYqJrPkZXIQZRu554aL28PaJuGBT6O5Ax/IKIjvmhsK3pJBFW3Y1BWzX2wmjgnxAv8Kin/U+lPiXc2ywxq2GkcsVfKurxK53KOf7rtYvD3FA/RWcDju7lzw6Qfcozc4mYjmZB/gg4J1tx6MnXV03mhO9gzrA3g0qduJLNfD6r2EGsDCDqOwU4t7Qy4ClzSgZDQzx7vNODi44RRoDBsWd17wOdAz1BFjWfiIxeH6dml6ra4yfKV4e7orbRyJdMLtWb7Js2g7fKe0h8JxNpF0sf5PnSdP9i7HvMAVnWwPwWg/pJ8f7ccdQWG+JiSE71dIE/1VM0R82HAYDVDOM1710vzneLaqGQoQMacDRmT/nC7Gabri3dxPDyd8qr0KXoqDTex+nJXKc9iCJEtXIzMaXNtWKLPPLnMZKe30J808o3YVsfEwpJh+06kU2R2Od59tRVyOr11rC236eOlm49uG7tfrPzeSzttj5QIJqmpvHA/o81MR9KxqzZ2ajCt1pNUlo2OjyP+a0i/B8iW6QBxJrgzCKQvxIslSTF2CU/hXnpyvGfQQdBRkD3PQtlj4eTmhuBvM9NW65NNyVBNalY17A4mOm3y7kEyPIPhkU3aImbGJ1aCXBLIcD2YrRnYl30YKlQoMy0oxZu/UDxBJ60AyoNM9VcLB8H7Bs2koLV+UZCjM+USRn2ejrfeb0nR5UDzrOGtW31HmjbCQv6kokbmg1jYSbR8Ci4+Vo/WDF/OZpBl9olj2Wl8Tg6gWrxdwEEZTK1Ot15c/nnFkp5XkVk9pNJOr6vSdaKhfyllAF+sBJQ4Ea1W6wMS4bVW7Ii3QY4RyB9ttxVPdRFa0BTS/XVoEeu3lRifG1pxIZHv0Cm82ieQYOjifyoTPZ1j94ZndaPWXzXFxpiSJM3iZGO1axBZVeAauZ42k1HsNdQzpv3XF0ME31AdncONi+ROfEC5BkB4DnreyDS3iINF+7I5Q1S40/5cvzTh75KpHliQo80oIDnwxVn8IQhTPp9FL5X5mEI/8ejNTI5OKUTblREPlGdgjdQC8WViAVT7WmnDuNpE9lpn0vG1Go2FxbY+gE5fZr5Oy1ZHSD0wJTO1xO2N1W+95FbD+DzvDLfkKCQ0kz+4OhZ+AiqlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzNLvcANknhrPnZDCijZkb",
      "input": {
        "note": "From 20 cm up the wrist view finally makes sense: the table is clear and the small blue block sits at the top of the frame, and in the overhead view I can see the block at (65,100) with the gripper displaced up-left of it — so I have been reaching ~7 cm too far out. Pulling the gripper 7 cm back toward the base at the same height to line up over the block.",
        "targets": {
          "left_j1": 1.402,
          "left_j2": 1.535,
          "left_j3": -1.704
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CzNLvcANknhrPnZDCijZkb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.4296 left_j2=1.5517 left_j3=-1.6695 left_j4=0.0189 left_j5=-0.424 left_gripper=0.9971 right_j0=-0.0006 right_j1=0.0368 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.4786, 5.1214, 0.4567, -0.0366, -0.0415, 0.1001, -0.2667, 1.9077, 7.2, 1.9121, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6211f7329fe99667d9562cf866465d67abf5e799c1615c9bfd562313fd830e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5705beec216d4318262f67c3c2e2e0393a7e38df56892834a59bd5abd5dc561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c35a69f121712c5eb535ad8444d28640224dfa61cb87b15721660cabbc77d6e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6211f7329fe9
wire blob d5705beec216
wire blob c35a69f12171
call 25 attempt 0 · /messages · status 200 · 23.54 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.9224 left_j2=1.19 left_j3=-0.8593 left_j4=0.0189 left_j5=-0.4164 left_gripper=0.0104 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -8.5812, 5.6547, 0.2076, 0.0073, 0.0757, 0.8425, -0.1162, 1.7709, 7.0496, 1.9512, -0.0317, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.395 left_j1=1.7012 left_j2=1.7077 left_j3=-1.5715 left_j4=0.0193 left_j5=-0.4236 left_gripper=0.9961 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.2103, 7.3778, 0.1392, -0.0122, 0.0562, 0.0171, -0.2803, 1.9214, 7.0496, 1.8632, -0.0073, -0.0122, -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=-0.395 left_j1=1.4296 left_j2=1.5517 left_j3=-1.6695 left_j4=0.0189 left_j5=-0.424 left_gripper=0.9971 right_j0=-0.0006 right_j1=0.0368 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.4786, 5.1214, 0.4567, -0.0366, -0.0415, 0.1001, -0.2667, 1.9077, 7.2, 1.9121, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6211f7329fe99667d9562cf866465d67abf5e799c1615c9bfd562313fd830e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5705beec216d4318262f67c3c2e2e0393a7e38df56892834a59bd5abd5dc561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35a69f121712c5eb535ad8444d28640224dfa61cb87b15721660cabbc77d6e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6211f7329fe9]
[blob d5705beec216]
[blob c35a69f12171]
{
  "content": [
    {
      "signature": 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Xrvmitf9QnpAtQWG9jFG86Kt4mNadMHaRcaL+20fRaQTf/kx9nTrM8LRHt4eiV42G/ckzYAT56i8pmW8HIN/YYA29RqTMvQAeA6DUGgS/Mvzb454WIqdRZkZc9CYrZ9/WZj6lw1qiMUMy8E3WeFCWqATr0SqmvradtKRK2H35tGWFqD1n7G8vu6GtxX94Uz2lUVrQApSenV97egG1Qn1d7drYIVGyeOamhwDPsFnU+lbGiFqJptUMf/LDdWPJ+NVxCU0I7aL8I9izjOErRyAaul/SYFtY/7qXWBbg8Odm/AwiuKaOLKLoDIQtaj3naQdEah/2dEDX1f/FVAJgd973bLLOBdTSwo3nLyqYnQRu1WAxNRFx6vS3yW2ee7Ob/q63p9JpRPZugynNh+6bUtyi1cXU6F9IMCgycempBjcSSQxoHhX3nno//Dwa8Lmye7Kf2E/np9FHiGejIOZvHhUzgI+b11WM6CoaD+WFUo59biYOHf9+HFAvWPaSd49COeTs0+DCddW0mSD4Borw+g2TqVWmvUDWkSTwzivffGVlhGhy2al/I/y7eSA1yhS+3xKywB6aSUPF9hH2SXy95Lro2VHS8o3Ehca5mPzNM3sXXC46rYXDpN6ipaX+1sAZt2aeLUAhssOFKeStaXcEB68L9GIRZHCQJWXqkWEyTMXrTO1RyebLV7iVoqKqU98TYRsJnkR2kr1ndcQnqOBnZFHwOiMiuvdb9dXbXGmb8PgMNtZFU4mq80UKTzPfEpiSVrfQDqqfnhxkBMvHqGEdGkfmzuELPRZ/FkIuoj/+cYT6n4JtOQLj020Uq9TGNSP8lvtgaRhsGe/JHjjIgHaHutr7VnZ8LrHcfEiijW2T18DtxvgDYij6o2ukZh6vxqTEpXaOO92YBCgiooJybz/ueWc04n0gLUq88R1XLkKNCcuEZfUAEPaumVtu3RvnFKeXSu6Ctw/j+5Md8aKCvm/LgiiSqiMpx2FWc/tGG4UpwejR3sypLdAvwtFhwC8mZ0aDvaQoMEpv2UsYlbuElHuNDKt7+3j8bd6Wq5fRzJarZ+naZQDfR1cwf9ae/b/kxR9JBKUMIvJS2i411xLQmG71odAnx1289crb6sOgUTIS+eeCpvs7EOY1BnpOK/cI9nj+Eu08p4Ubek8d2wXZTrmy8BcRx0WSjo3Nk+10U90ji3HATefGpNQp7rRnhGxQecJ6nCh7xpVtBJ4qWEuOJ9CPblH9lnAJd/ddjcAP/KAWdpGElIX83FuZCGy0F7WnGcDXxXSY46MCpCGST4QuwR0lspFLKbmnS6AkPbCblOVNtKSCoduuPAcNdzGkYHhk2kOp5y/+LVPcmisV103PNL4qyzKsiDu9ZQqrV8F7PzEDt9u1RsZrX1sFdpmfQwDnvKoQkoiPFosb//3GKZhL5asU3OORI8RszVepSisUzti16NND14gdVtc46Fuyv98MeuJKVStGSazd9/Uys2+HMB4rFP8Ssloa+ELJcqODoPEuOI0IkzvtKVn8Xl1/rZ/rDs+7ZX5gKy8H3qMGyjd8zD43WQlhyxNqUAjLsq8DzR5iut/TTdi7KliEsSkn09ytwhgaMPeQVD/mntwRM8LbjK5FOa3Xi0VjzpdWbRbvvmDTnt5m7O9PUOGh8N3+DC38mns+pDW9C4pKrd2jyRbYSAWS2KCOjM+OWSZLr2M3z4a0rTaRSCZReKyIUApfOXIaXm4A0UZ6FSFX4/h0wXe3TOdDM7mcZgRmakE5IhbDqDMR5j9YcTXzHvCsfOcvXIFnpeUiMXCKp+bYbtcn/WykiapnHg4pfEu5vvyJCzDLq9q2GaRdHHKYVAdb80ouNT++IOlvhPTqTjGZxl4JEgw7Qs+p86Ogxw2l8O5FZcNcmH03fdYuSz1aZosGRzcboUURuMOiwKqlO6k9tGJCJnXLo52W/Ro4MvA4xWVGCtXyn19DtXGE4iubqGYPeLSk2irRZlDTNT32+/EVhz7vvXOIqjPDCTfelruq2Q9aHjpzj1oXgmvNaQ7yFfG+JMN5+UPaXnRBa6UnSm+sA/gn+3rV5urk5DL/ZimIkJATFnAiSUqvHLW3uhAz/+/iMRAhJkHXHmMbFQFq7NLcX0GkdVfs0LN1LI59T0grfzb+NaoWPq55DHdvg8E9ji+rqovxesPJ04eHqxTEfANsjcOTac8et7SxlBWIcwlo/WYpQGPcFZIlPDFwwyiYcKlchKzjS/pfumGvv4fw5S2FLihOjU7NVe3UY9Pg3TGtnERadwlvu0uhaqwO5hfWscWiVXmF+FA4G7BNlGts4BPPXQYQpGk8TPdEmzI/w4M9M2s0GydKMIVtPiM6L0umZ7+IvmoeHvMdEraUrephsK/NwLesw3ju7/i/BW0goSr2v6Ou8G1TPpqmLuFqVa3XZZpKWTxHojV/4AWNZ00f76/TJNi/MgK1ktfd8YRCPCB/SqQf/R5xlucuxmuLOLaflACGL2RgqDNR7XBmWHqHfB9aNucQlWjdk67bMaXDWtrpmW91oaK2+tjdohFZy/Vm5izcOr9Ryp1n2TJBEAX91PRYQrfW4VS6OlKBpR/WhNTle5gUX7NtkhjOt0cTQXEWyVaGDLiHRVhiZO0roWo3pb8tk2ZIsxnI0ldgs0JhmFuvFmwQxpQq/0Z6ZzDOa/Dxge+HkgIXMlHlma3tzlt9X9xc3OzgHBPVTN9SoAQ4JC8bgIlgA/fA7jyMVY3viSv/AK8/k15eAssj1FnfZPxXpzTiSVp/Q3HsUx4ixdE3uhbe5MkgdU9YJ8ROUKY/eA0zxPEhc6qSi5ixNZPTvxPCVepOWB42O01FJKVb1Og4JUdjzOJvu8k08xgxi4uSo0JIDgftEnz4I9cy2coQwPtM1VHdNbs/EPoePg9FuQCWMGvxyjwp/BeXsF49NvMJz9oHRxwXftp1QOYvi4h3CRLyTIICdD3edYV1ykFtGoS56xZfh9gWqUZVKMwjkju7e/w5xZIkJg/7POBLKlSYfiHatk/Z6ph5gMh8mTCSUtGJ7Nf4A0xBG3oKA1hIFO0K3XtWecXApWbZ+trJJiiMO/yBsAR6Hk6YexYbkNh3xEE6B1YYB5By6Pj6LwCCzhwKZnm/xBBwJcXQvx2ngF7ALLaC7eGBBMCttNL/OS6KeD9Rg9FctXGALeDO6epWNJELy5kkVuImd5/0aLYqC8+bnyz3SC6XKCcD7/uSmkaujy29YvRqqcA9mE+CJsp4KGgZaHfSnajdP2FzrPwjkpLZCh7eeVsOk9SSmKJwEq8vFfhrIy/3uxf88MhxklVeoAQ+1JSyY7wMjl/Zqja6QfwtUQWxx6WzB1N1OKNefT4mKVAeJio1kUcEbUnnpxfrYUc/c7NXA3Ba4ZlRZLUqs/vUSWZ7MG691rdc3QBbv9DyyX9UUz3ek/SWT82Pu67ilQfSWXs1ZGf+HM9kdFxOIhwDLZrtIrgZp0EopNPvBtmTq9CJHrr54i7xA51HzC5qWSRQ9GipoZRiaB76fFO5JVQpsaFOGTtNfVQmzcIPHdTA48vqnOLsAxeA7gntE5z6vAuOXsMjrmVolib5DhcOGnUesBZ5264C+OzWJQ3SdpywfYI2qr75JhrJYmKSHqIjez5PXCaz7bVJJs+FpyntnT/fRbsbwTETjQwxjeqqyCMUTCHqI/uCTz1q6bfey55+nqEOTrlIMMCvrKJRgAkXhlzBdsgDRu7VQn13+Qc1r4DVeNpQ5LEoWHkQRlKfH3F1LHdUv7BigUyh8gO1L2B/p5hsTEjYFtIxzwv5/W1S4JsL9pMrz5PwlLy8TU+faF9SpXIP8sKyUf4j//dOF8g0AfMPhfqtSj/FzAiEi/Pcuw2yXZjM4hEuf1xrPA/q6DG1krl/3KcxWExLq8HeAPooX/bi9t7Wdndgdpq382hX9URUIfMMvkuERKdjkGkkrE0OYb/pB6NUMFkYOJ7lprQEcRIP8GUAxKp3NzdMXz2FKtYZGcUF7Ss8i3QFnrqI4b7SH+YMvSrVgcHWL1x6wI0t7yL9QTP1T/hMzvlyfbPOpo2nPh5Z5QnG92uqOUDz1iYLlk6GA74jO3+nKFz7NkApmL/SXWo58aQ00Ho7pgYgtS82OOnmD4aeF1HyrwFaMrAcx3Opq1x9CSqmTmV+2/0OQ84hDhDu1T7EXSLEff/oOlkIQT9vmCwHFPo3THyZ3gZ5RI0tUa5bWyV1X6D2PE8sv0MsMJ3G0dbFyaaZMve6SMifmQQA61KkEv8S8MBKOGdlwOkZepcQgo5kN/Cv78ntZJ8l9C3XsfMSPlgqZRzyiWdPvwpy+tggmZDFCuUfOPRjaINVLwcF8xBgo1HalDHJ1wmWoaQMTVtMuC6GvkMzQ9qYq9cca080gyIgf4ZS9xxGNcSkLnMnwszhyPev44khQC+PxikUShlcMbUpE6f0iycG/JGXUPpzxPftJHUB4zmw55NlMWeFLdqTUqgV8SyDKasFvp3VBDPlWm6imMFHsHYh3KyWNCwFeGSO4ODAuF52Lonb8VXbzXBWLz7O/MqJ9y7+8Blx70zW++BWs136ek4UgSbfwqVmhu1TyV/ZzjklmnrPWKKQVNaSIyRZHRFd3CV0vrhPiBtEiiqbXUYaidlmVGkqhkzx2fXjKf1OiPoKq32MtDSoDcbK+OBNIuaQFUTW/50SpecU7ySm7t/JwP8QrOECnoKQCt18JesuvURTIZDaIy75y5EKsSJto8u2APUJuMR+63Ss3H0Org1Icc7zmBaYXPsiqhS5lIN1/Dkr6FSFcqxk6D3II6GpkjTAYljqcJ6Uj6v+GauIevNYu0eO2Z0NH3xJ9vCO2TU/g0SV2QQRE3dtAGtwOzEpYvT5TvQ2wuK6LBLovYRiMtwB2Xj1WlE5j0oOFHroZOohx4YGPBmK9pgjtwX1RNM7JQBtiyu2xVLY9A0kWpiMzUREgD8Gs9BTcEneiP3gepqUYafAauBpTv3zS3WwKsUvU193uVXeLqmU+UZVR2pqNFpWQ1oBYn9Ao5wxGFz/ld2idnmBIjNXUnFhQmotH2ut6MN0Nwz3lwkSepB8Tn4dLv8OSsmg64gugyrcsh7el5R+uxts5wJGMDn+/vY49yhrq5PES7qIyAFjTUTFqf7O/3EsSDEDa3sHvokpsrHAIN5DQJIaROWCabGQfRwEl2m0dmv1yiwnxz9C1nXZfAUmLa3Z2HWOUQuW71xrru38+QawYfveUI3glZoAUDaljFAyx3EkkgOO5hoiXy3Eir906+fenwsjS8tnb2IUoTDdYQM29OfJqS12vCLgIJBOVE6t6NM04JVNNdqV5Rau0ANJGXc2ZnXUMDK3NZxpDYHQ3+m21j2bT3J52bk2/UYZ5M/ji8+kF9fH0wFMY9qP0XccAx4RgrqlfmKdc2j9bEzGTI7ZMOjiCwrwv0jLqivVVtXJAK8gUKzExrezcTxbk+97GMbS1OMpwNjbKiI281uHDMdNNvZn1e+SVJVy1Syyv5swNpuRWKGS1w7My1wNKTptjGd6gaAs8nw3oGVZvwXd5t07zpzAyC2a7EqvbgMKi+7EuYOhy/TdlJAfkoafTfpaJD4YYN84bJhDlDV/wSfJhFXw65z+DSFl7pS7QdksYqL4S7DA2Sjpz/MYJBLett6kEgJPAxwAtDm0I0lXpVEvgmHwejD2Ifqalb8xm4oxv5KVn4YUjirFUaXuiEIy8paffIYFPgBOqjwc/j+JuxkAIP+Ves+mxdNPUZTsMR+WP1oxyQq297OiJ28bP74Q+9Y8BUD9sN8ruerjrY43Kf5lKTNY5TEohV/DSVmDn6MAh9jpWN2sqdyVghoWCqVp+qvW5jBeSBaeS1snxqt19cigY1R1EDNnVdZrL77zlG8hymJkWFbY64BaS/7qjF63TA+DjlLjHjq4a6YCmjtExqAmiKnqTU5q4v2uGKNKaB/B/nZ/KEoGgL1d/U7Gd+uxlUiqL6IQguJYZFbVax73OUBSWmywuK8W0Rkp3p76ecRtIPpS60W/20vTqc59227UWI48G0AjcsGihWsaBuRupu0J9FPOhqII8ATbe/ia8hMeQXfJoOlKcKOFgAYEAe9jHY/+QfT438T/Y4PoEk0kL5sjowl4A8AId7+Gfo/ybbgZKvDB68sh6R1BQTVidcHrW72094dXuVGv6JfkK6rymLCVFtr8maFjpuYSO3NydC6enFRZ9SGbXqewftCtCW3Ktr/xXuyIi2aZqtL5WV0CR5Ty5p3+4xJ//D9uo944n11OETtPbQc5Ex5/yq+IYbdIHseZRBQxGI3nHpJ+WRawp+7AG/UkYuqdq5ve7kEfxfwVcCpA/pN1Eoc62Ta5Y4xbgRmzQ7gH/HofdZ7YmEqnoGs6odsbnnqCqepHtQmYs1iFV3RzGArpRTbWJAATUZvQXBXEHneeGcQJ+SoSD1UPU9VDVqfl1tLvTDb/4hJuFzZjFChSlvMiBAuYpqbJq3uc2qtlp4GvJPS2FBTuZrELXFn2dwHNFGqBI2yDlWG+RdAM5f/7oC4l3tEzl1wT2VBbwoD8/7sq0LiWUxj7xqkV8THya4MPEfmMX8VPZLVp1GlY5zTmR7lfQCq8by/DV8oh7i51h8ba39oyD16B+0dll1mpdlj3dGf5xMAjyhC5nmdnkzW+PjYmhjw8N8/UBP5TVu/o1uvFriFQ0QIi2Qhp7BiO/e0RvwbR92DoOYPW2u9r0Kel+oqJM0rqB7IuLxb/iYyg8aroXJlDVrJRShPk+xwywl+2BcIgZz9znEjuZvvAcJmaFOqRR1dypPzEaeQhvuzR1a20xDuJFo5eQPmf6gmq8U/wZbqSt5mDo5nxO7yQLRc64JjMB7nUQud05jXEVp3i5ypYillW0Sv10Znanba97ql98FAmI6WDMHJgiHBZVxzPtl9GzDsta6JejDi9IgqDavCc3+iOvblYLFL30m+yI2rKZKnS6HyRnxgJ8NcyMJHMvbPgJ3ncb2kqEOX/DfkkG04JVBrxh43RGQR5lwQs1LZW38tqHXFG9x8eZ1aGcexi7etCsXyAf1Q/figQAByS8YaqZ7yjOPSxiMYzEd328DAlZ4XMcAvGsagwKgp7Ywt6TBBn066T3vYZQ0uat5ziLee79gzsviBSaEEp0TDLFuARvCmrT05QYP7Y1NDHKOqFFnFveb2nD7dQXJqaTaind/OXQ1gO3dKaSG7DHDento0m+nLyrwWxML0HPF2c7syqNq2AJ/I0KYQiPyw8xhLTGRe2i05HJICGLKWdsGYdzdWS/+FovCj0jtXmdsguUw8c62ZKYzV4n1WHjA7PPvJbJ03Thc1bDJCObybWltonMGbIqAzfw3xLedkKdfKUV+hiY6ESB5umC3z7KTgRJ2/JydWyvFD5/g74jQbG0Ia3yodjKepu6us0rYF1rnVmKFxqPpHvcsmXfxCKuejUGYk4PdgqhlmAHIPWSeIn8bqaz7cE1N61CJBfNUIsFEPgabC25+Samg5ePq6c7JzdgCsVLaBkC60zr+a03H7A8vkzefrRstUo7jfUn5zIHFCVVlVY4lXx6YIdnwcFY+pPRmTofcOClKrK1NoSAt2tkl9f/axcYFGxfFv37ZWWPvdDVk6vQ2iNqwfOS4H5ilFVMxSOOU0ZUXVz1Khi53Acg8JMI0HGq6RWT/GVlmOkpKqu6JoFh7n074aM4tKZtq173AXVxtDNxpBgSXwjIGnRoqei3TuEn0R9F8OePTgJVPQGlaNOxVVhWqvNRKV+D9DyMmcviah2GQps9Hk5i0fz243mIi6wgEQYAOVqC6pz6GzyDF28gqMxv2yge7ebG9Gt6Oxq0/HTYTmHUiz1Adsd0uUhYWmTiB1F+VjZGYFxenMpusZzdDDKLEDeHKZsutNNjbw9vDwA1++8EQuZm9DpEhS9HWV064eAlCxwvykxjR5EScqeQtSo4U6fuExmX4s0bnaSHRDuFpoOnoXrFBc2TiePgPNa8Y+9oiMKYowvfdNuTJhAmzml94yUAJgIZS8rXeuF83RyQ3rgPprcawE2RID9+fXqGixXKhL7jw3ZcXxdpgJMiKkeDdf9t8wIxZ9eemCdiEnDI3g5jD3NugHUJxZGqFZZmvqL2gM+KOittnd0/k4QiQmAkU+KHxU36NUtyugW0jjzT9ARLC1LFLD7dkudagJtUg/UXZcaLaD+uekI2QLZ81KEcnrm38yx2zhkv7ju6aJfQf2KN8huLKdwoLXAHOcvGsuuy01T9G7aDrNSGaAowzRI6KAVHaDI5GVvhkTfxhu9EzOXIBHRb0YlFzHGwmPlRrzSkpsYbKZ0mrH8BzDergISBzcA87kVB8+VWKzmhEfblwNhf25DxtLXEXGuAFrTPqrZhSzRowHpBX/yb2XyjtQO27R+GTkZys2y1ROb1bDnDNcXAcx4qc40ha1cUG5oVUwKd7pIT6Uv1Cf04kJ8hrw8nUr78iLod5ZaeZWAl/P3RUpKtnUGV7mCDeVa3d22Dgf9AtWJWdVn4X5/PE/UB/eArTWBiAAR6UN38hi3xKtl7TD3jR9BTdzlG1e1aO1U899N/M8B7d9Mb+WkUhGwMhdQ2/kkZ/MLnLop27V4POi1UwOURubrS+rsot5+qnhNSa31vsQ8RlVfZJKxuoAB58L7qHK4oCNrkDC4tnLiKzLOz1B0hpTfwAa9vDGW3PqVSTxloG4XMVHeU1krrX4x0fh2q0BkOf0VjvZoaRmyLjXNuvglXvRkuCV5gair7zYMxJA2lBVZIj3mhow+BZ/4UDnAcDJSXXH8PHixUMUQZ1I3HaCaD2uYdYYd2UHtYg3G1t9+7Pg7ns4jda+3vT+ULPRoLZ9JtiSHj1DyhZ7jm7RBlMoNbw3gi6snWbJDcFTLxm3rqi4vz+hTiT+7IuO9jOwQgNMUx6suOPtysLnS2VJAyCSQYBRqFgWuUV/VVwVP8/QPuN01unrQjmPLe2ymvlqpCprINUvUgIUF0tQeQAUU5U1eaXRbB2x8sgDapJoDQxOmJVhMydOXvVRAJrUWxG8iQ5OFitsqvUN5g0pS+f+eG02jmO4VCRHRWghG2mIlzLvB5O1gGPUjnQY+dMnkv1fvvo5V6vCUa8T7wKMyYJrXCte7m/1UbLDpkjWqNj6irxwIAJ2EMc0Fkk+G9BY5dvarjivn5B2cYJbB0cpNZPghT6wBLjoQdm2Nqyeq1HOG1CPHDImAqLe9FyFapi5lgckCfICEGeXTaHur8usxVJg/995icyKuvpafFC/ls0YGsdjQOLC9vrtB070aLTWoGFYdF5pTkmOIFnkcxK/csQjO5jDhYns4Uy/k8kMqUpxjcLXNBcxD3kjtNE2ZQM/TlX9NtAJk++h7QS/8aZpCpxC5HbqHsQmFrIWsF7F5a5xj9MFL3bifDrMKQBSsm2U3O1uzHIZNvzm+uCBpmmspWCrJ/M8KOyPinqXvjiRXRdYXXxVSG/TpSwS5gOrehTqY3AgEFseGStPDI39C8fjPdfWap4pg+S9P5mXwHdbGTB7T2w72CjKPunsfD4Doc7qMYXzVGbTUSKKUV5503A0q0kuLSlflHxr6bkWXrUY2SoEJEd4PrHLYk1CTbDsZZC1RINh8zOwHZJLTD4MTh4H9k4Oy4k4sLGjgMeYWs4n28rT1dROFBFSHSBidhSuF7xni9bIa1uvww2ijUb27VtLm5vnF2Shxa+b+xSiB7ztRQv0Sbve/MaV98JTjVbugUiUJ5T6AdwcxDWKzyu3YCcxNQjPD0qhD1SRz+w/sjT9NJk0BWXESodgpiNDJVmIBF6lfy51teUBfCienrVfgjeRpi796p//XkqC8qD0NzpL+jMOJfWaxRV6Ar4VxDqwFdBpARoXS/SIjUo7YkSRGDmKkKOd8vCkVkmwLInZaSgf6l/LM3k3s4UHwVChDdHweUA80igHbG2/1UadH73r80Ui9HytbfHjBGzFXYvibg1Um/t5i4dyFSGq8BoQdQZkmY6EBkfbbRWiVug/VlkSj3WBh2UEq+hh+z+x5/vWFlC0jE+rh6U0ZA9fLqvloFdD/IRhxbDj9KlaW/I4tVNm465G/CR1s307EPPyLhLJWX9CcLZqq7bTaqARQdjk+KMvMnur1ljD6vlgtbSz3oBZilPDbKop4WW+Q1NfjlB7D4lq2ZcPXqFj+vVkVn3uZWDwYz5Vs/G/7lu9kPX0jqH2YkISsLbyrEuRzyf0ohoQ9hIJUibzK7GPBpv3dSeJkj5pD/5TJyvJL0cEQRy+u+nFhUpcNT4PeHjoYl+DS7WGZEXjwaT17PmwZ/P2/mRZFY91aW6s103vIt4ps5fOq90O60k7GiJmzo8G6GTX2iyYONgWKdkQ4RNGXy9CQSoaqtek6YSBqpVxYH4GvgfFHQfyrbDG4XwCcAmNNXzhBXpXB3BskeBD2MAjbw6MdyHAs4X4Oj5/InfZq0MdGw94ELWqlpJ5hwCQRZ5yWPQTL7lExl7Kv6D4cXJxSL+4qsKKtM3FvX1INZUysob5iGhCexhGVm8hmzNQ2XlVvzXj4/CDOoC++k5VSCxUmp2c4/OhYZPWqhfM07xmoI3WY9mL13nZOBEkot0YMfHDk/GMEDUbRbVwq6aEC+q04d+sjeU61FmEAhMBzWZZSzYGcaxUGnycXxodmcbMEO1trObgZZwbbwW0D9jY44kTr3GKbnaJWxfPO89KyaNYTzMtl9vlmgkkobktbtQ1DgLwN4fWFmaPj10eQ+CaOc1HiczBhfwYSKZT2NnIiNUmrBjLfukQo10FUCn61hAp0V02o69Ila31veN898Tw+sjBFWpegyoz36x+INB76WpxHqJ3tCe8piVNfoxq/upvcmoZHhesQ3as1RgfRxFXez1f01vXww1dBdlPTMtg4WSAcynVPTgR0orlW1IjMtoPsc0ppTfSeTT/WTRG8YpI/0O2OUboqRjFybpduTV7Phk//fa3l3t0b/b553IQDg+dC0qvQxdb4Ge24NgCriGjYgNm2/zznwPXTWvb9gazNHCy+mgnV2mMX6cylWJF9mnyRMPR8g7/YNthPZHQbqWlmRhhyR3mJ4GBj0T5doxRB85X8PXzGiRkDXzAI0F5SkjHtqbmbumWEqKdW+Jvsv9V4qiZOrluNMBI1a+x4XogEPaINkyhY6DYx/+wc10Oz6Ch2VUDNSDq0noV+A4ChVjuOoRBFGKnCRlFem9Z8T+9LUiBO3zYdb1GLJgL/RzX7oQqSQpS3uwTkM3nqrecLXaCSxPHa5Vz44Uq2TqoOIShcEWO33PkvTyrgsNxqKhDXTdyiEfH6uWTS1sobs/2g1RKs8DbpmXwEa8KsdVT6NSU5mt5QyHj6SpkPlC0oZjRtagQD5tCYB9HK09fd0NzC7+RtbypaZFsm1JDFC9nMMezEtu5BIbvsK+ruKNqiZLrm2nAAurue5yk0CEKiDDGWeJD2eZV4SEJBrRrWmCJtoABgjlUUTrutGFktdI6DnRW4AuC0KB3jdYDtImLC+CGd37Gg1pKtQExItdOR1TWZ3ofMHq5f3CLo0f90K4Mg0G/n/A3e+Rhk2GTIdlrAQvj9TgbHcdoaML30Se2WCL/KCDjUpF/0OhSxeBY54g+fSPcXYDz0jny4pv7n9GQG82ee/exg8fjOJoCOzI+s0rSSQ6FSGxT47kDXMpY5fZ9n723EfzZT+Wi0BwkKTZw6he++26IOC7Gp7L8a31zCretD2OdEG3oksvYn2XmEsRVl7wsPF+sLYxQtddLdW+KjmCS/Yu2JwRxZBUzcy4wZjYJY6SwicD8GCz+NL1wI/cxkdDIqOMfrtZtPDf3dCioYJAeGiAyIWjuK0GIRZPTIO1yCBnp81EiTaOPxi4Q/Cl309sqHByiBHnZmnj0Y19zLcZ04JOQi4SbCIyWj7Ke3IhkWveVF1ILMiER/IUxhqv7QgssomCqgKaYOalo4uCO2pHcxdropallkA/WjPnpVOzvVv3qGb9MH6bOjeyOIRSh4xbmxAAAIdb7F6c30SxNFF+j6T1/MihQ/U6t+Ol+h7kh7rPOLr3yeFbQtl0JMLAFqMew9y7as6u+fhzbRZ+hsFZIDUYV1OmTNObtHKlB35tWJ6KBEHEjJOpIb2o2SKnvg9H+K9Z2ZXjhccQMlzMsCW7SJzR/c0Juz/7sGcs/FVkXlSWRpyNXdeaFrBuccAWSUpLILDBj1vdNpgHLoOAeCmdnYSm8+RJg+dGj3YB9VnYN46Vq5XoxryXSbn9OJysNcD4t8kNchXk/QKZsNLpbpXG7nxxYaTR4CheMN5XWX2eDpQFol76tpaQat0yIBxSfhQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZTk3EWUQLPcpZXzEE916J",
      "input": {
        "note": "Pulling back moved the block up and out of the wrist frame, which confirms that outward motion is what brings it down toward the jaws — so my grasps were falling short, not long. Extending 13 cm outward at 20 cm height to re-acquire the block lower in the wrist view before descending.",
        "targets": {
          "left_j1": 1.906,
          "left_j2": 2.036,
          "left_j3": -1.701
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_019ZTk3EWUQLPcpZXzEE916J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.8908 left_j2=1.9987 left_j3=-1.6985 left_j4=0.0223 left_j5=-0.4271 left_gripper=0.9974 right_j0=-0.0006 right_j1=0.0402 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.3607, 6.9949, 0.0757, -0.0659, -0.0269, 0.0073, -0.1709, 1.347, 7.1863, 1.8779, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565b8bb116da6b7ebed2dfcc0cb233be0bb286e49391cb5e90c6873ee15ba71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73584c3caa9af59a5dc4d40b6ca40c1c0e624cb0ef4f84167508862ef35468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50532cecf6c7f4563d0b7b9479c2bc796a5b3ae70f119386a6f906b2f06f6ef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 565b8bb116da
wire blob aa73584c3caa
wire blob 50532cecf6c7
call 26 attempt 0 · /messages · status 200 · 9.874 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.7012 left_j2=1.7077 left_j3=-1.5715 left_j4=0.0193 left_j5=-0.4236 left_gripper=0.9961 right_j0=-0.0006 right_j1=0.0357 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.2103, 7.3778, 0.1392, -0.0122, 0.0562, 0.0171, -0.2803, 1.9214, 7.0496, 1.8632, -0.0073, -0.0122, -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=-0.395 left_j1=1.4296 left_j2=1.5517 left_j3=-1.6695 left_j4=0.0189 left_j5=-0.424 left_gripper=0.9971 right_j0=-0.0006 right_j1=0.0368 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.4786, 5.1214, 0.4567, -0.0366, -0.0415, 0.1001, -0.2667, 1.9077, 7.2, 1.9121, -0.0269, -0.0415, -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=-0.395 left_j1=1.8908 left_j2=1.9987 left_j3=-1.6985 left_j4=0.0223 left_j5=-0.4271 left_gripper=0.9974 right_j0=-0.0006 right_j1=0.0402 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.3607, 6.9949, 0.0757, -0.0659, -0.0269, 0.0073, -0.1709, 1.347, 7.1863, 1.8779, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565b8bb116da6b7ebed2dfcc0cb233be0bb286e49391cb5e90c6873ee15ba71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73584c3caa9af59a5dc4d40b6ca40c1c0e624cb0ef4f84167508862ef35468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50532cecf6c7f4563d0b7b9479c2bc796a5b3ae70f119386a6f906b2f06f6ef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 565b8bb116da]
[blob aa73584c3caa]
[blob 50532cecf6c7]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YzRwLxR3C11TdfMrfDkVN",
      "input": {
        "note": "The wrist view still can't settle whether the block is inside or outside my gripper radius, so I'm switching to a touch probe: placing the open jaws on the table well beyond the block (radius 0.40) at its bearing, then I will sweep inward until the block is either captured between the jaws or visibly nudged in the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.318,
          "left_j2": 1.869,
          "left_j3": -1.122
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018YzRwLxR3C11TdfMrfDkVN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3935 left_j1=2.2723 left_j2=1.8942 left_j3=-1.2404 left_j4=-0.0139 left_j5=-0.4313 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.6496, 3.5624, 1.033, 0.4127, 0.0611, -0.1929, -0.2256, 1.894, 7.3504, 2.0, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58f1e4108991f7571e39d8410b53bdcf89f0e7bcb1c44530fccf5f4495ad78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711da168514d427850989e1f1c5aef4a136255a653a32a224feac6f2ada4b1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d2570f03712091e3a18085d4436de1d2e65f07840a79ab9eb4ff8ed6c9cd2f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e58f1e410899
wire blob 711da168514d
wire blob 8d2570f03712
call 27 attempt 0 · /messages · status 200 · 15.97 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.4296 left_j2=1.5517 left_j3=-1.6695 left_j4=0.0189 left_j5=-0.424 left_gripper=0.9971 right_j0=-0.0006 right_j1=0.0368 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.4786, 5.1214, 0.4567, -0.0366, -0.0415, 0.1001, -0.2667, 1.9077, 7.2, 1.9121, -0.0269, -0.0415, -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=-0.395 left_j1=1.8908 left_j2=1.9987 left_j3=-1.6985 left_j4=0.0223 left_j5=-0.4271 left_gripper=0.9974 right_j0=-0.0006 right_j1=0.0402 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.3607, 6.9949, 0.0757, -0.0659, -0.0269, 0.0073, -0.1709, 1.347, 7.1863, 1.8779, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3935 left_j1=2.2723 left_j2=1.8942 left_j3=-1.2404 left_j4=-0.0139 left_j5=-0.4313 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.6496, 3.5624, 1.033, 0.4127, 0.0611, -0.1929, -0.2256, 1.894, 7.3504, 2.0, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58f1e4108991f7571e39d8410b53bdcf89f0e7bcb1c44530fccf5f4495ad78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711da168514d427850989e1f1c5aef4a136255a653a32a224feac6f2ada4b1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2570f03712091e3a18085d4436de1d2e65f07840a79ab9eb4ff8ed6c9cd2f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e58f1e410899]
[blob 711da168514d]
[blob 8d2570f03712]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146JaeGFt1BADepB4m9xFuA",
      "input": {
        "note": "Breakthrough — at radius 0.40 the wrist camera shows the blue block sitting right in the jaw opening at the bottom of the frame, so my earlier attempts were 7-10 cm short. Closing the gripper now; a residual near 0.4 will mean I have the 4 cm block.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0146JaeGFt1BADepB4m9xFuA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.3299 left_j2=1.8717 left_j3=-1.235 left_j4=-0.0078 left_j5=-0.4347 left_gripper=0.4467 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -17.1009, 7.3504, 0.0024, -0.1197, -0.0073, 1.033, -0.212, 1.5385, 7.0769, 1.9365, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c130d7688d98b5266e1a722de4f2042aa62f2332a47e2049ed831e350b6d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f90ada8484262785ed1f14bf0b5fdf98e59cca365d7408fe86aa35b04a95ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30d6f75f7078bf28226f4d2a47ee5cf74cdf753ef97478dc02fd3d721dff7bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 25c130d7688d
wire blob 86f90ada8484
wire blob 30d6f75f7078
call 28 attempt 0 · /messages · status 200 · 13.34 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.395 left_j1=1.8908 left_j2=1.9987 left_j3=-1.6985 left_j4=0.0223 left_j5=-0.4271 left_gripper=0.9974 right_j0=-0.0006 right_j1=0.0402 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.3607, 6.9949, 0.0757, -0.0659, -0.0269, 0.0073, -0.1709, 1.347, 7.1863, 1.8779, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3935 left_j1=2.2723 left_j2=1.8942 left_j3=-1.2404 left_j4=-0.0139 left_j5=-0.4313 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.6496, 3.5624, 1.033, 0.4127, 0.0611, -0.1929, -0.2256, 1.894, 7.3504, 2.0, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.3299 left_j2=1.8717 left_j3=-1.235 left_j4=-0.0078 left_j5=-0.4347 left_gripper=0.4467 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -17.1009, 7.3504, 0.0024, -0.1197, -0.0073, 1.033, -0.212, 1.5385, 7.0769, 1.9365, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c130d7688d98b5266e1a722de4f2042aa62f2332a47e2049ed831e350b6d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f90ada8484262785ed1f14bf0b5fdf98e59cca365d7408fe86aa35b04a95ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30d6f75f7078bf28226f4d2a47ee5cf74cdf753ef97478dc02fd3d721dff7bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 25c130d7688d]
[blob 86f90ada8484]
[blob 30d6f75f7078]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DFeGdEZaTkwAv6D3fJt6LY",
      "input": {
        "note": "Grasp confirmed: the gripper closed to 0.447 (≈4.2 cm of block) with holding effort, and the wrist camera shows the block's face filling the jaws. Lifting it 10 cm straight up; the block in the gripper now also gives me a clean marker in the overhead view to calibrate the move to the red block.",
        "targets": {
          "left_j1": 2.16,
          "left_j2": 2.015,
          "left_j3": -1.426
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DFeGdEZaTkwAv6D3fJt6LY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.2501 left_j2=1.9678 left_j3=-1.3705 left_j4=-0.0071 left_j5=-0.4419 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.4991, 8.1299, 0.1441, -0.0415, 0.1099, 1.033, -0.1436, 1.5932, 7.1726, 1.8926, -0.022, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f3747ce475a10ecdb17d92a328c7cb6cdc38c881c96fee4320a57b23931827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de3a5365f3b845c264b94d211dcf6d1b9fbe1f342c13276978b6688e4194344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d60b34cf855f4a8cebef779ebce061cd3bab148e472a69c85bd759fc12f8aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c8f3747ce475
wire blob 6de3a5365f3b
wire blob 1d60b34cf855
call 29 attempt 0 · /messages · status 200 · 20.58 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3935 left_j1=2.2723 left_j2=1.8942 left_j3=-1.2404 left_j4=-0.0139 left_j5=-0.4313 left_gripper=0.9982 right_j0=-0.0006 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.6496, 3.5624, 1.033, 0.4127, 0.0611, -0.1929, -0.2256, 1.894, 7.3504, 2.0, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.3299 left_j2=1.8717 left_j3=-1.235 left_j4=-0.0078 left_j5=-0.4347 left_gripper=0.4467 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -17.1009, 7.3504, 0.0024, -0.1197, -0.0073, 1.033, -0.212, 1.5385, 7.0769, 1.9365, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.3946 left_j1=2.2501 left_j2=1.9678 left_j3=-1.3705 left_j4=-0.0071 left_j5=-0.4419 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.4991, 8.1299, 0.1441, -0.0415, 0.1099, 1.033, -0.1436, 1.5932, 7.1726, 1.8926, -0.022, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f3747ce475a10ecdb17d92a328c7cb6cdc38c881c96fee4320a57b23931827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de3a5365f3b845c264b94d211dcf6d1b9fbe1f342c13276978b6688e4194344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d60b34cf855f4a8cebef779ebce061cd3bab148e472a69c85bd759fc12f8aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c8f3747ce475]
[blob 6de3a5365f3b]
[blob 1d60b34cf855]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CUZqVz3DkghkPrGKiaDsgK",
      "input": {
        "note": "Block is up and clearly visible in the gripper from overhead. Swinging the base 0.3 rad toward the red block with everything else fixed: this both makes progress and gives me a clean pixel-per-metre calibration from the block's measured travel.",
        "targets": {
          "left_j0": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CUZqVz3DkghkPrGKiaDsgK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6891 left_j1=2.2871 left_j2=1.9594 left_j3=-1.3731 left_j4=-0.0036 left_j5=-0.4458 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -15.1863, 6.3385, 0.0611, -0.0659, -0.0317, 1.0281, 0.0068, 1.5658, 7.0769, 1.8974, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b30a8ced63a32b424e17b2f15d8534abad91cd62a20fb7f86f6f9f340dab286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:638ce0365c810ee588c53663375bc090cdfc67fcf1cd5ab33a23f3db63c2a92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35245039a0aec0476c0fbdf7ef8ba2a6670e966120efa61aa160b6fa2082e929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0b30a8ced63a
wire blob 638ce0365c81
wire blob 35245039a0ae
call 30 attempt 0 · /messages · status 200 · 21.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.3299 left_j2=1.8717 left_j3=-1.235 left_j4=-0.0078 left_j5=-0.4347 left_gripper=0.4467 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -17.1009, 7.3504, 0.0024, -0.1197, -0.0073, 1.033, -0.212, 1.5385, 7.0769, 1.9365, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.3946 left_j1=2.2501 left_j2=1.9678 left_j3=-1.3705 left_j4=-0.0071 left_j5=-0.4419 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.4991, 8.1299, 0.1441, -0.0415, 0.1099, 1.033, -0.1436, 1.5932, 7.1726, 1.8926, -0.022, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6891 left_j1=2.2871 left_j2=1.9594 left_j3=-1.3731 left_j4=-0.0036 left_j5=-0.4458 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -15.1863, 6.3385, 0.0611, -0.0659, -0.0317, 1.0281, 0.0068, 1.5658, 7.0769, 1.8974, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b30a8ced63a32b424e17b2f15d8534abad91cd62a20fb7f86f6f9f340dab286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:638ce0365c810ee588c53663375bc090cdfc67fcf1cd5ab33a23f3db63c2a92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35245039a0aec0476c0fbdf7ef8ba2a6670e966120efa61aa160b6fa2082e929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0b30a8ced63a]
[blob 638ce0365c81]
[blob 35245039a0ae]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cn1ijdth8xg92gxVWgRdFX",
      "input": {
        "note": "The block's measured travel across that 0.3 rad swing calibrates the overhead view (~2.85 px/cm, left base near image (25,190)), which puts the red block at bearing j0≈-0.95 and about 5.5 cm further out than where I picked up the blue one. Swinging there at ~10 cm height, keeping the block's world orientation by rolling the wrist with the base.",
        "targets": {
          "left_j0": -0.95,
          "left_j1": 2.428,
          "left_j2": 2.486,
          "left_j3": -1.628,
          "left_j5": -0.98
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Cn1ijdth8xg92gxVWgRdFX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9325 left_j1=2.4191 left_j2=2.4481 left_j3=-1.5982 left_j4=-0.0036 left_j5=-0.9161 left_gripper=0.4497 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -12.3009, 7.665, 0.0269, -0.0317, 0.0366, 1.0281, -0.3214, 1.5521, 7.0632, 1.9267, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843d57d14a007868af4d60b7a1409690231199b6c5db45ac311ab7696b46d8a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c230f65b6246487cd54d69d4cabfcbe7275793c30ce34bbbc6d0e4ac2d610cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b7ee4d20b6f6a11eece5c2865d110a9d481a896ff9342e615b334ce98b64122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 843d57d14a00
wire blob c230f65b6246
wire blob 6b7ee4d20b6f
call 31 attempt 0 · /messages · status 200 · 13.63 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3946 left_j1=2.2501 left_j2=1.9678 left_j3=-1.3705 left_j4=-0.0071 left_j5=-0.4419 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.4991, 8.1299, 0.1441, -0.0415, 0.1099, 1.033, -0.1436, 1.5932, 7.1726, 1.8926, -0.022, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6891 left_j1=2.2871 left_j2=1.9594 left_j3=-1.3731 left_j4=-0.0036 left_j5=-0.4458 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -15.1863, 6.3385, 0.0611, -0.0659, -0.0317, 1.0281, 0.0068, 1.5658, 7.0769, 1.8974, -0.0415, -0.0611, -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=-0.9325 left_j1=2.4191 left_j2=2.4481 left_j3=-1.5982 left_j4=-0.0036 left_j5=-0.9161 left_gripper=0.4497 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -12.3009, 7.665, 0.0269, -0.0317, 0.0366, 1.0281, -0.3214, 1.5521, 7.0632, 1.9267, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843d57d14a007868af4d60b7a1409690231199b6c5db45ac311ab7696b46d8a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c230f65b6246487cd54d69d4cabfcbe7275793c30ce34bbbc6d0e4ac2d610cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7ee4d20b6f6a11eece5c2865d110a9d481a896ff9342e615b334ce98b64122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 843d57d14a00]
[blob c230f65b6246]
[blob 6b7ee4d20b6f]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018oftjUts8sAPGPiBbu7eyb",
      "input": {
        "note": "Both views show I'm close but the red target block (white 'a' label) sits a few cm to the arm's right of my carried block. Yawing ~0.13 rad further right and dropping ~3 cm, still clear above the red block, before the final alignment.",
        "targets": {
          "left_j0": -1.08,
          "left_j1": 2.428,
          "left_j2": 2.364,
          "left_j3": -1.506,
          "left_j5": -1.11
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_018oftjUts8sAPGPiBbu7eyb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.439 left_j2=2.3745 left_j3=-1.5322 left_j4=-0.0067 left_j5=-1.0538 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -13.7094, 5.4359, 0.2759, -0.0611, -0.1587, 1.033, -0.1162, 1.6068, 7.1179, 1.8681, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7239de1c7610a94f78010682c0bd1578fa31a033b4d2ef61dd14b63c7f8b1c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bdfcdeaba587c8193b84b0cb7eb7161191221557a59ce9be3e907ff780b6a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:836d346a05e842be104736b3cb61b31cb1a3cd382128023b31d355905fb29ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e7239de1c761
wire blob 0bdfcdeaba58
wire blob 836d346a05e8
call 32 attempt 0 · /messages · status 200 · 40.54 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6891 left_j1=2.2871 left_j2=1.9594 left_j3=-1.3731 left_j4=-0.0036 left_j5=-0.4458 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -15.1863, 6.3385, 0.0611, -0.0659, -0.0317, 1.0281, 0.0068, 1.5658, 7.0769, 1.8974, -0.0415, -0.0611, -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=-0.9325 left_j1=2.4191 left_j2=2.4481 left_j3=-1.5982 left_j4=-0.0036 left_j5=-0.9161 left_gripper=0.4497 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -12.3009, 7.665, 0.0269, -0.0317, 0.0366, 1.0281, -0.3214, 1.5521, 7.0632, 1.9267, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.439 left_j2=2.3745 left_j3=-1.5322 left_j4=-0.0067 left_j5=-1.0538 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -13.7094, 5.4359, 0.2759, -0.0611, -0.1587, 1.033, -0.1162, 1.6068, 7.1179, 1.8681, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7239de1c7610a94f78010682c0bd1578fa31a033b4d2ef61dd14b63c7f8b1c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bdfcdeaba587c8193b84b0cb7eb7161191221557a59ce9be3e907ff780b6a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836d346a05e842be104736b3cb61b31cb1a3cd382128023b31d355905fb29ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e7239de1c761]
[blob 0bdfcdeaba58]
[blob 836d346a05e8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012vBxPCnZpSZL6vosMB1AF6",
      "input": {
        "note": "The rolled wrist makes the wrist-camera axes ambiguous and my two views disagree on which way to correct. Rolling the wrist to zero so image-right = arm-right and image-up = outward exactly, giving me an unambiguous read on the offset to the red block.",
        "targets": {
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_012vBxPCnZpSZL6vosMB1AF6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.4405 left_j2=2.3688 left_j3=-1.549 left_j4=-0.0036 left_j5=-0.0952 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.4359, 5.9966, 0.3053, -0.0757, 0.2857, 1.0281, 0.0068, 1.7026, 7.0906, 1.8779, -0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3849d6e98b2c1310ae92f097cd991952c2225ba2c0b445f35191987f2ed185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65f52219880ecc5ca0456fe596cbbef6c50a81d19e4f4547662f7eeafa8315a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b674dd8c6b42e068fc10340f0a53dd91594428bcc8ad296ccf1e95ae8578abc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d3849d6e98b2
wire blob a65f52219880
wire blob b674dd8c6b42
call 33 attempt 0 · /messages · status 200 · 31.04 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9325 left_j1=2.4191 left_j2=2.4481 left_j3=-1.5982 left_j4=-0.0036 left_j5=-0.9161 left_gripper=0.4497 right_j0=-0.0006 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -12.3009, 7.665, 0.0269, -0.0317, 0.0366, 1.0281, -0.3214, 1.5521, 7.0632, 1.9267, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.439 left_j2=2.3745 left_j3=-1.5322 left_j4=-0.0067 left_j5=-1.0538 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -13.7094, 5.4359, 0.2759, -0.0611, -0.1587, 1.033, -0.1162, 1.6068, 7.1179, 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 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=-1.0538 left_j1=2.4405 left_j2=2.3688 left_j3=-1.549 left_j4=-0.0036 left_j5=-0.0952 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.4359, 5.9966, 0.3053, -0.0757, 0.2857, 1.0281, 0.0068, 1.7026, 7.0906, 1.8779, -0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3849d6e98b2c1310ae92f097cd991952c2225ba2c0b445f35191987f2ed185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65f52219880ecc5ca0456fe596cbbef6c50a81d19e4f4547662f7eeafa8315a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b674dd8c6b42e068fc10340f0a53dd91594428bcc8ad296ccf1e95ae8578abc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d3849d6e98b2]
[blob a65f52219880]
[blob b674dd8c6b42]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MkTXjEvTbwF2AtrHgH3qRs",
      "input": {
        "note": "With the wrist roll zeroed the wrist view is unambiguous: the red block sits up and to the arm's LEFT of my carried block, so my previous yaw went the wrong way. Yawing back 0.17 rad to the left and holding ~6 cm of clearance above the red block.",
        "targets": {
          "left_j0": -0.885,
          "left_j1": 2.433,
          "left_j2": 2.331,
          "left_j3": -1.469
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MkTXjEvTbwF2AtrHgH3qRs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9413 left_j1=2.4405 left_j2=2.3379 left_j3=-1.5047 left_j4=0.0074 left_j5=-0.0753 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.0188, -13.9009, 5.5179, 0.2906, -0.1197, -0.022, 1.0281, -0.0068, 1.5658, 7.0906, 1.8926, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d040abbfee6b36ef80e588dca90553adafc869be9b2d5d95a0dd8e1bb3e1e884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaa8df46c6ddbc9dec1691bebe7bb6f513eb8d1d7900584a3cca8a735f50a722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:441ed399ba0761c8e11b5d95f276926a59999344a0446ab052202b840cbbcfd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d040abbfee6b
wire blob eaa8df46c6dd
wire blob 441ed399ba07
call 34 attempt 0 · /messages · status 200 · 18.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.439 left_j2=2.3745 left_j3=-1.5322 left_j4=-0.0067 left_j5=-1.0538 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -13.7094, 5.4359, 0.2759, -0.0611, -0.1587, 1.033, -0.1162, 1.6068, 7.1179, 1.8681, -0.0171, -0.0366, -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=-1.0538 left_j1=2.4405 left_j2=2.3688 left_j3=-1.549 left_j4=-0.0036 left_j5=-0.0952 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.4359, 5.9966, 0.3053, -0.0757, 0.2857, 1.0281, 0.0068, 1.7026, 7.0906, 1.8779, -0.0024, -0.0317, -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=-0.9413 left_j1=2.4405 left_j2=2.3379 left_j3=-1.5047 left_j4=0.0074 left_j5=-0.0753 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.0188, -13.9009, 5.5179, 0.2906, -0.1197, -0.022, 1.0281, -0.0068, 1.5658, 7.0906, 1.8926, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d040abbfee6b36ef80e588dca90553adafc869be9b2d5d95a0dd8e1bb3e1e884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaa8df46c6ddbc9dec1691bebe7bb6f513eb8d1d7900584a3cca8a735f50a722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441ed399ba0761c8e11b5d95f276926a59999344a0446ab052202b840cbbcfd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d040abbfee6b]
[blob eaa8df46c6dd]
[blob 441ed399ba07]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017cjBqyjxPR6NjkhmkjLnXp",
      "input": {
        "note": "My two views still disagree about radial distance, so I'm settling it with a measurement: lowering the carried block until it touches the table here. Then its top face and the red block's top face are at the same height in the overhead image and I can read off the exact remaining offset with no parallax error.",
        "targets": {
          "left_j1": 2.5,
          "left_j2": 2.161,
          "left_j3": -1.232
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_017cjBqyjxPR6NjkhmkjLnXp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9512 left_j1=2.5011 left_j2=2.1796 left_j3=-1.3098 left_j4=-0.0002 left_j5=-0.094 left_gripper=0.4504 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -13.2718, 4.6838, 0.9255, 0.0513, 0.1197, 0.5788, -0.0479, 1.6068, 7.2274, 1.956, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7ec63a89ee0170c06ce2daa1a9bcf7560614cd4eb009feb1c2733f5f683a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5864f20f3bb052e34f146e3020e91e49258b6ab7298c6ccaec4f8fb78be8dff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a173da1863a9d1d4e2a7c47fc0d1591277032406562b1792973d82a550d5ead6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5c7ec63a89ee
wire blob 5864f20f3bb0
wire blob a173da1863a9
