adhoc

completed
2026-08-13T17:42:44.735439+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
medium
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
12000
duration
230.5 s
total steps
154
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

Place the left block on top of the right block

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y
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-ish one left of centre and a red one right of centre. I'm swinging the left arm out over the left block at roughly 0.42 m radius, gripper pointing down at ~15 cm height, to get a wrist-camera look.
move_joints
left_j0-0.6000left_j12.3300left_j22.1000left_j3-1.3500left_j40.0000left_j5-0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0322 left_j4=-0.004 left_j5=-0.0219 left_gripper=0.9991 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0265 right_j4=-0.0048 right_j5=-0.001 right_gripper=0.9995 state[joint_eff]: [0.2667, 1.0598, 6.1333, 2.1758, -0.0317, 0.1685, -0.105, -0.0205, 1.4154, 6.3521, 2.1319, -0.0269, -0.0513, -0.0659] 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": -0.6, "left_j1": 2.33, "left_j2": 2.1, "left_j3": -1.35, "left_j4": 0, "left_j5": -0.6, "left_gripper": 1}, "note": "Overhead view shows two small blocks near the middle of the table: a blue-ish one left of centre and a red one right of centre. I'm swinging the left arm out over the left block at roughly 0.42 m radius, gripper pointing down at ~15 cm height, to get a wrist-camera look."})
tool
executing move_joints over 37 steps (3.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe left wrist camera shows the blue block just below centre, nearly aligned with the jaw gap — a good approach. Descending ~6 cm while holding the same radius to close in on the block.
move_joints
left_j12.4100left_j21.9900left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5991 left_j1=2.3493 left_j2=2.0689 left_j3=-1.3472 left_j4=-0.0071 left_j5=-0.5961 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.4171, -14.3795, 8.2803, 0.0952, -0.0024, -0.0757, -0.1343, -0.0615, 1.6068, 6.9675, 2.0, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.41, "left_j2": 1.99, "left_j3": -1.15}, "note": "The left wrist camera shows the blue block just below centre, nearly aligned with the jaw gap \u2014 a good approach. Descending ~6 cm while holding the same radius to close in on the block."})
tool
executing move_joints over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe block has dropped out of the wrist view (it is now at/inside the grasp point) and the top view shows the jaws right over it. Lowering another ~3 cm toward the table before closing.
move_joints
left_j12.4640left_j21.9590left_j3-1.0650
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5991 left_j1=2.4065 left_j2=1.993 left_j3=-1.1793 left_j4=-0.0074 left_j5=-0.6006 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.0889, -12.9162, 5.5179, 0.5348, -0.0562, -0.0366, -0.0317, -0.0889, 2.0034, 7.1316, 1.9512, -0.0269, -0.0806, -0.0073] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.464, "left_j2": 1.959, "left_j3": -1.065}, "note": "The block has dropped out of the wrist view (it is now at/inside the grasp point) and the top view shows the jaws right over it. Lowering another ~3 cm toward the table before closing."})
tool
executing move_joints over 2 steps (0.2s)
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 noteIn the top view the gripper sits about 8 cm farther forward than the blue block (block is below the gripper blob in image = closer to the base). Pulling the gripper radially inward to ~0.34 m and up to ~10 cm to re-acquire the block in the wrist camera.
move_joints
left_j12.1190left_j21.5180left_j3-0.9700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5983 left_j1=2.4119 left_j2=1.9869 left_j3=-1.1366 left_j4=0.0116 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.4171, -9.1282, 3.453, 0.9939, -0.2418, -0.0269, -0.0171, 0.1026, 1.7436, 6.9949, 1.8584, -0.022, -0.0562, -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_j1": 2.119, "left_j2": 1.518, "left_j3": -0.97}, "note": "In the top view the gripper sits about 8 cm farther forward than the blue block (block is below the gripper blob in image = closer to the base). Pulling the gripper radially inward to ~0.34 m and up to ~10 cm to re-acquire the block in the wrist camera."})
tool
executing move_joints over 8 steps (0.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe wrist camera now shows the blue/white block right at the jaws, slightly right of the jaw gap. Nudging j0 by -0.06 rad (~2 cm to the arm's right) to centre it between the fingers.