call 35 attempt 0 · /messages · status 200 · 11.72 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0538 left_j1=2.4405 left_j2=2.3688 left_j3=-1.549 left_j4=-0.0036 left_j5=-0.0952 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.4359, 5.9966, 0.3053, -0.0757, 0.2857, 1.0281, 0.0068, 1.7026, 7.0906, 1.8779, -0.0024, -0.0317, -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=-0.9413 left_j1=2.4405 left_j2=2.3379 left_j3=-1.5047 left_j4=0.0074 left_j5=-0.0753 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.0188, -13.9009, 5.5179, 0.2906, -0.1197, -0.022, 1.0281, -0.0068, 1.5658, 7.0906, 1.8926, -0.0317, -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=-0.9512 left_j1=2.5011 left_j2=2.1796 left_j3=-1.3098 left_j4=-0.0002 left_j5=-0.094 left_gripper=0.4504 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -13.2718, 4.6838, 0.9255, 0.0513, 0.1197, 0.5788, -0.0479, 1.6068, 7.2274, 1.956, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7ec63a89ee0170c06ce2daa1a9bcf7560614cd4eb009feb1c2733f5f683a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5864f20f3bb052e34f146e3020e91e49258b6ab7298c6ccaec4f8fb78be8dff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a173da1863a9d1d4e2a7c47fc0d1591277032406562b1792973d82a550d5ead6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5c7ec63a89ee]
[blob 5864f20f3bb0]
[blob a173da1863a9]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXDHx2xPak4n4UcA4rXEwc",
      "input": {
        "note": "Touching down revealed the truth: the wrist camera shows the red block right beside my carried block, only about 5 cm away to the arm's left and outward — the two are nearly touching. Lifting ~9 cm so I can translate over the red block without knocking it.",
        "targets": {
          "left_j1": 2.393,
          "left_j2": 2.341,
          "left_j3": -1.519
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YXDHx2xPak4n4UcA4rXEwc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9497 left_j1=2.4836 left_j2=2.3024 left_j3=-1.4528 left_j4=-0.0006 left_j5=-0.0978 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -19.7538, 8.1162, 0.0122, -0.0562, -0.0024, 0.7839, -0.0205, 1.5795, 7.0632, 1.9414, -0.0024, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4f5e51409238470d11fe6af82f5d773e0ccf0fbbbc941e6e1daa7a31de6d3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa3fb51e0e3d802abf61e4aacef8ee8b70f6b2fe8bb47cde1d2e8009bc9954f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e146d771d35d5a3b5b5b1f6c2f37c74380f21f4f3920544712e08a6ed2f707f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f4f5e5140923
wire blob afa3fb51e0e3
wire blob 9e146d771d35
call 36 attempt 0 · /messages · status 200 · 17.34 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9413 left_j1=2.4405 left_j2=2.3379 left_j3=-1.5047 left_j4=0.0074 left_j5=-0.0753 left_gripper=0.4498 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [1.0188, -13.9009, 5.5179, 0.2906, -0.1197, -0.022, 1.0281, -0.0068, 1.5658, 7.0906, 1.8926, -0.0317, -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=-0.9512 left_j1=2.5011 left_j2=2.1796 left_j3=-1.3098 left_j4=-0.0002 left_j5=-0.094 left_gripper=0.4504 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -13.2718, 4.6838, 0.9255, 0.0513, 0.1197, 0.5788, -0.0479, 1.6068, 7.2274, 1.956, -0.022, -0.0659, -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=-0.9497 left_j1=2.4836 left_j2=2.3024 left_j3=-1.4528 left_j4=-0.0006 left_j5=-0.0978 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -19.7538, 8.1162, 0.0122, -0.0562, -0.0024, 0.7839, -0.0205, 1.5795, 7.0632, 1.9414, -0.0024, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4f5e51409238470d11fe6af82f5d773e0ccf0fbbbc941e6e1daa7a31de6d3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa3fb51e0e3d802abf61e4aacef8ee8b70f6b2fe8bb47cde1d2e8009bc9954f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e146d771d35d5a3b5b5b1f6c2f37c74380f21f4f3920544712e08a6ed2f707f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f4f5e5140923]
[blob afa3fb51e0e3]
[blob 9e146d771d35]
{
  "content": [
    {
      "signature": 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B",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ffzMxxkitS2S4LuBwKVvh",
      "input": {
        "note": "Both blocks are clearly visible in the wrist view now: the red target sits up-left of my carried block by roughly 4-5 cm outward and 1.5 cm to the arm's left. Translating by that amount at ~5 cm clearance to hover the blue block over the red one.",
        "targets": {
          "left_j0": -0.919,
          "left_j1": 2.656,
          "left_j2": 2.713,
          "left_j3": -1.627
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_011ffzMxxkitS2S4LuBwKVvh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9249 left_j1=2.6461 left_j2=2.6717 left_j3=-1.6169 left_j4=-0.0006 left_j5=-0.1055 left_gripper=0.4553 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -13.135, 7.2547, 0.2222, -0.0269, 0.0562, 0.7692, -0.1436, 1.5385, 7.2, 1.9707, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904573a47be7bc5dc473976f9df67c4246ae851c39b0a6d28c55269fdbddd430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d58bbdd049142ab736c7f603b35060ab32eaef9a4038a287cd73be4f58fc43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35ea8d46ba321607c594f8fd3157b6895998ebee91cc32fdb916d09f461c854d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 904573a47be7
wire blob 4d58bbdd0491
wire blob 35ea8d46ba32
call 37 attempt 0 · /messages · status 200 · 13.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9512 left_j1=2.5011 left_j2=2.1796 left_j3=-1.3098 left_j4=-0.0002 left_j5=-0.094 left_gripper=0.4504 right_j0=-0.0002 right_j1=0.0422 right_j2=0.0082 right_j3=-0.0666 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -13.2718, 4.6838, 0.9255, 0.0513, 0.1197, 0.5788, -0.0479, 1.6068, 7.2274, 1.956, -0.022, -0.0659, -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=-0.9497 left_j1=2.4836 left_j2=2.3024 left_j3=-1.4528 left_j4=-0.0006 left_j5=-0.0978 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -19.7538, 8.1162, 0.0122, -0.0562, -0.0024, 0.7839, -0.0205, 1.5795, 7.0632, 1.9414, -0.0024, -0.0806, -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=-0.9249 left_j1=2.6461 left_j2=2.6717 left_j3=-1.6169 left_j4=-0.0006 left_j5=-0.1055 left_gripper=0.4553 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -13.135, 7.2547, 0.2222, -0.0269, 0.0562, 0.7692, -0.1436, 1.5385, 7.2, 1.9707, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904573a47be7bc5dc473976f9df67c4246ae851c39b0a6d28c55269fdbddd430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d58bbdd049142ab736c7f603b35060ab32eaef9a4038a287cd73be4f58fc43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ea8d46ba321607c594f8fd3157b6895998ebee91cc32fdb916d09f461c854d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 904573a47be7]
[blob 4d58bbdd0491]
[blob 35ea8d46ba32]
{
  "content": [
    {
      "signature": 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tEfYc9CivSvzx3JT6rhx1q90nHdApzYAMENl4MZX7jdkBMUGhvHE10qvoCxPBWmx2Sm59vUJeExBLnueBIut3/yAMGkPlaG8/7nImroOZLV5Kizq6zZUhLbm7zE9B/8T9dDGeDiZS+p4x5GFwGx0lcAeDykE3JfCqxLh1fy9my+jn5uS/qgXZIBvjWDd7PPfLyYUb5T8K86xYSTUgTF8GPlBfbiYa2obSpYEeVJV/EC0hyQ2gQ55d5BaPkRFGH7nYt7WqnQUTFButCmjy0XO82ppTwi2UMQOKHlwuHUguryWlKgmiCb6BTCgYqiwiCNfW4CWXe7R1Bmq6A3257/RoghzEWWuaJv9EVzaU1D9e5xGsig9zg18gXMt9W/aagF4UGu3u7TiEP11+pfpUWcR8xmPttyKmt5rQ5h5KZ112oNn0AnEeftCqWkHV18ScGjt2Remxpk3hag/5R2KFUnAFAwfYZeBF9/OUO9Ok+8t7DOeHr3cI8KgZeTMR4+zaSXRcmRlX9Tit/iFuBuciRkncaWDUrPpIIPl0Sh84BxMGH1Kj/9ILrw3bu37BYPdWZNjvSPdwviXbpN+e0hrFlH2AKU2D9ne59EQOmfjHifVOkKoa39uo/3oAZTbbEhpzkiiLn5SY7hk52yi1q9vNErsmhBaxuCQhKBtpRrbS4ZZMae14uHih8YABJbHv4ZzQUFG5/O6eeY9DRXdjOZKc0j16RzkK/3Wj4uzg35TsibKzkm+HVu2bFfM/Gsd1AJq3BaE3NlkjgxTqxKvbCGQkV5I5N+IGNxxzNaWGD2xx02lYgGL2Om4VkdEjiTglTqeMTokwjhUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JAx3qeFujxyou9K2v7tf7",
      "input": {
        "note": "The lateral alignment looks good in the wrist view (target and carried block share the same image column). Lowering ~1.5 cm to just below the red block's top face: if my block is truly above it the descent will stall on contact, which is the test I need.",
        "targets": {
          "left_j1": 2.631,
          "left_j2": 2.583,
          "left_j3": -1.522
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018JAx3qeFujxyou9K2v7tf7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.6534 left_j2=2.6221 left_j3=-1.5959 left_j4=-0.0006 left_j5=-0.1051 left_gripper=0.456 right_j0=-0.0002 right_j1=0.0433 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -16.0615, 4.1231, 0.8913, -0.0073, -0.0366, 0.823, -0.0068, 1.5248, 7.0632, 1.8681, -0.0415, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d403b4de7e7b3d45351d6bf9251e55f751ee998e0cf0f444984d3b0e9c2ed32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4df8450e10c83b5a26d2bda51584533ca7aebcd585f5f34bf382ada8680bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e9beda403818f7b1fb110a5d66756436e2b228da02ffb7f203c6d2128af8bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5d403b4de7e7
wire blob ad4df8450e10
wire blob 8e9beda40381
call 38 attempt 0 · /messages · status 200 · 14.81 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9497 left_j1=2.4836 left_j2=2.3024 left_j3=-1.4528 left_j4=-0.0006 left_j5=-0.0978 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0158 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -19.7538, 8.1162, 0.0122, -0.0562, -0.0024, 0.7839, -0.0205, 1.5795, 7.0632, 1.9414, -0.0024, -0.0806, -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=-0.9249 left_j1=2.6461 left_j2=2.6717 left_j3=-1.6169 left_j4=-0.0006 left_j5=-0.1055 left_gripper=0.4553 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -13.135, 7.2547, 0.2222, -0.0269, 0.0562, 0.7692, -0.1436, 1.5385, 7.2, 1.9707, -0.0513, -0.0611, -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=-0.9234 left_j1=2.6534 left_j2=2.6221 left_j3=-1.5959 left_j4=-0.0006 left_j5=-0.1051 left_gripper=0.456 right_j0=-0.0002 right_j1=0.0433 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -16.0615, 4.1231, 0.8913, -0.0073, -0.0366, 0.823, -0.0068, 1.5248, 7.0632, 1.8681, -0.0415, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d403b4de7e7b3d45351d6bf9251e55f751ee998e0cf0f444984d3b0e9c2ed32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4df8450e10c83b5a26d2bda51584533ca7aebcd585f5f34bf382ada8680bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e9beda403818f7b1fb110a5d66756436e2b228da02ffb7f203c6d2128af8bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5d403b4de7e7]
[blob ad4df8450e10]
[blob 8e9beda40381]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LTCAgGP7pMEgKTCVqTKc11",
      "input": {
        "note": "My block descended to 3.5 cm without touching the red block, so it is beside it, not above it — and the overhead view can't separate them. Raising the idle right arm into a lookout pose so its wrist camera gives me a side view of the two blocks.",
        "targets": {
          "right_j0": 0.7,
          "right_j1": 0.8,
          "right_j2": 1.4,
          "right_j3": -1.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01LTCAgGP7pMEgKTCVqTKc11",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.6442 left_j2=2.6068 left_j3=-1.5944 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4586 right_j0=0.6884 right_j1=0.7918 right_j2=1.3628 right_j3=-0.9668 right_j4=-0.0193 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.2991, 6.694, 0.0952, -0.0317, -0.0415, 0.6032, 0.2667, 0.6906, 6.4752, 1.8486, 0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da11b08b9bb5c33549b9eb72c1e5f8ec2a6ec1657a4f90f7f6a8c85c4f2351e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4349f75f1507d2967b9454ff44c431ac44f6430de030c2258b15696df7722bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5f12ffc52050c7948d2766ba2ca7e7686a828ea7414295e0c9ac133fbbade18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob da11b08b9bb5
wire blob 4349f75f1507
wire blob d5f12ffc5205
call 39 attempt 0 · /messages · status 200 · 41.22 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9249 left_j1=2.6461 left_j2=2.6717 left_j3=-1.6169 left_j4=-0.0006 left_j5=-0.1055 left_gripper=0.4553 right_j0=-0.0002 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -13.135, 7.2547, 0.2222, -0.0269, 0.0562, 0.7692, -0.1436, 1.5385, 7.2, 1.9707, -0.0513, -0.0611, -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=-0.9234 left_j1=2.6534 left_j2=2.6221 left_j3=-1.5959 left_j4=-0.0006 left_j5=-0.1051 left_gripper=0.456 right_j0=-0.0002 right_j1=0.0433 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -16.0615, 4.1231, 0.8913, -0.0073, -0.0366, 0.823, -0.0068, 1.5248, 7.0632, 1.8681, -0.0415, -0.0806, -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=-0.9234 left_j1=2.6442 left_j2=2.6068 left_j3=-1.5944 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4586 right_j0=0.6884 right_j1=0.7918 right_j2=1.3628 right_j3=-0.9668 right_j4=-0.0193 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.2991, 6.694, 0.0952, -0.0317, -0.0415, 0.6032, 0.2667, 0.6906, 6.4752, 1.8486, 0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da11b08b9bb5c33549b9eb72c1e5f8ec2a6ec1657a4f90f7f6a8c85c4f2351e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4349f75f1507d2967b9454ff44c431ac44f6430de030c2258b15696df7722bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f12ffc52050c7948d2766ba2ca7e7686a828ea7414295e0c9ac133fbbade18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob da11b08b9bb5]
[blob 4349f75f1507]
[blob d5f12ffc5205]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEY2p89YXsj5PXb8NR2zQz",
      "input": {
        "note": "To break the deadlock between my two views I'm retracting 7 cm and lifting to ~13 cm: that displaces my carried block well away from the red block in the overhead image so I can finally tell the two apart and measure their true separation.",
        "targets": {
          "left_j1": 2.202,
          "left_j2": 2.177,
          "left_j3": -1.546
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UEY2p89YXsj5PXb8NR2zQz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.2547 left_j2=2.1975 left_j3=-1.5513 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4606 right_j0=0.6899 right_j1=0.7975 right_j2=1.3636 right_j3=-0.9997 right_j4=-0.0196 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.3795, 5.2855, 0.4762, -0.0611, -0.0366, 0.5299, -0.2393, 0.5949, 5.2718, 2.1172, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f944ed57aa3220144fa4b7b3508610a09a844d5e169183801936c02e6fec11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54f98cff2c5dd96b4d36aa206d3877ca08e32d5251840f00cbb0ac779d94381a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0158f8f6ddd0dd733a1d394cd977929106e8aa02cc9d69708d85f055e1c27d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f2f944ed57aa
wire blob 54f98cff2c5d
wire blob 0158f8f6ddd0
call 40 attempt 0 · /messages · status 200 · 9.327 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.6534 left_j2=2.6221 left_j3=-1.5959 left_j4=-0.0006 left_j5=-0.1051 left_gripper=0.456 right_j0=-0.0002 right_j1=0.0433 right_j2=0.0082 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -16.0615, 4.1231, 0.8913, -0.0073, -0.0366, 0.823, -0.0068, 1.5248, 7.0632, 1.8681, -0.0415, -0.0806, -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=-0.9234 left_j1=2.6442 left_j2=2.6068 left_j3=-1.5944 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4586 right_j0=0.6884 right_j1=0.7918 right_j2=1.3628 right_j3=-0.9668 right_j4=-0.0193 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.2991, 6.694, 0.0952, -0.0317, -0.0415, 0.6032, 0.2667, 0.6906, 6.4752, 1.8486, 0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.2547 left_j2=2.1975 left_j3=-1.5513 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4606 right_j0=0.6899 right_j1=0.7975 right_j2=1.3636 right_j3=-0.9997 right_j4=-0.0196 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.3795, 5.2855, 0.4762, -0.0611, -0.0366, 0.5299, -0.2393, 0.5949, 5.2718, 2.1172, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f944ed57aa3220144fa4b7b3508610a09a844d5e169183801936c02e6fec11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54f98cff2c5dd96b4d36aa206d3877ca08e32d5251840f00cbb0ac779d94381a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0158f8f6ddd0dd733a1d394cd977929106e8aa02cc9d69708d85f055e1c27d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f2f944ed57aa]
[blob 54f98cff2c5d]
[blob 0158f8f6ddd0]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GRvVNfbzyuCe7kcana9UQ1",
      "input": {
        "note": "Measurements now agree that the red block sits ~5 cm beyond the left arm's gripper-down reach limit, so I'm changing plan: the left arm parks (still holding the blue block) and the right arm, which reaches the red block easily, will pick it up and move it closer for stacking.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 0.9,
          "left_j2": 1.4,
          "left_j3": -0.8,
          "right_j0": 0.57,
          "right_j1": 2.155,
          "right_j2": 2.224,
          "right_j3": -1.64,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 22 steps (2.2s)",
      "tool_use_id": "toolu_01GRvVNfbzyuCe7kcana9UQ1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.9268 left_j2=1.4101 left_j3=-0.8764 left_j4=-0.004 left_j5=-0.1051 left_gripper=0.4631 right_j0=0.5735 right_j1=2.1387 right_j2=2.1956 right_j3=-1.6012 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -0.4991, 5.9556, 2.4689, -0.0317, -0.0269, 0.2466, -0.5265, -11.6855, 7.3778, 0.0317, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c85aa1c912db01f0fc7db0fb55cbf0eb3191992da0c23efd17446d473b93a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f54337920d383d0d9a7d9fa6be9883916ec05f514c081febd2de9bd54df91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c1dd1abaef5f88a3ea0fe2e0e21bdd07714f598dca1d125e021bb5b5f540c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1c85aa1c912d
wire blob b0f54337920d
wire blob 1c1dd1abaef5
call 41 attempt 0 · /messages · status 200 · 8.866 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.6442 left_j2=2.6068 left_j3=-1.5944 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4586 right_j0=0.6884 right_j1=0.7918 right_j2=1.3628 right_j3=-0.9668 right_j4=-0.0193 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.2991, 6.694, 0.0952, -0.0317, -0.0415, 0.6032, 0.2667, 0.6906, 6.4752, 1.8486, 0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.2547 left_j2=2.1975 left_j3=-1.5513 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4606 right_j0=0.6899 right_j1=0.7975 right_j2=1.3636 right_j3=-0.9997 right_j4=-0.0196 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.3795, 5.2855, 0.4762, -0.0611, -0.0366, 0.5299, -0.2393, 0.5949, 5.2718, 2.1172, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.9268 left_j2=1.4101 left_j3=-0.8764 left_j4=-0.004 left_j5=-0.1051 left_gripper=0.4631 right_j0=0.5735 right_j1=2.1387 right_j2=2.1956 right_j3=-1.6012 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -0.4991, 5.9556, 2.4689, -0.0317, -0.0269, 0.2466, -0.5265, -11.6855, 7.3778, 0.0317, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c85aa1c912db01f0fc7db0fb55cbf0eb3191992da0c23efd17446d473b93a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f54337920d383d0d9a7d9fa6be9883916ec05f514c081febd2de9bd54df91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
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[blob 1c85aa1c912d]
[blob b0f54337920d]
[blob 1c1dd1abaef5]
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJRvvnYTchzXJGHsnt6FMR",
      "input": {
        "note": "The right arm's wrist camera has the red block nicely centered and its lateral alignment already looks good; the block is just outward of the jaws. Descending 15 cm to table height (watching effort for contact) before closing the last few cm of reach.",
        "targets": {
          "right_j1": 2.283,
          "right_j2": 1.805,
          "right_j3": -1.092
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UJRvvnYTchzXJGHsnt6FMR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9367 left_j2=1.3991 left_j3=-0.8944 left_j4=-0.0074 left_j5=-0.1055 left_gripper=0.4651 right_j0=0.572 right_j1=2.2745 right_j2=1.8187 right_j3=-1.1633 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.4154, 6.5026, 1.9951, -0.0073, -0.0806, 0.1929, -0.0342, -11.6718, 6.1333, 0.3394, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb680697c160eab32978bf08dd966afba4695d3cbe9f7e1b534e5633689ad35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae6fc06269d37dc959dd93f7f3a7d52c8d5f8eb2e62e8a79727f58a254e2cab",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:005c0475b3c78a89703868494c6ce58446837f5a08329987685785622f90884d",
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wire blob bb680697c160
wire blob 9ae6fc06269d
wire blob 005c0475b3c7
call 42 attempt 0 · /messages · status 200 · 6.653 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.2547 left_j2=2.1975 left_j3=-1.5513 left_j4=-0.001 left_j5=-0.1047 left_gripper=0.4606 right_j0=0.6899 right_j1=0.7975 right_j2=1.3636 right_j3=-0.9997 right_j4=-0.0196 right_j5=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.3795, 5.2855, 0.4762, -0.0611, -0.0366, 0.5299, -0.2393, 0.5949, 5.2718, 2.1172, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.9268 left_j2=1.4101 left_j3=-0.8764 left_j4=-0.004 left_j5=-0.1051 left_gripper=0.4631 right_j0=0.5735 right_j1=2.1387 right_j2=2.1956 right_j3=-1.6012 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -0.4991, 5.9556, 2.4689, -0.0317, -0.0269, 0.2466, -0.5265, -11.6855, 7.3778, 0.0317, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9367 left_j2=1.3991 left_j3=-0.8944 left_j4=-0.0074 left_j5=-0.1055 left_gripper=0.4651 right_j0=0.572 right_j1=2.2745 right_j2=1.8187 right_j3=-1.1633 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.4154, 6.5026, 1.9951, -0.0073, -0.0806, 0.1929, -0.0342, -11.6718, 6.1333, 0.3394, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb680697c160eab32978bf08dd966afba4695d3cbe9f7e1b534e5633689ad35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae6fc06269d37dc959dd93f7f3a7d52c8d5f8eb2e62e8a79727f58a254e2cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005c0475b3c78a89703868494c6ce58446837f5a08329987685785622f90884d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bb680697c160]
[blob 9ae6fc06269d]
[blob 005c0475b3c7]
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  "content": [
    {
      "signature": "CAIS/hIKjAEIEBgCKkCcurW3UgHoJkLZELSf2dU5zS1uwR7d9ryunc7eX8/b1k1Yj4bGnvlov7E7la3A89tAn9oSjc6tpmEukoOmmusYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM7JtBloT65A6dfq23Ggy1Ugeq9l0NvGTdnxMiMA6cOZSCqQ3b4AQtlk3Q5TgB99gzdZ8yneBaBYz5G3942NwL0xeIwcd6S6tpxJHC2SqeEcVWRv03SgMwqt4YdWJE64jmRS7579ZgQKTNuwXpWepE0OyT23bdl7TWLbl6YRec3xzUCXW/h3+dG6uPHI+NGbCZ+JeDvYOmANCpcyD28K8TYz1hr5uKvbzDbYoHugb1HUN/CZcMfNiDQpxsLaxaAkc5s8BxxffYi87nsWqtJAi/nvM5yGowHfFycoLA/7Yusq/1HurU3wBLd30+WNfldYysQc+9AAihqSd7nC4rYIIgNh1UDaka8/RWRHZpsh9syLDr7PA4S0TVmZGlahqhOoeO6m0NBRL34Y+Q8w32ypOSbzHgQUWuj5IMNvGQ9LDT/0OmmpF6cx85akB5ZH6gAVjrPpDVmkd5INq8lHtCXi9vJvCZAVKzTevGRPlOOSnlRXyeWj79tO5vJXdmTKvbHttVe71aTMJ9qjqx8P+cqAl9x/qxF7UN1zCy6qQ4cqIa26d4nP2nEiQklYC1f6C79GqYGIcNyoyvZGIMy1QOTg9BqS/aC8HNqaUIMBgUWUC90zyrZMoUwfMNh+oH8gfyhllM9Z+Z4mFMAq+sJ3ye2UvsXAONQ4tNHK6xQMeIbDFsD6wErmZx2m5JuN4fRDi0dzBJU/srD4l8MiZi2jW0+1ayLI3ftWAest979asw2rmJ0esO4H2ypzuad7hKAIIri57ZeoV+7ovXrQfJPzr5sO4C4prK45Y6w28f+eNd5He9I60kFEl/ceC55hMk1cIrYfBK86GHUQi9FiQLrgk3vx7P96cJG7iAFIaB5pfZigaVCnJK7ErUfHdtXbvJILhSD0s57TzUIoZZmkk9BsUhOqEdAwyCkfygbajUmOfy9LEn5pt0L5j9LpMBXEml+x9LPPCTMsJ0WuXyko6BLQ+wm7g/GPpvP/12PvlUKt+y3zvS8uyJGbkkaCZ60cqR2F691TycffdOQriYl3fl2mW1Rqv8Ul+0SX9V8HuQmw71TgzR1NJorO8gzYAwJNF+rnx1bC3sxGTT2BCeh3E90MkwcjH/oUq1CIAgfyrxGfqz7zeg00rhCHL1E6PgCQ4zHE/KZc2hFFq9e3eM8U4C1hpUeokFePKp+Tlh0OKh5iV1lOulx+Ibv//lCkf7Lo/mQ8bVNQM6ZafmfxxAV2WWi1jGPOctHfpg3DA/iriV8w+66uDz4BX0sQ6fmegiOzyfjn9JG/Lfbkzum/6sI/W0qR1+xvicjYUSyu7tqT9MdDgL9nVgQ25jisKMStUAyaZoDxtTdlwJ5gSbgVnmZmKcuqTifGq5oyzYEiJN9fTycc8APA2ZcxUEr1cEekpAip76Ci/K22Wr5n/bryw0DphCSYDnrlJSyJF3F7HF12OAwn201XNfqFtiSrh5Rfy/Csa1mZqpCtSs83EeAcyYCtEJtoJJH1ht1ZW6uAcd1Ksf9uZPCfBs3kGESmUkILki8OkZkYXP6ejZ365Lqe2ElLG+jf04p6fqSjbOlqHZ8Ajgdb1JQkDTF+sc2HXi2c+8o1G3pdfmwWmjbV+7kblT8iYkAwhG7al2UkXZjwzM+zAnoMqsAtt20G2voMUu8ztTKHD7KAL5w25Dt/102NR7b+NIIUGTW9Up6l2yWgITZCaM2djeWMrWMqPWKMzvhtUvW9QzbhsBAXO9l+Ifoo0h95BzWlz4qxRYj3KAOkDSb4aXlFccIMI0fL8Bl5QM7vJ1kjl75brAYPnl/VejO2Nk5inFrxHkLg46x9xcqwcYCg88vaDc9xBMzSYAlccCeGl20xo/S9D7iVwJrChHvg5htPzVg1HGztRkzwNlQuptsg4t/XxEGrx8WzxL5MZ8y2/jXg8JC4UY7NfikoMIajW4JVy1PoB9i9EDlNcEhRIaekEuTj1SlyQC0PNT9sI/yf2jQBLa1hnyaLNCt/xoHvI2FrFfjz+ImTe3nuvLF22k6vmFFDkXQDoVhGwmQLvHdj0fohtZNdyI92SERHwVTE4l3sQioIFMoUqMylZJMvmJZve9+FuxXXUOq8KQbMKSQXqYK88H8/nqpNcSZd8YqKOA9V8wYk7s2cDU3K0BatxvLF50+CcPy8E/c0oH0sjMIOHn1R9mDayX32UyuzPkw4LH22NCtpgMD+/+VMF/rYLOcOtjF1+XCp23CDqdH2QWhejL0IDCF6SDdNoXwDyTBgK9uiXBviBQOaCm2RfuZ58ZbQ7DIddtB4Lvm7V6kO3yJGBqF8tQ2omLcT/Jk3wvfHMqbQi6SdeNG/qsVMqdPGIFhk8KJuaQVAQNZX6g/+r2W7hFqcNQ0PnGyLAQC29JgwqQ9vNW8H4vGI2vJOIW3t54of7LUjlbGoXVZ7CVUHjrzJi5wANK8pKwrjYdHG2zhsSHodwz2x6649o6GASculUc8OSGv3+j/aSoFhghOm9jWcsMJExAUV9FRW0CD+wrOlyWZ05bUQ2Xd+wX37676UBtobvvX2vkavPdgS2CeXKUodxfI/BOMkYVynodHd0wTjhin8eQhoklyWvGaFp0c7PDa3ftTHwv45uY57eCGlVjWM72mjcsce6rY8w5xvnSEazzPgUF+kMNu5qEfRz5z5WLazZugAjNwDa3xT9r92t4rgAkYtExSBltCjPPw6Ghv0M+dYIQ8EtSKFLEQYfWb/1SJkPDLKCVJX6y2cMuRuYsD4ywmUpROfzq3DokhZa+0BpbsLCBk5tIbKy2TcSLYc9oZVMpIAChDhzx4bSANy5jPLMmmRzJi8Oi8nGOuYB32br8sxDtmJII+PVKBOLn4seqldWH2U+KWWdYyIAA7u9vJSWI0YPMKUydyzgV1aG9Iqp4FWkqf48lKuM/+MwIi3PW/YSyIWf76aEEUKb415Y12r4TyDQZrTDapeaIEAAlrzFCGL5l8SVUkUrmfEo1+8TNike0NU4kmobZ4FQ/A8bz4T+eLNo8xpnr2u2uDLw6ZLJLWGEUuAZNRr4jZxQTWT/cc1uT3nN81TcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BsUzRMSRLs7FimR2BLp8RS",
      "input": {
        "note": "The red block is now sitting right between the right arm's open jaws at table height. Rolling the wrist to match the base yaw so the jaws close square on the block's faces rather than on its corners.",
        "targets": {
          "right_j5": 0.572
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BsUzRMSRLs7FimR2BLp8RS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9428 left_j2=1.3991 left_j3=-0.9028 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4667 right_j0=0.572 right_j1=2.2871 right_j2=1.8015 right_j3=-1.1728 right_j4=-0.02 right_j5=0.487 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3607, 5.6547, 1.873, -0.022, -0.0513, 0.1538, -0.3214, -13.2444, 6.9812, 0.2222, -0.0415, 0.1685, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f72e760538a2d53d5aec7b82de4c3947c70bf9f3fe7a1b06394422ef4658835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27698c8d93cab0ae968c93a0d3a365b662c928ba69bd0d1660e03f6433245ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b14e3f17bc13a2a3399facf2931598e86ba158934c568b361ac0da1d92c8480a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3f72e760538a
wire blob 27698c8d93ca
wire blob b14e3f17bc13
call 43 attempt 0 · /messages · status 200 · 10.99 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.9268 left_j2=1.4101 left_j3=-0.8764 left_j4=-0.004 left_j5=-0.1051 left_gripper=0.4631 right_j0=0.5735 right_j1=2.1387 right_j2=2.1956 right_j3=-1.6012 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -0.4991, 5.9556, 2.4689, -0.0317, -0.0269, 0.2466, -0.5265, -11.6855, 7.3778, 0.0317, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9367 left_j2=1.3991 left_j3=-0.8944 left_j4=-0.0074 left_j5=-0.1055 left_gripper=0.4651 right_j0=0.572 right_j1=2.2745 right_j2=1.8187 right_j3=-1.1633 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.4154, 6.5026, 1.9951, -0.0073, -0.0806, 0.1929, -0.0342, -11.6718, 6.1333, 0.3394, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9428 left_j2=1.3991 left_j3=-0.9028 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4667 right_j0=0.572 right_j1=2.2871 right_j2=1.8015 right_j3=-1.1728 right_j4=-0.02 right_j5=0.487 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3607, 5.6547, 1.873, -0.022, -0.0513, 0.1538, -0.3214, -13.2444, 6.9812, 0.2222, -0.0415, 0.1685, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f72e760538a2d53d5aec7b82de4c3947c70bf9f3fe7a1b06394422ef4658835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27698c8d93cab0ae968c93a0d3a365b662c928ba69bd0d1660e03f6433245ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14e3f17bc13a2a3399facf2931598e86ba158934c568b361ac0da1d92c8480a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3f72e760538a]
[blob 27698c8d93ca]
[blob b14e3f17bc13]
{
  "content": [
    {
      "signature": "CAISgQoKjAEIEBgCKkDzUDoQgCefc4nBJLkQSdNHUQMyH7TphY0KC757ClyFyOqECyVldVa1g4v3ABudshS7XsjCvun76+VrLFw8eivSMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM1T4wsc2IQfo0SwpjGgwRcBAdZN8EFUUYfjgiMMJ/zrCLpoTinjVykLTTXlfcydIHBlmTeOkE4pEBM6xBgtGnlUlVc6OiUpn0Cvi2rSqhCL6BGLNSSlczJ12fYHrQ3BAls+gdVB/XIsUZct1oCYB1/yI0QkrpatePQjN5JwnjtIOkjAKfydCrJcbZmr5EPooKcflYyMFM33lMrVQd81uP2hp12XRqMnDhC6aZ7j8ByK7iCfChHqek4wqoMeR/NBbopDUAkNnc6eFGP8I08At7ZJ0jSg+A7kONRaEsSl18Zu5i3VDVKrF4j54BdCYa2ZAF23NYoE5iFr7n+UbCRtYFSQ4S2Y1YJU1AwmUDXiCd/ZNEaQM5TPZ6+6Na9bCJlj2Dtw5h3nLwfGjxs1A/lF72vpqYREHw7liFRTyNRgkWQPKahnsKE3v/Nf2U5uNTvQr5wMwZ7mkLqnFs9pNQSvnt0cx0jIDfnOgnsRxWWYLmmMLiwsdBcDN0EpW74WTwLtEe79vv7DPLbpEsCPB6+bFa/k1SwOIKxyPLo9po10booHGOyko+2m/Fr15/7eO/zlfZbHjQNqTtqYCLzjsQ5ejmvz0REp0tsk+EymwOERryloiNaygnPu1fI+uDI2+7zJgY0MQl/fxoKNDH56hjpwh3Ag+/tb88Hlw9weOQEyKXBC10Y4LW6bcJ9KZg9VcLLqMJBhZrqxJpXAVtT1CrXunmI4rABK+9bpDZRX4j8GqfQFeXU/nXyb3QX/JOWqRMZjGu9MKd3m8WyijrcDcgiNxK7eN2WFpYlAq+ni6X60Nnkigf6y3sHvuf/z2txPzxRVgKEyyZkwc4m+R/jTDOBTY0e6Z58lx659XOCZIhTd5inKtnHJNoWa+PKVvRGLDb+n86AfLtS6c7TFByDS5vGrmCJlVHw8iEUEGNZ6hETUEIU/oqq3vfLfIrvvo6bIGr3Waom63txwk8AnwkaPnZkKz8WPvJ3yMLonScvxGO5jFs2jZi6NXI++/dovbaNijCORWxvO1TS6jlZSSztv5cxsuiea/K8F/p8Ylos5UPVOFLfMD6gBWz+t1OLl/qj12919jAi1PjWhjp1eKBf+ZKfGrQfYIYPfK76MdnTScgn/syJFKuOWb9bEy0dqN2v5t0MoUqT42zYggSnNrw8f6DAOF05YgJDI9IyHxrD/SMUypLqTk685HnI2Wj/yCLc4MRZv4CzfQoOB9y/BwXhOoWsAsNJb2ioRLybwaPsbyynT2DOmkRiEQ7De1AXO46JLYn0H7NaR+OrRQyGQSwdABDoL3Ks03nsZ3jQbgERdQk5/dRoYWYH+dVJzmaZjinvDoELsCS3rTmFinxHchufPlP084nIIYA8f+2mqDVrTo1wd2acLzxzxTOJ4e57JVcNlfHXIg3DXmU5Wvp37nsvDlnVejDUNf4vbnPogFGS6UivD6B5YRvIAV7IfJ8Z/69C//w2Ol60I3fkI7SxmPf/1gWriH/EsD0FFfEclWXu/MhqBw3TXoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Qyk5MWf8a325yk6iA6JUr",
      "input": {
        "note": "The red block is at the very bottom of the right wrist frame, i.e. right at the grasp point between the jaws. Closing to grip it; I expect a residual near 0.44 (4.2 cm) if it's a good grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012Qyk5MWf8a325yk6iA6JUr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9501 left_j2=1.3991 left_j3=-0.9203 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.468 right_j0=0.572 right_j1=2.2871 right_j2=1.8011 right_j3=-1.1755 right_j4=-0.0204 right_j5=0.4854 right_gripper=0.0115\nstate[joint_eff]: [-0.294, -1.4017, 5.6684, 1.9707, -0.022, -0.0317, 0.1197, -0.1299, -12.1094, 5.4632, 0.1343, -0.0611, 0.0024, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f042b82ca93208eb4ac525f1c3d867e4bfe923c2dbf6c37438beae7e8b6b1b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de764ac9c1758ebc0237c4b0ff183d033777f773f29fd141ff7d75763f4bc83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07df68b891b74360d0caf546a7281c76b7b9c6e5c6b430d0c20f3e391aeec73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7f042b82ca93
wire blob de764ac9c175
wire blob 07df68b891b7
call 44 attempt 0 · /messages · status 200 · 5.455 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9367 left_j2=1.3991 left_j3=-0.8944 left_j4=-0.0074 left_j5=-0.1055 left_gripper=0.4651 right_j0=0.572 right_j1=2.2745 right_j2=1.8187 right_j3=-1.1633 right_j4=-0.02 right_j5=-0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.4154, 6.5026, 1.9951, -0.0073, -0.0806, 0.1929, -0.0342, -11.6718, 6.1333, 0.3394, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9428 left_j2=1.3991 left_j3=-0.9028 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4667 right_j0=0.572 right_j1=2.2871 right_j2=1.8015 right_j3=-1.1728 right_j4=-0.02 right_j5=0.487 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3607, 5.6547, 1.873, -0.022, -0.0513, 0.1538, -0.3214, -13.2444, 6.9812, 0.2222, -0.0415, 0.1685, -0.0073]",
      "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=-0.3126 left_j1=0.9501 left_j2=1.3991 left_j3=-0.9203 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.468 right_j0=0.572 right_j1=2.2871 right_j2=1.8011 right_j3=-1.1755 right_j4=-0.0204 right_j5=0.4854 right_gripper=0.0115\nstate[joint_eff]: [-0.294, -1.4017, 5.6684, 1.9707, -0.022, -0.0317, 0.1197, -0.1299, -12.1094, 5.4632, 0.1343, -0.0611, 0.0024, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f042b82ca93208eb4ac525f1c3d867e4bfe923c2dbf6c37438beae7e8b6b1b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de764ac9c1758ebc0237c4b0ff183d033777f773f29fd141ff7d75763f4bc83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07df68b891b74360d0caf546a7281c76b7b9c6e5c6b430d0c20f3e391aeec73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7f042b82ca93]
[blob de764ac9c175]
[blob 07df68b891b7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RsKZmxBvHmiXoXqMSqXjQK",
      "input": {
        "note": "The right gripper closed empty — the block is sitting just off the jaws to the arm's right and slightly inward. Re-opening and shifting ~3.5 cm right and 2 cm inward at table height for another attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.482,
          "right_j1": 2.216,
          "right_j2": 1.685,
          "right_j3": -1.04,
          "right_j5": 0.482
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RsKZmxBvHmiXoXqMSqXjQK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9546 left_j2=1.3991 left_j3=-0.9394 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4687 right_j0=0.487 right_j1=2.2456 right_j2=1.6947 right_j3=-1.0729 right_j4=-0.0307 right_j5=0.4786 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3333, 5.8051, 2.0244, -0.0464, -0.0562, 0.0611, -0.4308, -14.1197, 5.1761, 0.2808, 0.0904, -0.0366, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4919a47f0301c5575e2ec482bd32047ac870601bf19068dce67d3abb83547df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c8ef8055a6f4d33b90be2ff51c58d5c1289c98ccb4ed0126ae6e1c1c97e4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4d765d536243c8dd9f3ce11ac642a9147f7bd31b6a0021bb280bb5e88716a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c4919a47f030
wire blob e9c8ef8055a6
wire blob a4d765d53624
call 45 attempt 0 · /messages · status 200 · 20.46 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9428 left_j2=1.3991 left_j3=-0.9028 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4667 right_j0=0.572 right_j1=2.2871 right_j2=1.8015 right_j3=-1.1728 right_j4=-0.02 right_j5=0.487 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3607, 5.6547, 1.873, -0.022, -0.0513, 0.1538, -0.3214, -13.2444, 6.9812, 0.2222, -0.0415, 0.1685, -0.0073]",
      "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=-0.3126 left_j1=0.9501 left_j2=1.3991 left_j3=-0.9203 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.468 right_j0=0.572 right_j1=2.2871 right_j2=1.8011 right_j3=-1.1755 right_j4=-0.0204 right_j5=0.4854 right_gripper=0.0115\nstate[joint_eff]: [-0.294, -1.4017, 5.6684, 1.9707, -0.022, -0.0317, 0.1197, -0.1299, -12.1094, 5.4632, 0.1343, -0.0611, 0.0024, 1.0476]",
      "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=-0.3126 left_j1=0.9546 left_j2=1.3991 left_j3=-0.9394 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4687 right_j0=0.487 right_j1=2.2456 right_j2=1.6947 right_j3=-1.0729 right_j4=-0.0307 right_j5=0.4786 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3333, 5.8051, 2.0244, -0.0464, -0.0562, 0.0611, -0.4308, -14.1197, 5.1761, 0.2808, 0.0904, -0.0366, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4919a47f0301c5575e2ec482bd32047ac870601bf19068dce67d3abb83547df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c8ef8055a6f4d33b90be2ff51c58d5c1289c98ccb4ed0126ae6e1c1c97e4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d765d536243c8dd9f3ce11ac642a9147f7bd31b6a0021bb280bb5e88716a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c4919a47f030]
[blob e9c8ef8055a6]
[blob a4d765d53624]
{
  "content": [
    {
      "signature": "CAISmwcKjAEIEBgCKkBeYUKi8fL8Uv/8ahnCc+qZylZQKhVUC1eSXw8YOBVVShB7FLL5jnee7kasn3SWPEYQuIM3WvMdP6ndAo2jlftoMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMYejy98RatKBgaZRhGgy8HCkTLS0Iic2ToSAiMC6mHo5ZIfRpfFA0f8FuxQ17xy4N2dugqJ4UVFGiIKW+eayqlX6vjazfyfn2O8JTOSq7BQ++flDYJmadeDjaSiT/fHiAkFxMYRKNtaCbX2d6snEGPYgKdgNSdPNbaXqDs8HneQ9V5upwSh9RMtf1EAhLitPoJYNSIK2t54q7veGULT4QpnK5itwKQWKl5tuvLvHr6Mr1gajKN3iz2PsrifacJkTIJCBs4b7qgi8iPsmxuVCFqDhyT0mAgeQy4OHTjD9SClKENaJduY2HqFuqLTRxDQ7nh/ByKzKkSQB8WN0hjXd28O6oEv94EU9thZno17A5H+OjCaREj2B0PflTtt+mDifYn9AW90loHVLE0I4Daf2pihzfMh1ycu7KZjKDBczCwH7lvyXrSqJXd9WyErOcAe7slcASp0XgPtHEu2ZwQOe4IemAlCM01gPdpXU6wPdGzV91JN8aal4W1OIZivDWpaHfijWhTcEwtaRrFeosWjgKz//hcTjYts1FB8Xc5ZFWOVDZVQeu3/OfLQn54aZ4Szgy/S4Tca3rYAtqc2g/aCTSyaknhrJhds/aJQO4rudeBW6S68592lUby9W02cMOlsgQ3k0kRYxu+LRXebXw7rG14BpGP+6gduHKavH/qggmE2eXHunc7PMQZIj+e4P4k2h4H3J0WuUOPJ3N4Yrw/Nb4ZQ2zkDC02Xo9PQO9mF1r5IBw9zsatBQ5lKWDElIMK9hKk70qVgDRk6lB6ZUB/T+5FHUmww3ua9V2m2cnPVuOkeL6mf3tQfiLCXmKhElfVHw5NfiLwHpv0zw4zKF5qzhOusiREdnZM3HHr73XLsuqfa7uH34uzoXpBkpkEL4cp08rYgi5a5vBG8/oW5VANqt9ML7Oyiv76RuhgsVrk1PJI3+eYRmYRcoNMLGpPx/XBV/jC4kC2eXRS4mft9a3GA+vPISmxypXbpRHi1pO2GNUoSsfYue9S5EL0Yr//ZhUXs/yokLeShNEAhSobxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012rYV5owAagtmk3t8YnBPM1",
      "input": {
        "note": "After the shift, only a sliver of the block shows at the very bottom edge of the right wrist frame, which is where an object right at the grasp point appears. Closing to try the grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012rYV5owAagtmk3t8YnBPM1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9611 left_j2=1.3991 left_j3=-0.947 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4688 right_j0=0.4877 right_j1=2.244 right_j2=1.6928 right_j3=-1.0702 right_j4=-0.0383 right_j5=0.4786 right_gripper=0.0115\nstate[joint_eff]: [-0.1436, -1.5795, 5.6821, 1.8291, -0.0513, -0.0415, -0.0024, -0.253, -11.7812, 5.5726, 0.1929, 0.0415, 0.0122, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2acc8f1d932533f4c04f552c0e0345ef3829e8e432c7a76fbcefe9838f8f262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6aa662f9b752b64ee64b0a38bbf311f2bb84119617c3febc114043bd8591445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b74f9ed1eb42cdcf5fa44241a3d108e0cc042258c109e6269d54af610b32e44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a2acc8f1d932
wire blob b6aa662f9b75
wire blob b74f9ed1eb42
call 46 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9501 left_j2=1.3991 left_j3=-0.9203 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.468 right_j0=0.572 right_j1=2.2871 right_j2=1.8011 right_j3=-1.1755 right_j4=-0.0204 right_j5=0.4854 right_gripper=0.0115\nstate[joint_eff]: [-0.294, -1.4017, 5.6684, 1.9707, -0.022, -0.0317, 0.1197, -0.1299, -12.1094, 5.4632, 0.1343, -0.0611, 0.0024, 1.0476]",
      "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=-0.3126 left_j1=0.9546 left_j2=1.3991 left_j3=-0.9394 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4687 right_j0=0.487 right_j1=2.2456 right_j2=1.6947 right_j3=-1.0729 right_j4=-0.0307 right_j5=0.4786 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3333, 5.8051, 2.0244, -0.0464, -0.0562, 0.0611, -0.4308, -14.1197, 5.1761, 0.2808, 0.0904, -0.0366, -0.1392]\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 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=-0.3126 left_j1=0.9611 left_j2=1.3991 left_j3=-0.947 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4688 right_j0=0.4877 right_j1=2.244 right_j2=1.6928 right_j3=-1.0702 right_j4=-0.0383 right_j5=0.4786 right_gripper=0.0115\nstate[joint_eff]: [-0.1436, -1.5795, 5.6821, 1.8291, -0.0513, -0.0415, -0.0024, -0.253, -11.7812, 5.5726, 0.1929, 0.0415, 0.0122, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2acc8f1d932533f4c04f552c0e0345ef3829e8e432c7a76fbcefe9838f8f262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6aa662f9b752b64ee64b0a38bbf311f2bb84119617c3febc114043bd8591445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74f9ed1eb42cdcf5fa44241a3d108e0cc042258c109e6269d54af610b32e44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a2acc8f1d932]
[blob b6aa662f9b75]
[blob b74f9ed1eb42]
{
  "content": [
    {
      "signature": 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F45qlCi7lUKdvDc1Z/28ZzYR5g2vMRLaqYdwJPyT8dX+t1/AONloq/mx+heC5+3CRWq337LRXCHhDZhMEI+5jdMpGMNIDUEzGvcp+iHtqJlkSiWiCtUQp01AAeyJRp2g+NyQ0TwrtthGulx99VnVxunSovX8FGxOZGVzCD7J+cSuRrY7y/9AQq9l42AVC1FcZMYcxqMouZNT3i1Y4RosIasGrehd0ii/Dh7uYguGEda503IHz8mrEpXx9z2zU5vsa0ASa47IMSwKffAO/ERhYcl/SMQtanoC4W+LTWwE2HPWZ/d/3uSd8FT7iLoBsqaHNbk0VpCAxMnZZyVbenkHsRVsrFc7Wz+H0Kt2oXtic5EyBHD1Il9qdHIA3CQM02rLOeOvNwkjfZk+P8KXex5sZUxYwSzrrPS9afETuQGDcl2AAw716WuOaUM+Yszxkb4dJ7J8deL+inti1nkJE5wvryJmITcMFxsGEvV7rGmdvXhqWLNk6AQdbosgrmYD2pRnTtmWnBi1fD5no7oHDcxQfaoKYDVOn82QSldnwXsicfS1cDrzXUEJEncCiKIcnwPTxDAF/+ReT7TySAZfMbClTjBuXxpQTo68IzR75FuBk49RB75MXMk5ZP7s8iASQM2YNMhOowaLPHH9S/oSCVfgEY9Kcku16OjKVpWr8wYdId9vy64k5r36vXnAHtFauz+riocwtOd8pvYmpzAl583ONSONIwktMptJczaVIL/oBf5bi2gnUZnz7Wg3fj3XIKF8lV599p83gDaT5Fy3/OrnoMrMVEke+uOpMiU/4rCCs4GWpzQRLgwqZFBp+hl/5Gx2sSNUFlL8wi48lfduEy29qYzZzkI9QrB3zpgtHzJYfbocma2w2CYWwVov6HmZezPeK2V0JJGPGRVmxuNgbsH5WCp8RMjmVbd3ZV1l421EaG3ast903QjXUCC5a2l32z32k3z9ANBzzIj1V22v+IcuD+5NXe7v0MFglg2Mnl672/2jCfHbOy31ZDLS0pqxsPCPlzj+u9Jz9VvWmCl1BY6eeT3DldgmNAYlCBQNSkb7kSO6CR1dctXsc6Tt8Q6URK4ekyLJx2qajkQQklVf5k/LHahTK3BpcdCTy7cNJNsIAuRmbq+AwXEQvWtVzeTCCFWrcajfuIQcPxTc4M3JilfOMzwyvPS9LTx+fIRDAlJCUY4U/+b1KLyrpaU57B2BOqnfTf/9zvxBRdwgGLGypnw8OZQkVMb76dg04SUNlUJ1tAx35P0wm6cwhJt8RUJgXDZxmgo5ASKmVLRMTTkSk7E49a6YjLsUc2QC/WxQQuLP4640rJb93pr3RAI8GaurIVHAIS1kTe88JKMo0AoNQh7Qr3BxuQ2UVydSLXoxdAN+9x3OiYJPUcnaAt48NWFsKPxIdo/zrRdZZIN9j/qJUkqPelCFlvpmFEBnNBOvC5ce3XeEhvf3Ow4tlSGttn0RQgYGeUbkLz7Opbw4dk8GGmjstHpi62GoCkE2BE07v1gr64qnEnYS71MIK2HCZ6p2MYqMNnBGiF+1ayI3v6QNvcmFeb1vaHB9fN8PCiy26YC3sZYykLf08btjF2MBi7uaXTyjYT5pxrbcVY6vJoYKsAblCuFq9lECeS/m/QIJ1FrBVCyJGnLALy+nb7bW8AjKzU1K5cmnpfZqIRekNotfLqjZvwWf/rtwzCuVTOYJWiTd1PfKFyfcJ6EHi0KFYnBBNu0KcVHMOe1kFyr1DrokDhM8cy6jBhiShiP3JCvKAjHRJ0yA/EUuX0JN5AQl+d3J53QZeBN0w2INusZEKA1PMSJLiW2aBgb9DdfFXQkQWwIn3NwBkCtoFa1ZFWqqpDY8Z1uScl6Bcmisw9PMc8pRJBzIcSGPmaK/lk3ne1I3XhxdeucS6hwu3sD8YrySj4ISZF7YWPORU93kR3WMbvhg6IOKKyzyVguL3GJ53pCqFYMtnsAnz9H5sI7DH7DsCKU3bsUeQtvCXvPeZQgwazOimFmipgBGBGVcZJRiJV5Ljoqj6DJx60A63AQLOwoweL8uX6hLyt0QkQ9LExHfRJ9U5SEtyAaLaVAB/jzW0+EEwTG2Ysf5x4cL1n+pio1uHeYr0+x5uHoAmsjK39GZbM7NSynCX9gzG1WS8CTWD7jA6NWl5H1GpkUfLu9aKnp96siy8y5lrqgZLfQhpgQ4tv5bDJckFGaEU2YVa4fe1ib/nXDN1O+EZxVEatUPijoYVDkGLEaBSKJLcwHIN6kNGceQwdCmCwLkwOdgtN5ikLCeuVC/8PcMrXBuWSqowvAtUm7vtC35s6DqSXoVXITypzk1PaRufce7OuLQ3wYKbDK1hcAGOE5Po/Iy8ze2Vh6ua07/qbewaeWIudoQdC9bkgD1lMxdg01eI4j+pET67Odg7EDkEgcRNtfm1aF/kQTvTGy9wQjZnTyPJXthDJelmm3omiGxATrq0IvOpvEWPjAxGQ3Kj3kGE+Sdx5GhwFu8sdW3/N0rfZuyCW+i+vQ8dsX3cRdeymJ6QqZzZGzDa8WjaKW2A6evjAy8XYyiwP8XDq+azG0CUw478kSr/u1v2leFdB5lBdzNXw9zcbdndc7/ccP4+jGYyMs5JKULvX0CkZ1YvCFLvcfPsEayALS5RWNnGTRjtrArnwjDCm9S5JK23KGrdXDF8re+PK96wGnPOtVtyU4KXd58Zhoj+dntdvRRlmpqT6ujQb6vE0CVrfBSV3m/wDXHovB6dBqst1y50NFxiPmIZLwvkPg/TRQwL/EAOTaduQT8CfeCXEspTG6f9TfQt74MdbTvk6Zac/VXvQxkwkga8O7yzgGj7C+lISa70DzMM9pnRkcqFUF0Op2XmcH8cC4cqvpnFbtVV2jK39k3hoh3Wt6cJHtSzfMly9TZ6aIcaK5zq41TTrADld/oCagW9Dw6tfpT0zPMpE+MVxAo4ymvXcrWELMFJhZ7vfTFvV49fkFsFQGvsw3QPSOLqnQZlZ0x5vNLNXKH7+qEPQpnXixFgl1U8R2WMqshSsqE7UkLM+Rjjpa4UZ7JQ3LQSa67xQW+XTfecIt+DTuLlMPbKPPplyswgJTql0Z14qporgTbOKn0tl/VlIvI2AJ0J/mncD6NDd50IeRwMH9CUINPH+qRJkYKXMBOdPvSuBgM9BBh8l4+b2RsfZtp87Y9K2SZwPVzRqf3wlwgUjCXRkKcPi96IOu255wl0mT7S77NEAxWHiOgPK+1Vh3CHMEaZioV6eEt7NlPri9nhs9v/f/PMPLtAhgvDoed1491gSP27T85FqwepjHB8KbUcg/wzB4PUNdEpbopzTxJzszI7y3T3poSRzD+ld8T4hZ1nuQfxvtoZF8e5XP+n/mtlf3M43e5krTaw93JCl8Y2+uH7u49QvDDwDzGTjjNSfj76RhT6prU+WcV5/t/qVHbb0sjPsXUvl7suyg5MsKh33f7wCU+vYKgdyMi74DntKhbSIHRkp6YzpKdQyFTqZc8wliXbaHwFyYsamPlvhlLvHMont/HdUIS4JgCvemUvBZ8rUqv08LHMIDW8N3gpus23X4dxD1BwO9VUhaAuWaOw5mdrVaktxmyhSah+Aq8ykdssULB7I7WH3z4i8VJBuFKUvEpWet6cUKlqDxSN0EMovVFlOu1lt4FLVGkc2+F9Fr17KS6qKXM7qyTyXVluMq2fF7Pcn5BBdSobZ+fzxHurqYfXy9epOuNdJ4+576BeOXIDqExzUxjR5Egmg6CACk1lRF4EVqBqXLly/zLAm3ymcv4mayd6mfZALAYkg/Rpq3QxqvzLGyIqf4Qb5E2SowUR8w2AsjmQAU/91Cm/QWjONFedlkvgN1NzTxa5GwUbe57zHXlXXP2WQ87Eb6fit7RT7LFWMvUWqbQG3bHeQ3dmD7g/b1eIHnG+giDay6/szvvCv+oKn+q548ItO8tvDWRpytBkzQCUr1805fxP18afLrxNACH09hlJGCfJ0I1MKTfYyzx4+wxJ0d2p+pC+wXxsVAlih52TdnME9BPe8+cUUdVZVKBCI5SHIb3ZkqJaIIvYfv6eSEQ4ncNtdpFqykoN7AJuigVL5m0/JR1IbadKtXq/XCncJFmCjc5arGcN+ARBf2sL7Bxk2Oof7RgAGjWasxM7f3uR2XlMxXHK3bwD+oA3ppo1zHWIMqU/Wh8XEcRW33oPtuK+ztXJH360v9lZvs5F4pq8ukxtCn5g0lBU6ifljWsD17QaqIz4XQjOpSemW47Ny9/WUOX+Mcxm1lw2ON/W74HPPVQYmMX5/1K45wxvADa4zZJlf/aFFvhXPXC+fSqD+NyJS1McTgWPv2VV0ovJ9U2OWhLys102S6bFrG5xbAlQjnpA8shNkkRhkdHTfcGhm9Eo/C1vGysdXE5qKjb/4ygrf6hoIJ1sMKKAlU83idC0lPtzWoeuqwUvOSjtPBE5NZ5sJRxBagbD8R3jinEPDBGe200t80/goQBaFGpixEyDUnssGhmhyXB0Rd19l/2S34ZXJckNCA6FxRXV4iwiKtsVA7aH2evjK4VPh0DUHHxK2dNcnvm7eEEdKL9WlM+2LXE58+uG44enIpDs5/nthTm7DoZ0G39b51oNbtRhdlPFmG3BkuLI3EXh3zlFE1AUm/YFgx7rh4muNrGOzbiITjAsYEzwoY9dLgGtcd4+hQWFWs2KtFOjJWSAMxbJQyKOKm217WyAZQ9sH+POUBkij0gLFWcOA0dmuU4BJHQwVUZTZrG7PKM9n/k4lz2XJLC231tpEP2RXq/3wrVGQfVlgwIpy/7IQ3FZTjtxR7iVQ5mrXnm5xhk8hvrP3rCewIib6/ODA8Hdw+bcKNFVc6Gq8zYlzVQqlAgc4wJDNdBCPictXwSvRHMQE+G1wDdFIWILhH5E1sVa3Oz/GeKsU8WAHxVm5DKI9gorrh0pZbCSHsTR3ptfLNEXsiZDTNqNei0WYIMwfxAZZomm+kijqHrk+UCdiOs0HJV3ciRWQe3SaBObXkhhiyYYKlDlUYIhCXkiBOs1bVrlQnB/RLl1cl3NBTcUeqEPdQinc7bNnAZB6NYp68V/cwdYLBLHk7VxysWG9tALuEa39ih2SIHdJMQyIH6xWzOSEBNw9G489DrD3rr5RPW3EtSheKeLNAT2KNQ93cykUmNcoh3S0+Q5D29ai+isBmCL3z53XIypjUb5p5OzUVRtHkpo9tmyH4BN+Yz3O+cVXzWsRjYcik06IW7JhzbTvfSIf27vxOPW6Gn3WmicuPR3cOmygtLnxnYgF8sIbylHsPbpua5GvP9o7eHbL+GurdJOjmTtIliDdyYbzBM40ZLf2LzC8IXzgNDOigWX27uuPp192/th4+mP1r2+vwvkS1x1QU2KYYtCE3OrlrgpQOTiQq9gjP9h3jDGgsfz9bxL2XEtsF5WTrFgR/46d31xRHEROirtaRX3Bk48v8ppuX/1oWRpoOYzT5aPH7Vdssblnw8YfEX0F2N7IafXfqRPYZwdSk9cTTfhpltiAEmhJHDZip5DMUwbz9Ar37W3y5vrhDa5bM/u23u/9CHBIh3yWJ7/WONRyD+LE4BK0kHQ/QPbZyN5b9pjRkwpgESWgN7nkIm99l7r5JEiHYxOMKYanraj02la0xe2jssDDgeNDd9Gs8moclrb9HYrOWj+xhjHdHx+e2G6sudpc2OWsmKdzo8gTJMM0uRoxhka4o0pEQjG6TIH9uP6N56sHygsRwydmPm3X3kZ5XtURhIPWod4/ERGZ7qn3Ht0d//Zb8ddRScE1aXI2vfIcjKJ6O1JAOPeRY1sNr176gCGavCe1pp0BehlfvZTSl3ErkynGoX9CDYXzgyqXB5Vbfp6M+mSp6zavJaVzrZTx4hhg3igTFf7Y6U4l8mdG23neKaJesAVlZ1TLoTZz8P376H6b1hJ0f3/XZHE5LaHXRkqIzppwXKbj7fEJMUtjXOsIzBy6X8/FOOKHetxgloqxTO2Rgw5a0A8ZocA4C0ZbTsj4PeFrW8Lpcl+HLpBf5gdIOllT4glh8taqJJd1UidmXKyNXkVQr73dzECSRXfQJJrtkvXci4h1HcJlH7BkSS3D8M6Xa54S/EO6i1xDjxiNyAB+3cvaMfXWK99+zWf+/A6uxKOGL15JB5rklgkMMTJecyOp1yC8Ke6vuVXdjmmo7j1RUDX+HsJxuCyCEXhh2Ljja3dvo1oEQwvZVBchKpPRO7f34ey42O9NQnXP80DbDOwOZFAYrfNGf3CjVjB/uiwGqv3nZaVT+tSDTWR+ImOjSdcORHEM34WDrAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012gwhPuSZTdJcZr7MeHJNQG",
      "input": {
        "note": "Still empty: the block shows only as a sliver at the very bottom edge of the wrist frame, meaning it is nearer than the grasp point, and both decompositions agree it is also a couple of cm to the arm's right. Backing off 3 cm and shifting 2 cm right for another attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.433,
          "right_j1": 2.122,
          "right_j2": 1.523,
          "right_j3": -0.971,
          "right_j5": 0.433
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012gwhPuSZTdJcZr7MeHJNQG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9653 left_j2=1.3983 left_j3=-0.9649 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4689 right_j0=0.4381 right_j1=2.1517 right_j2=1.5383 right_j3=-0.9928 right_j4=-0.0422 right_j5=0.4358 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -0.8684, 5.8735, 1.9805, -0.0659, -0.0513, -0.0073, -0.4855, -13.2034, 4.6154, 0.3785, 0.0122, -0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cdbae3d9ed127aed21b91eb50c14f715b10757234607ab176a7a1dc573bfbd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b21a24e234ca9dd289d89c3eb86bc8c86026249157fe9646c569b98ff14bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31bf866db30e21cd9a7e4d85af7774ae3e5d5676fe70f79706625b3d9e6a1d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4cdbae3d9ed1
wire blob a6b21a24e234
wire blob 31bf866db30e
call 47 attempt 0 · /messages · status 200 · 9.657 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9546 left_j2=1.3991 left_j3=-0.9394 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4687 right_j0=0.487 right_j1=2.2456 right_j2=1.6947 right_j3=-1.0729 right_j4=-0.0307 right_j5=0.4786 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3333, 5.8051, 2.0244, -0.0464, -0.0562, 0.0611, -0.4308, -14.1197, 5.1761, 0.2808, 0.0904, -0.0366, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.3126 left_j1=0.9611 left_j2=1.3991 left_j3=-0.947 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4688 right_j0=0.4877 right_j1=2.244 right_j2=1.6928 right_j3=-1.0702 right_j4=-0.0383 right_j5=0.4786 right_gripper=0.0115\nstate[joint_eff]: [-0.1436, -1.5795, 5.6821, 1.8291, -0.0513, -0.0415, -0.0024, -0.253, -11.7812, 5.5726, 0.1929, 0.0415, 0.0122, 1.0672]\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 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=-0.3126 left_j1=0.9653 left_j2=1.3983 left_j3=-0.9649 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4689 right_j0=0.4381 right_j1=2.1517 right_j2=1.5383 right_j3=-0.9928 right_j4=-0.0422 right_j5=0.4358 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -0.8684, 5.8735, 1.9805, -0.0659, -0.0513, -0.0073, -0.4855, -13.2034, 4.6154, 0.3785, 0.0122, -0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cdbae3d9ed127aed21b91eb50c14f715b10757234607ab176a7a1dc573bfbd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b21a24e234ca9dd289d89c3eb86bc8c86026249157fe9646c569b98ff14bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31bf866db30e21cd9a7e4d85af7774ae3e5d5676fe70f79706625b3d9e6a1d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4cdbae3d9ed1]
[blob a6b21a24e234]
[blob 31bf866db30e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ir2TDA5tvRyGTg7d7xrQP",
      "input": {
        "note": "The red block is now clearly visible low in the right wrist frame but slightly nearer and to the image-left of the jaw gap. Nudging 2 cm further in and ~1 cm to the arm's left to put it exactly at the grasp point.",
        "targets": {
          "right_j0": 0.468,
          "right_j1": 2.058,
          "right_j2": 1.418,
          "right_j3": -0.931,
          "right_j5": 0.468
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_017ir2TDA5tvRyGTg7d7xrQP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9676 left_j2=1.3979 left_j3=-0.968 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4695 right_j0=0.4503 right_j1=2.0968 right_j2=1.459 right_j3=-0.9535 right_j4=-0.0353 right_j5=0.4461 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.0598, 5.7231, 1.7802, -0.0757, -0.0708, 0.0562, 1.0462, -11.2342, 5.2308, 0.486, -0.0171, 0.1734, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6a33df5737e07d2598ec5e4cddfdec8992730dc559dfdc3c4ac555c0c5318d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c39f06710801010be529b5672cffe26520157548cb82944dcd0e7adca4b45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b1bdcd2aedfb00df76f568052ce27846d84f7247219e5465a645582c3966844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cf6a33df5737
wire blob c8c39f067108
wire blob 6b1bdcd2aedf
call 48 attempt 0 · /messages · status 200 · 11.19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9611 left_j2=1.3991 left_j3=-0.947 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4688 right_j0=0.4877 right_j1=2.244 right_j2=1.6928 right_j3=-1.0702 right_j4=-0.0383 right_j5=0.4786 right_gripper=0.0115\nstate[joint_eff]: [-0.1436, -1.5795, 5.6821, 1.8291, -0.0513, -0.0415, -0.0024, -0.253, -11.7812, 5.5726, 0.1929, 0.0415, 0.0122, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.3126 left_j1=0.9653 left_j2=1.3983 left_j3=-0.9649 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4689 right_j0=0.4381 right_j1=2.1517 right_j2=1.5383 right_j3=-0.9928 right_j4=-0.0422 right_j5=0.4358 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -0.8684, 5.8735, 1.9805, -0.0659, -0.0513, -0.0073, -0.4855, -13.2034, 4.6154, 0.3785, 0.0122, -0.0611, -0.149]\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 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=-0.3126 left_j1=0.9676 left_j2=1.3979 left_j3=-0.968 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4695 right_j0=0.4503 right_j1=2.0968 right_j2=1.459 right_j3=-0.9535 right_j4=-0.0353 right_j5=0.4461 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.0598, 5.7231, 1.7802, -0.0757, -0.0708, 0.0562, 1.0462, -11.2342, 5.2308, 0.486, -0.0171, 0.1734, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6a33df5737e07d2598ec5e4cddfdec8992730dc559dfdc3c4ac555c0c5318d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c39f06710801010be529b5672cffe26520157548cb82944dcd0e7adca4b45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1bdcd2aedfb00df76f568052ce27846d84f7247219e5465a645582c3966844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cf6a33df5737]
[blob c8c39f067108]
[blob 6b1bdcd2aedf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wb6bpfh3Hy3U5Y67LCM8Si",
      "input": {
        "note": "The right arm's j1 effort (-11 N·m) shows it is still holding against gravity, i.e. the fingertips never actually reached the table — my closes may simply have been too high. Commanding 5 cm lower to find true table contact for this arm.",
        "targets": {
          "right_j1": 2.185,
          "right_j2": 1.369,
          "right_j3": -0.754
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Wb6bpfh3Hy3U5Y67LCM8Si",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9726 left_j2=1.3979 left_j3=-0.9871 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4696 right_j0=0.4625 right_j1=2.0903 right_j2=1.4208 right_j3=-0.9161 right_j4=-0.0231 right_j5=0.453 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -1.4974, 5.7094, 1.9805, -0.0513, -0.0122, -0.0024, -0.7453, -2.988, 1.1282, 1.8828, -0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eefeefa40077dae6e7299f67150ac2cd331c2c3500b42c4bbc9fe7123e0c7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1245531263e580cd4da741535ddc4c54985e93d87ecf40135136d1624534e04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91e5d17232c518db54b5cfebd72966c462a86067df82054c9eb59ca1e7a81a56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8eefeefa4007
wire blob 1245531263e5
wire blob 91e5d17232c5
call 49 attempt 0 · /messages · status 200 · 16.68 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9653 left_j2=1.3983 left_j3=-0.9649 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4689 right_j0=0.4381 right_j1=2.1517 right_j2=1.5383 right_j3=-0.9928 right_j4=-0.0422 right_j5=0.4358 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -0.8684, 5.8735, 1.9805, -0.0659, -0.0513, -0.0073, -0.4855, -13.2034, 4.6154, 0.3785, 0.0122, -0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9676 left_j2=1.3979 left_j3=-0.968 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4695 right_j0=0.4503 right_j1=2.0968 right_j2=1.459 right_j3=-0.9535 right_j4=-0.0353 right_j5=0.4461 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.0598, 5.7231, 1.7802, -0.0757, -0.0708, 0.0562, 1.0462, -11.2342, 5.2308, 0.486, -0.0171, 0.1734, 0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9726 left_j2=1.3979 left_j3=-0.9871 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4696 right_j0=0.4625 right_j1=2.0903 right_j2=1.4208 right_j3=-0.9161 right_j4=-0.0231 right_j5=0.453 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -1.4974, 5.7094, 1.9805, -0.0513, -0.0122, -0.0024, -0.7453, -2.988, 1.1282, 1.8828, -0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eefeefa40077dae6e7299f67150ac2cd331c2c3500b42c4bbc9fe7123e0c7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1245531263e580cd4da741535ddc4c54985e93d87ecf40135136d1624534e04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91e5d17232c518db54b5cfebd72966c462a86067df82054c9eb59ca1e7a81a56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8eefeefa4007]
[blob 1245531263e5]
[blob 91e5d17232c5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fr9tcNbekGgvfgCKCYaT7",
      "input": {
        "note": "Table contact confirmed for the right arm (j1 stalled, effort relaxed from -11 to -3 N·m), giving a z bias of 0.090 — nearly the same as the left arm. The block sits between the jaws at the bottom of the wrist frame, so closing now.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017fr9tcNbekGgvfgCKCYaT7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9764 left_j2=1.3975 left_j3=-1.0073 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4702 right_j0=0.4648 right_j1=2.083 right_j2=1.4235 right_j3=-0.9241 right_j4=-0.0402 right_j5=0.4446 right_gripper=0.0115\nstate[joint_eff]: [-0.1299, -1.2103, 5.7231, 1.9072, -0.0513, -0.0415, 0.0464, -0.253, -9.9624, 5.4632, 0.3394, 0.1392, 0.0855, 1.0965]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b9d2298dcc9a8086ebfa999c2860c5da8d21ec690b27e8eeb3333bff74a7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6c9db19af120d1ca9854dd7bd1cee3cb5b32e7059acd04770356c9cf60dc19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c959d470cb5b9448f2f592b65deb7b5e3632f6682558f8bad4415713a18b512d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 17b9d2298dcc
wire blob bf6c9db19af1
wire blob c959d470cb5b
call 50 attempt 0 · /messages · status 200 · 7.835 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9676 left_j2=1.3979 left_j3=-0.968 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4695 right_j0=0.4503 right_j1=2.0968 right_j2=1.459 right_j3=-0.9535 right_j4=-0.0353 right_j5=0.4461 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.0598, 5.7231, 1.7802, -0.0757, -0.0708, 0.0562, 1.0462, -11.2342, 5.2308, 0.486, -0.0171, 0.1734, 0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9726 left_j2=1.3979 left_j3=-0.9871 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4696 right_j0=0.4625 right_j1=2.0903 right_j2=1.4208 right_j3=-0.9161 right_j4=-0.0231 right_j5=0.453 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -1.4974, 5.7094, 1.9805, -0.0513, -0.0122, -0.0024, -0.7453, -2.988, 1.1282, 1.8828, -0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9764 left_j2=1.3975 left_j3=-1.0073 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4702 right_j0=0.4648 right_j1=2.083 right_j2=1.4235 right_j3=-0.9241 right_j4=-0.0402 right_j5=0.4446 right_gripper=0.0115\nstate[joint_eff]: [-0.1299, -1.2103, 5.7231, 1.9072, -0.0513, -0.0415, 0.0464, -0.253, -9.9624, 5.4632, 0.3394, 0.1392, 0.0855, 1.0965]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b9d2298dcc9a8086ebfa999c2860c5da8d21ec690b27e8eeb3333bff74a7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6c9db19af120d1ca9854dd7bd1cee3cb5b32e7059acd04770356c9cf60dc19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c959d470cb5b9448f2f592b65deb7b5e3632f6682558f8bad4415713a18b512d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 17b9d2298dcc]
[blob bf6c9db19af1]
[blob c959d470cb5b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NVWiwoujKq7UrSQjhzACPH",
      "input": {
        "note": "That close shoved the red block ~8 cm inward (it now shows at image (152,130)), which tells me the fingers were sitting outward of it — the radial tolerance of these thin fingers is only a couple of cm. Re-opening and pulling back 6 cm to line up on the block's new position.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.463,
          "right_j1": 1.903,
          "right_j2": 1.121,
          "right_j3": -0.789,
          "right_j5": 0.463
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NVWiwoujKq7UrSQjhzACPH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.984 left_j2=1.3975 left_j3=-1.0279 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4703 right_j0=0.4648 right_j1=1.8992 right_j2=1.1545 right_j3=-0.7948 right_j4=-0.0452 right_j5=0.4522 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -1.347, 6.0103, 1.9121, -0.0611, -0.0708, -0.0024, -0.253, -7.9521, 3.6581, 0.3639, -0.0366, 0.0366, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f62a72212351f288f138fcfc8179689f69b8860f760f46830c7081151d6299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445bf303023978f83f48a08326cd0183a104efef12d16171655f3e4f6328ca93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df961516280f19123594a05a4e6c247f9dca7d7e7bf5582d4f38b785a9b1e437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a5f62a722123
wire blob 445bf3030239
wire blob df961516280f
call 51 attempt 0 · /messages · status 200 · 18.3 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9726 left_j2=1.3979 left_j3=-0.9871 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4696 right_j0=0.4625 right_j1=2.0903 right_j2=1.4208 right_j3=-0.9161 right_j4=-0.0231 right_j5=0.453 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -1.4974, 5.7094, 1.9805, -0.0513, -0.0122, -0.0024, -0.7453, -2.988, 1.1282, 1.8828, -0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9764 left_j2=1.3975 left_j3=-1.0073 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4702 right_j0=0.4648 right_j1=2.083 right_j2=1.4235 right_j3=-0.9241 right_j4=-0.0402 right_j5=0.4446 right_gripper=0.0115\nstate[joint_eff]: [-0.1299, -1.2103, 5.7231, 1.9072, -0.0513, -0.0415, 0.0464, -0.253, -9.9624, 5.4632, 0.3394, 0.1392, 0.0855, 1.0965]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.984 left_j2=1.3975 left_j3=-1.0279 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4703 right_j0=0.4648 right_j1=1.8992 right_j2=1.1545 right_j3=-0.7948 right_j4=-0.0452 right_j5=0.4522 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -1.347, 6.0103, 1.9121, -0.0611, -0.0708, -0.0024, -0.253, -7.9521, 3.6581, 0.3639, -0.0366, 0.0366, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f62a72212351f288f138fcfc8179689f69b8860f760f46830c7081151d6299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445bf303023978f83f48a08326cd0183a104efef12d16171655f3e4f6328ca93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df961516280f19123594a05a4e6c247f9dca7d7e7bf5582d4f38b785a9b1e437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a5f62a722123]
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRp5uNFSn75poMZW93si6q",
      "input": {
        "note": "After the 6 cm pullback the red block sits squarely in the jaw gap at the bottom of the wrist frame, fingertips at table level. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BRp5uNFSn75poMZW93si6q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9894 left_j2=1.3975 left_j3=-1.0515 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4637 right_j1=1.8927 right_j2=1.1465 right_j3=-0.7929 right_j4=-0.0429 right_j5=0.4458 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -1.6752, 5.7915, 1.9267, -0.0269, -0.0659, -0.0073, -0.0068, -8.1299, 5.8188, 0.3004, -0.0952, 0.0611, 1.072]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22061787ea8c2d5ced525ac22218e93ce50ff706ccc00e6d28cdf8a136cb029d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d98e4175604f631f94cacd2e98a05f7f81e4bda0edfa9360d6c61c6376ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 516):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c12f6983ec1286bbe24e7ce006710782cff8cd4ff84d77cce35d655a3d0a4214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 22061787ea8c
wire blob b27d98e41756
wire blob c12f6983ec12
call 52 attempt 0 · /messages · status 200 · 5.776 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9764 left_j2=1.3975 left_j3=-1.0073 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4702 right_j0=0.4648 right_j1=2.083 right_j2=1.4235 right_j3=-0.9241 right_j4=-0.0402 right_j5=0.4446 right_gripper=0.0115\nstate[joint_eff]: [-0.1299, -1.2103, 5.7231, 1.9072, -0.0513, -0.0415, 0.0464, -0.253, -9.9624, 5.4632, 0.3394, 0.1392, 0.0855, 1.0965]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.984 left_j2=1.3975 left_j3=-1.0279 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4703 right_j0=0.4648 right_j1=1.8992 right_j2=1.1545 right_j3=-0.7948 right_j4=-0.0452 right_j5=0.4522 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -1.347, 6.0103, 1.9121, -0.0611, -0.0708, -0.0024, -0.253, -7.9521, 3.6581, 0.3639, -0.0366, 0.0366, -0.188]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9894 left_j2=1.3975 left_j3=-1.0515 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4637 right_j1=1.8927 right_j2=1.1465 right_j3=-0.7929 right_j4=-0.0429 right_j5=0.4458 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -1.6752, 5.7915, 1.9267, -0.0269, -0.0659, -0.0073, -0.0068, -8.1299, 5.8188, 0.3004, -0.0952, 0.0611, 1.072]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22061787ea8c2d5ced525ac22218e93ce50ff706ccc00e6d28cdf8a136cb029d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d98e4175604f631f94cacd2e98a05f7f81e4bda0edfa9360d6c61c6376ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12f6983ec1286bbe24e7ce006710782cff8cd4ff84d77cce35d655a3d0a4214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UdKiwkLfBaBwfQ87SGQk2f",
      "input": {
        "note": "Another shove inward (block now at image (155,140)) confirms my fingers keep landing ~2 cm outboard of the block. Re-opening and pulling back 5 cm to its new position plus that 2 cm bias correction.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.49,
          "right_j1": 1.748,
          "right_j2": 0.907,
          "right_j3": -0.729,
          "right_j5": 0.49
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UdKiwkLfBaBwfQ87SGQk2f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.9962 left_j2=1.3972 left_j3=-1.0737 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4911 right_j1=1.7374 right_j2=0.9443 right_j3=-0.7136 right_j4=-0.046 right_j5=0.4747 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.4564, 5.8735, 1.8632, -0.0659, -0.022, -0.0073, -0.0068, -5.8462, 3.1248, 0.2222, 0.0073, 0.1636, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 526):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a7fd75da8ccb6ab822795a7b862c7223ead7b150f9d6cd12e18057ebbfb1a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 526):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de1508ce6a8667b18f44ee448bfe0bd4c1353a68d98f9a2ae627a2141a8ad815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 526):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2173be878f2df7ce6adfceb712e78ddda889f88ccdeef479350aee50dd23f0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 16a7fd75da8c
wire blob de1508ce6a86
wire blob 2173be878f2d
call 53 attempt 0 · /messages · status 200 · 13.01 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.984 left_j2=1.3975 left_j3=-1.0279 left_j4=-0.0078 left_j5=-0.1055 left_gripper=0.4703 right_j0=0.4648 right_j1=1.8992 right_j2=1.1545 right_j3=-0.7948 right_j4=-0.0452 right_j5=0.4522 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -1.347, 6.0103, 1.9121, -0.0611, -0.0708, -0.0024, -0.253, -7.9521, 3.6581, 0.3639, -0.0366, 0.0366, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9894 left_j2=1.3975 left_j3=-1.0515 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4637 right_j1=1.8927 right_j2=1.1465 right_j3=-0.7929 right_j4=-0.0429 right_j5=0.4458 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -1.6752, 5.7915, 1.9267, -0.0269, -0.0659, -0.0073, -0.0068, -8.1299, 5.8188, 0.3004, -0.0952, 0.0611, 1.072]\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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.9962 left_j2=1.3972 left_j3=-1.0737 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4911 right_j1=1.7374 right_j2=0.9443 right_j3=-0.7136 right_j4=-0.046 right_j5=0.4747 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.4564, 5.8735, 1.8632, -0.0659, -0.022, -0.0073, -0.0068, -5.8462, 3.1248, 0.2222, 0.0073, 0.1636, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 526):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a7fd75da8ccb6ab822795a7b862c7223ead7b150f9d6cd12e18057ebbfb1a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 526):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de1508ce6a8667b18f44ee448bfe0bd4c1353a68d98f9a2ae627a2141a8ad815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 526):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2173be878f2df7ce6adfceb712e78ddda889f88ccdeef479350aee50dd23f0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 16a7fd75da8c]
[blob de1508ce6a86]
[blob 2173be878f2d]
{
  "content": [
    {
      "signature": "CAIS5AYKjAEIEBgCKkAtWkeg0/zEO32CFyRxSmfahb3S0xaQp4pwUHZOWj5ez2YnrbU89Z8e+233UIsfBGTInA60lJpnp80Yk+iuY4ZzMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMWdPBjKaK339vZmEkGgztsfzYdQsE3ZRo/WciMGTg+ODPubiLAy0SQnCWRTJ1yUVjeWrZC+kEz0X33rYCSxVnkEURLKmLUPV5OZfzuSqEBTHUQ7DeTit0xVLHE+2GAMq4FfVFoC+pRVx5G1zONvgDNBpnGF1PH5Ntxfxl0PhgtSKoUWsL9HtjpXiKbh7zrvW6OLl7sLv2mYTKAqSNKme4iHozHZlqr/wqx/ufmh/kWhp1WUVhAgUIBQAEqiXpMvhSaZMRu2clPapidZ8/d8afU73tSSMMdX7fbtVksyZ5XmW0gJNKjcmQBMD2FJVOwxRt79zndB23snX1vtQNtVqOKkDmhczQ9RYb5PXicoIWVxn/UdTInZRWk8x+HdjLx8H5zdvetwix4bqXYA8KtuRW7lgSTzCI8TeY1nwzn+X59dfkI1V1az4ZE0gYwq4MDTGA3HOPHmGL0Y2PzySoKVTfLapgdA4yQHhlNKfK1NpEoOYEVn4juS40wqkqNnOpWAcrpc4Pn7riKjrmy5VByF2SzsrFqSJ2WfQRiLJ0IRlKiF7moPv6nFp6aj0QBuxb6aYhLBx/8hh3OjNj5xgPv55w1iFTj8RTb9EZGkCnbiJSiibJIop/bGKKxA/0o+GAeoec6bKskO8jopaQBR6x9G7UMJ9J/ORdPAtIImU8seJrDv9ieR4srCv/aCfMZ8vt/jWIJNOw6ie1Cs89POJXhD6GQUqR4rkZcgZZYw1mScWeVutgc3gBA62baGYbgQwXtEkOpoyLg/M48LE3TZ2oETZA2yIxciyzR5iS8uIOKZEBwAv0PnnL8mNPvMTLfbOO05JemjXdEPS3Z+lOTAWXJ+tzusJWflDkzO3lXRIF8ezIfqbQRkD8Xh64OIuXuoeU8rUxaMuj1uX74pRT4DjOjex5os6n0ZEbFk0iJEuySeQ40/h5uFuI0O496FVH+LhNt+TIobr4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012LtzKcWCNWThvqZ1Sbsffs",
      "input": {
        "note": "The red block is now framed exactly between the two jaw silhouettes at the bottom of the wrist view — the same signature as my successful left-arm grasp. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012LtzKcWCNWThvqZ1Sbsffs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9989 left_j2=1.3972 left_j3=-1.0821 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.7313 right_j2=0.9382 right_j3=-0.7185 right_j4=-0.0418 right_j5=0.4709 right_gripper=0.4467\nstate[joint_eff]: [-0.0342, -1.388, 5.6957, 1.7021, -0.0513, -0.022, -0.0122, -0.1026, -6.7624, 5.6, 0.4322, -0.0855, 0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 536):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57125345f4f80c7730c02de148158c40946ad42064a9cb8af6599fdd1b491d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 536):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4261ef8d4503ae7200a5e98651d5054134bd02bf3c6c814a7f2127591876699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 536):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9eeb5c4b1f259c3c7c8cb6abb5981a9f0c678018741fe8af6e60d57314a5f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 57125345f4f8
wire blob a4261ef8d450
wire blob e9eeb5c4b1f2
call 54 attempt 0 · /messages · status 200 · 5.656 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9894 left_j2=1.3975 left_j3=-1.0515 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4637 right_j1=1.8927 right_j2=1.1465 right_j3=-0.7929 right_j4=-0.0429 right_j5=0.4458 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -1.6752, 5.7915, 1.9267, -0.0269, -0.0659, -0.0073, -0.0068, -8.1299, 5.8188, 0.3004, -0.0952, 0.0611, 1.072]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.9962 left_j2=1.3972 left_j3=-1.0737 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4911 right_j1=1.7374 right_j2=0.9443 right_j3=-0.7136 right_j4=-0.046 right_j5=0.4747 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.4564, 5.8735, 1.8632, -0.0659, -0.022, -0.0073, -0.0068, -5.8462, 3.1248, 0.2222, 0.0073, 0.1636, 0.0562]\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 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9989 left_j2=1.3972 left_j3=-1.0821 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.7313 right_j2=0.9382 right_j3=-0.7185 right_j4=-0.0418 right_j5=0.4709 right_gripper=0.4467\nstate[joint_eff]: [-0.0342, -1.388, 5.6957, 1.7021, -0.0513, -0.022, -0.0122, -0.1026, -6.7624, 5.6, 0.4322, -0.0855, 0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 536):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57125345f4f80c7730c02de148158c40946ad42064a9cb8af6599fdd1b491d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 536):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4261ef8d4503ae7200a5e98651d5054134bd02bf3c6c814a7f2127591876699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 536):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9eeb5c4b1f259c3c7c8cb6abb5981a9f0c678018741fe8af6e60d57314a5f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 57125345f4f8]
[blob a4261ef8d450]
[blob e9eeb5c4b1f2]
{
  "content": [
    {
      "signature": 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iV/EYPPXKKtaRfILlekaI2q6ocO3AZdKVipjLd77DywO/5ZumCLObxH90Lxbhu3kl/y8wxh9+7IVAFyvZwSJRtdYfQLK2Ba3eFiGnXNxeIrTFnB4KmxYHMyRBLVAWhmd2SQEvhzuQeX4mawiME+0WC3JheUVMWGlk7/+U2FIpzY697CxCyTwwwcQuAoaiO47IBZ8sBZPN5m9y0AAJ8yUY4T1uvzrEphqfsHvaxUA6i54WxRbgOF9plcNdAikXiKEoMRjS4NxsOkeXS0UqX6f/yFrV8zZ/z8/IZIynQP2smkXh7HHn5Ty98eMJv/2D0sl8K/ZPcdQJEREKFWXUJ/RwbXLYZV5gBvbHYhAUEmXQ88CCwjVn61ONVQPPBBGWmw/5ekArqQV8vMfFo1FxUk9us6ov36gtuSwXdCXWha4ySQuU/yktu5TomxiyWCO+BqwSGgLVjDUBja109573DjIaeIbOaKyVlfmY5DLb9RSBN63hZ01FW2Um5sWYzxReLaNP9+G1ZNR3kj9fEL8tVp4eHmq70oZyPHotxq34DOqemTLUm57v+pPS/RSlX3Hw1yAMR76AAKGiVS+ejhLRbNOR+12ojRZgN7mEnV6nE3duJhbzk105hWzxEDZ6Q4z9a2r8hfpodEchTaXQuicMPI2+p/9HOLdRuFN+srjacUc2xUvmD7lDDon7c2S33t3GWxqU4ngqVFDXMDlwrLkRgkfpnZJ5Xmmh7Z5opoScqQ/FKI+Nfynp3ZeGhzRoOAZg1wG90djI3zu3na7r8azoOO6JTX/LtK4QindVMrh1LgEQINV1yO0X5eEMehbpxHF1yV9hZu3AFm7Rb1RiCWUuRrqgbjbSpNPzBITJ1dZ5q4/AWcdYtlvmltQVoKYqZwSoUCXll+ggS1KzZ5niPc3iaNMSwfbg9XnDvX/o6vVN/rdTC02SlJFAeXvPhXkH2yjjfQ4slEmQ6ql3HFjgpuOvDuzyd5yymS6uxTybZWBxLrVkmzlKVyQddljYuFAwbbLwzVgFN4LUYhSaMZNYvldggh7BLGGxiAW1tPVWatgTluja7E5CX2J7afDmb4FAix6HRHcSX2H9/ikI1mflUWmxCoKf4Lbjd0Y115o9X8J6cl0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QeZqbcUUiPxXXwKnfaZ5pF",
      "input": {
        "note": "Red block grasped by the right arm (residual 0.447 ≈ 4.2 cm, holding effort 1.0). Lifting it straight up 10 cm before transporting it into the left arm's comfortable reach.",
        "targets": {
          "right_j1": 1.523,
          "right_j2": 1.203,
          "right_j3": -1.251
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QeZqbcUUiPxXXwKnfaZ5pF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0054 left_j2=1.3972 left_j3=-1.0969 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.5486 right_j2=1.1748 right_j3=-1.1835 right_j4=-0.0418 right_j5=0.4706 right_gripper=0.4494\nstate[joint_eff]: [-0.2256, -1.4427, 5.9419, 1.7607, -0.0611, -0.0073, -0.0171, -0.0615, -7.1043, 7.6239, 0.2613, -0.0659, -0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7889869c0d6f88b39b0dabb68ec469da14e4ce29ecc6d701b4222576c0962c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f649ec647952c4f40d497dc3ee63cc3f1fd7e9cc5ec4f3a4dd60e9955d5c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 545):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:819d660c495f92d5838c385c13b95b80e93f56d541315cc953d2c062d7df811e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8c7889869c0d
wire blob 34f649ec6479
wire blob 819d660c495f
call 55 attempt 0 · /messages · status 200 · 12.9 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3122 left_j1=0.9962 left_j2=1.3972 left_j3=-1.0737 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4911 right_j1=1.7374 right_j2=0.9443 right_j3=-0.7136 right_j4=-0.046 right_j5=0.4747 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.4564, 5.8735, 1.8632, -0.0659, -0.022, -0.0073, -0.0068, -5.8462, 3.1248, 0.2222, 0.0073, 0.1636, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9989 left_j2=1.3972 left_j3=-1.0821 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.7313 right_j2=0.9382 right_j3=-0.7185 right_j4=-0.0418 right_j5=0.4709 right_gripper=0.4467\nstate[joint_eff]: [-0.0342, -1.388, 5.6957, 1.7021, -0.0513, -0.022, -0.0122, -0.1026, -6.7624, 5.6, 0.4322, -0.0855, 0.0269, 1.033]\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 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0054 left_j2=1.3972 left_j3=-1.0969 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.5486 right_j2=1.1748 right_j3=-1.1835 right_j4=-0.0418 right_j5=0.4706 right_gripper=0.4494\nstate[joint_eff]: [-0.2256, -1.4427, 5.9419, 1.7607, -0.0611, -0.0073, -0.0171, -0.0615, -7.1043, 7.6239, 0.2613, -0.0659, -0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7889869c0d6f88b39b0dabb68ec469da14e4ce29ecc6d701b4222576c0962c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f649ec647952c4f40d497dc3ee63cc3f1fd7e9cc5ec4f3a4dd60e9955d5c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819d660c495f92d5838c385c13b95b80e93f56d541315cc953d2c062d7df811e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8c7889869c0d]
[blob 34f649ec6479]
[blob 819d660c495f]
{
  "content": [
    {
      "signature": "CAIS7QYKjAEIEBgCKkCWm8ySlo9FVWK6BUTE6m+MOHETWVrMM2AZL8pyi/nK/1kGbMURP32zFCxvfzlqlbbqarmjR07hYwaFFRCrqYmSMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMpUI9u24naosd9T0dGgyub8Sl5sjyn5ChufYiMMO+SBXaqcYd+gC+HuPkjrjsWA4jJoV2dYD3EaIOh3sQbHKLX/FQlkebAjoKzHGbMiqNBY2HhaSB47OT4af/4A54fGX13bzFqlIuuY5LYo2JNzqbPL2gdIoDY4ZPjRBIHYyRjCLF4qlyMNjAzLDDp2cFUCHE/kO6HmYb6Kn0Kgi45u595Xh2CrV5z4sQQjbs+Tf9Akc3PS2R3GyCWN7Yk0yX0nXCwoUXbt0aPQVlqyzm4W4JpDw5+XSI0Jeo5Tp7lau+710U2weuplgMZfHuMuJr0C7+ixZOYjbHSrOVG1hXJ7G10QbV3FA6cHOJ+GvYJgwRh/wBjKGSfcgnhEA97ga6G+JioCp+iUlKJsUY6iLOZLrfyc/HeJY4P4wtJbh0dHXrD9HOEuDkevWPK8uPQAXlg+BG6WoH/pqU4vLE+XkEkO6XeDOANIcW6s1CeE6Uw/1SbnMAxpxsAxDka5mE0JSSnRoRbRwePXDFTlhVoc/cakqoweL/ZxiX5AQZ6jL6JgbEinkKpUbHrEMn5WxghGukCAFhlIIFp3aoFRp3wCo1JXUFngPr48edGZ5W6gAzG/NkIriSMV2ZoNW9dpRlJAiQJ3MPhw1UL9fYMxqXoFwU4Pwvk1LwxaW4UmrTNRkq5nujCHBkPeGEBlcelrBLVxtVN8anpjbHqshnClMGWsCl6hVAGq+DvBFa35kxfsvkKO8/1xAkxZWCQcwbrFS2dSk/7XzBowBQ6EoGd4N+TbvUGndmGfWJ08CrfJVUyn1PDnoaOdP+Wdr57TGUsGPM3Pw1cQ3rOQIND8KvYxHciIwd/3c6e+17QmdW0boxduYnGelBknNgY286m13epp8K0pN5xqVDKTlmiWHiRDbVYeCgsItft3KCFjVcRNFafvq9B+2CNp+Oa46jFp3g68azuF+hQnsuNPb9TBIMmPAMJIcDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCVNwHgaieWQu7GymJbix9",
      "input": {
        "note": "Carrying the red block up and to the left, to a spot near the middle of the table (overhead ~(100,125)) that sits comfortably inside the left arm's reach, keeping the wrist roll matched to the base yaw so the block stays square.",
        "targets": {
          "right_j0": 0.872,
          "right_j1": 2.099,
          "right_j2": 1.931,
          "right_j3": -1.403,
          "right_j5": 0.872
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01VCVNwHgaieWQu7GymJbix9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0145 left_j2=1.3945 left_j3=-1.1194 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.86 right_j1=2.0853 right_j2=1.8938 right_j3=-1.3895 right_j4=-0.0395 right_j5=0.8211 right_gripper=0.4514\nstate[joint_eff]: [-0.1026, -2.1265, 5.9419, 1.7753, 0.0024, -0.022, -0.0171, 0.1983, -10.7692, 7.1316, 0.0855, -0.0317, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938c30a82530b582030c5c41a4d093b08bed509f04992ea80e88ac7db3d04990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d66c78576b0ce158e11c9cf9bd1d9a515abc5bfff738f54a0b11d5ab6550a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 558):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4087319a176372239bd05866815a073e7ec199840e322142ffee1e5ceaa1d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 938c30a82530
wire blob 07d66c78576b
wire blob f4087319a176
call 56 attempt 0 · /messages · status 200 · 9.395 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=0.9989 left_j2=1.3972 left_j3=-1.0821 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.7313 right_j2=0.9382 right_j3=-0.7185 right_j4=-0.0418 right_j5=0.4709 right_gripper=0.4467\nstate[joint_eff]: [-0.0342, -1.388, 5.6957, 1.7021, -0.0513, -0.022, -0.0122, -0.1026, -6.7624, 5.6, 0.4322, -0.0855, 0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0054 left_j2=1.3972 left_j3=-1.0969 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.5486 right_j2=1.1748 right_j3=-1.1835 right_j4=-0.0418 right_j5=0.4706 right_gripper=0.4494\nstate[joint_eff]: [-0.2256, -1.4427, 5.9419, 1.7607, -0.0611, -0.0073, -0.0171, -0.0615, -7.1043, 7.6239, 0.2613, -0.0659, -0.0269, 1.033]\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 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0145 left_j2=1.3945 left_j3=-1.1194 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.86 right_j1=2.0853 right_j2=1.8938 right_j3=-1.3895 right_j4=-0.0395 right_j5=0.8211 right_gripper=0.4514\nstate[joint_eff]: [-0.1026, -2.1265, 5.9419, 1.7753, 0.0024, -0.022, -0.0171, 0.1983, -10.7692, 7.1316, 0.0855, -0.0317, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938c30a82530b582030c5c41a4d093b08bed509f04992ea80e88ac7db3d04990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d66c78576b0ce158e11c9cf9bd1d9a515abc5bfff738f54a0b11d5ab6550a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4087319a176372239bd05866815a073e7ec199840e322142ffee1e5ceaa1d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 938c30a82530]
[blob 07d66c78576b]
[blob f4087319a176]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HmgEad52waWoLWtVzL6PP5",
      "input": {
        "note": "Positioned over the drop spot; lowering the red block to the table before releasing it.",
        "targets": {
          "right_j1": 2.232,
          "right_j2": 1.714,
          "right_j3": -1.053
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HmgEad52waWoLWtVzL6PP5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0199 left_j2=1.3918 left_j3=-1.1271 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2238 right_j2=1.7226 right_j3=-1.1206 right_j4=-0.0422 right_j5=0.8265 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -1.894, 6.106, 1.6337, -0.0269, -0.0171, -0.0122, -0.1573, -11.453, 5.9282, 0.2711, -0.0073, -0.105, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413df44f75ecd9611ae453e0bdd41ee6e313fdb13b24021629bfde3c301b50a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf009947beea36906ffad708de55408a7ebafc1554110aca63309b0d9b38ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 564):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27f8b6234504fafbfb74695096565dd575f7f9637b225b598a28739ca1724b7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 413df44f75ec
wire blob 5cf009947bee
wire blob 27f8b6234504
call 57 attempt 0 · /messages · status 200 · 6.51 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0054 left_j2=1.3972 left_j3=-1.0969 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.4908 right_j1=1.5486 right_j2=1.1748 right_j3=-1.1835 right_j4=-0.0418 right_j5=0.4706 right_gripper=0.4494\nstate[joint_eff]: [-0.2256, -1.4427, 5.9419, 1.7607, -0.0611, -0.0073, -0.0171, -0.0615, -7.1043, 7.6239, 0.2613, -0.0659, -0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0145 left_j2=1.3945 left_j3=-1.1194 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.86 right_j1=2.0853 right_j2=1.8938 right_j3=-1.3895 right_j4=-0.0395 right_j5=0.8211 right_gripper=0.4514\nstate[joint_eff]: [-0.1026, -2.1265, 5.9419, 1.7753, 0.0024, -0.022, -0.0171, 0.1983, -10.7692, 7.1316, 0.0855, -0.0317, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0199 left_j2=1.3918 left_j3=-1.1271 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2238 right_j2=1.7226 right_j3=-1.1206 right_j4=-0.0422 right_j5=0.8265 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -1.894, 6.106, 1.6337, -0.0269, -0.0171, -0.0122, -0.1573, -11.453, 5.9282, 0.2711, -0.0073, -0.105, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413df44f75ecd9611ae453e0bdd41ee6e313fdb13b24021629bfde3c301b50a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf009947beea36906ffad708de55408a7ebafc1554110aca63309b0d9b38ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f8b6234504fafbfb74695096565dd575f7f9637b225b598a28739ca1724b7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 413df44f75ec]
[blob 5cf009947bee]
[blob 27f8b6234504]
{
  "content": [
    {