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=-0.5983 left_j1=2.1471 left_j2=1.5375 left_j3=-0.9829 left_j4=0.0162 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0494 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.1983, -12.3282, 5.3402, 0.359, -0.0952, -0.0317, -0.0122, -0.1983, 1.6342, 6.9812, 2.0147, -0.0024, -0.0366, -0.0073] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.66}, "note": "The wrist camera now shows the blue/white block right at the jaws, slightly right of the jaw gap. Nudging j0 by -0.06 rad (~2 cm to the arm's right) to centre it between the fingers."})
tool
executing move_joints over 1 steps (0.1s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteBlock now sits centred in the jaw gap in the wrist view. Closing the gripper fully to test the grasp and read the residual thickness.
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=-0.6308 left_j1=2.141 left_j2=1.5284 left_j3=-0.9798 left_j4=0.0154 left_j5=-0.6033 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-1.1829, -10.5915, 6.2564, 0.2076, 0.0122, -0.0073, -0.0122, -0.1436, 1.6205, 7.1726, 1.8877, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Block now sits centred in the jaw gap in the wrist view. Closing the gripper fully to test the grasp and read the residual thickness."})
tool
executing move_joints over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteGripper closed to 0.45 (≈4.3 cm) with high gripper effort — the block is grasped. Lifting it ~10 cm straight up before transporting toward the red block.
move_joints
left_j11.9670left_j21.7350left_j3-1.3390
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6304 left_j1=2.141 left_j2=1.5284 left_j3=-0.9825 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4509 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.0013 right_gripper=0.9994 state[joint_eff]: [-0.0479, -11.0701, 5.3812, 0.2369, -0.0513, -0.0269, 1.0281, -0.0889, 1.6205, 7.159, 1.8974, -0.0659, -0.0806, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.967, "left_j2": 1.735, "left_j3": -1.339}, "note": "Gripper closed to 0.45 (\u22484.3 cm) with high gripper effort \u2014 the block is grasped. Lifting it ~10 cm straight up before transporting toward the red block."})
tool
executing move_joints over 6 steps (0.6s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteBlock is held (residual 0.46, effort 1.0) and lifted. Swinging the base yaw toward the red block's bearing before extending; I'll re-check the overhead view to judge how far out to reach.
move_joints
left_j0-0.8800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6304 left_j1=1.9972 left_j2=1.7111 left_j3=-1.3319 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.1162, -12.6017, 7.5556, 0.1099, -0.0464, -0.0708, 1.033, -0.0479, 1.7573, 7.2821, 1.9512, -0.0269, -0.0757, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.88}, "note": "Block is held (residual 0.46, effort 1.0) and lifted. Swinging the base yaw toward the red block's bearing before extending; I'll re-check the overhead view to judge how far out to reach."})
tool
executing move_joints over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteOverhead shows the held block still about 13 cm left of and slightly beyond the red block. Swinging further clockwise and extending, staying high (~15 cm) so I clear the red block, then I'll fine-align with the wrist camera.
move_joints
left_j0-1.1570left_j12.4000left_j22.5120left_j3-1.5120
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8532 left_j1=1.9972 left_j2=1.71 left_j3=-1.3315 left_j4=0.02 left_j5=-0.6041 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.212, -10.1402, 5.7641, 0.1783, -0.105, -0.0464, 1.0281, -0.1983, 1.7573, 7.0632, 1.873, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.157, "left_j1": 2.4, "left_j2": 2.512, "left_j3": -1.512}, "note": "Overhead shows the held block still about 13 cm left of and slightly beyond the red block. Swinging further clockwise and extending, staying high (~15 cm) so I clear the red block, then I'll fine-align with the wrist camera."})
tool
executing move_joints over 13 steps (1.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe wrist view now shows the red block up and to the left, so I overshot to the arm's right and am short in radius. Zeroing wrist roll first so the wrist image axes align with arm-right / radial directions for a clean correction.
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=-1.1461 left_j1=2.4004 left_j2=2.4832 left_j3=-1.5261 left_j4=0.0223 left_j5=-0.6186 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.7863, -12.7658, 8.0479, 0.6325, -0.0904, 0.0659, 1.0281, -0.1299, 1.6068, 7.1726, 1.9853, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.0}, "note": "The wrist view now shows the red block up and to the left, so I overshot to the arm's right and am short in radius. Zeroing wrist roll first so the wrist image axes align with arm-right / radial directions for a clean correction."})
tool
executing move_joints over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteWith roll zeroed, the red block sits at the left edge, upper-middle of the wrist view; my held block is the pale blob at the bottom. Nudging j0 by +0.12 rad (~5 cm toward the arm's left) both to correct and to calibrate the pixel scale of this view.
move_joints
left_j0-1.0300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1484 left_j1=2.4012 left_j2=2.4825 left_j3=-1.5505 left_j4=0.0223 left_j5=-0.0299 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [0.0615, -13.1214, 5.7368, 0.6764, -0.0317, 0.2759, 1.033, -0.1573, 1.6479, 6.9949, 1.8877, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.03}, "note": "With roll zeroed, the red block sits at the left edge, upper-middle of the wrist view; my held block is the pale blob at the bottom. Nudging j0 by +0.12 rad (~5 cm toward the arm's left) both to correct and to calibrate the pixel scale of this view."})
tool
executing move_joints over 2 steps (0.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteCalibrated: 0.095 rad of j0 shifted the scene ~28 px, i.e. ~6.4 px/cm in this wrist view. The red block needs ~11 cm more toward the arm's left, so commanding j0 to -0.81.
move_joints
left_j0-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0534 left_j1=2.4016 left_j2=2.4821 left_j3=-1.5593 left_j4=0.0223 left_j5=-0.0315 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [0.0068, -13.0667, 5.5316, 0.5299, -0.0562, -0.022, 1.0281, -0.0889, 1.7983, 6.9812, 1.8584, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.81}, "note": "Calibrated: 0.095 rad of j0 shifted the scene ~28 px, i.e. ~6.4 px/cm in this wrist view. The red block needs ~11 cm more toward the arm's left, so commanding j0 to -0.81."})
tool
executing move_joints over 4 steps (0.4s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteRed block now sits slightly right of the jaw column and well above centre, meaning it's still farther out radially. Correcting ~2.5 cm to the arm's right and reaching ~4 cm farther out while lowering ~4 cm.
move_joints
left_j0-0.8800left_j12.6320left_j22.7830left_j3-1.5510
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8364 left_j1=2.4016 left_j2=2.4821 left_j3=-1.56 left_j4=0.0219 left_j5=-0.0334 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [0.0205, -13.0393, 5.5726, 0.486, -0.0317, -0.0464, 1.0281, -0.0342, 1.6205, 6.9949, 1.8681, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.88, "left_j1": 2.632, "left_j2": 2.783, "left_j3": -1.551}, "note": "Red block now sits slightly right of the jaw column and well above centre, meaning it's still farther out radially. Correcting ~2.5 cm to the arm's right and reaching ~4 cm farther out while lowering ~4 cm."})
tool
executing move_joints over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe red block has come down to mid-frame but is still ~3 cm to the arm's right and short of the jaw line. Nudging right and extending another ~1 cm at constant height to close in.
move_joints
left_j0-0.9350left_j12.7030left_j22.7980left_j3-1.4950
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8692 left_j1=2.6198 left_j2=2.735 left_j3=-1.5856 left_j4=0.0189 left_j5=-0.049 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-1.1556, -13.5863, 7.8291, 0.696, 0.0024, 0.1197, 1.0281, -0.1573, 1.9077, 7.1863, 1.9072, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.935, "left_j1": 2.703, "left_j2": 2.798, "left_j3": -1.495}, "note": "The red block has come down to mid-frame but is still ~3 cm to the arm's right and short of the jaw line. Nudging right and extending another ~1 cm at constant height to close in."})
tool
executing move_joints over 2 steps (0.2s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteMove was delta-clamped and only partly executed; the red block sits just off the top-right corner of my held block. Re-issuing slightly beyond the target to converge on being directly over it.
move_joints
left_j0-0.9600left_j12.7500left_j22.8300left_j3-1.5000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8902 left_j1=2.6633 left_j2=2.7785 left_j3=-1.5681 left_j4=0.0151 left_j5=-0.0532 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-2.947, -12.4923, 6.694, 0.8034, 0.0366, 0.0024, 1.0281, -0.0752, 1.6205, 7.0222, 1.8681, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.96, "left_j1": 2.75, "left_j2": 2.83, "left_j3": -1.5}, "note": "Move was delta-clamped and only partly executed; the red block sits just off the top-right corner of my held block. Re-issuing slightly beyond the target to converge on being directly over it."})
tool
executing move_joints over 2 steps (0.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe red block is now hidden directly behind my held block — laterally aligned. Descending ~2 cm at a time and watching effort for the touch-down of the carried block onto the red one.