      "signature": "CAIStAYKjAEIEBgCKkD0BhW1EjxGf5xAttDfnVTy4k4rkbFw2HALprvn0BhOi3wRpwA1uOmxNDGrgbv9obGT9bIe2wB2LsTyJEroSYXfMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxGTaHo99gn7DaE0kGgyO888ASjIIg24T3hEiML6HteK8GZR8kWLwgUyywB52QJSQKtLQDkdmhrggWHYPvsqvyjE7h4Rq4NkwDKnaESrUBDkzP+FrT7njkXtAyuX3gmmSfqotXvxvvqtf5pVqjV/CiBejaoEL3f9/S5Zd2eyP3PVsGf48oPOUj341ek4UNgQI9bi41k3ksTIa6+bzrw0aN4ZAWcFsdYEMLudkg1KegJqRKAiq3PDGmpCd7aoLD/mS6dd773OCSqagJ1R9reo5tAMTCsnoS26cQgp0asjzvibuaMDmxlqAUeuUgeakiW0X/L9bRQ7DFaBjuhdcAWuTJ1ZSn6EBQ14ENYQsWG2K68TSrmNE8sSV1BuC/mlpqL//OD6V3DFW6zPuFc6XGOP0NUh/v8utNQptAOh9yu9KwnDMLWI+qrigav1aDLrVR7hx8Ne2CPZaGxzzfDJ8txZLQJxJ3u1RJaVARUkmbTi/cQ+ZEUhTjsSg+7nFlq70RVOVGHqjZXmCpljjoEGKQjH10jq36CiOAlnP8fuClOaOmuvW65ET/HWuhLkNJx2QWefTSOdAADMBjcqcpnqdJVbAFQJd1wv2gwLfnM0QoisLwxIGgog/t/+eQ/x44KBL0Ky/TfD1uv1QJSLXRGEM6VkEpK5vR9qmTybZqdZ5heG9dPGfF9Dyq1VZtLNgjj2HmEhRcCgNuLAPaOqL48J82a1iTO7xRmLep1tdKA9mEHa/ySj7DmtOe+DbF9HF0X54Aou7C6pi05iYmlofNOztxD7VkJtbh55pbk8tfLDYm4B3+m7aJj23CZFFGdjcTdZfKJVBW0rQxU0GWJu4nFNJTTKxF0ViPpe1ObLOGJn220eq/rd2fX7+KYJcq7lw8g3e9FilKs0MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FocvYtgfhZxzT4JRW5Xhjp",
      "input": {
        "note": "Block is ~1.5 cm above the table at the new spot; opening the jaws to release it there.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FocvYtgfhZxzT4JRW5Xhjp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0214 left_j2=1.3907 left_j3=-1.1416 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2406 right_j2=1.713 right_j3=-1.1217 right_j4=-0.0422 right_j5=0.8211 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.6889, 5.9419, 1.6874, -0.0464, -0.0464, -0.0122, -0.1436, -12.9299, 6.188, 0.1978, -0.0317, 0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c250feaae822c85fa8f7697bdcde0610ebf7b4e4555680123c1b07ed416600c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991632e42e8b0f31022a884c6e3cbe58eb37e8f89262b4143856ed4d33e62fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 570):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf8ccc873b8c4157b2c7a24400a65dc87e0d0febf24434e79bee6fe2251f2365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5c250feaae82
wire blob 991632e42e8b
wire blob bf8ccc873b8c
call 58 attempt 0 · /messages · status 200 · 12.19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0145 left_j2=1.3945 left_j3=-1.1194 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.86 right_j1=2.0853 right_j2=1.8938 right_j3=-1.3895 right_j4=-0.0395 right_j5=0.8211 right_gripper=0.4514\nstate[joint_eff]: [-0.1026, -2.1265, 5.9419, 1.7753, 0.0024, -0.022, -0.0171, 0.1983, -10.7692, 7.1316, 0.0855, -0.0317, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0199 left_j2=1.3918 left_j3=-1.1271 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2238 right_j2=1.7226 right_j3=-1.1206 right_j4=-0.0422 right_j5=0.8265 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -1.894, 6.106, 1.6337, -0.0269, -0.0171, -0.0122, -0.1573, -11.453, 5.9282, 0.2711, -0.0073, -0.105, 0.7057]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0214 left_j2=1.3907 left_j3=-1.1416 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2406 right_j2=1.713 right_j3=-1.1217 right_j4=-0.0422 right_j5=0.8211 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.6889, 5.9419, 1.6874, -0.0464, -0.0464, -0.0122, -0.1436, -12.9299, 6.188, 0.1978, -0.0317, 0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c250feaae822c85fa8f7697bdcde0610ebf7b4e4555680123c1b07ed416600c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991632e42e8b0f31022a884c6e3cbe58eb37e8f89262b4143856ed4d33e62fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf8ccc873b8c4157b2c7a24400a65dc87e0d0febf24434e79bee6fe2251f2365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5c250feaae82]
[blob 991632e42e8b]
[blob bf8ccc873b8c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NxvGaLM1JYdZyTYZSf9p1i",
      "input": {
        "note": "Red block released at its new spot. Lifting the right gripper straight up off it so I don't drag it when I retract the arm.",
        "targets": {
          "right_j1": 2.099,
          "right_j2": 1.931,
          "right_j3": -1.403
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NxvGaLM1JYdZyTYZSf9p1i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0241 left_j2=1.3907 left_j3=-1.1488 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.1464 right_j2=1.8996 right_j3=-1.3426 right_j4=-0.0422 right_j5=0.8192 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6752, 5.7504, 1.6288, 0.0073, -0.0513, -0.0171, -0.1709, -13.3949, 6.8855, 0.1734, -0.0562, -0.0024, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769d96120ff55a7d747ffb371fe6d67d877a61c3c9b518d2e546ee48e464e647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2af3f88cf96ba33b377e1932f819a36e324b2d33c5dc5c2553a0d53672643ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 575):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa75b0356fe280db6d3535d3414439e9acf794bbed5b131434617524a3974940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 769d96120ff5
wire blob 2af3f88cf96b
wire blob fa75b0356fe2
call 59 attempt 0 · /messages · status 200 · 8.153 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0199 left_j2=1.3918 left_j3=-1.1271 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2238 right_j2=1.7226 right_j3=-1.1206 right_j4=-0.0422 right_j5=0.8265 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -1.894, 6.106, 1.6337, -0.0269, -0.0171, -0.0122, -0.1573, -11.453, 5.9282, 0.2711, -0.0073, -0.105, 0.7057]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0214 left_j2=1.3907 left_j3=-1.1416 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2406 right_j2=1.713 right_j3=-1.1217 right_j4=-0.0422 right_j5=0.8211 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.6889, 5.9419, 1.6874, -0.0464, -0.0464, -0.0122, -0.1436, -12.9299, 6.188, 0.1978, -0.0317, 0.0611, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0241 left_j2=1.3907 left_j3=-1.1488 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.1464 right_j2=1.8996 right_j3=-1.3426 right_j4=-0.0422 right_j5=0.8192 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6752, 5.7504, 1.6288, 0.0073, -0.0513, -0.0171, -0.1709, -13.3949, 6.8855, 0.1734, -0.0562, -0.0024, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769d96120ff55a7d747ffb371fe6d67d877a61c3c9b518d2e546ee48e464e647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2af3f88cf96ba33b377e1932f819a36e324b2d33c5dc5c2553a0d53672643ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa75b0356fe280db6d3535d3414439e9acf794bbed5b131434617524a3974940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 769d96120ff5]
[blob 2af3f88cf96b]
[blob fa75b0356fe2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UpRrhiiPqA3BMFJFMzoDDc",
      "input": {
        "note": "Red block is now sitting alone at overhead (117,140), well inside the left arm's reach. Parking the right arm back at its base to clear the workspace before the left arm comes in to stack.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_01UpRrhiiPqA3BMFJFMzoDDc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0306 left_j2=1.3869 left_j3=-1.1648 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.0109 right_j1=0.6224 right_j2=1.2079 right_j3=-0.6674 right_j4=-0.054 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.894, 6.0239, 1.7314, -0.0611, -0.0366, -0.0122, -0.1709, 2.1812, 5.5726, 2.4689, 0.1099, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 600):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda14530095ed0dc2d13e0fd523c6594e0f8a20c0fac76f5d039337b2f4f17c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 600):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ec9c15b1bbeec87e0cef766f2b2654a528316f62fc87974b264637208aec22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 600):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f0a6fd3078df20733c66e2573c450ec6ba366dfc8b411853e0a15d40997f67b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob eda14530095e
wire blob 41ec9c15b1bb
wire blob 8f0a6fd3078d
call 60 attempt 0 · /messages · status 200 · 17.07 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0214 left_j2=1.3907 left_j3=-1.1416 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.2406 right_j2=1.713 right_j3=-1.1217 right_j4=-0.0422 right_j5=0.8211 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.6889, 5.9419, 1.6874, -0.0464, -0.0464, -0.0122, -0.1436, -12.9299, 6.188, 0.1978, -0.0317, 0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0241 left_j2=1.3907 left_j3=-1.1488 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.1464 right_j2=1.8996 right_j3=-1.3426 right_j4=-0.0422 right_j5=0.8192 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6752, 5.7504, 1.6288, 0.0073, -0.0513, -0.0171, -0.1709, -13.3949, 6.8855, 0.1734, -0.0562, -0.0024, 0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0306 left_j2=1.3869 left_j3=-1.1648 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.0109 right_j1=0.6224 right_j2=1.2079 right_j3=-0.6674 right_j4=-0.054 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.894, 6.0239, 1.7314, -0.0611, -0.0366, -0.0122, -0.1709, 2.1812, 5.5726, 2.4689, 0.1099, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 600):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda14530095ed0dc2d13e0fd523c6594e0f8a20c0fac76f5d039337b2f4f17c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 600):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ec9c15b1bbeec87e0cef766f2b2654a528316f62fc87974b264637208aec22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 600):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f0a6fd3078df20733c66e2573c450ec6ba366dfc8b411853e0a15d40997f67b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob eda14530095e]
[blob 41ec9c15b1bb]
[blob 8f0a6fd3078d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AAMDuSXC5KWXkENsc6tE5X",
      "input": {
        "note": "Workspace is clear with the red block alone at overhead (111,140). Using my grasp-anchored pixel-to-joint mapping, I'm bringing the left arm (still holding the blue block) to hover ~15 cm directly above it.",
        "targets": {
          "left_j0": -0.926,
          "left_j1": 2.098,
          "left_j2": 2.135,
          "left_j3": -1.607,
          "left_j5": -0.98
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01AAMDuSXC5KWXkENsc6tE5X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9073 left_j1=2.0834 left_j2=2.0972 left_j3=-1.5681 left_j4=-0.0071 left_j5=-0.918 left_gripper=0.4711 right_j0=0.0101 right_j1=0.6243 right_j2=1.2045 right_j3=-0.6823 right_j4=-0.0578 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -11.2342, 8.0205, -0.0904, -0.0708, -0.1099, 0.0562, -0.0205, 1.4974, 5.4769, 2.0586, 0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963ebdf6f927f3b22a369f61e01917ad0bc083741b5d7a7e264bca5d4d72550a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8884df9ef71c59ac567d3d68a71970ea2f1b1150109e95be15c548ef448ad52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 617):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:636d4e7abc1ec87f203c5a734e59e1acfae8f8c63f5c04cc52c8e4dc8498faa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 963ebdf6f927
wire blob 8884df9ef71c
wire blob 636d4e7abc1e
call 61 attempt 0 · /messages · status 200 · 9.528 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0241 left_j2=1.3907 left_j3=-1.1488 left_j4=-0.0074 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.8612 right_j1=2.1464 right_j2=1.8996 right_j3=-1.3426 right_j4=-0.0422 right_j5=0.8192 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6752, 5.7504, 1.6288, 0.0073, -0.0513, -0.0171, -0.1709, -13.3949, 6.8855, 0.1734, -0.0562, -0.0024, 0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0306 left_j2=1.3869 left_j3=-1.1648 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.0109 right_j1=0.6224 right_j2=1.2079 right_j3=-0.6674 right_j4=-0.054 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.894, 6.0239, 1.7314, -0.0611, -0.0366, -0.0122, -0.1709, 2.1812, 5.5726, 2.4689, 0.1099, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9073 left_j1=2.0834 left_j2=2.0972 left_j3=-1.5681 left_j4=-0.0071 left_j5=-0.918 left_gripper=0.4711 right_j0=0.0101 right_j1=0.6243 right_j2=1.2045 right_j3=-0.6823 right_j4=-0.0578 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -11.2342, 8.0205, -0.0904, -0.0708, -0.1099, 0.0562, -0.0205, 1.4974, 5.4769, 2.0586, 0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963ebdf6f927f3b22a369f61e01917ad0bc083741b5d7a7e264bca5d4d72550a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8884df9ef71c59ac567d3d68a71970ea2f1b1150109e95be15c548ef448ad52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:636d4e7abc1ec87f203c5a734e59e1acfae8f8c63f5c04cc52c8e4dc8498faa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 963ebdf6f927]
[blob 8884df9ef71c]
[blob 636d4e7abc1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UPM4RHNqFxb1ok8fVFEvJJ",
      "input": {
        "note": "Hovering with the carried block lined up in the same image column as the red block. Descending to ~1 cm above the red block's top face: at that height both blocks are at nearly the same height in the overhead view, so I can check alignment with almost no parallax error before releasing.",
        "targets": {
          "left_j1": 2.161,
          "left_j2": 1.818,
          "left_j3": -1.228
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UPM4RHNqFxb1ok8fVFEvJJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9092 left_j1=2.1555 left_j2=1.837 left_j3=-1.2942 left_j4=-0.0074 left_j5=-0.931 left_gripper=0.4717 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.6876 right_j4=-0.0582 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -10.865, 5.9556, 0.2857, -0.022, 0.1099, 0.0562, -0.1026, 1.5658, 5.5726, 1.9707, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 623):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b637cd573655858c58de480b50d94823e116764cec3225bbdceea8727f2942ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 623):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c05efa1448331b02e3a9d0f920db805454cc7a202a1ec62f0156b5ef784f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 623):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf75ee6bd1dd18cd54c94af4548bffa7fcc3641f98606eae541c8895a5ab0463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b637cd573655
wire blob 70c05efa1448
wire blob bf75ee6bd1dd
call 62 attempt 0 · /messages · status 200 · 10.53 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3126 left_j1=1.0306 left_j2=1.3869 left_j3=-1.1648 left_j4=-0.0078 left_j5=-0.1051 left_gripper=0.4703 right_j0=0.0109 right_j1=0.6224 right_j2=1.2079 right_j3=-0.6674 right_j4=-0.054 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.894, 6.0239, 1.7314, -0.0611, -0.0366, -0.0122, -0.1709, 2.1812, 5.5726, 2.4689, 0.1099, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9073 left_j1=2.0834 left_j2=2.0972 left_j3=-1.5681 left_j4=-0.0071 left_j5=-0.918 left_gripper=0.4711 right_j0=0.0101 right_j1=0.6243 right_j2=1.2045 right_j3=-0.6823 right_j4=-0.0578 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -11.2342, 8.0205, -0.0904, -0.0708, -0.1099, 0.0562, -0.0205, 1.4974, 5.4769, 2.0586, 0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9092 left_j1=2.1555 left_j2=1.837 left_j3=-1.2942 left_j4=-0.0074 left_j5=-0.931 left_gripper=0.4717 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.6876 right_j4=-0.0582 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -10.865, 5.9556, 0.2857, -0.022, 0.1099, 0.0562, -0.1026, 1.5658, 5.5726, 1.9707, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 623):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b637cd573655858c58de480b50d94823e116764cec3225bbdceea8727f2942ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 623):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c05efa1448331b02e3a9d0f920db805454cc7a202a1ec62f0156b5ef784f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 623):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf75ee6bd1dd18cd54c94af4548bffa7fcc3641f98606eae541c8895a5ab0463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b637cd573655]
[blob 70c05efa1448]
[blob bf75ee6bd1dd]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UpvQGz3VXSQgVGQACfieX2",
      "input": {
        "note": "The wrist view shows the two blocks side by side and nearly touching, with the red one about 4 cm further out. Translating 4 cm outward at this height (1 cm of clearance over the red block) to bring my block directly over it.",
        "targets": {
          "left_j1": 2.316,
          "left_j2": 2.083,
          "left_j3": -1.338
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UpvQGz3VXSQgVGQACfieX2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.91 left_j1=2.3127 left_j2=2.0407 left_j3=-1.322 left_j4=-0.0071 left_j5=-0.9405 left_gripper=0.4723 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.701 right_j4=-0.0608 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -13.2034, 8.0615, 0.0708, -0.0855, 0.0073, 0.0415, -0.3487, 1.6752, 5.2308, 2.0, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 627):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e976806ff76d4ae27d11778a89ca205703be5927e4e8b7af25b5d062e8ee11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 627):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3bd365e42323e7f54f8e3378c108ae0507eece561e8501c7a048d6ff951fc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 627):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8d4faab0129ff87676d1dc77b4dc751d410c70cb21162ca56e0d164e3df5e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5e976806ff76
wire blob b3bd365e4232
wire blob ff8d4faab012
call 63 attempt 0 · /messages · status 200 · 11.77 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9073 left_j1=2.0834 left_j2=2.0972 left_j3=-1.5681 left_j4=-0.0071 left_j5=-0.918 left_gripper=0.4711 right_j0=0.0101 right_j1=0.6243 right_j2=1.2045 right_j3=-0.6823 right_j4=-0.0578 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -11.2342, 8.0205, -0.0904, -0.0708, -0.1099, 0.0562, -0.0205, 1.4974, 5.4769, 2.0586, 0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9092 left_j1=2.1555 left_j2=1.837 left_j3=-1.2942 left_j4=-0.0074 left_j5=-0.931 left_gripper=0.4717 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.6876 right_j4=-0.0582 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -10.865, 5.9556, 0.2857, -0.022, 0.1099, 0.0562, -0.1026, 1.5658, 5.5726, 1.9707, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.91 left_j1=2.3127 left_j2=2.0407 left_j3=-1.322 left_j4=-0.0071 left_j5=-0.9405 left_gripper=0.4723 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.701 right_j4=-0.0608 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -13.2034, 8.0615, 0.0708, -0.0855, 0.0073, 0.0415, -0.3487, 1.6752, 5.2308, 2.0, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 627):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e976806ff76d4ae27d11778a89ca205703be5927e4e8b7af25b5d062e8ee11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 627):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3bd365e42323e7f54f8e3378c108ae0507eece561e8501c7a048d6ff951fc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 627):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8d4faab0129ff87676d1dc77b4dc751d410c70cb21162ca56e0d164e3df5e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5e976806ff76]
[blob b3bd365e4232]
[blob ff8d4faab012]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AU27ATU7mPbYw63xW45Pvu",
      "input": {
        "note": "Now that the blocks are at the same height in the wrist view, the remaining error is clearly lateral: the red block sits ~4 cm to the arm's left of my carried block. Shifting left by that amount (and 1 cm further out) while keeping 1 cm of vertical clearance.",
        "targets": {
          "left_j0": -0.815,
          "left_j1": 2.36,
          "left_j2": 2.159,
          "left_j3": -1.37,
          "left_j5": -0.845
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AU27ATU7mPbYw63xW45Pvu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.881 left_j1=2.3489 left_j2=2.1101 left_j3=-1.3613 left_j4=0.0002 left_j5=-0.9051 left_gripper=0.4723 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7055 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [3.2752, -12.6974, 7.5009, 0.1636, -0.1148, 0.149, -0.0024, -0.1436, 1.7846, 5.2171, 1.9902, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 629):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae53ed1d1f19656bf3e8b2a4149ba0f95d268bda6fdd56728cb6eb191e7bf1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 629):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0b2dce658bf2d112bd18359c6e87e5d1ca77eff8ef0ef4836658b90c072efdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 629):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd2376e31821ce6b9ddeba75bf94a693fc82a2e46bc33d83a2d733a0419c7363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ae53ed1d1f19
wire blob a0b2dce658bf
wire blob dd2376e31821
call 64 attempt 0 · /messages · status 200 · 7.968 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9092 left_j1=2.1555 left_j2=1.837 left_j3=-1.2942 left_j4=-0.0074 left_j5=-0.931 left_gripper=0.4717 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.6876 right_j4=-0.0582 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -10.865, 5.9556, 0.2857, -0.022, 0.1099, 0.0562, -0.1026, 1.5658, 5.5726, 1.9707, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.91 left_j1=2.3127 left_j2=2.0407 left_j3=-1.322 left_j4=-0.0071 left_j5=-0.9405 left_gripper=0.4723 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.701 right_j4=-0.0608 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -13.2034, 8.0615, 0.0708, -0.0855, 0.0073, 0.0415, -0.3487, 1.6752, 5.2308, 2.0, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.881 left_j1=2.3489 left_j2=2.1101 left_j3=-1.3613 left_j4=0.0002 left_j5=-0.9051 left_gripper=0.4723 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7055 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [3.2752, -12.6974, 7.5009, 0.1636, -0.1148, 0.149, -0.0024, -0.1436, 1.7846, 5.2171, 1.9902, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 629):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae53ed1d1f19656bf3e8b2a4149ba0f95d268bda6fdd56728cb6eb191e7bf1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 629):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0b2dce658bf2d112bd18359c6e87e5d1ca77eff8ef0ef4836658b90c072efdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 629):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2376e31821ce6b9ddeba75bf94a693fc82a2e46bc33d83a2d733a0419c7363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ae53ed1d1f19]
[blob a0b2dce658bf]
[blob dd2376e31821]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018UxH5Z8v7t2bgF3TPZ2B5w",
      "input": {
        "note": "The yaw badly undershot (only 0.03 of 0.095 rad) and j0 effort rose, so I may be brushing the red block. Lifting 2 cm for clearance and re-commanding the leftward yaw with a stronger target.",
        "targets": {
          "left_j0": -0.78,
          "left_j1": 2.346,
          "left_j2": 2.216,
          "left_j3": -1.441,
          "left_j5": -0.82
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018UxH5Z8v7t2bgF3TPZ2B5w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8055 left_j1=2.3699 left_j2=2.1632 left_j3=-1.4048 left_j4=-0.0029 left_j5=-0.852 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7097 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.5521, -14.8171, 8.6769, 0.2759, 0.0122, 0.2906, -0.0073, -0.335, 1.6479, 5.3265, 1.9267, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f110ab901c6313a6bac3a52de1495bae3cc11d9a2ddc147a830f62261d12e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b632d167f85031305a04ef9bd1c8941e62b8d57f2469539b1f386e0e393bcb91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 631):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7f342cd6ae29b717b8400513f6f200b6ec0997ceff32f352f96cdd9c457c537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7f110ab901c6
wire blob b632d167f850
wire blob c7f342cd6ae2
call 65 attempt 0 · /messages · status 200 · 13.68 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.91 left_j1=2.3127 left_j2=2.0407 left_j3=-1.322 left_j4=-0.0071 left_j5=-0.9405 left_gripper=0.4723 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.701 right_j4=-0.0608 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -13.2034, 8.0615, 0.0708, -0.0855, 0.0073, 0.0415, -0.3487, 1.6752, 5.2308, 2.0, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.881 left_j1=2.3489 left_j2=2.1101 left_j3=-1.3613 left_j4=0.0002 left_j5=-0.9051 left_gripper=0.4723 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7055 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [3.2752, -12.6974, 7.5009, 0.1636, -0.1148, 0.149, -0.0024, -0.1436, 1.7846, 5.2171, 1.9902, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8055 left_j1=2.3699 left_j2=2.1632 left_j3=-1.4048 left_j4=-0.0029 left_j5=-0.852 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7097 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.5521, -14.8171, 8.6769, 0.2759, 0.0122, 0.2906, -0.0073, -0.335, 1.6479, 5.3265, 1.9267, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f110ab901c6313a6bac3a52de1495bae3cc11d9a2ddc147a830f62261d12e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b632d167f85031305a04ef9bd1c8941e62b8d57f2469539b1f386e0e393bcb91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f342cd6ae29b717b8400513f6f200b6ec0997ceff32f352f96cdd9c457c537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7f110ab901c6]
[blob b632d167f850]
[blob c7f342cd6ae2]
{
  "content": [
    {
      "signature": "CAIShg8KjAEIEBgCKkCeFrEPuwuXM3ARtzXLTXIUTALHfLcBcDInWjyBCfZ3+GH7ransetWUjipAW8ujeoXRbzWppNkYiB3h1tg0GRTXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMrDtrcXk82saf9nR4GgyG6crm3QXRk2yQeKoiMORvC8rn0qsmIL/0mYERe/CyRdDCytTGOHlGqLBoXbKQSMHIaaGtjka2eh9OBF4d8yqmDbgWBlFh2djhfIB6J0kJD6yAM3j+9V/GRtd30Fc4kEI6lPRAR4II0I+dp+u7DSEzVRAlgu3/egZ5dY1NruK4AOXmN841qRhjVrIdNRfj8TnajLJbZHZ7m5gYsoWaTo5L2HVbVBDYWO5olCsn9upgaOvF9cJmiL/tKZK3TyF2nDt9rsDZrVzP5h4BuPi2wmlpWsC0ZDDZIdXa7F+lk+YliDT1S2SK1kdraooGlH0DO9Ein1AmAdaR0GHVgHLZ96/L1p3xZtmFKKSzUPybgLrsAc5SFpxhKdFffPcnv1eTMlu4NhLP8KtZ0O6UZgFCXDFV+3vhdT9cK6frtcrDjxfTqHmLa1aDUir1C9niTQdxp6tA/qjFXza23zKtRXAxL3IB2papBsIRlqOTvXhSCtN9H5e4etgUEamu9yUhrsuITSQ8xj955nVEMqpQ6FFZkei3Kx6CD7bGFn4tNrKlM8LwATIejiw4sQ1ao3pKwjj7vIvz9Pt3NqBqUvq8SO+hlKrmfMf3PnCCfeLt8XlkO44Fo/Ii9eDpSKT/qiCUF3rpekm4jCZpfXfpD8m7ezx7j17sqFjF2HQzVRPGrq8f8dQ16x2XuoqKs0rw2tUNnhMovpMQ4Nkq6ex1mzw3w1S/z8WJCBUchmoSoqgUaHd1l810nKdgAAQN51GPwl6BJnKBsEDb1rm6N/hJSqgoLtWN4e+lzx+0gCiI2wmxPc4Ss8tqpT4FjZHI0JWr7PCCmQ4RHCStixzJe8tB1ngQRvKx1Sx4TMwmB8qjulqUb+FyfTeQNCrq+7xyKTQnl93MHs9IdCja0Qeoh0O8t1D1InVRZjabD2Vq73gDrIsINvrF/AAhka1Ouf+3Pvxyr7yFb5Vce0FocAEwgVVUSh2JqjsmI0eRFeAzPBVJb1fXDMaelwQFmlmlaSgc5sMcZzOTO3YMGV4Gl1nlvoM5ABaZUxfncVRAYJkFEhsLDil5U3eABXNUttzZxWU/WeBeDiMwKSaM+E1CTKLRa3yT8zM5Kr71sFYlx569PclF18IbqS+odfu3Be2czz+0WQY3JYj+WkweWShiahiDQ26i6f793mE9hQjpk6ky76H3cgGL/JzMvZSTryLv9tNPGAqx8cR1ax6xdyEll7c3SP+M+DWbzrennWzIfx4t2kKrkL1KNUnusM7h2HXPlC09TezEMm+P11ZX/fkDAeUnvIm9DUpsizP75x8zKD4N+/6bX9b9P3kXJNzSRmJ+rz7aNGioX0qNXqEIIxpHgHeXbCMohtbxTWGXQ3UOLyDTvaHeHO8Ev7eS8ZJEEHEUV606XHCf98uNIB3YxmXf2AT67jnsxOOuxu6lZM2i9M9UDcfPjh+NKIZ6iUpyU9t6AIBzZC0IzOA9O049Fx6MU6qKQz3bLKSk42Ekw2KixTp8SGRSVquMRW3+ebBxvNAHhP/Ah9RIYGAfUkFKSiyBeCy24QDYKeWShBx5avwJZ3Dhn03zldwCKt/Tkyxu/eBKT0pDRk1/AroSeXMBgaF/Fc0ZANKDUt83HKUbe/xdjY+tIKertlakweXM6dSfpWWND9zhKgTcrWN397SSSj8zLsFD+emTjG6QOIev+bAIRJUEQMAneQ5F6HCnqnojR8h0qaUgwIpfCHBLp0zDvkCnujYj6gW4PAu4u1zbkDRfO08bagr3RaoHxiXecmIt2QLDK9NjdIAFNRe077oV80EveTKxcn3JBuYJS/sOA5lZucrNPu+RIW1JVTMpcyTRLis961NTXvLuIGakt+m9uBSAuTbTZNYycYaqweOTU8M8naQtwN8ngzIdM/sPDRIIFL33F1w1HjcXWy5KVz9PQZEd2mVd4RK14dH61ifZeGGVLz9Pt3JgCiuuExtWmplAEbdEbeyYzbR0Ji4wTUFc+c4JdIa7uUuX3eoBpX4hk4RE9jP6p5pF/8osiXnISGv0kQSPkVjxOPOVZnBjd8b/qPGQjX7m9C6SxmEL+RnvoOWQaSODiW0umdrEKWBDWrO+3pPTN3BXSUoh21Rop4hktoRYxGXoDIr36TsMeyIGucFnCne9oJSCQupeiVfIkUZy/h/KNYPlQmR/k8qMYJJqnzZdX+2lw8kqL8XEzxZlhgv6EaafdoZcZiUhltBJT16KSn83XnWHDeUlOP2IE3Ngff+qUJaP6UjkCcYXF5WhRfdCKq2SomWStpQMndGtycKYat2baajrQSrPVouH0TkkD/rQ8s5Q5cQR2uppexu/yCiyub7bQK1YVK/AWl4odiboS8VdOu4yVG0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HkusFVNTuhPrQEDortTVRT",
      "input": {
        "note": "The red block has disappeared from the wrist view, which should mean it is now directly beneath my carried block. Descending 5 cm — if the blocks are stacked the descent will stall on contact about 1.5 cm early, which is my confirmation.",
        "targets": {
          "left_j1": 2.393,
          "left_j2": 2.092,
          "left_j3": -1.269
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HkusFVNTuhPrQEDortTVRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7998 left_j1=2.3856 left_j2=2.1071 left_j3=-1.3357 left_j4=-0.0036 left_j5=-0.8452 left_gripper=0.4724 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -12.4923, 5.7641, 0.3639, -0.0464, -0.0806, -0.0171, -0.0752, 2.0581, 5.3949, 2.0586, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 634):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:626a3efc912a4a2ca33ba1d4e3f495e999b2e25374b37835bc7f534c9fdcb5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 634):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28688a3c8e191f358d0d956f954e096eee968fa5c6d22da832c0ccccf48285b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 634):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60d3dd5fb2dcd072a0d8d336b21ce874bf26c6ac031a65328c01fdf2d0b664ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 626a3efc912a
wire blob b28688a3c8e1
wire blob 60d3dd5fb2dc
call 66 attempt 0 · /messages · status 200 · 17.13 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.881 left_j1=2.3489 left_j2=2.1101 left_j3=-1.3613 left_j4=0.0002 left_j5=-0.9051 left_gripper=0.4723 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7055 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [3.2752, -12.6974, 7.5009, 0.1636, -0.1148, 0.149, -0.0024, -0.1436, 1.7846, 5.2171, 1.9902, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8055 left_j1=2.3699 left_j2=2.1632 left_j3=-1.4048 left_j4=-0.0029 left_j5=-0.852 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7097 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.5521, -14.8171, 8.6769, 0.2759, 0.0122, 0.2906, -0.0073, -0.335, 1.6479, 5.3265, 1.9267, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7998 left_j1=2.3856 left_j2=2.1071 left_j3=-1.3357 left_j4=-0.0036 left_j5=-0.8452 left_gripper=0.4724 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -12.4923, 5.7641, 0.3639, -0.0464, -0.0806, -0.0171, -0.0752, 2.0581, 5.3949, 2.0586, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 634):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:626a3efc912a4a2ca33ba1d4e3f495e999b2e25374b37835bc7f534c9fdcb5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 634):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28688a3c8e191f358d0d956f954e096eee968fa5c6d22da832c0ccccf48285b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 634):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d3dd5fb2dcd072a0d8d336b21ce874bf26c6ac031a65328c01fdf2d0b664ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 626a3efc912a]
[blob b28688a3c8e1]
[blob 60d3dd5fb2dc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VBhqpkbPufKWiA5RBCGzEW",
      "input": {
        "note": "The descent went below the red block's top with no contact, and the red block vanished from the wrist view — which for this camera means it is nearer than the grasp point, i.e. inboard of my block. Lifting for clearance and retracting 6 cm to bring my block back over it.",
        "targets": {
          "left_j1": 2.082,
          "left_j2": 1.779,
          "left_j3": -1.267
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VBhqpkbPufKWiA5RBCGzEW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1269 left_j2=1.8053 left_j3=-1.2709 left_j4=-0.004 left_j5=-0.8532 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -12.8342, 5.3812, 0.4664, -0.0611, 0.0513, -0.0122, -0.1709, 1.7983, 5.3949, 2.0098, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 640):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ec45cfdd06ab99e7019c9aa80e9ef102fc6ef073285cdd585b85cd7c1d22268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 640):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62c25ed850828210bd4e1f3659e9cbc1ad8917a9789c57c41137abedca63e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 640):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25d0ac77e946f771facd1730c6acd1bebbf9ccef33c53c2b508bd2de29a3f836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ec45cfdd06a
wire blob a62c25ed8508
wire blob 25d0ac77e946
call 67 attempt 0 · /messages · status 200 · 9.833 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8055 left_j1=2.3699 left_j2=2.1632 left_j3=-1.4048 left_j4=-0.0029 left_j5=-0.852 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6247 right_j2=1.2045 right_j3=-0.7097 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.5521, -14.8171, 8.6769, 0.2759, 0.0122, 0.2906, -0.0073, -0.335, 1.6479, 5.3265, 1.9267, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7998 left_j1=2.3856 left_j2=2.1071 left_j3=-1.3357 left_j4=-0.0036 left_j5=-0.8452 left_gripper=0.4724 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -12.4923, 5.7641, 0.3639, -0.0464, -0.0806, -0.0171, -0.0752, 2.0581, 5.3949, 2.0586, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1269 left_j2=1.8053 left_j3=-1.2709 left_j4=-0.004 left_j5=-0.8532 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -12.8342, 5.3812, 0.4664, -0.0611, 0.0513, -0.0122, -0.1709, 1.7983, 5.3949, 2.0098, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 640):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ec45cfdd06ab99e7019c9aa80e9ef102fc6ef073285cdd585b85cd7c1d22268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 640):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62c25ed850828210bd4e1f3659e9cbc1ad8917a9789c57c41137abedca63e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 640):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d0ac77e946f771facd1730c6acd1bebbf9ccef33c53c2b508bd2de29a3f836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ec45cfdd06a]
[blob a62c25ed8508]
[blob 25d0ac77e946]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129Ui4hhMu5VgpYB9vPkEfh",
      "input": {
        "note": "A sliver of the red block is just peeking above my carried block in the wrist view, so it is nearly under me. Retracting the last 1.5 cm while descending 3.5 cm — if it lands on the red block the descent will stall at ~4 cm with rising effort.",
        "targets": {
          "left_j1": 2.116,
          "left_j2": 1.633,
          "left_j3": -1.088
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_0129Ui4hhMu5VgpYB9vPkEfh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1082 left_j2=1.6577 left_j3=-1.1484 left_j4=-0.0036 left_j5=-0.8555 left_gripper=0.4726 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -9.8393, 5.2171, 0.2613, -0.0513, 0.0171, 0.0269, -0.1983, 1.7299, 5.2171, 2.0391, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 643):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d951b57a393e5c8c57ef2436bfd644499137d65a066fcc335777ba55d112272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 643):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e90e66c301fe532a7b5def1896ed1a1ecc95a26a277ecef804c43d802f21ff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 643):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddfcea705d5851e6785f9bcbc407da4b239cfe95bc4f295199ce9ea53be4709a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4d951b57a393
wire blob 4e90e66c301f
wire blob ddfcea705d58
call 68 attempt 0 · /messages · status 200 · 15.35 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7998 left_j1=2.3856 left_j2=2.1071 left_j3=-1.3357 left_j4=-0.0036 left_j5=-0.8452 left_gripper=0.4724 right_j0=0.0101 right_j1=0.625 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -12.4923, 5.7641, 0.3639, -0.0464, -0.0806, -0.0171, -0.0752, 2.0581, 5.3949, 2.0586, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1269 left_j2=1.8053 left_j3=-1.2709 left_j4=-0.004 left_j5=-0.8532 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -12.8342, 5.3812, 0.4664, -0.0611, 0.0513, -0.0122, -0.1709, 1.7983, 5.3949, 2.0098, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1082 left_j2=1.6577 left_j3=-1.1484 left_j4=-0.0036 left_j5=-0.8555 left_gripper=0.4726 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -9.8393, 5.2171, 0.2613, -0.0513, 0.0171, 0.0269, -0.1983, 1.7299, 5.2171, 2.0391, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 643):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d951b57a393e5c8c57ef2436bfd644499137d65a066fcc335777ba55d112272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 643):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e90e66c301fe532a7b5def1896ed1a1ecc95a26a277ecef804c43d802f21ff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 643):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfcea705d5851e6785f9bcbc407da4b239cfe95bc4f295199ce9ea53be4709a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4d951b57a393]
[blob 4e90e66c301f]
[blob ddfcea705d58]
{
  "content": [
    {
      "signature": "CAIS7hQKjAEIEBgCKkC5sMrq2Wak4rC0OUbTv+t3YVFbCaDjCzU2iUC2E/XCgBM5rLLpj7hl36z4fovcycV6o5+uZgHoWtJD0giR7AzEMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGQGPHnsRjTPYZGwzGgzB2uNFPmLJPU28W1oiMN4iHhQiiNBlxIJ2rbnc9NoZzzSUFb8aWz1LwignWSbff7vt6SjOdteWnitgVtqwnSqOE49K0uXwRL7fO/5JVj7ltVicOStKk/YHMXYgTXVjmR7L905ljYCmgIIy1/KTp7zshqm48FmhhbaDNrMKSXmNBn6jQmcLmZa/kuAxnXI0WAhdy8tsfMMjgCNKgQKPAbwfIjxacdPWMhUagNgjm/Ny2oyKUL+kHnCXgsBvlrXF5hYb+nd5h5TQ5bHAwn/uCmD9wSwwewYSDI0W3P0mgG6APC/fY+9jmdPamITcwE4dGqFUKO+c7HOGHBCtG2WcbPSzl+WpXDwre2FBa5rvwnvQKC9k2XFm+FwuZFW0B3MiHcDLAMz0/INnnlmKxCDePAPV28orj58JSnbPu5wDh8gAcrCUUyFmpMIJNqKYwqH3WXIXPu76sm3oHykm8HD1U30rSKm6MGV4edquf1RCnbzeGbR9CGSsMKN/FeTKIWQQTFH0g6oqxiNwiMUAYBPWu6/aPUx2g3fBQB9xTQgrSnYuwa0ep+FaEckX8KZsPzzX22FWWY42C738MtJpnRV6UKALt3OXChoVZZeCfbbzbICg3n4DoIs9nX3i7MJOCQaTvCRWZHP0wnNMbKHaS9Ernq9NOviCJAj8MKzsy06jZIhLSaRCBuiO7xVps2/Cy5dBQ0f0mqo73vY1+BoYynkRfvSPM5As1lSgSjt+1tmbPUOt13ffVqRI2uaJ9IwsF1uLvfma1fQ4COy99R3Zlk8JRzh8uypAhbDn2ZNcSw1SOqxMb6KArxff5Hh5es37tYlgcKE4hkRkJjo3V5i/ObOvdLDdPJ1RkOPK/QyyokFN2O2vYZZOgr8o22FQLHDypg/0LOpjzFrh23CzSw/G9TEidrufKnT8yL0/kAh+Fk995GWyvR0EBF5hPYYxY4/FUNjCeAZCsQlDDCkI7o8i/1qvV9T4Yj3gbfx/cBznVqhOIKyAV4kxyIfkdU20wxoOBSHMV3Ra83z/qP5d14LYFuNiug4/n6Cd1+O14doU3nIwbxoCvnAB0xHSLU+KaIhJ1ipmMP+zYmWX+DQub3XxRQN3CPnvxBBrVat8lENHr6jbNz22d5dc16/xKA0WVFbjlVFuUN2gDaBDt4h9cXpyBiqXXKJxeEVocftymGwNtEN2SG8ExWiD/3iSaBEhAGP8So/QtDU544Tj0hIjatGZZCz1YHumoEDleknGz6eDuAVCUdJhJqr/zVXTn4HPqtGOKIpCk7AxjVnhRkBOFyFG4mzoFEwjtjAoijH1rNVB3tfret+JsHIoq2b+0tUwzhuPMKyrpw2yaQbJbxq2zU2s1aI8HYF91i4bdpg1SS5rKxJXwJ12VOyQ9StZMi/Gh6dw6Vw4j7fBCxv69XTR5X3KNymrY6mJniypmCxyc78G+6gIpAShGak++CgvhL1VE1msArc/fTI4gNrypu48ZBIzEvPpgDkur/57wEoZTOeSuIaKTYNJHVl1PLf7oH0gUGW5+vo8mVLxZf3sE0gpriUNdSwF2R37hldwK6WbGqSS9L9fqlREabySjf7L+OOEbtk0dnWWHyNSx7nblmbH//AeYALHZFRtU5vTM94unN53Ro97ln2WMPA3BdfK7LcfUf5iG++81i6Ewwrs3aaVBs2Wu7zlVANl3wAc5fyuXTzxxnKDV7nlTdeJK9yp8NBOzwQ2qYJSxPjOUOQi+SuL7kBSqArLgnAspe8CtOpOQBjm6iU8zzJufYZtOYk63Xsw8cD99PScJjolDS3q0tRq1jC0lUcR+6+Ywz6grDBSyXZwARzGj2H+38Or8bjLZN6Z2GlxPN9cYj2iVXH39hQpJbQGajVVD5ypAR2GIUJpnnPopnRtDNeY8GHFMjJZmKU/9n0GUx6JsUB1PWFfSyxtkhPv8XkZFRfAWlC1bmm2YEj7P0Ngr32zI48NopELfpOVGd1Jb0/e7mgCF2BUs57EhmLjbM946vqQAiwGqTUL8v+Ww2aTtXMF9YOB4nyILoz7LJxB6FIojfHYNse6kh9pKN/iLbAPlw+YcCxkvHuqlQiJTt78lJeWa4F96sLGokX16Tq2uBDokF8LSRVjXhzPjsCSzXCyvYvGKRH7hHKgYDJTjBi516DNgf+EbTdsmnxUQivsgyAXi6QHBrQ/c+MLzK05sVhnRvZhmfjR9m++5nrWEKyHdjlF9r21H2O0behW0IiUe3CtbJQVj36fAzDuBo4NkI51dhezsWE5oJQO/c8sGxPnIfQPd7PgQIRU1VPNq/Uya2XDNCmMhpoUcndc9foNqlI2Bj3l4SPrvltECwwIewYGtCA72UIqkeaZZxy635cW54h7ygqmsMNTyummf02i+taCZSSMYwsXGkIGrL3R0Yw+zI+9Kuram+uehxqIVy3lBXnVm+o0sDTyNDOEMn9281XRujE818LiTTKs//nCXwJTgeoD6XJkYCUp1FE+yKe4jJEeOu5CUPbM9X+XsBlFCIoWlgTj0yTNjNPLVimVuo+fjpNbWgNmVsaaYBXsOpyFO34tlIaUYZ3zBGatudv7H4ZGyOu5iNqm5ZrNcxldiqUrBX/pokNV4jXnFceCPWpynGwwQamcNF4EJEyORsCWPfbInx3TAtdY84B9Tx93XmPHcE76QuLKdMygRIn8QUy0usV4oEcWnywK4jhN3XLgUasoF0TfbEnj+r0GMILQ+QJYjyWTfLR04aXcejbvUqh8IfigOxGU12+SPtCB3yg0n1sp4zAv7mbTjfA+XEfuAo9yDkVPGKheqnnK6tQRmpjJwZqocI73hBCyEwLL2ntGx918a6cClc9GVBmL/CQBq62xNO43oQ2ZVPrIvf32BUTNdbBzxhTNH3XKLy++bdUpryd+EuQ+MB/k4lAmqxEWZzOzoRL9hObKpYm6t6jpCkpu3DmuFP4FC6TH0WUT++Bg7HyY3eT+k0MEFLbMGRpYaeJ6srd9uccGdsvF7G/J9twk04JAtygkwcElDwkdoeus+LqK0GzRFaRflQiA7hqYks+xtjoFYu921ZEawQ99Uoui3cnzwwV+dP0hT+Fi4xUrEgTja0+pazD6thkUze2B4RtuMNzWkfWNf+FRYQVcDiR1vGQaf2SZ5MesrhvolX4aYHObCmI4G4Ze2DbSeeDIfxDiz+KbsAczZg53T6cCDcTIL40VeGmx9wQsiHOUpAhEj+4f8WDhTYQA3G1y77uPZRMysa7PZSGo/FZn1C11AIZ7i7cCY/RGS3LqVZRkQDRVNLtt0ByM6v5dk/R/kJ88oJG74dUyYu8OtuDxbkZPSQiUeRyxTbDaQ14+7ZJkTJsK9btv15gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVEFN8tygNA7U3aoEDGGcw",
      "input": {
        "note": "The descent stopped ~0.9 cm high with j1's holding torque easing from -12.8 to -9.8 N·m, which looks like the block has landed on the red one. Commanding 2 cm lower as a confirmation: if it refuses to descend further, we are truly resting on the block.",
        "targets": {
          "left_j1": 2.129,
          "left_j2": 1.609,
          "left_j3": -1.051
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UVEFN8tygNA7U3aoEDGGcw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1075 left_j2=1.6405 left_j3=-1.1172 left_j4=-0.0044 left_j5=-0.8566 left_gripper=0.4731 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7509 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -9.3197, 3.7265, 0.6618, -0.0757, -0.0269, 0.0366, -0.0068, 1.6342, 5.4222, 1.9219, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cf091f07e0f5bb4aee72ae3eb382378d5eb896a65815405c77f4070e4f749c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984df7bf1271251e4806156378b903c25616977e1dafe6a4f5a23bd7e06a52f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7ea9d1022086ab2f8d827685ac401d3bd0871217f71f1a5667f46a0d6dbb893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2cf091f07e0
wire blob 984df7bf1271
wire blob f7ea9d102208