move_joints
left_j12.7440left_j22.7200left_j3-1.4560
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9424 left_j1=2.7457 left_j2=2.804 left_j3=-1.5383 left_j4=0.0124 left_j5=-0.057 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-1.3607, -14.4068, 7.4462, 0.9109, 0.1441, 0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9121, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.744, "left_j2": 2.72, "left_j3": -1.456}, "note": "The red block is now hidden directly behind my held block \u2014 laterally aligned. Descending ~2 cm at a time and watching effort for the touch-down of the carried block onto the red one."})
tool
executing move_joints over 2 steps (0.2s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteOnly a sliver of the red block still peeks above my carried block, so alignment looks good. Continuing a small ~2 cm descent, watching for the effort rise that means the carried block has landed.
move_joints
left_j12.7540left_j22.6590left_j3-1.3850
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9531 left_j1=2.7312 left_j2=2.7647 left_j3=-1.512 left_j4=0.017 left_j5=-0.0605 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [1.0325, -13.2171, 3.2615, 0.779, -0.0904, 0.0024, 1.0281, -0.0068, 1.7846, 7.0222, 1.9023, -0.0317, -0.0073, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.754, "left_j2": 2.659, "left_j3": -1.385}, "note": "Only a sliver of the red block still peeks above my carried block, so alignment looks good. Continuing a small ~2 cm descent, watching for the effort rise that means the carried block has landed."})
tool
executing move_joints over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteDescent stalled and the j2 holding effort dropped from ~7 to 2.6, meaning the arm is being supported — the carried block has landed. Opening the gripper to release it.
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=-0.9543 left_j1=2.7056 left_j2=2.7071 left_j3=-1.4727 left_j4=0.0177 left_j5=-0.0673 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.2256, -10.6462, 2.5641, 1.2234, -0.0415, 0.1197, 1.0281, 0.0068, 1.6068, 7.2274, 1.873, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "Descent stalled and the j2 holding effort dropped from ~7 to 2.6, meaning the arm is being supported \u2014 the carried block has landed. Opening the gripper to release it."})
tool
executing move_joints over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteGripper released. Retracting and lifting the arm to clear the overhead view so I can verify whether the block landed on top of the red one.
move_joints
left_j12.1000left_j21.7000left_j3-1.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9543 left_j1=2.6991 left_j2=2.7022 left_j3=-1.4796 left_j4=0.0143 left_j5=-0.0761 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.2256, -14.065, 6.065, 0.525, -0.0269, 0.0366, -0.1245, -0.1162, 1.7299, 7.1726, 1.9463, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1, "left_j2": 1.7, "left_j3": -1.3}, "note": "Gripper released. Retracting and lifting the arm to clear the overhead view so I can verify whether the block landed on top of the red one."})
tool
executing move_joints over 16 steps (1.6s)
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 noteThe arm still blocks the overhead camera. Swinging it back toward its own base to clear the view of the blocks.
move_joints
left_j00.0000left_j11.2000left_j21.6000left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9539 left_j1=2.1437 left_j2=1.7222 left_j3=-1.3109 left_j4=0.012 left_j5=-0.0776 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.1026, -13.2991, 5.6, 0.2369, -0.0171, -0.0122, 0.0952, -0.0205, 2.0718, 6.9812, 1.8828, -0.0317, -0.0659, -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": 0.0, "left_j1": 1.2, "left_j2": 1.6, "left_j3": -1.0}, "note": "The arm still blocks the overhead camera. Swinging it back toward its own base to clear the view of the blocks."})
tool
executing move_joints over 16 steps (1.6s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent notePicked the left (white/ice-cream) block with the left arm and placed it on the red block on the right. Overhead view now shows a single stacked cluster at the red block's original position, with the red block visible beneath the white block, and nothing left at the white block's original spot.
done
hindsightUseful facts learned: (1) The overhead camera is easily and completely occluded by the working arm — plan verification poses that swing the arm back toward its base (j0≈0, j1≈1.2) to see the table. (2) The planar IK formula in the rig notes works well, but on this arm actual fingertip height is roughly 8 cm BELOW the computed z (I grasped a 4 cm block sitting on the table at nominal z≈0.10), and actual radius is a few cm larger than computed. Calibrate that once with a table touch. (3) Wrist-cam lateral scale here was ~6–10 px/cm at ~15 cm height; a single j0 nudge calibrates it in one call, and the vertical axis is heavily foreshortened (depth), so never convert image-y to cm. (4) Best alignment cue for stacking: move until the target block disappears exactly behind the carried block in the wrist view. (5) Contact/landing was clearest as a drop in j2 holding effort (7 → 2.5 N·m) plus stalled j1 tracking. (6) Setting wrist roll j5 = 0 makes the wrist-image axes interpretable (image-right = arm-right, image-down = radially inward) — worth doing before fine visual servoing.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0246 left_j1=1.2346 left_j2=1.6039 left_j3=-1.0481 left_j4=0.0147 left_j5=-0.0792 left_gripper=0.9966 right_j0=-0.0013 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994 state[joint_eff]: [0.1299, -3.8359, 5.6547, 1.9707, -0.0464, -0.0317, -0.0024, -0.0889, 1.7162, 7.2274, 1.9023, -0.0562, -0.0611, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
done({"summary": "Picked the left (white/ice-cream) block with the left arm and placed it on the red block on the right. Overhead view now shows a single stacked cluster at the red block's original position, with the red block visible beneath the white block, and nothing left at the white block's original spot.", "hindsight": "Useful facts learned: (1) The overhead camera is easily and completely occluded by the working arm \u2014 plan verification poses that swing the arm back toward its base (j0\u22480, j1\u22481.2) to see the table. (2) The planar IK formula in the rig notes works well, but on this arm actual fingertip height is roughly 8 cm BELOW the computed z (I grasped a 4 cm block sitting on the table at nominal z\u22480.10), and actual radius is a few cm larger than computed. Calibrate that once with a table touch. (3) Wrist-cam lateral scale here was ~6\u201310 px/cm at ~15 cm height; a single j0 nudge calibrates it in one call, and the vertical axis is heavily foreshortened (depth), so never convert image-y to cm. (4) Best alignment cue for stacking: move until the target block disappears exactly behind the carried block in the wrist view. (5) Contact/landing was clearest as a drop in j2 holding effort (7 \u2192 2.5 N\u00b7m) plus stalled j1 tracking. (6) Setting wrist roll j5 = 0 makes the wrist-image axes interpretable (image-right = arm-right, image-down = radially inward) \u2014 worth doing before fine visual servoing."})
tool
done: Picked the left (white/ice-cream) block with the left arm and placed it on the red block on the right. Overhead view now shows a single stacked cluster at the red block's original position, with the red block visible beneath the white block, and nothing left at the white block's original spot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 9.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0322 left_j4=-0.004 left_j5=-0.0219 left_gripper=0.9991 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0265 right_j4=-0.0048 right_j5=-0.001 right_gripper=0.9995\nstate[joint_eff]: [0.2667, 1.0598, 6.1333, 2.1758, -0.0317, 0.1685, -0.105, -0.0205, 1.4154, 6.3521, 2.1319, -0.0269, -0.0513, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f034fdd104c1f39b21880e688b8ff4b0d1fe3318731407c68fc89b5a9b6a1d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7227083e6be80c3a9478190b216af238185c7f02bb534621b5fc3f7c3299911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:178c581feb0698f6d24cf1fbdb0707581a7fd0dac10255a5e2572f6fcb5035df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2f034fdd104c