call 69 attempt 0 · /messages · status 200 · 11.56 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1269 left_j2=1.8053 left_j3=-1.2709 left_j4=-0.004 left_j5=-0.8532 left_gripper=0.4724 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -12.8342, 5.3812, 0.4664, -0.0611, 0.0513, -0.0122, -0.1709, 1.7983, 5.3949, 2.0098, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1082 left_j2=1.6577 left_j3=-1.1484 left_j4=-0.0036 left_j5=-0.8555 left_gripper=0.4726 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -9.8393, 5.2171, 0.2613, -0.0513, 0.0171, 0.0269, -0.1983, 1.7299, 5.2171, 2.0391, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1075 left_j2=1.6405 left_j3=-1.1172 left_j4=-0.0044 left_j5=-0.8566 left_gripper=0.4731 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7509 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -9.3197, 3.7265, 0.6618, -0.0757, -0.0269, 0.0366, -0.0068, 1.6342, 5.4222, 1.9219, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cf091f07e0f5bb4aee72ae3eb382378d5eb896a65815405c77f4070e4f749c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984df7bf1271251e4806156378b903c25616977e1dafe6a4f5a23bd7e06a52f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7ea9d1022086ab2f8d827685ac401d3bd0871217f71f1a5667f46a0d6dbb893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2cf091f07e0]
[blob 984df7bf1271]
[blob f7ea9d102208]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tfpvLDw754WvoamP3f2f4",
      "input": {
        "note": "The arm has stalled against something at ~4 cm height, exactly the red block's top face, so I'm opening the jaws to release the blue block there. I'll pull the arm away next and check the stack from overhead.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_018tfpvLDw754WvoamP3f2f4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.125 left_j2=1.6169 left_j3=-1.1076 left_j4=-0.004 left_j5=-0.8608 left_gripper=0.9959 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.762 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.4513, 7.9248, 0.0708, -0.0366, -0.0171, -0.1392, -0.1846, 1.6205, 5.2308, 1.9805, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0264addc126618bfb6634b8a8396d8ed8c29910c7384e54f05efdc259c5616a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8154b1b930a186f9b10295ba9816f8d68b72710ef6f0229f2ef996b46f871a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 651):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:835818cad34f1cd040f3276e361fa5503dc3ec3871daa8b817cd3b36980e75f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f0264addc126
wire blob 8154b1b930a1
wire blob 835818cad34f
call 70 attempt 0 · /messages · status 200 · 15.57 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8028 left_j1=2.1082 left_j2=1.6577 left_j3=-1.1484 left_j4=-0.0036 left_j5=-0.8555 left_gripper=0.4726 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -9.8393, 5.2171, 0.2613, -0.0513, 0.0171, 0.0269, -0.1983, 1.7299, 5.2171, 2.0391, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1075 left_j2=1.6405 left_j3=-1.1172 left_j4=-0.0044 left_j5=-0.8566 left_gripper=0.4731 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7509 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -9.3197, 3.7265, 0.6618, -0.0757, -0.0269, 0.0366, -0.0068, 1.6342, 5.4222, 1.9219, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.125 left_j2=1.6169 left_j3=-1.1076 left_j4=-0.004 left_j5=-0.8608 left_gripper=0.9959 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.762 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.4513, 7.9248, 0.0708, -0.0366, -0.0171, -0.1392, -0.1846, 1.6205, 5.2308, 1.9805, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0264addc126618bfb6634b8a8396d8ed8c29910c7384e54f05efdc259c5616a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8154b1b930a186f9b10295ba9816f8d68b72710ef6f0229f2ef996b46f871a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
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      "type": "image"
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  "role": "user"
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TmHCPBzytpUBsH9iof1ANh",
      "input": {
        "note": "Block released. Lifting the open gripper straight up off it so I can see from overhead whether it actually landed on top of the red block.",
        "targets": {
          "left_j1": 1.99,
          "left_j2": 1.973,
          "left_j3": -1.554
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TmHCPBzytpUBsH9iof1ANh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0323 left_j2=1.9354 left_j3=-1.4872 left_j4=-0.0036 left_j5=-0.8639 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7841 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8615, 7.5692, 0.0904, -0.0122, -0.0366, 0.0757, -0.0615, 1.853, 5.2034, 2.1465, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec031aae71a41411eae927417aba418cece34ff675d159ef3bd094811949fbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fe2a9729a83cb084dd45696f1ed0292ac355f22c1ededc5641ee81369c4886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d1598c515695c4a37826b51c5566cdbf145583f0ef04d36726e55ebd4e35ffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
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}
wire blob ec031aae71a4
wire blob d4fe2a9729a8
wire blob 4d1598c51569
call 71 attempt 0 · /messages · status 200 · 5.45 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1075 left_j2=1.6405 left_j3=-1.1172 left_j4=-0.0044 left_j5=-0.8566 left_gripper=0.4731 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7509 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -9.3197, 3.7265, 0.6618, -0.0757, -0.0269, 0.0366, -0.0068, 1.6342, 5.4222, 1.9219, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.125 left_j2=1.6169 left_j3=-1.1076 left_j4=-0.004 left_j5=-0.8608 left_gripper=0.9959 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.762 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.4513, 7.9248, 0.0708, -0.0366, -0.0171, -0.1392, -0.1846, 1.6205, 5.2308, 1.9805, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0323 left_j2=1.9354 left_j3=-1.4872 left_j4=-0.0036 left_j5=-0.8639 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7841 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8615, 7.5692, 0.0904, -0.0122, -0.0366, 0.0757, -0.0615, 1.853, 5.2034, 2.1465, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec031aae71a41411eae927417aba418cece34ff675d159ef3bd094811949fbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fe2a9729a83cb084dd45696f1ed0292ac355f22c1ededc5641ee81369c4886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d1598c515695c4a37826b51c5566cdbf145583f0ef04d36726e55ebd4e35ffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016WvVeJTjSHKfTFwJkHHHRP",
      "input": {
        "note": "Clear view now: the two blocks are side by side, not stacked — the wooden block landed ~5 cm outboard of the red one. Descending straight back down onto the wooden block (it is exactly where my fingertips were when I released it) to re-grasp it.",
        "targets": {
          "left_j1": 2.181,
          "left_j2": 1.575,
          "left_j3": -0.965,
          "left_j5": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_016WvVeJTjSHKfTFwJkHHHRP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1681 left_j2=1.5909 left_j3=-1.0359 left_j4=-0.004 left_j5=-0.8146 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7918 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -10.6051, 5.4769, 0.4615, -0.0562, 0.0952, -0.0073, -0.0615, 1.7573, 5.3675, 2.0147, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f77b31dbe9a6802f15726d4a48eb7063ec1395f4eaeec167d819d1d99ba92ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4505be29f23157b262f2b679b2e338d82898190fb3a4f4c020486a7d6cd785d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fe568511866039673db1dd0284582c235168b7e2783084c1da948b3976ffdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8f77b31dbe9a
wire blob e4505be29f23
wire blob 7fe568511866
call 72 attempt 0 · /messages · status 200 · 7.61 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.125 left_j2=1.6169 left_j3=-1.1076 left_j4=-0.004 left_j5=-0.8608 left_gripper=0.9959 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.762 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.4513, 7.9248, 0.0708, -0.0366, -0.0171, -0.1392, -0.1846, 1.6205, 5.2308, 1.9805, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0323 left_j2=1.9354 left_j3=-1.4872 left_j4=-0.0036 left_j5=-0.8639 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7841 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8615, 7.5692, 0.0904, -0.0122, -0.0366, 0.0757, -0.0615, 1.853, 5.2034, 2.1465, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1681 left_j2=1.5909 left_j3=-1.0359 left_j4=-0.004 left_j5=-0.8146 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7918 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -10.6051, 5.4769, 0.4615, -0.0562, 0.0952, -0.0073, -0.0615, 1.7573, 5.3675, 2.0147, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f77b31dbe9a6802f15726d4a48eb7063ec1395f4eaeec167d819d1d99ba92ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4505be29f23157b262f2b679b2e338d82898190fb3a4f4c020486a7d6cd785d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fe568511866039673db1dd0284582c235168b7e2783084c1da948b3976ffdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8f77b31dbe9a]
[blob e4505be29f23]
[blob 7fe568511866]
{
  "content": [
    {
      "signature": "CAIS6gUKjAEIEBgCKkCd91wykujwdhUgpuVo3wTUzADZ3ogIV/nKha3qbFY+ZFeTRXx9IujYzxrzw5p0piaAP6J/KCsmRnvQXzzhMSr6MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMiRKfv0gl0GdFOkIcGgwyTttbUhEocC9hligiMLKhDrWVwVmp2tpkE1jcwz81MwXh/dN/IwCyjF6trZXtVCMa/SQdKq/7FvqZm+dk1yqKBHgyC8+kqqV2FHaLuPFw7cTv6MRnaRB0ocpA5RYNzSy3uMzLIx5qQf+uP0RatuL0TnDpzWy3rHoTOasCSBNe573235gLirxr1Rs/RZqQNAnuLY0eCspEyfeHLvA0QAXUgc0YVA2FipANgfoyrOuIy9oe6XB5yf+8WlIEc+GHZEd3xSTzh8hQBETFIbUTKEzaCaOqvvgmn3Icz41dieO4/CTFlyouOZ1lNdd4Rk/AJfH8Wshb2pl/oKI5djkQgRkEIyxFWhjopPYe+GIbZnMVIwMuAXTDuRPe2ULlWKj2eDXRLtrwNCg/FbgwIdv1tjKRvXuQJCV0Dn03N0wtnkH5A9hy2gOZBHpkS4HsbetT4txcsUpl+37g1GXWYG2ZqHsxlSrbj8ZsIMD4lMiggGHQ01mnhN5D4o76t6dNKc5UZqcllI37uq++Fa8uXGaMlugOX8Xj2vnJPfVb05UW6hJ0TCEuDP8IVjNotPsplbV1LUQi5QhAr5x/6ZO5UaUxKNUikHXQRCsdBEhG+Ed6x8SWNnhjYG9ssiwJ6opJos0gGiIdIuSx8G01fuVcbuD/PSaf91aFitUeIxumaIKDgrCPqJ5snSkaulOosQlLjT9Rj8iDLTahOsNd4BXos/HbYhM21XoQ6zsLWqXqRkawc2fTgxiTgrPnHz/iok/NgbWQm7PaKZrkeVvDl60IbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ca5KKWHmKZDniCgB3Z1DD7",
      "input": {
        "note": "Fingertips are back at table level with the wooden block filling the jaw gap in the wrist view. Closing to re-grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ca5KKWHmKZDniCgB3Z1DD7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1735 left_j2=1.5837 left_j3=-1.0252 left_j4=-0.001 left_j5=-0.8154 left_gripper=0.4433 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7994 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -11.3573, 6.0103, 0.0757, -0.0952, -0.0317, 1.033, -0.2256, 1.6479, 5.3402, 1.9365, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2fad4af4f8073a810a7712721e80640ebf67369b3cdcca53192e4c294b472a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed765d70a463da7537c2bbdf73160c8c20ee2be56fbac9336a2f2b5584675e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 678):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72b66c897f4ceece8a785fa522fc5cc089ef3266348104270edc17c888bfc8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2fad4af4f80
wire blob 9ed765d70a46
wire blob 72b66c897f4c
call 73 attempt 0 · /messages · status 200 · 9.285 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0323 left_j2=1.9354 left_j3=-1.4872 left_j4=-0.0036 left_j5=-0.8639 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7841 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8615, 7.5692, 0.0904, -0.0122, -0.0366, 0.0757, -0.0615, 1.853, 5.2034, 2.1465, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1681 left_j2=1.5909 left_j3=-1.0359 left_j4=-0.004 left_j5=-0.8146 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7918 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -10.6051, 5.4769, 0.4615, -0.0562, 0.0952, -0.0073, -0.0615, 1.7573, 5.3675, 2.0147, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1735 left_j2=1.5837 left_j3=-1.0252 left_j4=-0.001 left_j5=-0.8154 left_gripper=0.4433 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7994 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -11.3573, 6.0103, 0.0757, -0.0952, -0.0317, 1.033, -0.2256, 1.6479, 5.3402, 1.9365, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2fad4af4f8073a810a7712721e80640ebf67369b3cdcca53192e4c294b472a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed765d70a463da7537c2bbdf73160c8c20ee2be56fbac9336a2f2b5584675e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72b66c897f4ceece8a785fa522fc5cc089ef3266348104270edc17c888bfc8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2fad4af4f80]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014wvaBqwcJmTxPgZAaVK3bf",
      "input": {
        "note": "Re-grasped the wooden block (residual 0.443, holding effort 1.0). Lifting 10 cm straight up before translating over the red block.",
        "targets": {
          "left_j1": 2.014,
          "left_j2": 1.802,
          "left_j3": -1.359
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_014wvaBqwcJmTxPgZAaVK3bf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0628 left_j2=1.7683 left_j3=-1.2976 left_j4=-0.0002 left_j5=-0.8188 left_gripper=0.4463 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8104 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8889, 7.5829, 0.0904, -0.0611, -0.022, 1.0183, -0.3487, 1.894, 5.2308, 2.0244, -0.0317, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 684):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9edce63fecda66493347f0e3e435d2d0b8278ffb6179942acbbf447c26a549bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 684):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30ca8b40f49b8494fdb037837a7b83c10ccf77643281f6ffd504176d41b85e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 684):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1771f4bcabd97d0a9d94906cfd47b0e19f3668e5de18c3801f70fad9effee3e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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wire blob a30ca8b40f49
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call 74 attempt 0 · /messages · status 200 · 9.261 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1681 left_j2=1.5909 left_j3=-1.0359 left_j4=-0.004 left_j5=-0.8146 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7918 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -10.6051, 5.4769, 0.4615, -0.0562, 0.0952, -0.0073, -0.0615, 1.7573, 5.3675, 2.0147, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1735 left_j2=1.5837 left_j3=-1.0252 left_j4=-0.001 left_j5=-0.8154 left_gripper=0.4433 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7994 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -11.3573, 6.0103, 0.0757, -0.0952, -0.0317, 1.033, -0.2256, 1.6479, 5.3402, 1.9365, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0628 left_j2=1.7683 left_j3=-1.2976 left_j4=-0.0002 left_j5=-0.8188 left_gripper=0.4463 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8104 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8889, 7.5829, 0.0904, -0.0611, -0.022, 1.0183, -0.3487, 1.894, 5.2308, 2.0244, -0.0317, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 684):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9edce63fecda66493347f0e3e435d2d0b8278ffb6179942acbbf447c26a549bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 684):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30ca8b40f49b8494fdb037837a7b83c10ccf77643281f6ffd504176d41b85e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 684):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1771f4bcabd97d0a9d94906cfd47b0e19f3668e5de18c3801f70fad9effee3e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zEpgMm5tpxVsxePi77Ekn",
      "input": {
        "note": "Red block clearly visible at overhead (107,145). Using my anchored mapping plus the bias I measured from the last attempt (my placements land ~2.5 cm outboard), I'm moving the carried block to hover 10 cm above the red block.",
        "targets": {
          "left_j0": -1.0,
          "left_j1": 1.94,
          "left_j2": 1.697,
          "left_j3": -1.327,
          "left_j5": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_019zEpgMm5tpxVsxePi77Ekn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9859 left_j1=2.0102 left_j2=1.7027 left_j3=-1.3209 left_j4=-0.0021 left_j5=-0.9646 left_gripper=0.4468 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8154 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.1692, -15.0496, 5.6957, 0.1929, -0.0415, -0.105, 1.0379, 0.0615, 1.9897, 5.2171, 1.9316, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22ce5518570abd9ff35b1269fba60a9420d33b0c3643e0429a3f0f326c8e6eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21aef1b9d37b949f0375727eba27af8630d66e5947602742167dd6c6d7c35a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 688):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c6819c8463b9f60df30a4f482ee685cb51c1641adf35544ec64111564e7356e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b22ce5518570
wire blob a21aef1b9d37
wire blob 6c6819c8463b
call 75 attempt 0 · /messages · status 200 · 18.38 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.1735 left_j2=1.5837 left_j3=-1.0252 left_j4=-0.001 left_j5=-0.8154 left_gripper=0.4433 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7994 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -11.3573, 6.0103, 0.0757, -0.0952, -0.0317, 1.033, -0.2256, 1.6479, 5.3402, 1.9365, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0628 left_j2=1.7683 left_j3=-1.2976 left_j4=-0.0002 left_j5=-0.8188 left_gripper=0.4463 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8104 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8889, 7.5829, 0.0904, -0.0611, -0.022, 1.0183, -0.3487, 1.894, 5.2308, 2.0244, -0.0317, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9859 left_j1=2.0102 left_j2=1.7027 left_j3=-1.3209 left_j4=-0.0021 left_j5=-0.9646 left_gripper=0.4468 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8154 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.1692, -15.0496, 5.6957, 0.1929, -0.0415, -0.105, 1.0379, 0.0615, 1.9897, 5.2171, 1.9316, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22ce5518570abd9ff35b1269fba60a9420d33b0c3643e0429a3f0f326c8e6eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21aef1b9d37b949f0375727eba27af8630d66e5947602742167dd6c6d7c35a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c6819c8463b9f60df30a4f482ee685cb51c1641adf35544ec64111564e7356e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b22ce5518570]
[blob a21aef1b9d37]
[blob 6c6819c8463b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GfkndrSn72RPyNmuTvp1By",
      "input": {
        "note": "Hovering 8 cm above the red block with a sliver of it just visible past my carried block. Lowering to ~4.5 cm, just above the red block's top face, and watching for the contact stall.",
        "targets": {
          "left_j1": 2.037,
          "left_j2": 1.596,
          "left_j3": -1.129
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GfkndrSn72RPyNmuTvp1By",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9894 left_j1=2.0464 left_j2=1.6047 left_j3=-1.1866 left_j4=0.0074 left_j5=-0.9802 left_gripper=0.4469 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8356 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -11.5077, 6.0786, 0.2906, -0.0904, 0.0513, 1.0183, -0.1709, 1.6479, 5.2034, 2.0977, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995a9c3a21d1edd9c42e58091db21cd2b64a267771f2418d3c3a499a95289ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad413b523cae7a2cbfb3ab45f0f6f32ab0211e1292cc11d5005d75afee40aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 692):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:834e9f894456c5d0fd7fd0749e4be1ef12b2ffec67281bd5e9acd784d945e85a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 995a9c3a21d1
wire blob 7ad413b523ca
wire blob 834e9f894456
call 76 attempt 0 · /messages · status 200 · 12.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8009 left_j1=2.0628 left_j2=1.7683 left_j3=-1.2976 left_j4=-0.0002 left_j5=-0.8188 left_gripper=0.4463 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8104 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -12.8889, 7.5829, 0.0904, -0.0611, -0.022, 1.0183, -0.3487, 1.894, 5.2308, 2.0244, -0.0317, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9859 left_j1=2.0102 left_j2=1.7027 left_j3=-1.3209 left_j4=-0.0021 left_j5=-0.9646 left_gripper=0.4468 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8154 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.1692, -15.0496, 5.6957, 0.1929, -0.0415, -0.105, 1.0379, 0.0615, 1.9897, 5.2171, 1.9316, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9894 left_j1=2.0464 left_j2=1.6047 left_j3=-1.1866 left_j4=0.0074 left_j5=-0.9802 left_gripper=0.4469 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8356 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -11.5077, 6.0786, 0.2906, -0.0904, 0.0513, 1.0183, -0.1709, 1.6479, 5.2034, 2.0977, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995a9c3a21d1edd9c42e58091db21cd2b64a267771f2418d3c3a499a95289ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad413b523cae7a2cbfb3ab45f0f6f32ab0211e1292cc11d5005d75afee40aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834e9f894456c5d0fd7fd0749e4be1ef12b2ffec67281bd5e9acd784d945e85a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 995a9c3a21d1]
[blob 7ad413b523ca]
[blob 834e9f894456]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FJxCEpkc6EwEsfTwYLEMpd",
      "input": {
        "note": "This pose matches both my corrected mapping and the direct error correction measured from the failed attempt. Descending ~2 cm to below the red block's top face: a stall means the block is resting on it.",
        "targets": {
          "left_j1": 2.057,
          "left_j2": 1.539,
          "left_j3": -1.052
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FJxCEpkc6EwEsfTwYLEMpd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9909 left_j1=2.0552 left_j2=1.5639 left_j3=-1.1061 left_j4=0.0078 left_j5=-0.9771 left_gripper=0.4475 right_j0=0.0101 right_j1=0.6258 right_j2=1.2045 right_j3=-0.844 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -10.4, 3.8496, 0.6227, -0.0122, -0.1001, 0.9499, -0.2256, 2.0444, 5.3402, 1.9463, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 695):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a60c0d33cc32848e05b400f10918b0e3a817cac8482f2c84436df3629389e132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 695):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74cd0dd2abef68d4c211fb0886ca42069d89c7c0d20e8a73e8c024d36140f166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 695):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ffa641f1b928a477b16cab22d16999b8b7b062b95088748dd40d723184eced5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a60c0d33cc32
wire blob 74cd0dd2abef
wire blob 0ffa641f1b92
call 77 attempt 0 · /messages · status 200 · 7.721 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9859 left_j1=2.0102 left_j2=1.7027 left_j3=-1.3209 left_j4=-0.0021 left_j5=-0.9646 left_gripper=0.4468 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8154 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [1.1692, -15.0496, 5.6957, 0.1929, -0.0415, -0.105, 1.0379, 0.0615, 1.9897, 5.2171, 1.9316, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9894 left_j1=2.0464 left_j2=1.6047 left_j3=-1.1866 left_j4=0.0074 left_j5=-0.9802 left_gripper=0.4469 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8356 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -11.5077, 6.0786, 0.2906, -0.0904, 0.0513, 1.0183, -0.1709, 1.6479, 5.2034, 2.0977, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9909 left_j1=2.0552 left_j2=1.5639 left_j3=-1.1061 left_j4=0.0078 left_j5=-0.9771 left_gripper=0.4475 right_j0=0.0101 right_j1=0.6258 right_j2=1.2045 right_j3=-0.844 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -10.4, 3.8496, 0.6227, -0.0122, -0.1001, 0.9499, -0.2256, 2.0444, 5.3402, 1.9463, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 695):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a60c0d33cc32848e05b400f10918b0e3a817cac8482f2c84436df3629389e132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 695):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74cd0dd2abef68d4c211fb0886ca42069d89c7c0d20e8a73e8c024d36140f166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 695):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ffa641f1b928a477b16cab22d16999b8b7b062b95088748dd40d723184eced5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a60c0d33cc32]
[blob 74cd0dd2abef]
[blob 0ffa641f1b92]
{
  "content": [
    {
      "signature": 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DYnrr39EONvZ0GVAKmghsLRRIXOl+Ondwwxh7iAXzAPt9Lm0IVhZnZQBpSmtOcb5Mtms2RpICgjO6rVC+kN2xz1yTZ4Y+TUbrgekYIvI1ODd69cl9oY0QJN6xKaWuZJb5cyAHzy+GSTxkek9n24fjPs7vrgfFxxQdEsW+WsAKISeQ3YJHkiXuqlqPin0XLkTJ7gMrjgkdxDY4VjgReaCj2I6arJFDwwBO4AJDGdPJ9VEV2hnu9wKzsUYqxeUhUeReIzraBX5oQZT7dYoMBWzQ6a5KXAgojfTf8LRUmnNQHx3GfyS6UsmDTHf7t9Wqe289msse8cg0JYlCG+0/4UVdVi6sOEvWRW59vkEAUDnb91K4mBv3X3vDJrreqpyrAZEU11OOl8CPFt43u2NCJCrzTQ7asUbNTzeUJgUngLwyCDjgUnXJ9eMQfbWCVHALXFRb1pJ0Hld4r2KDvWcoDQOz1z+tbTH9K6nSy0/SGl94XKbVco43uZPfWCcqeb7kd6oozaR3Rbq9SljwEYoal7nqfUfhqC/Zysu/rIWNyvfxkly+0GJuVZy1GTEqM3rdxHkaZweBPCQnH/xgoAokaK0jrnlG9NtVnaXysIFTxXD7dpSwFmZk2/ip9ZW7AOQ26Ysinla2NZ+rQScqZfps7HLhiSU66X8m25/yjLzwTmut/2lgJkCXXm2YLsbw94K8+icFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QWy8ZUcSBykixuWjrLYqQR",
      "input": {
        "note": "Still not stacked — the red block remains visible beside my block. Last attempt taught me that at this wrist roll the wrist image's left/right is inverted, so that offset means the red block is ~2.7 cm to the arm's right; lifting for clearance and yawing right by that amount.",
        "targets": {
          "left_j0": -1.09,
          "left_j1": 1.999,
          "left_j2": 1.608,
          "left_j3": -1.18,
          "left_j5": -1.07
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QWy8ZUcSBykixuWjrLYqQR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0286 left_j1=2.0491 left_j2=1.573 left_j3=-1.132 left_j4=-0.0002 left_j5=-1.018 left_gripper=0.4497 right_j0=0.0101 right_j1=0.6262 right_j2=1.2045 right_j3=-0.8528 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -14.4205, 8.1162, 0.2125, 0.0806, -0.0415, 0.8669, -0.1846, 1.9214, 5.3265, 1.9512, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c45216971093c1268835ad8ce18abe3873cde8b5214a21bda3caee178312c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f44cfd6c0c34db0640ec1e602e9239d977aa6191c1f14fa382f2e3119e0dc9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 697):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7caccace11d6b577dad6a56cc37af3172b2f66a0cc04674fccccabb9babf654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6c4521697109
wire blob 3f44cfd6c0c3
wire blob c7caccace11d
call 78 attempt 0 · /messages · status 200 · 13.79 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9894 left_j1=2.0464 left_j2=1.6047 left_j3=-1.1866 left_j4=0.0074 left_j5=-0.9802 left_gripper=0.4469 right_j0=0.0101 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8356 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -11.5077, 6.0786, 0.2906, -0.0904, 0.0513, 1.0183, -0.1709, 1.6479, 5.2034, 2.0977, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9909 left_j1=2.0552 left_j2=1.5639 left_j3=-1.1061 left_j4=0.0078 left_j5=-0.9771 left_gripper=0.4475 right_j0=0.0101 right_j1=0.6258 right_j2=1.2045 right_j3=-0.844 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -10.4, 3.8496, 0.6227, -0.0122, -0.1001, 0.9499, -0.2256, 2.0444, 5.3402, 1.9463, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0286 left_j1=2.0491 left_j2=1.573 left_j3=-1.132 left_j4=-0.0002 left_j5=-1.018 left_gripper=0.4497 right_j0=0.0101 right_j1=0.6262 right_j2=1.2045 right_j3=-0.8528 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -14.4205, 8.1162, 0.2125, 0.0806, -0.0415, 0.8669, -0.1846, 1.9214, 5.3265, 1.9512, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c45216971093c1268835ad8ce18abe3873cde8b5214a21bda3caee178312c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f44cfd6c0c34db0640ec1e602e9239d977aa6191c1f14fa382f2e3119e0dc9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7caccace11d6b577dad6a56cc37af3172b2f66a0cc04674fccccabb9babf654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6c4521697109]
[blob 3f44cfd6c0c3]
[blob c7caccace11d]
{
  "content": [
    {
      "signature": "CAISiA0KjAEIEBgCKkBhzciqRI69szzpwaPxtRIJuKvb7sIDf54l3rUjqK/TReVkqZMMVQCFYOMLYbB4oqZeoB5uWbVQ4PdacH8xPL41MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMEALWSg0KQZqIgOZDGgxsV1W6D9lc4NrdQAEiMNDfDqB3fwgtr/8prDuPXO8/nq3tMU8eDUZZC/4hiSPAuFD5MjhQCyuVBgbdMobmLCqoC99xSdpRXoevuXeyazdualfLL/rJUN3KJhTh6REsXHqskHXgcTqfrB7cQ+8fgaEv8QRRjAsxf9KmMfUhi860foK9HANFyhVWEYNtT8OlOH0Lr/vA6wyYucdLxId16sST4O9uEHXVKtY4r8SCoGZUlcO8XkNqAYiqVSp9Nue5S3+Xd5SEwwkFVLxPXqj2VcOJnWkd48abolcqjXLWilXS/j2+gVMsitu8K5nKCMjOfJW7XxGtCfspm3Mi1T6/9z9phK0khHKOI5LxzDZQIZfUO2wW111ySi33JWUgwe3D+RBiPWVOdtSfzK09wesZgg9gR3G/KtiwZYUtebd217NZjmHrU4vipmTNmF2fF/xYbVlK4luPF4vD7vuFBWCSZRoO7gjJAWphUtR24oCckKZXhWf9IaMtfmY9y1FxZYHWAaQBFEXZ/hE9WredwbNAEGiZg3XHGSyUlkmbmHQIxautn9PSfByNeJFNY16oULcnD9cGCA6REuaWqTCOLSmIUBfiv9/We7kdVEoxptDwuIBS31mgjXo2lgJfd69BN90doZtuRg+kwG1lXyXFn57Jv9uOpTMMfnpPxiOtEtauHq+Vucv9rd1U2JAc5qCvSD7AlktrPmAoQOn9UOOzucIsBHw9J6xnVJoU8PQH7TE8VYXBiW9Y0oGmhlj1Gpruy4DgQSWT9vgfd7tTpyc9+KNPMMz8ullhpz7pDQJZ5GRknCnmlu3oN/plBt/jgp6SNFhiOz+Zer0pqCjoe21VPLqzupBVmdtotdk4TRiWdBtzOD/RuruvXhKmF5ak38wfqElloz7E/eCBg08qQScpbEUxtoi8yTnKM8JIPGCtCKKF+cWkOHqUoiothywyw7FUi3UhfZ/AnZ59H6FrJNNsTmJgt3ufbY+FQYAojzbSMa4ZDNmhCU1hhODrdIHjAszKMyzYdIM/e0cYRAzffHvgXR2I6g4U38KN9iRLUUKx2He6Jgd/10ZpP6WylSCZJ80KPDmk/hPdDJql5zEhf6VufuA8d/El8kooiP6pgo7XbnKwojYLSXx2J1U8mqZMO4gjuGUvFZn1pfKwTh/urWYJrcMueRDqUWiNoWdlhOsbglG6GE0wVbMT5cwk8TYPja8YHwSJ4+cqcAkC2Och8RlwWch3ZETfvLNjvYbZ0Si/s3wCfRkwB65OfEwWuxC5RLIeS8hqJiSk4V/j/rzvFmaoHPoFzZa/36vSqVfZ/ft3XcFMJhSBc8LXOnrIPvg9IahIifGag7XhT1ktyymtxEAmziz099U1bq5m9HVUZZE4XggiIOTpdMuvD3ZdeN4RMDhvURlekd3OmmNBq88Ui2v7jDjHvTu4ayOJP9uaXvXnMhYn8O3RRlIJYKOe59OjTSF68kMEDPWgCGWHSP3QTGiU0T2fz1TWq1u9pV7jK61eHeUcZih5e0b4Ca9xBfUQunn/d9fL/O2SdnmOV7D3ag4z+hunKsj2Qs7LWRBh40fhkJFuKl64msgm0w+teo38U8QuSLhWjhnctZdhrMw+PHD3s6Ag/wW1m7S++57u86SW5jvaF/WqYCm/zGP71kRuue8nQUAeC7Z6MmHowUhww5aOeDY/t6I7gzBRTzhtmRQWf4dsXkIXmnE3DA0ERNa63KWZfPVKv9dbn1RUg1zKAVMSB97PrJmG9mbdvCx7wYDw/co50K9nB5z4ntcX/uCltWYtgOvvsa3W6bpQ50iD/F+3OAaXjWIAm/8jpkkWLkFbfc9aEdBRf+mi/UhK5ylnikWBvnL84+qaj1jbWv1QzJHE9lOi/DB7P+LQ0V1YiHDL53bVntHEr2tGvX29kor7IXMOQFDjSQVVZ33EXOSXM6Hnw1QVgKOZMfzi+Zb8gD7a+//tGinOD3xxkELskOsB6c2RJ2iAvXrkXYAVlFMvaOcrxCMvEeYKXbxvokKU/IpEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xELziwPUe1z283iVCYDgh",
      "input": {
        "note": "The yaw stalled with negative j0 effort, meaning my block is pressing against the red block's side. Lifting cleanly to ~9 cm first so I can shift sideways without shoving it.",
        "targets": {
          "left_j1": 1.961,
          "left_j2": 1.683,
          "left_j3": -1.293
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_016xELziwPUe1z283iVCYDgh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0328 left_j1=2.0331 left_j2=1.6417 left_j3=-1.2392 left_j4=0.0139 left_j5=-1.0389 left_gripper=0.4527 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8589 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -15.2, 8.5402, 0.0611, -0.1783, 0.2027, 0.6813, -0.0615, 1.6615, 5.3402, 1.9414, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 700):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e480fa59fb167fdc2e914aa66f292a7d89a4efff3b5f3b0ecfa89314660e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 700):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914a4ba5733fa13e57599f2059c6ac1c1f4ceec287b4e5eee4727aa0b9737f44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 700):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e593ecc89ee44f8b27cba4e16aaeed28d70c7f941fb2d48f6a041f2a8ac1170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 01e480fa59fb
wire blob 914a4ba5733f
wire blob 9e593ecc89ee
call 79 attempt 0 · /messages · status 200 · 12.25 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9909 left_j1=2.0552 left_j2=1.5639 left_j3=-1.1061 left_j4=0.0078 left_j5=-0.9771 left_gripper=0.4475 right_j0=0.0101 right_j1=0.6258 right_j2=1.2045 right_j3=-0.844 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -10.4, 3.8496, 0.6227, -0.0122, -0.1001, 0.9499, -0.2256, 2.0444, 5.3402, 1.9463, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0286 left_j1=2.0491 left_j2=1.573 left_j3=-1.132 left_j4=-0.0002 left_j5=-1.018 left_gripper=0.4497 right_j0=0.0101 right_j1=0.6262 right_j2=1.2045 right_j3=-0.8528 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -14.4205, 8.1162, 0.2125, 0.0806, -0.0415, 0.8669, -0.1846, 1.9214, 5.3265, 1.9512, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0328 left_j1=2.0331 left_j2=1.6417 left_j3=-1.2392 left_j4=0.0139 left_j5=-1.0389 left_gripper=0.4527 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8589 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -15.2, 8.5402, 0.0611, -0.1783, 0.2027, 0.6813, -0.0615, 1.6615, 5.3402, 1.9414, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 700):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e480fa59fb167fdc2e914aa66f292a7d89a4efff3b5f3b0ecfa89314660e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 700):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914a4ba5733fa13e57599f2059c6ac1c1f4ceec287b4e5eee4727aa0b9737f44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 700):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e593ecc89ee44f8b27cba4e16aaeed28d70c7f941fb2d48f6a041f2a8ac1170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 01e480fa59fb]
[blob 914a4ba5733f]
[blob 9e593ecc89ee]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XpGQqGxGM6ZxeFtoKegovH",
      "input": {
        "note": "I have been nudging the red block around, so my position estimates are stale. Pulling the left arm (still holding the block) back near its base for one clean, unobstructed overhead look at where the red block actually is now.",
        "targets": {
          "left_j0": -0.4,
          "left_j1": 1.0,
          "left_j2": 1.45,
          "left_j3": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01XpGQqGxGM6ZxeFtoKegovH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4175 left_j1=1.0317 left_j2=1.4544 left_j3=-0.9108 left_j4=0.0154 left_j5=-1.0477 left_gripper=0.455 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8665 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -1.7846, 5.6684, 2.2833, -0.0171, 0.0562, 0.486, -0.0205, 1.7573, 5.3675, 1.9414, -0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 717):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b2a039857016fad0502be479579d8a6cd64ef1097f138c79637cd90feebf03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 717):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a083f895c2abd37f15b1571408dd5079d585549fc2279c262746f059f6e39364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 717):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b45f31ff9945a0904e2c6d0d15b4463d948b9b2aa2026847f65dc9b94913be6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 17b2a0398570
wire blob a083f895c2ab
wire blob b45f31ff9945
call 80 attempt 0 · /messages · status 200 · 11.95 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0286 left_j1=2.0491 left_j2=1.573 left_j3=-1.132 left_j4=-0.0002 left_j5=-1.018 left_gripper=0.4497 right_j0=0.0101 right_j1=0.6262 right_j2=1.2045 right_j3=-0.8528 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -14.4205, 8.1162, 0.2125, 0.0806, -0.0415, 0.8669, -0.1846, 1.9214, 5.3265, 1.9512, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0328 left_j1=2.0331 left_j2=1.6417 left_j3=-1.2392 left_j4=0.0139 left_j5=-1.0389 left_gripper=0.4527 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8589 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -15.2, 8.5402, 0.0611, -0.1783, 0.2027, 0.6813, -0.0615, 1.6615, 5.3402, 1.9414, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4175 left_j1=1.0317 left_j2=1.4544 left_j3=-0.9108 left_j4=0.0154 left_j5=-1.0477 left_gripper=0.455 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8665 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -1.7846, 5.6684, 2.2833, -0.0171, 0.0562, 0.486, -0.0205, 1.7573, 5.3675, 1.9414, -0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 717):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b2a039857016fad0502be479579d8a6cd64ef1097f138c79637cd90feebf03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 717):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a083f895c2abd37f15b1571408dd5079d585549fc2279c262746f059f6e39364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 717):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45f31ff9945a0904e2c6d0d15b4463d948b9b2aa2026847f65dc9b94913be6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 17b2a0398570]
[blob a083f895c2ab]
[blob b45f31ff9945]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJNK7R3paAS5nRJkguQXU6",
      "input": {
        "note": "Clean shot: the red block is alone at overhead (105,148). Solving directly from my one measured placement trial (aim pose → where the block actually landed), the stack point is r=0.322 m at j0=-0.99; moving there at 6.6 cm height.",
        "targets": {
          "left_j0": -1.01,
          "left_j1": 1.951,
          "left_j2": 1.538,
          "left_j3": -1.158
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01CJNK7R3paAS5nRJkguQXU6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.992 left_j1=1.9381 left_j2=1.515 left_j3=-1.1267 left_j4=0.0166 left_j5=-1.0481 left_gripper=0.455 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8845 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.8103, 8.1299, 0.0122, -0.0855, -0.0269, 0.5543, -0.2803, 1.5658, 5.2171, 2.1026, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 732):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ca9130a63f49beba7f2ba4475418d22e94b4c899a91cb1b570d9ddfcc07fcf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 732):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d68547b728dfdd6400c739d09a84fd59be26244dbf2a2a7b7915622ac732ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 732):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d51cb2f32265ae6cb9f5a60688c856dfb4b7f4bb71238de11df7a153b044d3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7ca9130a63f4
wire blob b6d68547b728
wire blob d51cb2f32265
call 81 attempt 0 · /messages · status 200 · 8.393 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0328 left_j1=2.0331 left_j2=1.6417 left_j3=-1.2392 left_j4=0.0139 left_j5=-1.0389 left_gripper=0.4527 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8589 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -15.2, 8.5402, 0.0611, -0.1783, 0.2027, 0.6813, -0.0615, 1.6615, 5.3402, 1.9414, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4175 left_j1=1.0317 left_j2=1.4544 left_j3=-0.9108 left_j4=0.0154 left_j5=-1.0477 left_gripper=0.455 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8665 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -1.7846, 5.6684, 2.2833, -0.0171, 0.0562, 0.486, -0.0205, 1.7573, 5.3675, 1.9414, -0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.992 left_j1=1.9381 left_j2=1.515 left_j3=-1.1267 left_j4=0.0166 left_j5=-1.0481 left_gripper=0.455 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8845 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.8103, 8.1299, 0.0122, -0.0855, -0.0269, 0.5543, -0.2803, 1.5658, 5.2171, 2.1026, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 732):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ca9130a63f49beba7f2ba4475418d22e94b4c899a91cb1b570d9ddfcc07fcf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 732):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d68547b728dfdd6400c739d09a84fd59be26244dbf2a2a7b7915622ac732ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 732):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d51cb2f32265ae6cb9f5a60688c856dfb4b7f4bb71238de11df7a153b044d3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7ca9130a63f4]
[blob b6d68547b728]
[blob d51cb2f32265]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZ3ARv3HYNmH8BtaamKVNY",
      "input": {
        "note": "Overhead says I'm within ~2 cm: the red block is a touch to the arm's left and inboard of my carried block. Applying that small correction while descending onto the red block's top face.",
        "targets": {
          "left_j0": -1.022,
          "left_j1": 1.902,
          "left_j2": 1.396,
          "left_j3": -1.064
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UZ3ARv3HYNmH8BtaamKVNY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0153 left_j1=1.9434 left_j2=1.4368 left_j3=-1.0927 left_j4=0.0177 left_j5=-1.0477 left_gripper=0.4579 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8894 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -11.9316, 5.6274, 0.5592, -0.0464, -0.0366, 0.2955, -0.0205, 1.6342, 5.2034, 2.0195, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 734):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d55a623a3a9cc0c8c3b5f9de53df3747e1efd82b37cf54ff4da1c8d3aacea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 734):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db55e86c2a7b4c5eb00396686f6f346d39e38adb8461c2ad43dd8b96d5c4554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 734):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e14b1fc00cf4f53aab474d7c3f3a3b41b9b9a2bb782fda50333b81a4d3f44a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 72d55a623a3a
wire blob 7db55e86c2a7
wire blob e14b1fc00cf4
call 82 attempt 0 · /messages · status 200 · 7.313 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 238 changed as sent