wire blob f7227083e6be
wire blob 178c581feb06
call 1 attempt 0 · /messages · status 200 · 5.157 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0322 left_j4=-0.004 left_j5=-0.0219 left_gripper=0.9991 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0265 right_j4=-0.0048 right_j5=-0.001 right_gripper=0.9995\nstate[joint_eff]: [0.2667, 1.0598, 6.1333, 2.1758, -0.0317, 0.1685, -0.105, -0.0205, 1.4154, 6.3521, 2.1319, -0.0269, -0.0513, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f034fdd104c1f39b21880e688b8ff4b0d1fe3318731407c68fc89b5a9b6a1d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7227083e6be80c3a9478190b216af238185c7f02bb534621b5fc3f7c3299911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178c581feb0698f6d24cf1fbdb0707581a7fd0dac10255a5e2572f6fcb5035df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2f034fdd104c]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A2krxwdrK5FUKnoQY8Rc9a",
      "input": {
        "note": "Overhead view shows two small blocks near the middle of the table: a blue-ish one left of centre and a red one right of centre. I'm swinging the left arm out over the left block at roughly 0.42 m radius, gripper pointing down at ~15 cm height, to get a wrist-camera look.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.6,
          "left_j1": 2.33,
          "left_j2": 2.1,
          "left_j3": -1.35,
          "left_j4": 0,
          "left_j5": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 37 steps (3.7s)",
      "tool_use_id": "toolu_01A2krxwdrK5FUKnoQY8Rc9a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5991 left_j1=2.3493 left_j2=2.0689 left_j3=-1.3472 left_j4=-0.0071 left_j5=-0.5961 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -14.3795, 8.2803, 0.0952, -0.0024, -0.0757, -0.1343, -0.0615, 1.6068, 6.9675, 2.0, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d1a40969b32f49e2d7ec18daca4cb45385d50128de37d26ab0e271bf67f84b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2cb4e4dd2847d8a60fce5e385b43f428968070d2c22759e8235a1df4e5a5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2632b66ffcdc54a5b8428bc2f28a2d731958754eb57d23dbb7b7407e78f02583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 83d1a40969b3
wire blob be2cb4e4dd28
wire blob 2632b66ffcdc
call 2 attempt 0 · /messages · status 200 · 5.329 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0322 left_j4=-0.004 left_j5=-0.0219 left_gripper=0.9991 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0265 right_j4=-0.0048 right_j5=-0.001 right_gripper=0.9995\nstate[joint_eff]: [0.2667, 1.0598, 6.1333, 2.1758, -0.0317, 0.1685, -0.105, -0.0205, 1.4154, 6.3521, 2.1319, -0.0269, -0.0513, -0.0659]",
      "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=-0.5991 left_j1=2.3493 left_j2=2.0689 left_j3=-1.3472 left_j4=-0.0071 left_j5=-0.5961 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -14.3795, 8.2803, 0.0952, -0.0024, -0.0757, -0.1343, -0.0615, 1.6068, 6.9675, 2.0, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d1a40969b32f49e2d7ec18daca4cb45385d50128de37d26ab0e271bf67f84b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2cb4e4dd2847d8a60fce5e385b43f428968070d2c22759e8235a1df4e5a5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2632b66ffcdc54a5b8428bc2f28a2d731958754eb57d23dbb7b7407e78f02583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 83d1a40969b3]
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{
  "content": [
    {
      "signature": "CAIS/QkKjAEIEBgCKkDd9XNFmD+cmvPRdSw4OCPrsFEdEGFKe47W1RbNQtEo/ShlLIN9IjPnNOe1aZaHoHxyG++rn8TNlfD7bjm5pOlLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlzFkzwHLCaCyNpJYGgw4btI13YFG2Ukya+QiMGQ6wePsQHEVpzrQbshYLZqIh1yOQVwhKPqZPDXzrbU+r6MDIFcjN+6/eYA5AHgsBiqdCCaxNaX5BrNGkM6JrMbo85+SgLH11dn++FF6GTDnmJRvPefZHwbOZE8ZXv2ua0gYCeOmnikVuHqfLOc2n6HcZ4xcIMiR0eSxxIp5x7g1Ja96Cpufgn7ztUxpBlJhIVBH4DVaL3tx6EvfdYHy5P910Vq0f/JzyltTKMvNUHKwjx+wN5uFwTqSVMrY4GZqsRf0DWlkVV36sc/D3jbDnJn49/S8mIXvajmS4RdD8njEZhEayj7qiLkd++zmECZ3KkkawaehS/2Ojm5+1S2ghJy/MNLB/Zt9WoxwC/SMMHScMuKic4ok8Pt1C9MDMoVAX+Rwj/StWbDackFF1rli13yYBEAX3hg5xdKCxMWSTIdUZUQoKSSbhGxKeW9ZLeUXnf7oT+jYKXe2XMh/lkClOxGdD/zN4/PjpsTwP92CE4uT8TAC69lDf0bjTNkxchuk9/DBQKw1+zWgsHfOHVEobhl0ICVKiHq2vQwN/T0XQuac1rHFFjbXUVXhV+SSEI7d/V5BAoaJG79Gki9OPunUvWUwlkyPp4rXvgN+b4z+rrpMslr6YK1Uzxkhr7DKS9E+Prp5bCswtePgWctDB+AGgRw+JBGO7YLPGuBvQepXCAUlgAPOL+2TU2WkZFLwvctKA5Foq4IMb4OLeI727bEPQ9rmMa+ZzirZfUnOixpjV9qF9JG9lLUd0qDbbmzGwAvDKU4Q6CHxfyS2PvADLHOFT98Vx9VhcOHcT38rHlhTtaF6vcA3DtYkfH6eHezcQd4gyuX0xH99YeWtAVoKpqezDRj5B1ECuabe1LMLbGy1EwroxG6v3JPAYMHVKgQM+4HERlX45rbPn3RQy2dxqZAmA26ic8SMGqQSH3mRApfAXkPO+wu+8e9TldpIo2SIDB8AAhqApTH+vY12YCYnnj0aqby5QZvc8mS95Cd2K9fjVaFO7jeL89KYzLZXaElNz4jeua1ANUWd9zC+KF8F55RS4xmFnUytR/XZRtJTLuXOyVo5lRrTZd3oLSjZpseZUmdcJQArg4FE/TNKytD/2yCUlCh1rHYRYhIEQXYsw1hRADlKcVoDlKyknB+sWXeYn9RpTPPVtpa2Yhz9OHUXvlpvKdrCVdJrqJm0f9GX4VE2gt7Do51hxY/NNxzwlP8t2cK4dTd4kyHXtVf8C1IjfKD58u3LRc9ZXfm94e4qsUVO5rh1BMyeSA0LEHPxinZItesv1CIGAsWw31thrBFMgWHvkXEArmJ+fKJ5h4EVrZwVs54h/OIJlhTp+dSsmJJYfGxbrruasPubtiJItkIN58qx1YfdJXFRDVF1bSXpeUG649cli/JjNEOZPoDCxsHLmYfWYxu4hloiPR4v3kgfp64cVX23lrmSgj2pOl0v4JUB7ew8zIi9Uuw8yNeIPjpVvBawSBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hGQEdgieVUspBZJAYWyf7",
      "input": {
        "note": "The left wrist camera shows the blue block just below centre, nearly aligned with the jaw gap — a good approach. Descending ~6 cm while holding the same radius to close in on the block.",
        "targets": {
          "left_j1": 2.41,
          "left_j2": 1.99,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_011hGQEdgieVUspBZJAYWyf7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5991 left_j1=2.4065 left_j2=1.993 left_j3=-1.1793 left_j4=-0.0074 left_j5=-0.6006 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -12.9162, 5.5179, 0.5348, -0.0562, -0.0366, -0.0317, -0.0889, 2.0034, 7.1316, 1.9512, -0.0269, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef982556d246874950367d2eebda7da34eaae33285d955282f7729b31aa7d207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9f52c09b0ac5f34d2d27a311340ea49aa4ec9fb04f8a9dc41e033276644509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89974e781915ae7a84897c3f85268f908b164a9471a649af3b73e35cea74f6d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ef982556d246
wire blob 0e9f52c09b0a
wire blob 89974e781915
call 3 attempt 0 · /messages · status 200 · 7.294 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0322 left_j4=-0.004 left_j5=-0.0219 left_gripper=0.9991 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0265 right_j4=-0.0048 right_j5=-0.001 right_gripper=0.9995\nstate[joint_eff]: [0.2667, 1.0598, 6.1333, 2.1758, -0.0317, 0.1685, -0.105, -0.0205, 1.4154, 6.3521, 2.1319, -0.0269, -0.0513, -0.0659]",