message 241 changed as sent

message 244 changed as sent

message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4175 left_j1=1.0317 left_j2=1.4544 left_j3=-0.9108 left_j4=0.0154 left_j5=-1.0477 left_gripper=0.455 right_j0=0.0101 right_j1=0.6266 right_j2=1.2045 right_j3=-0.8665 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -1.7846, 5.6684, 2.2833, -0.0171, 0.0562, 0.486, -0.0205, 1.7573, 5.3675, 1.9414, -0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.992 left_j1=1.9381 left_j2=1.515 left_j3=-1.1267 left_j4=0.0166 left_j5=-1.0481 left_gripper=0.455 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8845 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.8103, 8.1299, 0.0122, -0.0855, -0.0269, 0.5543, -0.2803, 1.5658, 5.2171, 2.1026, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0153 left_j1=1.9434 left_j2=1.4368 left_j3=-1.0927 left_j4=0.0177 left_j5=-1.0477 left_gripper=0.4579 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8894 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -11.9316, 5.6274, 0.5592, -0.0464, -0.0366, 0.2955, -0.0205, 1.6342, 5.2034, 2.0195, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 734):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d55a623a3a9cc0c8c3b5f9de53df3747e1efd82b37cf54ff4da1c8d3aacea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 734):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db55e86c2a7b4c5eb00396686f6f346d39e38adb8461c2ad43dd8b96d5c4554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 734):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e14b1fc00cf4f53aab474d7c3f3a3b41b9b9a2bb782fda50333b81a4d3f44a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 72d55a623a3a]
[blob 7db55e86c2a7]
[blob e14b1fc00cf4]
{
  "content": [
    {
      "signature": "CAISngsKjAEIEBgCKkCWvhZNFfDhtsLro2Xrap9p2coch23x/NZ7J9Q/pqsymARKmP6Esrs1MYQwjsLCGpTzf8nHmi2nBFMF5CZqC3iiMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkdH/t2CyzPCmmOpvGgzHEzG3zMWi0GFPxOoiMAQQgaWIiOWJ0O1PcEZqT+dqO+FIVxK+Nx6vpPTnkYaZcWsNUr8FmTINQVm5ojIhciq+CcfXrIh7k/ZoBuZOxAW1iRyOEvhSW4taGX8OQa3+3QvZ/ut1/1lypupfXfzGuQGEzJe4AVgChCvTkW9R2Kz5ar2wgb8O0GmINtjX5Ga8RNW+SoUfe0rvzSIBNvETIRnwGR5l5NZtn8lrgwuyq17WgYngpHszA9xDoKwCc3O+z84z7fFF6b0dmidZqgEhETvrHCUEDzobAMlK9+eBDvLqExk0Ej47DN/nkcbdkxtrDlAezzmP8XLltfYajxbiCyB7n3HkpTqGE02KFnC50k7Ww+uRciV33N90d2m5F6c90C7S6jxcAcPCIHzQN9WbwFn9fKgMQwLLSdWlkT+PzFmOqHTVv6ehZxff77jC43OVGWFQuZgPtw1XdXPiaq7HiWKHC/sh82KByOHlyrpZ4DuytJf1O86sCD/dSzY9gS4eSO2jXCRwD4B3+ihGdyP4NamHezAMoGqzpaVSZJgyNp4IfjOdPdi4i09Q6kExfR476hk91Dw01WktHumSvxHgE5hU0QleqdrLitE7IaTZPFF3biGilpOqhZFSPODQFZm2UyjuyMumpCPl5k58eziVKLXbudPvYZP5QeWLQeHqgoLVu3im8HUDQcHhMd/7j0GLKxU7xybc2+LZjE1RLeUosUJZ9E7kI81HjqFnqjXdxRaqePy+jFskGU5IohCmV5enQU92wIXvt9aGR+csThgptpw8jyiUgSKoPW5EDF/oZFRIp6x8g5+HcX0SaNVDH6Jhdt7+lnuAYFkkw02TuYVBZ8S9fzuFCG2tBcbEUj4JkmBVeqVD6NkG2L3W/ahiSG/3v1c/da6ltTgfGmmFBc2Aea+2doeN3PI1cfNFOBu9CraBck2Ho09UDu2BHS54UGKXQ+cPH4VkAa+c44P0buTK/oht7Bpmlv6qhthbOmYHMZYTkyGIfOoyt3uLydymnq6C9gV/juxoYGbbgMEpqewIF1TW6KuXsINCqjkcqE4FTiItzFNTX1TPaj7F1+ywn5cGhlNCAvw8bAOSWA5m49z5Lw3yYlX99C7JRjHh6slfPWC++LayDveiNTAx6SQHG7+8OMElQWuu4kE7T/7XmuCw7zs801eaKaffWwfRXEp964mwIT4yQx1CeZbms72Z6oEZmXCYYIxH82l8opOlSBCsjBJxHThu3RobHoUT3yrvL4laqap7c5p5Hi/91j0tnOsVaohLlcOt4VgYA7pF0z65IvT0G91CwVUhsu29mxF3AHH7Ta2a3h1ywQLVfijANYlZlQ/pbANoj/MrObmki+4aBHxw8pYG0lANtkSIgqdDqkI6UcAbH++n+PBVzm/J3AZ1Q51HQvcOZmEh50uUPnUJ3xAl3H8F9R2sIdDqQXY9dM5YopZvk/QQzyFqAJv/4sBFDQhS3ETFWJeXWZ5rNGA8+Ba0yP5okCwrL7mMdi7ZUBIEcWYbAZQeIBx1c6g0oc+94PdA1I7FcV+mRC2mLdEhWWkYgEtRkK08Nd0mw6kuaVEF2MApbVUwy6CizDhRyxG42jtoY0azHs6OJfOZvgpGcIW60FkSAcWFoCLVDzsibJFmSn6VR0euyy2Skcj/Pg18QsrKwxy9+tjzbKG/07GZWoBDXcUrNkHu680Em2SEMBGQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017mRPHG3JVGgTzAb5Cwtc6E",
      "input": {
        "note": "The red block has disappeared from the overhead view — hidden beneath my carried block, which is what I want. Pressing 1.5 cm lower to seat the block on top of it and confirm contact.",
        "targets": {
          "left_j1": 1.963,
          "left_j2": 1.394,
          "left_j3": -1.002
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_017mRPHG3JVGgTzAb5Cwtc6E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0187 left_j1=1.9415 left_j2=1.3949 left_j3=-1.0584 left_j4=0.0185 left_j5=-1.0481 left_gripper=0.46 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9012 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -7.2957, 5.3812, 0.7057, -0.0269, -0.0171, 0.2173, -0.0752, 1.6342, 5.3128, 2.0195, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd71bf16fd05141ce307a6dbc852fdb3507b8ee329b5c3492f72660d496bd06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bc7175ebcedaec73268e7da0552d41b100666f45d347f517fdc495cf54a1222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 736):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ae14b39d7d10e135cb41a92f01d805c7457592c8598c07135db064d4e145fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5bd71bf16fd0
wire blob 7bc7175ebced
wire blob 0ae14b39d7d1
call 83 attempt 0 · /messages · status 200 · 10.25 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 241 changed as sent

message 244 changed as sent

message 247 changed as sent

message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.992 left_j1=1.9381 left_j2=1.515 left_j3=-1.1267 left_j4=0.0166 left_j5=-1.0481 left_gripper=0.455 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8845 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.8103, 8.1299, 0.0122, -0.0855, -0.0269, 0.5543, -0.2803, 1.5658, 5.2171, 2.1026, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0153 left_j1=1.9434 left_j2=1.4368 left_j3=-1.0927 left_j4=0.0177 left_j5=-1.0477 left_gripper=0.4579 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8894 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -11.9316, 5.6274, 0.5592, -0.0464, -0.0366, 0.2955, -0.0205, 1.6342, 5.2034, 2.0195, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0187 left_j1=1.9415 left_j2=1.3949 left_j3=-1.0584 left_j4=0.0185 left_j5=-1.0481 left_gripper=0.46 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9012 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -7.2957, 5.3812, 0.7057, -0.0269, -0.0171, 0.2173, -0.0752, 1.6342, 5.3128, 2.0195, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd71bf16fd05141ce307a6dbc852fdb3507b8ee329b5c3492f72660d496bd06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bc7175ebcedaec73268e7da0552d41b100666f45d347f517fdc495cf54a1222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae14b39d7d10e135cb41a92f01d805c7457592c8598c07135db064d4e145fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5bd71bf16fd0]
[blob 7bc7175ebced]
[blob 0ae14b39d7d1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tSeh2UuKYCs6XncRCYqyg",
      "input": {
        "note": "The descent stopped dead at 4.6 cm with j1's holding torque dropping from -11.9 to -7.3 N·m — the block is resting on the red block's top face. Opening the jaws to release it there.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_018tSeh2UuKYCs6XncRCYqyg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.943 left_j2=1.3937 left_j3=-1.0584 left_j4=0.0181 left_j5=-1.0481 left_gripper=0.9958 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9115 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -9.6342, 5.559, 0.188, -0.0024, -0.0073, -0.1343, -0.1436, 1.894, 5.2034, 1.9756, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 742):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4849f1b80e3f02fc5a52b7081e2664aa86362d3687817b51549eae66d43c788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 742):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18be3563439e59477c68fc5c1e39bb21d556cf92b5f55bea694f7ae1a57b4551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 742):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b92e579799ec3a350f4e90dbfef0eff6a762717a2ab66352ee9c889b62b7067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e4849f1b80e3
wire blob 18be3563439e
wire blob 4b92e579799e
call 84 attempt 0 · /messages · status 200 · 11.5 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 244 changed as sent

message 247 changed as sent

message 250 changed as sent

message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0153 left_j1=1.9434 left_j2=1.4368 left_j3=-1.0927 left_j4=0.0177 left_j5=-1.0477 left_gripper=0.4579 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.8894 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.759, -11.9316, 5.6274, 0.5592, -0.0464, -0.0366, 0.2955, -0.0205, 1.6342, 5.2034, 2.0195, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0187 left_j1=1.9415 left_j2=1.3949 left_j3=-1.0584 left_j4=0.0185 left_j5=-1.0481 left_gripper=0.46 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9012 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -7.2957, 5.3812, 0.7057, -0.0269, -0.0171, 0.2173, -0.0752, 1.6342, 5.3128, 2.0195, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.943 left_j2=1.3937 left_j3=-1.0584 left_j4=0.0181 left_j5=-1.0481 left_gripper=0.9958 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9115 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -9.6342, 5.559, 0.188, -0.0024, -0.0073, -0.1343, -0.1436, 1.894, 5.2034, 1.9756, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 742):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4849f1b80e3f02fc5a52b7081e2664aa86362d3687817b51549eae66d43c788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 742):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18be3563439e59477c68fc5c1e39bb21d556cf92b5f55bea694f7ae1a57b4551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 742):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b92e579799ec3a350f4e90dbfef0eff6a762717a2ab66352ee9c889b62b7067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e4849f1b80e3]
[blob 18be3563439e]
[blob 4b92e579799e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015vbaZd7yRuKMcry2dFiQuY",
      "input": {
        "note": "Released. The wrist view already suggests a stack (the red block's face sits behind and below the wooden block's top face). Lifting the open gripper straight up to clear the blocks before checking from overhead.",
        "targets": {
          "left_j1": 1.81,
          "left_j2": 1.73,
          "left_j3": -1.491
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_015vbaZd7yRuKMcry2dFiQuY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.8488 left_j2=1.6955 left_j3=-1.4189 left_j4=0.0189 left_j5=-1.0485 left_gripper=0.9967 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9222 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -11.0701, 7.4325, 0.1197, -0.0708, -0.0513, 0.0806, -0.212, 1.6752, 5.2171, 1.9707, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 749):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ac074dfe89b2dbbbd1b939543bfd58f82e5b8f1f58270e675ec8c36dff2c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 749):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0bcd9362079fe55192af5f2a21c92840742199f34cb0372a22531e31aa55c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 749):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98e3727990739b410bbea5331f6d5d932b51e6f0c72b3604157921e443bbaf98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 46ac074dfe89
wire blob e0bcd9362079
wire blob 98e372799073
call 85 attempt 0 · /messages · status 200 · 9.166 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 247 changed as sent

message 250 changed as sent

message 253 changed as sent

message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0187 left_j1=1.9415 left_j2=1.3949 left_j3=-1.0584 left_j4=0.0185 left_j5=-1.0481 left_gripper=0.46 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9012 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -7.2957, 5.3812, 0.7057, -0.0269, -0.0171, 0.2173, -0.0752, 1.6342, 5.3128, 2.0195, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.943 left_j2=1.3937 left_j3=-1.0584 left_j4=0.0181 left_j5=-1.0481 left_gripper=0.9958 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9115 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -9.6342, 5.559, 0.188, -0.0024, -0.0073, -0.1343, -0.1436, 1.894, 5.2034, 1.9756, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.8488 left_j2=1.6955 left_j3=-1.4189 left_j4=0.0189 left_j5=-1.0485 left_gripper=0.9967 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9222 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -11.0701, 7.4325, 0.1197, -0.0708, -0.0513, 0.0806, -0.212, 1.6752, 5.2171, 1.9707, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 749):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ac074dfe89b2dbbbd1b939543bfd58f82e5b8f1f58270e675ec8c36dff2c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 749):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0bcd9362079fe55192af5f2a21c92840742199f34cb0372a22531e31aa55c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 749):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e3727990739b410bbea5331f6d5d932b51e6f0c72b3604157921e443bbaf98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 46ac074dfe89]
[blob e0bcd9362079]
[blob 98e372799073]
{
  "content": [
    {
      "signature": "CAISkhkKjAEIEBgCKkAEnnmiyjAWEAQZhpQCw1nDGepc+cHKWfalMwFc8KtkwzE11qIcm3p05HQIj1Fi5AZBUViOxHW+44egZvxdgKbzMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlzD/FrGC0mogyLbSGgxaX/oW/bHtCk8nDxMiMP7voRM8s7WSV032kmMdWW8Qttj4HFJ7J6+HTqGzHK/VYKhNnfEpsiCkE21c+8NCsyqyF1tW7KENpdYb/B3wOsssClgDiyoIr5L6Crx8O8oFE5UNVkcuhYlZCe2DjbqNw5xGzFyADmoHRHXAX3zClDCNtGfcXaeQzm7WP6c9OlS5xfkf4xZDAKvzlb610Jh56+mPFBQQQ0DXYN9CKCWuD9uBcWBKXTtlOsUbAJRMw0bQvdaU+KH7jFPaIm1GHEq3i0KgUvyvCkzmCh16IzEMB334uUz3OBMbOof7dnwIgZhudcRsF1VhhfR/nfwo0T+fwtPRg5w3igIOoFvT77nGkzAiJdXYZnZNeQz/8SPTyFC6Xi7tYeVc7Jg6Zb2Srf417EgRh1kNU46npDPW8r2eAKYaL7vfYpnEid9Y/j0ajLOcqIh2Q+FVTbneyxc1GX1x+pQd0DCbsmLLKoZE7LqZKe5LHO3X/yPlcKAb+2iLZrdOp1id+geAvZ5aCA2FlJEun4eU0X7d3xmAOnw8/OS/9rsya+/7ru2XtE515himylVNY0JcS77jAtYKyuSQMDDatoqU89SXFbIh7DE4OgjTPdeugj1E1+bDY2aCeMbuimABWb4E9MPOzM2ovDBJ9s0CYmwVpj0boWUu/zVVT7is8Nhz25SM4vnfIvl3OEhxcLpcJ+P++vCYGYXrb3Ule2BYGgaw/h0ODbckdkpu81MXv9j1weFsamwoYuSaLQ1h4t1J2UrlIzBdYljiZQpxRtAXq+wH/eOHlAiT0AkRnkdSAB7OFHidlR25UdYi4YQArxkI9STvmg/PiB0rKw1+Cc4rfeUnU4KJvfHhrBsNRSgMO9DcS6pGyicZXvfcirQufrz67bWEV36Ya1RxRbtdsI5JfiDg07Tua4CVIHkqo+zIqOEeA2+P7DMiM/vzL03mOPvyMkDxW/k6dUjCy/LDYMCeE0rvJW8+KP84bey4k+pMXsIwuDRLdSNz+yYgh8lm/F15cxv/pE1OTdqhMqyC5NNleVg3UEmYkYjv3h0ur/nNCgg7lW4gycN9cKv4VzBh/HK3h4XO562amNLzvuFLEy7zSkOaGu6DyFPEA6EfXG1Jdn55EeShd7gcXCxfzlFPRYc2muSySe9A+2rVlup9CXfAYIIAsWloB5YNPq1h7iji69toWvf6nFsY8/gLPEchTQW3DuE6gyvWUkWvywIKDi5VmlgdzGQi5F7Q887N2eQD8PTj2DZp+xXpDGZniIJW4gxKIHuFMP7zTzYvcMADBsRXz3018PeEixxmFt/Abzl2qxP1QWT99KbPUHdXKmn3Kfm99VpVrLyCeI4LZgMPH2K1EPr+mWQL7hIZb6gyvpBP5rEcrm5yIw9Zxs/XL2GEBTSSg7/iQYUxh3KtyvsJZxVZ33wdMlMvLncEoe8uBcNEpYskKwXH2PrTPvcapcPDECjgqcmkkxzdjZ4P4pR3lZIYcAeprq8mVnac8MQ2rHE43jmTw8+XpjjK9t8t0JAhztv4VEIBbK0sRmW/9j95gBd0Csd4cFGXFhwM1Ig4KovwuYMjPG69YnoFNZUn6VWsaLiYdrC8BawSoZNyPBGez84VkRBVjbrXWOSuxBVhIQUuo5bbyhN7+bkxRt3vvzwe7LsbIMUFmNQoWMWpTvkWCMYEdzXU/8Fj4T7KTYkKXmkhBtWF3XqXKVLqdOgbg65wnmodzgJf4UU57di0D2ylGyHJurhLnZtiMpSay4cjEsrhGT9TLGlQ/1G1v+xEISqrsDn/I9+LjYVhnjn/rkHIoeyhJbYl6KhDjOjIkAM6VtlyBtwjWZ+VqxqdvM/h6VZXXu17Of+o7/qW7tUxhWPmf1ehvlaT4CESWwjoZgnWBhp+XPtVGS2S8XhSv1JxPRsQ+f3j3XrdScegZLUZlfMunqhiHv7N4s0SdTkqLWBUaMcKq7UFv9GtsSdbzaeL9RhKWKw7Wn8s8es4l3tpGRbyGonBsRUayqp+1fuyUur16UviKR+PsnPHsVVyWm6I6EjXD3z/aoJe9/TWw921phFldf4HHsCpvhVtNjst1ih2knNHyn+TlTvNU5gtuf69/SOO8/iaEerRpIrKDCurJ1KR3hNxhtR5jnYmkqNODe65OZnTsU+3R2+wUFBN+ZzKS/C53GNuP4+0UfDCoVX4zEZUqAt5H5twoQBKuRZFSlphc5vZzqr7o0C8NA7FpGNZ8otf6msOKaOsL1dh2cS8AsOiCrqvA84mhk4Jjy0fRdEf6qBmnYD1QP4wBfUUe0chSvjC/rGS6Smt1F/KLxoKi5lhJ1i32Ucy5VpZNp4Wkc2eiNX+Bimk3UDgFaXqI7V1V+PgTQaiCJIcNmIQ1OU/zqEi3eJ4cbXjVc9xPKltir6+ZSyOlp8RUTYVh+Bq8ZdV0CMKBZxbLiCwGaNkzelGdSqNz1ruBHDDiHYFPlEspTLweeVNMaj1fjXR3oIcZZ3Ewasg2vfn6Oo7wtwaOQMHfShbFN6BAslQa0KED5NI2lBWH0V704iVkZ7AlTkrfFDAMmkUQGy//Mz7u9xZyqLt8QyP2Pcq9iXMYeZn/9sweiV5e/FcixLikDfJY27BhKnpwpFbTTl+nAOjVT6cDG/K/eKfvORDKbMEB7MA8N2CEKW0mZjm0KmY99J6DZ4pP2HK3VZf+edvLna2A20K2J+RQS65h9HdmkIH2OZXmtMN8lAosJ8uj5eH5ncCAi+r4T88Gzyo92UN6DLx5rMLnQtWCwvBmAiADRMdJaBQw1UZvvjuhmnTJc/GV15BT4+f9SEXu3jRdsf80/ga0/s6TpM0gDgYcm7qXsEJM9o2NRXuBa2qjiwOpp5kLpP23vHOYwbuE4tA463KrV/VBZQ+uN9Mx54xaPn/nMEVQ2JhMQReg30Pk2rVS8ii7lcxjbjT4Lz0JbT4I43iIIXxjybRgogNlb+niYcGJKW+amanncQ/a9bBVB+4ufKp1oA95jf0Oig2Nhael5r7ugi3HlbcAnb1cnqIINpG7Rc+3ZWflU2iqHWRQNCA+XE/T7jVXfT1fxmARzc74UzI8+T+7JvoxmziQu+kMdL9RRQbbBAIq4yxMNVDYv6c+f1Gk7LnwHdRl3H1DWGcpU1PBysnpjTPkYJ5HN3v/E6n40RpAR6zNjVftcnewWl99NbNveRuwCkatfNbeOv3eP1JyFR/pMLOXo3fOVYBOhPcQud7es22Ep1NkEcmyuNC0gHmYvbV3x+Tfa6CM7cUfftLfiOprH8XdqHUgApVjaOOUlIN4+TvOCJjXqHNXtu3KrS72Zr0dykLY6jtBZ6W8kELOEVIv/Ks3AFJBzfGjxnXjMbb75PkAHfiFzWybDw4ps+avfOnuF/k1khTKv/bs7WKF4tbk/XLKhcAn3sQEtV8rY+Oo8fEySVfOxKDjBo9yw1md9pfocmPmwu1PRk9Lrgz/RzXg4sA7j+zzDFm7ar/7ELeY9BTRnoE3RIB6MjKN08Z+hmr5l8DJW0LCE4he58XyBK1Vyt3unW1qZESJbf4gewkoKbQuz6dBDtWWasYiiRz3udGbaHaIluJYAhX/w2ur6TfH+JkUSIQkSUrMNjeRALxIwACngEASjhKPHd8MCf6ClQV2HdM1iGAb0uWPIxFovOw1F4f/U98mqvpCbOIcTjl4tTE0qgh3TNCaBjDtclj33niUnEOIycrnkUMVV7hMG3F5hlVMbTWjcwLg8Z3ipYGUaOBbwnrFpJ0AkScA0KC5yLu08ZfTS+ffCZchKshDuycTvB1TMRyrXcdoVHjcrC3fRGZZVjv3lGsVyrrf/lk381RuGQY+ZWrVEkuvez6KwPImerjYbgp1DVhUICu+WIk7woMQQv/H36W4WflhL35ocIEm18FbuXZFlK0pFA+zVUCzZnv9IRJn3CYHfh0lydE6Ot0KTYWwJ04HW6DsEev0agpqH8c0xKbiLroEpR/UmZIVALv9HzpuIXSvExR4W20bLOZIaJ8VEAHXkE0VjAwSjVYGttJfsnckdYnAmZ+1SZ90wV43yLOrFBBmdc42BhBxxCxCuG+Uf1CgFO/3Tpp9t1ikhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019TTVK3bvuxoxdteC9hTijY",
      "input": {
        "note": "The block slid off and ended up beside the red one again — overhead now shows the wooden block at (107,155) and the red at (111,144), i.e. the target is 3.9 cm further out and 1.4 cm right. Descending to re-grasp the wooden block where it lies.",
        "targets": {
          "left_j1": 2.043,
          "left_j2": 1.341,
          "left_j3": -0.869
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_019TTVK3bvuxoxdteC9hTijY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0331 left_j2=1.3567 left_j3=-0.944 left_j4=0.0238 left_j5=-1.0489 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9283 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.1145, 4.547, 0.5104, -0.5006, -0.0122, -0.0024, -0.0205, 1.6479, 5.1897, 1.9512, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 758):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90b4d485422fe5d74b78f75211b947aff24aa1bae958dbcfc5df501e2a7e756a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 758):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b30ce95799fe7e4474bc3dcb72b4e160fe8519a37493ff1f22c0f5eb62e381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 758):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40387f661ac2b415f1f3edda90e240d2c5db4162cf3c30d21128044cf7efa320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 90b4d485422f
wire blob 96b30ce95799
wire blob 40387f661ac2
call 86 attempt 0 · /messages · status 200 · 15.65 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 250 changed as sent

message 253 changed as sent

message 256 changed as sent

message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.943 left_j2=1.3937 left_j3=-1.0584 left_j4=0.0181 left_j5=-1.0481 left_gripper=0.9958 right_j0=0.0101 right_j1=0.6277 right_j2=1.2045 right_j3=-0.9115 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -9.6342, 5.559, 0.188, -0.0024, -0.0073, -0.1343, -0.1436, 1.894, 5.2034, 1.9756, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.8488 left_j2=1.6955 left_j3=-1.4189 left_j4=0.0189 left_j5=-1.0485 left_gripper=0.9967 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9222 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -11.0701, 7.4325, 0.1197, -0.0708, -0.0513, 0.0806, -0.212, 1.6752, 5.2171, 1.9707, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0331 left_j2=1.3567 left_j3=-0.944 left_j4=0.0238 left_j5=-1.0489 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9283 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.1145, 4.547, 0.5104, -0.5006, -0.0122, -0.0024, -0.0205, 1.6479, 5.1897, 1.9512, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 758):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90b4d485422fe5d74b78f75211b947aff24aa1bae958dbcfc5df501e2a7e756a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 758):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b30ce95799fe7e4474bc3dcb72b4e160fe8519a37493ff1f22c0f5eb62e381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 758):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40387f661ac2b415f1f3edda90e240d2c5db4162cf3c30d21128044cf7efa320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 90b4d485422f]
[blob 96b30ce95799]
[blob 40387f661ac2]
{
  "content": [
    {
      "signature": "CAISxgkKjAEIEBgCKkBJu4YEr7E3uXzCDIUvQj6iissJJ2E+p32XOmjSfiD/vdD8y5K2ef6aSBJc9j9oSlMhsptCLsLFOXWm3F2wPkMOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+QRNIKkCmPkeTCvVGgwHl3czBZqeTwrb5zQiMFdL1TxFABdQa1+hynFyueHmX0l++tTlArF4TYmfYPYWJmldW9N0y4nxoPAa5SR1GyrmB+gOITSw6i71a1U54wEKUGJkEONZYQ7D2g+2DpDFeE84S3LB+d99Nb4nOgiyXNXSOYAhc/cT3IsNhGMtd+ETCNawpIRkPXoDxFKN0tSceU225C+1psVWOtzCZt125s5IQHoN11ZyYefBCpl9iU/FkbhK/06dWf1xAQLl7xAjqNXzIAmAcbGuWjGnGrrzl2A20OL15iWbhq3f+U2N/WhmhjWWBegr8faW/ZRu/nV5ejFV4kzfQrUWCKAmS4IXxvS11Y2zBj5yKafAZx8TdSuQseek9IBrpeYneeI5KJlHeBWsnNLQ59dIzlfoDPzJFl8tPYsIP4tpnPWhi5E1JeUsSw+pcWtIrGLys/s4h/6TzrTU8DQtQeUAHr/bBFYZoSabq61YyOlhv9nhTLLvx6zdecPAQmBGNvbd1LbLVVPKXb+f44UmHdAg0AhD2QtdLiA4A8FdOIw0/VJfBtGV8yTWJX7UPeDXnHcfC3AY6B2HnqyQrVAkJUgg6FnKF+lJJN8XAaE7Pzda2DVfESKTyqiJScPeNMdSfd8O1OrcwjuTvu37GKhJsdX1zyyAEwsPY7vDy4n+5Vvq94uTYgp9uhLc85RZjaf/O1M8W9hdHA1BTdFiSatwMAfHVd3//Wmh8yD30HmknIFe+Tee4UdXwDQl9GLjROD1akXqFcwRvYlIaBY08L47WpyS4mOqeHjjHY2qcz2nmfdZf7986XqEYMgGh/HqZF7VXe7TNkPtgvDlYdEI3NUUKg1GC5gQNWw7y9chBozfNcdbPth7gOh5Ya6hXWy8WlYL/5lsl34hX46gbirCBEqXVJnct6eFRS1eFW/KijTe6SEWGxQjv6elbc1bUsVYms+joBvGiYOSkeokukrVycKiSTxX3n8I9EWLkpR+p/mNsJirK7YbkYdojSRu26Vs9J5RCqNNMCFbckeuxIYa14fir9rFfqlO2C6aksO173jBB4gQW2I+QWyfrKnwryzKNsguERXfgdjurQohwUnO9R3FT1PnivrohSjNDV81r6xSCquKoMelNCHEgW2tPRHYQn4AwB5b5nVpv4T/bEQEhsknYJKWTcbjsTG77nURhXmE39FimAhC5fJmXKUgQnLbbS53R8Krh/QJv1EGc1YfyZh/W4rpJZjTaXCw0mIpmc5c9c6ua60Dsq0+xjfMaDqLQ6TVJirrh24QoorMHFFFdg0gU4Nv1TFHk/31StJvhi9f8BGSiadGrz0epkTlGAL5XQ1hOHGV6l7nLmISVB9X1WzjbfUv36bwpxjuHMHBeOuO01tii20flZix/bFKZEhqArrt+BUfoyzgWQ6EIm1m2ZsYqOd5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01983xgvu25fqDQTdvBmHJb9",
      "input": {
        "note": "Fingertips are back at table level at the wooden block's position (the red block is the one visible just beyond the jaws). Closing to re-grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01983xgvu25fqDQTdvBmHJb9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0327 left_j2=1.3537 left_j3=-0.939 left_j4=0.0227 left_j5=-1.0481 left_gripper=0.0102 right_j0=0.0101 right_j1=0.6273 right_j2=1.2037 right_j3=-0.9436 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -9.8256, 5.4359, 0.149, 0.0073, 0.0122, 0.823, -0.0889, 1.7436, 5.2581, 2.0391, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 768):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59c75f324707a2c54befed32febf449e65a9b6cf5805d41029e0fc6bde0b602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 768):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0771e1f23aa4c9d78a9e83d1b1e178d1f757b1a4052fc2fb7df154367e4e79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 768):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bafc61f196eb4d71277d949030a99de7b843f7324e4891fdcd7ca3c599fbdf7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f59c75f32470
wire blob f0771e1f23aa
wire blob bafc61f196eb
call 87 attempt 0 · /messages · status 200 · 12.9 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 253 changed as sent

message 256 changed as sent

message 259 changed as sent

message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=1.8488 left_j2=1.6955 left_j3=-1.4189 left_j4=0.0189 left_j5=-1.0485 left_gripper=0.9967 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9222 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -11.0701, 7.4325, 0.1197, -0.0708, -0.0513, 0.0806, -0.212, 1.6752, 5.2171, 1.9707, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0331 left_j2=1.3567 left_j3=-0.944 left_j4=0.0238 left_j5=-1.0489 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9283 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.1145, 4.547, 0.5104, -0.5006, -0.0122, -0.0024, -0.0205, 1.6479, 5.1897, 1.9512, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0327 left_j2=1.3537 left_j3=-0.939 left_j4=0.0227 left_j5=-1.0481 left_gripper=0.0102 right_j0=0.0101 right_j1=0.6273 right_j2=1.2037 right_j3=-0.9436 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -9.8256, 5.4359, 0.149, 0.0073, 0.0122, 0.823, -0.0889, 1.7436, 5.2581, 2.0391, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 768):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59c75f324707a2c54befed32febf449e65a9b6cf5805d41029e0fc6bde0b602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 768):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0771e1f23aa4c9d78a9e83d1b1e178d1f757b1a4052fc2fb7df154367e4e79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 768):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafc61f196eb4d71277d949030a99de7b843f7324e4891fdcd7ca3c599fbdf7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f59c75f32470]
[blob f0771e1f23aa]
[blob bafc61f196eb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CpSKh74YhsYLmd3M1X62ik",
      "input": {
        "note": "The close came up empty — the block had been nudged inboard to overhead (110,175). Moving over its new position at 7 cm height with jaws open for one more grasp attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -1.276,
          "left_j1": 1.87,
          "left_j2": 1.427,
          "left_j3": -1.127,
          "left_j5": -1.28
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CpSKh74YhsYLmd3M1X62ik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2629 left_j1=1.9087 left_j2=1.3998 left_j3=-1.0916 left_j4=0.0193 left_j5=-1.2469 left_gripper=0.9951 right_j0=0.0101 right_j1=0.6277 right_j2=1.2026 right_j3=-0.963 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -11.4393, 8.0479, 0.1538, -0.022, -0.1245, -0.1441, -0.0889, 1.8393, 5.2718, 2.0098, -0.0171, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 778):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7ec7d360158615259831c26c1550e497ac713b76e9d44a187cf7531e31728a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 778):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0e9120777cdb1b0d1b32b22759c44102c76fb2ae7ed737a24c6a4eb4a1d93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 778):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f2a72f6926d1b5f8509b1d03eacd13d73626cf82b521cbdc5d56e608ce834bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob da7ec7d36015
wire blob 0c0e9120777c
wire blob 0f2a72f6926d
call 88 attempt 0 · /messages · status 200 · 4.989 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 256 changed as sent

message 259 changed as sent

message 262 changed as sent

message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0331 left_j2=1.3567 left_j3=-0.944 left_j4=0.0238 left_j5=-1.0489 left_gripper=0.9968 right_j0=0.0101 right_j1=0.6273 right_j2=1.2045 right_j3=-0.9283 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -9.1145, 4.547, 0.5104, -0.5006, -0.0122, -0.0024, -0.0205, 1.6479, 5.1897, 1.9512, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0327 left_j2=1.3537 left_j3=-0.939 left_j4=0.0227 left_j5=-1.0481 left_gripper=0.0102 right_j0=0.0101 right_j1=0.6273 right_j2=1.2037 right_j3=-0.9436 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -9.8256, 5.4359, 0.149, 0.0073, 0.0122, 0.823, -0.0889, 1.7436, 5.2581, 2.0391, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2629 left_j1=1.9087 left_j2=1.3998 left_j3=-1.0916 left_j4=0.0193 left_j5=-1.2469 left_gripper=0.9951 right_j0=0.0101 right_j1=0.6277 right_j2=1.2026 right_j3=-0.963 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -11.4393, 8.0479, 0.1538, -0.022, -0.1245, -0.1441, -0.0889, 1.8393, 5.2718, 2.0098, -0.0171, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 778):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7ec7d360158615259831c26c1550e497ac713b76e9d44a187cf7531e31728a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 778):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0e9120777cdb1b0d1b32b22759c44102c76fb2ae7ed737a24c6a4eb4a1d93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 778):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f2a72f6926d1b5f8509b1d03eacd13d73626cf82b521cbdc5d56e608ce834bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob da7ec7d36015]
[blob 0c0e9120777c]
[blob 0f2a72f6926d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A5bEkX5CpHbcJ1HeMQeBp2",
      "input": {
        "note": "The wooden block is centred in the wrist view just beyond the jaws. Moving 2 cm further out while descending to table level so it sits exactly in the jaw gap.",
        "targets": {
          "left_j1": 2.078,
          "left_j2": 1.4,
          "left_j3": -0.892
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A5bEkX5CpHbcJ1HeMQeBp2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2579 left_j1=2.0346 left_j2=1.4109 left_j3=-1.0248 left_j4=0.0002 left_j5=-1.2575 left_gripper=0.9966 right_j0=0.0101 right_j1=0.6277 right_j2=1.2007 right_j3=-0.9707 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -8.9231, 4.3829, 0.2076, 0.0708, 0.0464, 0.1441, -0.0752, 1.6342, 5.3402, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 782):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16122ba14fb80c3b60cf5732adc160b0ad2a828f20e8861b9d923d3c8deaea98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 782):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324fe0d70e615f47876c0b5eaac330c733c8f636fd20592589162874893d76c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 782):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a32212af7145913a3b74e07a67585b2b1844b2d6216eb2b0458e8a6726786db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 16122ba14fb8
wire blob 324fe0d70e61
wire blob a32212af7145
call 89 attempt 0 · /messages · status 200 · 7.073 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 259 changed as sent

message 262 changed as sent

message 265 changed as sent

message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0195 left_j1=2.0327 left_j2=1.3537 left_j3=-0.939 left_j4=0.0227 left_j5=-1.0481 left_gripper=0.0102 right_j0=0.0101 right_j1=0.6273 right_j2=1.2037 right_j3=-0.9436 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -9.8256, 5.4359, 0.149, 0.0073, 0.0122, 0.823, -0.0889, 1.7436, 5.2581, 2.0391, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2629 left_j1=1.9087 left_j2=1.3998 left_j3=-1.0916 left_j4=0.0193 left_j5=-1.2469 left_gripper=0.9951 right_j0=0.0101 right_j1=0.6277 right_j2=1.2026 right_j3=-0.963 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -11.4393, 8.0479, 0.1538, -0.022, -0.1245, -0.1441, -0.0889, 1.8393, 5.2718, 2.0098, -0.0171, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2579 left_j1=2.0346 left_j2=1.4109 left_j3=-1.0248 left_j4=0.0002 left_j5=-1.2575 left_gripper=0.9966 right_j0=0.0101 right_j1=0.6277 right_j2=1.2007 right_j3=-0.9707 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -8.9231, 4.3829, 0.2076, 0.0708, 0.0464, 0.1441, -0.0752, 1.6342, 5.3402, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 782):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16122ba14fb80c3b60cf5732adc160b0ad2a828f20e8861b9d923d3c8deaea98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 782):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324fe0d70e615f47876c0b5eaac330c733c8f636fd20592589162874893d76c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 782):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32212af7145913a3b74e07a67585b2b1844b2d6216eb2b0458e8a6726786db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 16122ba14fb8]
[blob 324fe0d70e61]
[blob a32212af7145]
{
  "content": [
    {
      "signature": "CAIS+AIKjAEIEBgCKkCq+5/fcHqC/zouBMcZWksnSpFp5Tx6S9/npy+BDKx17b16inbT++MatbEP9GCCeG/CtxkPVw00Z4lCgiswTUkkMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFXUEpeDdNa42sLiJGgwLt+mi7j/VA1f6umIiMC0kXukkYbznjGeDaU/eP1rU6Z3+TuUtRM89jUeRkphw6KgoB67I+WwEzbq5JfODrCqYAV2+Qf3kTWPNw6BaxrxJtPOLUCNJNy0oltO8s1ysCzrrsFgxp/jkW/2NGvuCY0YKBP4yV6x4yRDDxcH3BL+YTuBXOuTGO4GFslTh2dnfwQGPthz25yI+MiRmeDizM4fIzfG5KUxsGgWLel19ZO8cPP1U2fBykxKY2ZIeCZCxD9RKhNDo5B3V4txvaFiXTNA3VtKDhTe5se3uGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wod9mwC9G8eo67mnTrxCnK",
      "input": {
        "note": "The wooden block now fills the jaw gap at the bottom of the wrist frame. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wod9mwC9G8eo67mnTrxCnK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2591 left_j1=2.0636 left_j2=1.409 left_j3=-1.0138 left_j4=0.0128 left_j5=-1.2572 left_gripper=0.0096 right_j0=0.0101 right_j1=0.6285 right_j2=1.1988 right_j3=-0.9752 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.3145, 5.4085, -0.0366, -0.1538, -0.0171, 0.7937, -0.0615, 1.6068, 5.3949, 1.8681, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 792):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd20e2d336ac823cea31e14a9f6fee5c41bd04959464962ed5e40589d0172401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 792):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a73f54b2a6b6485077d21b64cc085ad4a541d251a4cf0e84979477b0288fe07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 792):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb19844a4496a3ab55ec626477e6030b64953552f99cff94045982c71d44b817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bd20e2d336ac
wire blob 9a73f54b2a6b
wire blob fb19844a4496
call 90 attempt 0 · /messages · status 200 · 10.3 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 262 changed as sent

message 265 changed as sent

message 268 changed as sent

message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2629 left_j1=1.9087 left_j2=1.3998 left_j3=-1.0916 left_j4=0.0193 left_j5=-1.2469 left_gripper=0.9951 right_j0=0.0101 right_j1=0.6277 right_j2=1.2026 right_j3=-0.963 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -11.4393, 8.0479, 0.1538, -0.022, -0.1245, -0.1441, -0.0889, 1.8393, 5.2718, 2.0098, -0.0171, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2579 left_j1=2.0346 left_j2=1.4109 left_j3=-1.0248 left_j4=0.0002 left_j5=-1.2575 left_gripper=0.9966 right_j0=0.0101 right_j1=0.6277 right_j2=1.2007 right_j3=-0.9707 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -8.9231, 4.3829, 0.2076, 0.0708, 0.0464, 0.1441, -0.0752, 1.6342, 5.3402, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2591 left_j1=2.0636 left_j2=1.409 left_j3=-1.0138 left_j4=0.0128 left_j5=-1.2572 left_gripper=0.0096 right_j0=0.0101 right_j1=0.6285 right_j2=1.1988 right_j3=-0.9752 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.3145, 5.4085, -0.0366, -0.1538, -0.0171, 0.7937, -0.0615, 1.6068, 5.3949, 1.8681, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 792):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd20e2d336ac823cea31e14a9f6fee5c41bd04959464962ed5e40589d0172401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 792):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a73f54b2a6b6485077d21b64cc085ad4a541d251a4cf0e84979477b0288fe07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 792):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb19844a4496a3ab55ec626477e6030b64953552f99cff94045982c71d44b817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bd20e2d336ac]
[blob 9a73f54b2a6b]
[blob fb19844a4496]
{
  "content": [
    {
      "signature": "CAIS7QoKjAEIEBgCKkD44JmxtRZbF6u+5nlAUmOATJ6bcIvMJ/L8aBzRK5JNuEtoVhGcxXfkK6Xr9kLsUFlcb+6b7EHzygkW7lg08eBjMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMzT67xD37bMlVfV2FGgzX8GanEholscBlPiUiMJO5uL1oDwrpikpaQj84VYK794ZQaAuI5v02jD7g/abpzR9CyGPYG8VvrPogxzX7HyqNCUE3tSwoByszNaiq66/NowG9CQVti0DdAidTr7RdqjVW5NhqVWeOU5nTQk+KEnM8SFMEIbYw4L2qyWNoP7jXvQYHvMhRFHypAO8sHVEyamHGVNmZTJu6fg6RPrNnqrArNc4gH5DaQZUCP+SM55NcetcCrmlsSFZLApOvbm9PHUWmPp2Qc09b99p5FSJZZzYKruZ0jKc8VOB20yADzV90cr1JgqjGK7zNXd5zNRqLEca6grocrUI1InIQlQ40+81UbDjZmGHagmxHfCc5CVKkn2GPWeh36Yrt+Zw1zCAlpIuyWxeLhVFiy11YLRybCQu4fgi1uTeNxqCfX45j9RdcCf9aQMAztatZoLm1nZ06qb/lGy/sjNrR+SSiTHo8VmkNfkoL/RGAC4o/VUiTewAYfouVlajv9Rs6NOHWr96tTCdpvqUKaddiSEKJkvdUkTrvrZoKGGz1OpDdClQm+iVm0O5Yepjt8aDtjafW6glpAEWIZU2AJDvNx+kS2pToRl0HUXVplhuzVcpLLbKtRgGs/13BLcrz0fK52rITxjF61Rh0U0z+Y3PSQZmwX+4nox/iSqb6PhbPfhSU03kpgRqp12s2pdYhCM1O9R/c4jkiyvJtgQv4ShIHVlQut86pJ+d4VDG+yk8mVzLxipx+Mz6LENk8jY8qlTyqS7cP86lw9CsEl41oERxu8KYet/tVvYJkbHNezJnEv/nlR5L6uJuV/HuwTaGfzbFq8niofRzCc23Mqtg1lFt6wcCxKW2Wz2IYQLrFGJeqZsaP2sjjlNVE73BUPFHRsQtN9oZEUNn0+UPaKrWLwCsr6hvJVem4Mo2yfi1h8I53w5G0lJVjGv6KAhNj1fySqbmw6bjuuI14+xtCBxemo+Q0iCtuZGN0XaRGnUPZ+veRu55rh0E7wUEUel/8aVk+RmPhPhbXfu7ylr12rrZtyEyvpnz8t/J6pwHQHp1mOGFCNGGIR4ayE7T/K3HAlYguhyaHV+zddCkQf2BsmpxefH6ADtbJDWv41C/gzv7RaxevNpiCz47419s/BWd80fJbIqot09Yu9d4HJLKK2hWx3RI60mrp4vMhJIKdTVs4ZF1yS0i+iOgGEpqnEAQ8qescyrOG6yP8wHcC89r/7V6T0Fn4er6LiC8YqHcK9ZX8t0PUsa6xpfTXzRqsDP1a+yi6aupLuVovXHQA7WGSdiWtITfmwwuA/J941HR0FXne0mfSjQ6Qg3YylQgtxTWwmKXzQdr5NcNCuqEgthpKw839DNogtRIdIAOcoL60thuGzu0V7R3eM3IlRlf2porkLwoZkYlBevWrCkKkFKzeiftOe5HlW54rKYfFBUgGaj9TF095JLOwNa1cPYQnEW3S5Df2/X/fEeFuEsYw+G/UYN1joxpnymxo7cjzGYhbYSjeJDc5iPKIODUcy5xrRc2olwYSVJ801CDoiqrkdpYfbiCiYm0s7edtfo5qWHDTLXoWP3kkGx4G+Ye9/JQER8ZWMKUu+EHduw3rySQdt/cNzzkCuNVoYHbBgPYaXHQjCgLxg6M6TAkno4vpnOAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DwfJKyrz9J86jJgC2fjDLL",
      "input": {
        "note": "Another empty close that shoved the block. Parking the arm for a clean overhead look to see where both blocks ended up before deciding whether another attempt is feasible.",
        "targets": {
          "left_j0": -0.4,
          "left_j1": 1.0,
          "left_j2": 1.45,
          "left_j3": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01DwfJKyrz9J86jJgC2fjDLL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4198 left_j1=1.0279 left_j2=1.4185 left_j3=-0.8879 left_j4=0.0151 left_j5=-1.2652 left_gripper=0.0118 right_j0=0.0101 right_j1=0.63 right_j2=1.1988 right_j3=-0.9928 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -1.5111, 8.6222, 2.1368, -0.0562, 0.022, 0.7009, -0.1299, 1.853, 5.4359, 1.9951, -0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 809):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53ac1ac51fcbd8fe64b79e748047294a43e1fd9015961a50157de5b473236818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 809):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158cc5079c943e90102ac3599f8c279ead114ffcb02b4b58be36b8946c6d4711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 809):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66928474514aa4eb2b31734236b9fef7d7c4f5df4ed0fe862acc016c0ed272a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 53ac1ac51fcb
wire blob 158cc5079c94
wire blob 66928474514a
call 91 attempt 0 · /messages · status 200 · 6.251 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 265 changed as sent

message 268 changed as sent

message 271 changed as sent

message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2579 left_j1=2.0346 left_j2=1.4109 left_j3=-1.0248 left_j4=0.0002 left_j5=-1.2575 left_gripper=0.9966 right_j0=0.0101 right_j1=0.6277 right_j2=1.2007 right_j3=-0.9707 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -8.9231, 4.3829, 0.2076, 0.0708, 0.0464, 0.1441, -0.0752, 1.6342, 5.3402, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2591 left_j1=2.0636 left_j2=1.409 left_j3=-1.0138 left_j4=0.0128 left_j5=-1.2572 left_gripper=0.0096 right_j0=0.0101 right_j1=0.6285 right_j2=1.1988 right_j3=-0.9752 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.3145, 5.4085, -0.0366, -0.1538, -0.0171, 0.7937, -0.0615, 1.6068, 5.3949, 1.8681, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 271 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4198 left_j1=1.0279 left_j2=1.4185 left_j3=-0.8879 left_j4=0.0151 left_j5=-1.2652 left_gripper=0.0118 right_j0=0.0101 right_j1=0.63 right_j2=1.1988 right_j3=-0.9928 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -1.5111, 8.6222, 2.1368, -0.0562, 0.022, 0.7009, -0.1299, 1.853, 5.4359, 1.9951, -0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 809):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53ac1ac51fcbd8fe64b79e748047294a43e1fd9015961a50157de5b473236818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 809):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158cc5079c943e90102ac3599f8c279ead114ffcb02b4b58be36b8946c6d4711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 809):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66928474514aa4eb2b31734236b9fef7d7c4f5df4ed0fe862acc016c0ed272a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 53ac1ac51fcb]
[blob 158cc5079c94]
[blob 66928474514a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1Mys7JJKbA7FmUPiRM3Fq",
      "input": {
        "note": "Clean overhead: red block at (110,142), wooden block at (118,158), touching diagonally. Moving the open gripper to hover 7 cm above the wooden block for another grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -1.141,
          "left_j1": 2.025,
          "left_j2": 1.648,
          "left_j3": -1.194,
          "left_j5": -1.14
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01R1Mys7JJKbA7FmUPiRM3Fq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.0098 left_j2=1.6234 left_j3=-1.1664 left_j4=0.017 left_j5=-1.1648 left_gripper=0.9969 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0149 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -11.0838, 8.1162, 0.1001, -0.1099, 0.1197, -0.0952, -0.1299, 1.5385, 5.1761, 2.0195, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 825):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12ab98b2f08c15df0fd9b04c1c080e433822c5ed734c3b2da6e84ccd291e1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 825):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e698cbe0bd6c76632967235fe8cc4345901844341b54e1403ea35c9c0582e302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 825):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70c2205c753f945f96a32c014458526f3f4a06b122f614f8dd5603c7d93726c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c12ab98b2f08
wire blob e698cbe0bd6c
wire blob 70c2205c753f
call 92 attempt 0 · /messages · status 200 · 7.81 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 268 changed as sent

message 271 changed as sent

message 274 changed as sent

message 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2591 left_j1=2.0636 left_j2=1.409 left_j3=-1.0138 left_j4=0.0128 left_j5=-1.2572 left_gripper=0.0096 right_j0=0.0101 right_j1=0.6285 right_j2=1.1988 right_j3=-0.9752 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.3145, 5.4085, -0.0366, -0.1538, -0.0171, 0.7937, -0.0615, 1.6068, 5.3949, 1.8681, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 271 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4198 left_j1=1.0279 left_j2=1.4185 left_j3=-0.8879 left_j4=0.0151 left_j5=-1.2652 left_gripper=0.0118 right_j0=0.0101 right_j1=0.63 right_j2=1.1988 right_j3=-0.9928 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -1.5111, 8.6222, 2.1368, -0.0562, 0.022, 0.7009, -0.1299, 1.853, 5.4359, 1.9951, -0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 274 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.0098 left_j2=1.6234 left_j3=-1.1664 left_j4=0.017 left_j5=-1.1648 left_gripper=0.9969 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0149 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -11.0838, 8.1162, 0.1001, -0.1099, 0.1197, -0.0952, -0.1299, 1.5385, 5.1761, 2.0195, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 825):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12ab98b2f08c15df0fd9b04c1c080e433822c5ed734c3b2da6e84ccd291e1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 825):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e698cbe0bd6c76632967235fe8cc4345901844341b54e1403ea35c9c0582e302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 825):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c2205c753f945f96a32c014458526f3f4a06b122f614f8dd5603c7d93726c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c12ab98b2f08]
[blob e698cbe0bd6c]
[blob 70c2205c753f]
{
  "content": [
    {
      "signature": "CAISiQcKjAEIEBgCKkASYhjiH6k3lPb0LpWO/A001qX+9Bs3ioYZV50wYf4DJVTVlDL/2naGOJUzDD2GGyVThDdxQVsx+ZkDFGzMNR5nMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMIPI4fKJmfzT50zL8GgxnBHuolA8/DGAoxigiMCilqCKWKIOOJVKP0Aj9dkeViF7xgAfr4F6Y6Tyoe+JEB70iuUa8pv5Quv1hJyA9iyqpBY+yuxn8bZ1cgSGDIHVnDb1bodDOszCEmn458PaR1PDQQYi/tfUuaksQidZ2O2JGWTzZgtoF6rasR6q4705JWZarGbTa/M40NbobhMkZ8Si6gQOMEK+BZqcifUA4f4iGYi3osP5RexghTSShB7F+Un8SU+2Ff7eedcpcq1HZh+1sNZGhMtPSv3JVYlY3HERgnmW7z6qZlv349PkhwW958jsO4Ps+3xbaOAM+Jby9EM8Gm46jfi1gUsZZbt9btWw2FxJfVENzwc4rK1fAEH5sVbLSjDEZrazaZQ1jijHZVpySb6VGnpqEhSKYkPPBLDSxNARy4qJrnS+BisfdQoUI4uWBLzBOOBN7AugX68REXFOhjFmK50qJJc/gwhwVgB5HyqleY9Icgyed46zN7FBw2OJQGH3DDafwwGWMNWQyBegQm66GdbDYF0WEwMp8M0e8wyDhaQQmbz9KruUQq9MpW/8PpXYphIlD5ASZ6Gj+zLR7MJiX0wirFlTQMv2y9OAXQufX2YP+xLxEFyPUqwlCdpNFa5lDBTlFdW3IBbhCBW3MEPtHPJEaz87WpaLU+v/gtm6Y6Nv6aFyL9LzQPJVBpkJgHQbrFzpxFg4aoYcoI2o00QZeBkXfXCFym5d/zTzZwapZmfLKf8zH4txKDPUmxUMEvmJ6RZMxJbTltatNHs1NCi82jYDwF6uGtUpx9zxaNBLGjMYKBhTKHPUkLsjNhplbK0TdU/kjnR9yim0eGXvR2dreWlTpzUfdbWlC7b/7y5cWVLAymBOXsoKSUZY1tF6ThglFydPvnmkLsmlMXb+cdDj1S5BlswgrgS2Jeq5mno3mbygDFzMk7GVCiBKf0qD2YQk+R9Dsv267HLRazq1YmDtRcakKbwvrEm7a3UUmb4G5dWqMbVyerRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KcPgetVSma9x96XJz7jQHL",
      "input": {
        "note": "The wooden block is centred in the wrist frame directly ahead of the jaws. Descending to table level; I'll check the framing once more before closing.",
        "targets": {
          "left_j1": 2.154,
          "left_j2": 1.528,
          "left_j3": -0.944
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KcPgetVSma9x96XJz7jQHL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1441 left_j2=1.5429 left_j3=-1.0115 left_j4=0.0177 left_j5=-1.1538 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0229 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -11.8359, 5.3402, 0.2515, -0.0659, -0.1783, 0.0366, -0.0342, 1.8256, 5.2581, 1.9267, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 829):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a594e7ce49110912750437867d52e3a593647e2fd37f9e71ec6b279dafb02d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 829):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f234c7b54767d5990ec59738e8c54be62f1b4b66ad092cc7fa2b62a3430d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 829):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b97851d98f6fc76febce7a4afe4bbf00d08928e99c0ffb3730493af086c3e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a594e7ce4911
wire blob a7f234c7b547
wire blob 0b97851d98f6
call 93 attempt 0 · /messages · status 200 · 10.42 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 271 changed as sent

message 274 changed as sent

message 277 changed as sent

message 271 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4198 left_j1=1.0279 left_j2=1.4185 left_j3=-0.8879 left_j4=0.0151 left_j5=-1.2652 left_gripper=0.0118 right_j0=0.0101 right_j1=0.63 right_j2=1.1988 right_j3=-0.9928 right_j4=-0.062 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -1.5111, 8.6222, 2.1368, -0.0562, 0.022, 0.7009, -0.1299, 1.853, 5.4359, 1.9951, -0.0562, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 274 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.0098 left_j2=1.6234 left_j3=-1.1664 left_j4=0.017 left_j5=-1.1648 left_gripper=0.9969 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0149 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -11.0838, 8.1162, 0.1001, -0.1099, 0.1197, -0.0952, -0.1299, 1.5385, 5.1761, 2.0195, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 277 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1441 left_j2=1.5429 left_j3=-1.0115 left_j4=0.0177 left_j5=-1.1538 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0229 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -11.8359, 5.3402, 0.2515, -0.0659, -0.1783, 0.0366, -0.0342, 1.8256, 5.2581, 1.9267, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 829):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a594e7ce49110912750437867d52e3a593647e2fd37f9e71ec6b279dafb02d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 829):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f234c7b54767d5990ec59738e8c54be62f1b4b66ad092cc7fa2b62a3430d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 829):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b97851d98f6fc76febce7a4afe4bbf00d08928e99c0ffb3730493af086c3e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a594e7ce4911]
[blob a7f234c7b547]
[blob 0b97851d98f6]
{
  "content": [
    {
      "signature": "CAISzggKjAEIEBgCKkCOShTsyUNN/j3PGU5NrEBKoGZRA7oapBPi0TJ9yVYngrE7sygRTLMeaikqWnFOs+oxiu3ORktJ9Ltsk2Yq5GrTMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMada+VSzaJNQJKeQTGgyZ/gnNji/qUkgPOk0iMGQnYbfb1c+AiYAI8mOInnJC4SO/7iVLnjR6pne6jyyTCuEs+kQw3YvHrXNc+FBXPyruBgWymMqK7s/L76AoaAGkBg0xaHjrsmVqdJYqDUZDHECI6gMcNlFObMwE5+CNyptTM3sFmAR9cJjh4mkEOiJvHyklAVrbFSWkQDBmncXyyHNZ3i9nqLkH6YjOJp36eEvj5kpFwgrmNTDEIAkWx7lFMifVWlDlBJlAcJ9F6V1vY7MdAanT2eP2yqEhbQwjmCv1cvqFbLpxSw3skpjKIhl3IakfUL86wIJpVpzwaPy+XnWDe5EksiJn3hN0XBIYXw1IgVXmTOZsW/qFNjmGiMrh8ctrsQVf6y0JnBI5qWmOCowAYUXge6ZbIGQ7cMJaue656B3xexPEEtV4eFjRYB1hfkigL7n6+HbZuaubaluJ99VNImltsz/0+HQ3K/CUeqKcUTJDsRln5mh1fLInD7TD/S5YXTPiyrrZo2mgiCMA7YncvRKKrRd90GwaIWc9fooHZ9KeKHhyTG6D0u4R2J6BhpQ2yWdW0XEEn+yU5QZJklC/zuhCDaov8jDYvXdZEWKyRN6lAmwCNsmL+T9jnmmLKdmtXl+UGOXWFyFC1vu5oItqGqueY67JDQghLzhee343haHLPg96n/EuptR5s8bqZ+JA0CYO3P+xPEu9bGMxqJ4MeHve82S3uIuCRHSnQFGbRqplHud1N+0RGl6t4U2FjvqPL0RbpL/va9eWzg3idCwPLrXWaaCPbvQbos8pHP/yKxtaOi2ieT7F1Z4Z3r7HXlWY1bQ9U9n9k9Kj2OgIBrNyUUBaXB/C07Eoz1tbyKN276iXWQ/Xh8wu/5yJK1h3DNHyZPMOu/uncJvJZtYJC49OalA9RdySLgA/27s6VQIjjbYYSOEFxisGIdGAjTrBijxBudqRH+32auJkW9/5ixZNGpt3DSp1yHCCQUVnW8S98jVuKRJI33+dEX0XrX5ogLACthtd/qf6Q187phlTFPL1yjFi7ii7fvyiwXXiGrOEZLGd/Gb5ybRLYNnhVeMTmnUTI8J/Og+D0mcM90M5ZVIUtcGakUEW8+At8x1paRnQuHUafJxs5CsmfI2TYa1boZrlrppq68kX1SsLBQnR+UBh6LZmRLB3GMDuhNmWT0npyr0bokhxGmiNEZ1iG4gdWy7IoyJJt1QwqoMIl9RQT2ANXHY9nBoK8B4ykG0NQPiJdc+VxnKhLFGe87DdneS1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018kjJLNpn96h6wmXWMR5hfZ",
      "input": {
        "note": "The block is framed at the bottom of the wrist view in almost exactly the position it had during my successful grasp earlier. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018kjJLNpn96h6wmXWMR5hfZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1475 left_j2=1.5375 left_j3=-1.0092 left_j4=0.0219 left_j5=-1.1561 left_gripper=0.0098 right_j0=0.0101 right_j1=0.6331 right_j2=1.198 right_j3=-1.0271 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -11.3573, 5.9282, 0.188, -0.0366, 0.0269, 0.8132, -0.212, 1.4974, 5.2581, 1.8291, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a322279ed83f55148096f97efc0c58902a522416795f6218d0f0b86aa93a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcfa88a16666a9eff514d3cd0e68804cdf7f57d0f00a76784c3b1c1edb4923fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 839):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f9555570dfb1ea7b5fb48158804045ff6471099998382da5aafee021af48095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a5a322279ed8
wire blob bcfa88a16666
wire blob 7f9555570dfb
call 94 attempt 0 · /messages · status 200 · 13.22 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 274 changed as sent

message 277 changed as sent

message 280 changed as sent

message 274 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.0098 left_j2=1.6234 left_j3=-1.1664 left_j4=0.017 left_j5=-1.1648 left_gripper=0.9969 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0149 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -11.0838, 8.1162, 0.1001, -0.1099, 0.1197, -0.0952, -0.1299, 1.5385, 5.1761, 2.0195, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 277 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1441 left_j2=1.5429 left_j3=-1.0115 left_j4=0.0177 left_j5=-1.1538 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0229 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -11.8359, 5.3402, 0.2515, -0.0659, -0.1783, 0.0366, -0.0342, 1.8256, 5.2581, 1.9267, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 280 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1475 left_j2=1.5375 left_j3=-1.0092 left_j4=0.0219 left_j5=-1.1561 left_gripper=0.0098 right_j0=0.0101 right_j1=0.6331 right_j2=1.198 right_j3=-1.0271 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -11.3573, 5.9282, 0.188, -0.0366, 0.0269, 0.8132, -0.212, 1.4974, 5.2581, 1.8291, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a322279ed83f55148096f97efc0c58902a522416795f6218d0f0b86aa93a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcfa88a16666a9eff514d3cd0e68804cdf7f57d0f00a76784c3b1c1edb4923fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9555570dfb1ea7b5fb48158804045ff6471099998382da5aafee021af48095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a5a322279ed8]
[blob bcfa88a16666]
[blob 7f9555570dfb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SwNH4jfURY2qeTD3RimJru",
      "input": {
        "note": "Empty again — the block was shoved rather than gripped. Retreating to the park pose for one more clean overhead fix on both blocks.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.4,
          "left_j1": 1.0,
          "left_j2": 1.45,
          "left_j3": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01SwNH4jfURY2qeTD3RimJru",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4164 left_j1=1.0264 left_j2=1.4528 left_j3=-0.8875 left_j4=0.0219 left_j5=-1.1717 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6353 right_j2=1.198 right_j3=-1.0378 right_j4=-0.062 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.212, -1.2376, 5.6274, 2.1172, 0.0073, 0.105, -0.1001, -0.1846, 1.9214, 5.2034, 1.8779, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 858):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904050c2d0d91764e90a6c28268710bdb7fdc010f35541dc3f916ad3719637a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 858):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356b5057cf67c2a2cec2c41371b9342c382437a9e456fd832de96e36d9ee4d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 858):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:564ad3f363be1f6d2ec6f4ecafc3ca1d619b4f18bd093df1415cc72f6c3c18c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 904050c2d0d9
wire blob 356b5057cf67
wire blob 564ad3f363be
call 95 attempt 0 · /messages · status 200 · 5.598 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 277 changed as sent

message 280 changed as sent

message 283 changed as sent

message 277 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1441 left_j2=1.5429 left_j3=-1.0115 left_j4=0.0177 left_j5=-1.1538 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6312 right_j2=1.1988 right_j3=-1.0229 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -11.8359, 5.3402, 0.2515, -0.0659, -0.1783, 0.0366, -0.0342, 1.8256, 5.2581, 1.9267, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 280 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1475 left_j2=1.5375 left_j3=-1.0092 left_j4=0.0219 left_j5=-1.1561 left_gripper=0.0098 right_j0=0.0101 right_j1=0.6331 right_j2=1.198 right_j3=-1.0271 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -11.3573, 5.9282, 0.188, -0.0366, 0.0269, 0.8132, -0.212, 1.4974, 5.2581, 1.8291, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 283 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4164 left_j1=1.0264 left_j2=1.4528 left_j3=-0.8875 left_j4=0.0219 left_j5=-1.1717 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6353 right_j2=1.198 right_j3=-1.0378 right_j4=-0.062 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.212, -1.2376, 5.6274, 2.1172, 0.0073, 0.105, -0.1001, -0.1846, 1.9214, 5.2034, 1.8779, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 858):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904050c2d0d91764e90a6c28268710bdb7fdc010f35541dc3f916ad3719637a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 858):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356b5057cf67c2a2cec2c41371b9342c382437a9e456fd832de96e36d9ee4d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 858):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:564ad3f363be1f6d2ec6f4ecafc3ca1d619b4f18bd093df1415cc72f6c3c18c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 904050c2d0d9]
[blob 356b5057cf67]
[blob 564ad3f363be]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012G9apHiEpAfzkayohxu8jL",
      "input": {
        "note": "Clean fix: red block at (108,143), wooden block at (125,147), side by side. Moving the open gripper to hover 7 cm over the wooden block at its freshly measured position.",
        "targets": {
          "left_j0": -1.08,
          "left_j1": 2.158,
          "left_j2": 1.855,
          "left_j3": -1.269,
          "left_j5": -1.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_012G9apHiEpAfzkayohxu8jL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0641 left_j1=2.1475 left_j2=1.8259 left_j3=-1.2415 left_j4=0.0227 left_j5=-1.1011 left_gripper=0.998 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0534 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -12.3829, 8.0479, 0.1001, -0.0317, 0.1685, 0.0513, 0.0068, 1.4838, 5.3265, 1.9365, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89fd1b47cb5894ab2da6f6715f2d9dd051f1e2101a0c8806a812860ee786e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159bd805acdfb4b3e9a2bed44f39a1c5f0c3ee2d629c03849a4cbee781017867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 877):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a0197fb0bcfbb89a07a29bc3f70a3ddb3fa7b7c99caab21eed564be15a541ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c89fd1b47cb5
wire blob 159bd805acdf
wire blob 9a0197fb0bcf
call 96 attempt 0 · /messages · status 200 · 7.14 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 280 changed as sent

message 283 changed as sent

message 286 changed as sent

message 280 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1194 left_j1=2.1475 left_j2=1.5375 left_j3=-1.0092 left_j4=0.0219 left_j5=-1.1561 left_gripper=0.0098 right_j0=0.0101 right_j1=0.6331 right_j2=1.198 right_j3=-1.0271 right_j4=-0.0612 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -11.3573, 5.9282, 0.188, -0.0366, 0.0269, 0.8132, -0.212, 1.4974, 5.2581, 1.8291, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 283 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4164 left_j1=1.0264 left_j2=1.4528 left_j3=-0.8875 left_j4=0.0219 left_j5=-1.1717 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6353 right_j2=1.198 right_j3=-1.0378 right_j4=-0.062 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.212, -1.2376, 5.6274, 2.1172, 0.0073, 0.105, -0.1001, -0.1846, 1.9214, 5.2034, 1.8779, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 286 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0641 left_j1=2.1475 left_j2=1.8259 left_j3=-1.2415 left_j4=0.0227 left_j5=-1.1011 left_gripper=0.998 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0534 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -12.3829, 8.0479, 0.1001, -0.0317, 0.1685, 0.0513, 0.0068, 1.4838, 5.3265, 1.9365, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89fd1b47cb5894ab2da6f6715f2d9dd051f1e2101a0c8806a812860ee786e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159bd805acdfb4b3e9a2bed44f39a1c5f0c3ee2d629c03849a4cbee781017867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0197fb0bcfbb89a07a29bc3f70a3ddb3fa7b7c99caab21eed564be15a541ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c89fd1b47cb5]
[blob 159bd805acdf]
[blob 9a0197fb0bcf]
{
  "content": [
    {
      "signature": "CAISgwYKjAEIEBgCKkBJRK1ALtItN3LsayJtLw+5rKOPDIKcQhIkGYW6XnRvY/CJ0uNqSlTPd2tvJxuut5J8j71KkSnWblfgmkqxnLcwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4toYrmj8MQ2g7z3+GgzH8nsklKhn5cVlfD4iMHpfItUnV0XV/i9XW6vTZBa0cEq97vMOcj7E3L6yeBWhGZ+AKtTsLDcFu3Mdk1XPYSqjBDEwv7c9atbiAkBDce5mEqkz1Av1RAlMG1rS55TlyRsISx5VBhKbnkkW0LOvd6SrrodwIgT+EyCDvBfC4iYAPV9ZgB/hwlzwui7yw40zLqX8GXL+0NdVbo2bjI70q+pGutzcqTILs+9YwZxzSETvvpZMAgaKSvKLxyKpRUMn3CcPZkDoOQezUVE6jadWL6/UBWwObUvih6OgPae0UIF6wMGd9MgeiD5r0RuSWuzmZh8mdh3MQkQ3ifkL1g0/nP0cdRti1oqVPkQGhWYe6vwUJMqHHmbsMFs1l+fkTmUU25jej0axvVJZJDgWRIa363M7SUlUHjZW2Ddv8cv6emdh5jd00aLGYWJQ6ryvrjzNzYg5iJQ7yR8twzbftMMsIhvcbehnYVr7DhEn6IncrvCHkEbVkfofUvQ5FdRC9RaqrHp1+wzmM8CCdAALNSTGx2ta02EOMbx+JJnx00Qf/cv3Iziz5mjwjqy2FR29w83KHYvuqTDXSBccTJC/e/ruWMFRaoMsHJ3c/YpqswuH0quZp/m8I4mkre0Mee/FJKAltY0IUAsjV4wamcOlmRh/CaUyT0i6iXAaPAj3k22ohL4Utjdkt7hQ9M06mn0c0xzVoMA0go4yuzpkM8XnVMqeLR9X60v+dF9UqOl0XUmsqrLbwi/gTMGn/yzF5r8lA4K/QvpKj2K3swpcMEgNdgBR7I3/ZmzgDLGz9v7YAi65E6/PmvAK7LAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EoDjCWVHiYUi3SmZdxkmKt",
      "input": {
        "note": "Both blocks are visible ahead of the jaws in the wrist view. Descending to table level, which will bring the wooden block down into the jaw gap.",
        "targets": {
          "left_j1": 2.269,
          "left_j2": 1.732,
          "left_j3": -1.034
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EoDjCWVHiYUi3SmZdxkmKt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.066 left_j1=2.2574 left_j2=1.747 left_j3=-1.0992 left_j4=0.0219 left_j5=-1.0992 left_gripper=0.9981 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0603 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -12.3282, 5.5316, 0.2906, -0.0171, -0.0366, -0.0073, -0.0752, 1.6068, 5.2034, 1.8779, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 881):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b566308cfff2aef15f12c2493a801923647c1d847ab22b58088d58239b01c27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 881):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8baf7ea975ed82bfc27c42954031eef5a801464472988da0da253e420dd6220e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 881):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaf74d25bac07fcc2e0690eb773ff83c23a118be91b3adf284e3932ca214e03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b566308cfff2
wire blob 8baf7ea975ed
wire blob aaf74d25bac0
call 97 attempt 0 · /messages · status 200 · 7.43 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 283 changed as sent

message 286 changed as sent

message 289 changed as sent

message 283 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4164 left_j1=1.0264 left_j2=1.4528 left_j3=-0.8875 left_j4=0.0219 left_j5=-1.1717 left_gripper=0.9974 right_j0=0.0101 right_j1=0.6353 right_j2=1.198 right_j3=-1.0378 right_j4=-0.062 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [0.212, -1.2376, 5.6274, 2.1172, 0.0073, 0.105, -0.1001, -0.1846, 1.9214, 5.2034, 1.8779, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 286 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0641 left_j1=2.1475 left_j2=1.8259 left_j3=-1.2415 left_j4=0.0227 left_j5=-1.1011 left_gripper=0.998 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0534 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -12.3829, 8.0479, 0.1001, -0.0317, 0.1685, 0.0513, 0.0068, 1.4838, 5.3265, 1.9365, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 289 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.066 left_j1=2.2574 left_j2=1.747 left_j3=-1.0992 left_j4=0.0219 left_j5=-1.0992 left_gripper=0.9981 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0603 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -12.3282, 5.5316, 0.2906, -0.0171, -0.0366, -0.0073, -0.0752, 1.6068, 5.2034, 1.8779, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 881):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b566308cfff2aef15f12c2493a801923647c1d847ab22b58088d58239b01c27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 881):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8baf7ea975ed82bfc27c42954031eef5a801464472988da0da253e420dd6220e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 881):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaf74d25bac07fcc2e0690eb773ff83c23a118be91b3adf284e3932ca214e03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b566308cfff2]
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{
  "content": [
    {
      "signature": "CAIS1gkKjAEIEBgCKkA9sQBib/zdIhiKbXciTFzmnlFkcA2O+Z0zBKNZToxtYcSQGndRgPqi4VlgbdQ1xdhISbThwZUTBIa6de4b44elMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMKsDvJ4qbJx4SuMGfGgyEgc4uXNvwQMG/rhIiMKZoZNtuR63vv8KdZZcdeJ/dBFJWIAc1XKzkaxHfbogQWWI00GzBO9x2l8pUNTTn+Cr2B9CsFac9M0LOpudzgebUHydR8CMWJjTVfjvwPslD1557gaCKq7LRpmBw/W3YTd/920/kCwJsZDMx2iOQ22Poxl+qV/y4j+tjkL/RSgzbB4jSFyImQ0pydsIPsqjU7Hu1u4BPcGkkFzvADJ8SjDTKvMdy/w6AMsP0DSRWxIBGUVBqBVUs/nOUR7PUl7elIfu0z9UNe67UaXlQFIlLhY1cngFuB2jf6EDj1NTxSbe0pIu1VJ9xodDJIXdCgJ14A2bTnlzPcs4GWJ1AKzjMwxhskUTYHbnNVsr6l9yQSNUJSBeZm5PakTZJt0mt1aymTJ3MIoBwCFJlxYSFvCkWXljnzPfPee6MJ/dIgtqfOCNtBovTpqJ2vg7EwN3v30UAwZtsoavu5G284OZ/klC/ocbmLkFr5UbEHAPC/iXjQG3u3WWJ0gYzg2ticmpXyZKxPf52g4thBddT9vVKNXrR38nIuO73e+vKQBZSYePC5uP8uPOVZvVEjGv1BTg1PyPeoY8SrMtzMCRFf19Kp0m1zbEoxaAo8oEU7C8MbDRMLi6lUsoUdIsQFSzsEtS7gaDb3rS6OjlC60gEy62yfuvy/eeKfix85x/BaFVGLRmM3unCyOdlViAoGvZKgsxVyOx2zZmmWRftlJnKxMmLdnwgOfZmHpqvVYuDbESVPM5WapEeIoa+/tsIrX4Q1CHtF5TIUpj6aZCPun52VQ4xRUB5WhkruhSkrLUA33XqIL4gsMfprkTgpnJ4jqjD+126FptHWUjpQmrwCrWgVnvZx/NIY9w/eUu5xnuX5v7k+YEyJcgxlqeFbNAWeoT+tNMZw+uvYWZa+0ATdvq6L6VcUZcKfUdwqS/MGyGf3QXPwD6Z2n3tPGlsKF/n5TMt29j4qW5ufUntKrXyAo8eEXZ/iJ8AOKLOqd9rOx2stm0zpp22mrBxYL6sQWdipUjQPs3ps0GjqnKuqCmSi9u0EUgSwqo8j4zSCNXyNu8PNwKuAFHlUZj52tqeTdWGgTofNn833mbs2YTbQLQQ/ADgnR0sG2VG2Wt09ICtNS55os1th8ayPfm0VIccWJYZ/x/Rj3YBcKGvC1GyrTuMdmpJRgRVtIGgWTQ9h6HDpYQH7MsNJ+N1LySLToeQZwpTO+5HLuGybPajDUhZrd6VlbAgWcIfhVt1Q/CbVO5HGIDwibIdeYiK0zRdDLIE5cutGv1rLk1fmMEWG2fSacDPp7EILd0PC30i/mIbUXXeUgA4KMNb+pCqPk+R3O3SUIyvu2QQpNVHBP51Zv9neoXTRsVhVadjRSfyfKdG8WhsXWggaAET+DtyUFZ5vuEkM6agwI1OM9cga0AN5HmXmY3SIVobBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019UNdH1dAsB5gsjB6eTXZEL",
      "input": {
        "note": "At table level the wooden block sits to the image-left of the jaws, which at this wrist roll means it is to the arm's right. Yawing 3 cm that way to centre it between the fingers.",
        "targets": {
          "left_j0": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_019UNdH1dAsB5gsjB6eTXZEL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0927 left_j1=2.2684 left_j2=1.7428 left_j3=-1.0672 left_j4=0.0185 left_j5=-1.1072 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0676 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-3.0154, -13.0803, 6.4479, 0.1245, -0.0122, 0.0855, -0.0708, -0.1709, 1.9761, 5.3675, 1.9121, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 883):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7aee3f14db79bce903e16772745b4b2797a2872ca4e67d477266c8683727a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 883):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f15b52094f27e54d49ddecb2b4dc9562da04f3172e27711eb8b526d8167caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 883):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32a6614441f862221ba19c917aafc30a254d1413fd22c0d6b33a34a4869487f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a7aee3f14db7
wire blob 98f15b52094f
wire blob 32a6614441f8
call 98 attempt 0 · /messages · status 200 · 8.76 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 286 changed as sent

message 289 changed as sent

message 292 changed as sent

message 286 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0641 left_j1=2.1475 left_j2=1.8259 left_j3=-1.2415 left_j4=0.0227 left_j5=-1.1011 left_gripper=0.998 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0534 right_j4=-0.0616 right_j5=0.82 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -12.3829, 8.0479, 0.1001, -0.0317, 0.1685, 0.0513, 0.0068, 1.4838, 5.3265, 1.9365, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 289 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.066 left_j1=2.2574 left_j2=1.747 left_j3=-1.0992 left_j4=0.0219 left_j5=-1.0992 left_gripper=0.9981 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0603 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -12.3282, 5.5316, 0.2906, -0.0171, -0.0366, -0.0073, -0.0752, 1.6068, 5.2034, 1.8779, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 292 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0927 left_j1=2.2684 left_j2=1.7428 left_j3=-1.0672 left_j4=0.0185 left_j5=-1.1072 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0676 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-3.0154, -13.0803, 6.4479, 0.1245, -0.0122, 0.0855, -0.0708, -0.1709, 1.9761, 5.3675, 1.9121, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 883):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7aee3f14db79bce903e16772745b4b2797a2872ca4e67d477266c8683727a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 883):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f15b52094f27e54d49ddecb2b4dc9562da04f3172e27711eb8b526d8167caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 883):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a6614441f862221ba19c917aafc30a254d1413fd22c0d6b33a34a4869487f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a7aee3f14db7]
[blob 98f15b52094f]
[blob 32a6614441f8]
{
  "content": [
    {
      "signature": "CAISmAkKjAEIEBgCKkBIVjknc8IQ1RO5vBii7XLYljklN+zrHTdfC7/ygF4MpMmJa7EQtPiYCxj3doRQaUdL7u2TzxKtEbm0GzHkzv20MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM8J7+MF0CDAEUYJecGgw88HHqyQMwZI9cXEoiMJhbbLgrirDiaemw0hzjrmIi29IRn8/DE+LwNp2ols8aXv2GUTaTm+jRSp6jHOBGnSq4B5t1whDHIj3GuDjISVxMNISVsKixA2WmHHxtub35JtUcz4AkR7RUJ2FD+bCg/en6mDVcRYVq9jvvgukX+y/wwbrj/oOjpgyKp7qBhuTG+uAi9rBaMEdN1khIf/nPHROpyjYtV9vK+u3kuOEz2WT63i6IKjtttSzdmlgfOUdH8NJIv7jWLevVOVUhM/feqEgH/BHF8/HSaKFBRxZIyuO0BlwRgB45P75hFrQ60tbWnAAbpd1iDMNppWQPaF9cmBTUynipGkaWEB58ou0CR9BdR7/PU+b6+nVQnc+IpMBT4ZQfJAok905nm08jxX82T6ZwIDU9eYRV+fC3vAp7NyPuQTe0NVbiobt3g/3B5Tr6TLfDHihoHUcVjeQc7qhXal/R4+ljZA4rI2t4H6B0YD6mpcmy/og4V5B3gAdKicUbBaxDcs7EqvYnres1N2/Tq9l3bI9tIF3l7OknupydhT/RuBq7hOB4hYjpJsGqUKHtToWmyaSXHlCgAjGmRzbX/ru8g76SBoY1eUgoKLCBllJmlpcgqecgZLhX4BRGUVR+YTUVhX6i1pCE16UaTHsif/4uTtDFNJb9kTmtAqt8pyqZiVIYJo3/sYWS1zu589k9uTPL53yZ1Y/iO9GdC1MaJCkUaUntnJwkJ6r6B7JK34qYgaip+Nq+192MYbPrsSmimLdaxdtvCMPSIHZfg8s/MzMTLj1DMC8D9ei0uCJ7a6D7K9vU+nbnnOCeAgQaYB4byfuE5j4/R7bW1AIrMaNYuFLKWOvD2+Qo9nf6kWvmD2nlpDNmklqybvfFGVHV+O03SdS1M+F7vlQZK01Ljnj8KhAasJ8wSKIMUZuRnXzwjeviBcCsKTeMri4jbAt+c/PmffWdf6XLvgveE455ISDHwijIVAytwqiG2eJlWKTrBfl81W7y9V8/EXDyFVHU3Rb5MUSBIdnDGjI0kSMyrwV2eJDRv8cyC3RihIBIpjM6CfXirzL8qhtE2zBsHdKbsw1eNAqe5yYoI6ghNancbgEk2kzad5Di5LGmfoqgOotwcC0ZfYk7p26bGJD6okXDSNcYW8lujMO763pkYSEiZBZ1CmqggZpd2hRuCOla3YhxvatUdANB5qSOE9VuyM/SmUkNMyUjkHRSPop7oc3Bu9OXImMiD0OJ2cI097mYDupe4YZFL4NTW+5lW2c9S5ilG/bdC/oIAFgJymJ3KOVvanvVNwJc5pOMyXF5xRF93ElMCXMphy1O69fqVuBMRYhdn0cQeZ8Y4ohrTY4O2wkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016MfqCNGtjWMJ38py3szXyS",
      "input": {
        "note": "The yaw stalled with -3 N·m of resistance, confirming a finger is pressed against the block on the arm's right. Lifting clear and yawing 4 cm further right so the block will fall inside the jaw gap when I come back down.",
        "targets": {
          "left_j0": -1.22,
          "left_j1": 2.158,
          "left_j2": 1.855,
          "left_j3": -1.269,
          "left_j5": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_016MfqCNGtjWMJ38py3szXyS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1912 left_j1=2.2368 left_j2=1.8183 left_j3=-1.2018 left_j4=0.0219 left_j5=-1.169 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0748 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-1.3607, -17.0051, 8.0752, 0.0024, -0.0513, -0.0122, -0.0122, -0.3214, 2.0718, 5.1897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 887):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b19dab585ca0390dd9fcdb1e55dd7eeb8b95a3ded30f9836a776ddca766b647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 887):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c9d07031c74b93c93510c62c57959af410647d706fe358545a5c0522b65e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 887):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ab38d67aa5bd55a69ffd93af16ebb02ff4234800895ec9e67b8368a8de097ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b19dab585ca
wire blob 98c9d07031c7
wire blob 7ab38d67aa5b
call 99 attempt 0 · /messages · status 200 · 20.47 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 289 changed as sent

message 292 changed as sent

message 295 changed as sent

message 289 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.066 left_j1=2.2574 left_j2=1.747 left_j3=-1.0992 left_j4=0.0219 left_j5=-1.0992 left_gripper=0.9981 right_j0=0.0101 right_j1=0.6369 right_j2=1.198 right_j3=-1.0603 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -12.3282, 5.5316, 0.2906, -0.0171, -0.0366, -0.0073, -0.0752, 1.6068, 5.2034, 1.8779, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 292 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0927 left_j1=2.2684 left_j2=1.7428 left_j3=-1.0672 left_j4=0.0185 left_j5=-1.1072 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0676 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-3.0154, -13.0803, 6.4479, 0.1245, -0.0122, 0.0855, -0.0708, -0.1709, 1.9761, 5.3675, 1.9121, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 295 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1912 left_j1=2.2368 left_j2=1.8183 left_j3=-1.2018 left_j4=0.0219 left_j5=-1.169 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0748 right_j4=-0.0616 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [-1.3607, -17.0051, 8.0752, 0.0024, -0.0513, -0.0122, -0.0122, -0.3214, 2.0718, 5.1897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 887):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b19dab585ca0390dd9fcdb1e55dd7eeb8b95a3ded30f9836a776ddca766b647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 887):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c9d07031c74b93c93510c62c57959af410647d706fe358545a5c0522b65e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 887):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ab38d67aa5bd55a69ffd93af16ebb02ff4234800895ec9e67b8368a8de097ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b19dab585ca]
[blob 98c9d07031c7]
[blob 7ab38d67aa5b]
{
  "content": [
    {
      "signature": "CAISwA8KjAEIEBgCKkBSRgc0MobMePhhkfiRNFAQohgDgxRM5RxxqQhdthcZabLAZLbd0i0i1ejiazck65U1Wq7+Ac0IlE6o84eqIgKFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+3z/Tamidh6B7qNFGgyGXXxlewubBycR3X0iMN7ABJpwLyk2vGnPVQNXIJm0gYOy368nx2Fcbzia+moG8Ms3RTySAswjQU9KuwBpGCrgDcGEoWmDaxDPxaIeOZsSSn6NlstvGr+7mijrK/yML+Wc0CEi55arWyFwhSmxNsmppE3ybtv6U9Ao717C6IsnVtR8XGPwWfn6rS3+mv84qpGsCqff/HFI/6fkBn0SO3RUAV1LUJMKJUPO0k0TL4KgttQX9bVhtGwWBftLspHEt8D96NVTrHhX623Oy6Itp1+yp9I9kQQoaCcfrsq/vPbWU+pFff85m7kPJNjTIX6fY91DwlqedFG0S308Hb8HStORQ9AGxtrdj0hQnZ0v3AcZ/H4hEqXViYMpb0lHZKF5PaRwEvxYfAg+hnAYHNi4WrnBlhcgD6zXFnN5MUbaBk4HA4sgHks9OUymr4kopRiq6SYlGLccsbT4J8nL+ORi+TFY3eL2ZcB35dRXego1an5svu9eLLkgutBBF2mlubpEIGxPiXTT9BBdAXTY4IzDyw2JwLiJtKtd7l/dffd1ZuXLNdkwrO+a+uJDhqJ5PLMxRLXmljpRDqkFWlU8w9qZqJz9kXQ4s7K3+AmpLDWXEUHf5FIAO0GWbmitJjWYgXkvnCakQUbFieqa9nlHPVwnavdJNM+8mNTjTpIoHHgRMtxhRuo6j9jSubrwzKYBX6laFii78wNG0rjVrvg2UUQIIj6/Z7/ydbJal7gV/7zJkM2c2G061hMb60gvE+SqZF9kcHKiUGIE3qN8efDcpid7xcYFBbBsUK5p0DUDNREB+UJfzFle0ibM7ESUjW1rJVn6NhaPxcY3xn9CZdfg4bvvOiWK1p+ytfNHwpmYia02Zjehpc+F9Oo2YR44SrVwKKeg7hZkYZOpU2XqCwyoz+xZ/HF2Hb8UVcZxkISKCyEJx291WvIP7OPEXOadWq1LOw+neV0rwebq9Vkh+oY7vMkuj7/O9wT155qUs3uia4X5FCJ4TE15GTkGoVCtO8CT0b7cd0+ehXo5YWyChQ38Xg7CQh2all8sQoEwEE1c3HOlp2As1qxU4eodOsnYXzJAr+m6QD07WhaUTixmi2Vy78f36LmTXjfj5QjM8CiJMNQyVsmhTyh9aE2ALFK2018gpjNp3d9/sT5de3sU03TqY3UnJli0diWM63NK2sMpnGW3PYHYRf6Yu8K6jeyZn/KxiOuu/u0O/wpHNoXdZYqS5WuIHEdPf1I/EMiau/j4U4oMoZER64u/zv/je54Hx9tFS6m05QptXytv1El73XTzJ13/c5BRFuqnkXtiFF5VX89mx5MyMNtArUsGsiqAA0UHOQ3FOTl5M0J69IEWfxe9dxgsNKBOVRZKBsSUxgt4hx7ygojp2zpdbWGZxA6K56HTsKwd2EFvXMYhJX4ryHmf8gCdP5x9Pb1+Bd0WRmWtrGaw44mxWrZBfuNcw2NhyMIodIk86iVf1oACY8TidMM0kFQQFyD+TyWJCU8E7UFZnuPDs6vC4UKEWez4/dy7naS3XqXt/RzVs1C4Yu76opmFTFag8NyFRDqUJq6a5dzlm+rRJ+LuCenWrHTevvs3+RgWh0RhKW9o4VaZM6WJiJxRAcIjcnMJ+s0f4NaHX0jvbpFVNLvVYiAV6GySsqCdZYbyXixtLlN3mxNgiF14h+GmBT13kfZQGdL47//yAc47b7BDQlRhTn68EXqRuTTCVkmR8MrFuF4PP1oQwE/Atbs+6AMA5+VmKjGypXaoF2Mo4uBidBqUNVWQxCBccF1li79ZvThe+aeghNNQf9DO9jVCtLgWyoiFsumSWC1uwcDKnHznIFp/8a9vFlKsxrp6ZQlFEejvBCNk0znmhVqyZ4JVBBoSQb2486JyHnh19PsDzfvWaFcPB9OktVB0KKyPguPKoSV2FHgF/LIrIh1AVrz+t9gKBGjQWKv0ZFPSfIXQ7kEDdBDEWnsPlCkirrnH7n4fxlPeXLeWFNPjcuf+AaOt0jd9mqyDPr+xyYOLaavhXasp5Qc3QvDUJfUx949kD/Dg/Ey3IIwFUdwwPn6sFCQMcJwBr/7a6/WEz77KKYI/9IDYOP850SseWmt0ueFW2P042wK8WF4SMjAPNuQ8DWQgb6brQRR1gogxxpUCfm4ROFvgIWDgZGaPVBljFwCIpXuP47u/frm2kiDKLqu7xPzKeC4X4X9D31oz1cYTce1gzqKXn7Ck03cF0ba+B64UgOZp021XhKRGXf+iWsQChnkpX+NDqzLBZh/pigCfjZ/dhWZc6YrZlWyJnF3S7v7+et9NjA0J+7kjjIajy9Tzv4y028p+xj3FTR02YC6YKNXDdKFrjh0EKkQ1Ek+cagxtFxGeDP0NXAjMnkPjoBxhsiZ2oW/M7SlOTGOr0oM5m/qJ8+jD+2ZJF59Ko+DCo2l6MAiTDyYG2Yi9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ctp8WcRK64w6v2g3t2jK4x",
      "input": {
        "note": "The lift undershot so I may have nudged the block again; descending back to table level to get a sharp look at where the block sits relative to the jaws.",
        "targets": {
          "left_j1": 2.269,
          "left_j2": 1.732,
          "left_j3": -1.034
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ctp8WcRK64w6v2g3t2jK4x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1969 left_j1=2.2536 left_j2=1.7535 left_j3=-1.111 left_j4=0.0223 left_j5=-1.1782 left_gripper=0.9975 right_j0=0.0101 right_j1=0.6388 right_j2=1.1961 right_j3=-1.0798 right_j4=-0.0612 right_j5=0.8196 right_gripper=0.9966\nstate[joint_eff]: [0.212, -12.9299, 5.5453, 0.188, -0.0317, 0.0317, -0.0122, -0.0205, 1.6752, 5.1761, 1.8095, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 890):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa237587db491baf33c70671c1c994a630c840fc4ad9c83464f704a7c98b06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 890):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10ca9fce967bc17aa4652e5616f905946964bda4ad4d6b7cfafd86e0c2f42d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 890):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38d350cc4b1c309a5bbbf47897eb36fa439b521909f8e4b34e80705a3f51492d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6aa237587db4
wire blob a10ca9fce967
wire blob 38d350cc4b1c