      "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=-0.5991 left_j1=2.3493 left_j2=2.0689 left_j3=-1.3472 left_j4=-0.0071 left_j5=-0.5961 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -14.3795, 8.2803, 0.0952, -0.0024, -0.0757, -0.1343, -0.0615, 1.6068, 6.9675, 2.0, -0.0269, -0.0611, -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=-0.5991 left_j1=2.4065 left_j2=1.993 left_j3=-1.1793 left_j4=-0.0074 left_j5=-0.6006 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -12.9162, 5.5179, 0.5348, -0.0562, -0.0366, -0.0317, -0.0889, 2.0034, 7.1316, 1.9512, -0.0269, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef982556d246874950367d2eebda7da34eaae33285d955282f7729b31aa7d207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9f52c09b0ac5f34d2d27a311340ea49aa4ec9fb04f8a9dc41e033276644509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89974e781915ae7a84897c3f85268f908b164a9471a649af3b73e35cea74f6d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ef982556d246]
[blob 0e9f52c09b0a]
[blob 89974e781915]
{
  "content": [
    {
      "signature": "CAISxwkKjAEIEBgCKkD5aVYkG8tK7IUml19B7PXNBZmH5pJeNke5y8hmVHQNMU/TnSloMRj0Oz8W24A6dWs7XZQ9ABmjGYxJDKBUvO0EMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMXG4AqEh6z9sIlnCGGgxtv2d+L67wpzkgzlYiMG4TmTik3esgVA3SN32tIGYgu+qWNqKumEa24G05fy/Kg8LcAbUqBuaV4OwicnBISCrnB+LNp8/ol3PotZ0OH1w7kN1sC8ECE9wKzxZYdQmJF0u0qg1JZTc2Lle6moCOhtaIWlSlgyTojdsYgITAT6qfjUERQ5j6cnqK7YtHJ+wiY9pQxwaaaIcd8Pm++p7k4jt8njht4obu0QPf81zbabv+avX/t5yYRM3sZPkQNNKl0p50qABlYQCSplFEYZcuYDF/Oi272dtpt8mHiyrfLpEWFuncM9CLt0F5VD3H+HxUwFcogaEiI48SCph0Y3LKmjZ3b4VeIOLmrzhf2VuWYzH28kKUbbZajx6btmMVJgvjMIlTk0eqwhCYR8N35hOzziWCQVayT1whu7tqVTRPovkwmIjywRfr63OEl+Y6xkcsCaOCeZWZWC2QnqDDRqd+vDsZ94uM9FyHFe7aS+FCLWXN3UGsCkYyUZBclB0y5c0SSSQYM7BNtkAMQWlQUQ6D93bDY9UpkMXrpVjit6G6ma3R8fcIjQkvfEC0h3I6X5Paq6na1wL0KGWvN4NHafLEYXkcw/bqc5mdTy8tmKOslhvOyeRHfsxmg85W+Uo8JTsqlO6KWWUM2Uq/5vP/bxmw4mnuRUMzGKBBwhMd2R47WUbBb2uMlugKolRywrvZavjktgx6qXlKryYVvD/NAVnC1DVgGBzaaaIbMkY5s8BlSjDp6eektNFJ4fZGwUuk+pCBL+L5qxjED2zrvEP6BXIWnp+rpec0kmVukN5bZtf3uvFQ4U1ISJDNXr/kuqEfU10jQgBUMy3DOV7QjCA5Y1pYotbJVL3961qLJ6n446GwbRXm8Sau7MKGAv6I3bsMsso1TTw6157mWzJjp+PzU+KbZaJ+uRoamQPdgbASist2XIhYYwCr8pmWujy8YwfEUD/R6+56vDmCDTw9VeuHmRXNDV3IM6xGv+vMQJsbjHgmUjJndGWnC5cF7Jzmsi85oV9Y8rpexK/y6O0wKuW5n4fFUNOPa5GwSkRNYiFn2puK3yFZ1fFKXxwXdyZh2qNnYlyeUp7g8kBIw5JDmD9lRownDx/s60QoKC/4wTAnd+ryRHBagm2mqxr2ljNpPGC7DTMWKTUIITIeyAwS7gZjqEVwkdV4j5jII32EMRiAAvWoL3Um6duf4r4uhYo5hTS3h9kzkqgpfSLBhzEzaPNfSWgh64kUl0ukejiBlNlFFRvgQVirHEgR9il4S4tsWJg+cNNoo9Tq+9wfrV77NjeKLPJPkCZqEAmR0TkGBSsux+skkeNpI62dG/inTZIj8IWnvop7pXhX4/W6/Rlg2sJrZkjiRQPYS7IwxQRQiPv1SB+iPPeJeb3DloodVDOw+7/FXBDjOPv5XgAAMB0UDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GqJ4GWL8iygk36SVxigeFz",
      "input": {
        "note": "The block has dropped out of the wrist view (it is now at/inside the grasp point) and the top view shows the jaws right over it. Lowering another ~3 cm toward the table before closing.",
        "targets": {
          "left_j1": 2.464,
          "left_j2": 1.959,
          "left_j3": -1.065
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GqJ4GWL8iygk36SVxigeFz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5983 left_j1=2.4119 left_j2=1.9869 left_j3=-1.1366 left_j4=0.0116 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1282, 3.453, 0.9939, -0.2418, -0.0269, -0.0171, 0.1026, 1.7436, 6.9949, 1.8584, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de00ecb39de1f284247ac0ada11cdfcbc79854c85c5790e90255533a8d9d62e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd67192778329f095e0c1c5e5c08447489d5079023d94b2ca661b0b06869d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5da0fcfe081a87b1a46752d7e94032d682026057139b6d4a639e57a1dfc428db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0de00ecb39de
wire blob 2fd671927783
wire blob 5da0fcfe081a
call 4 attempt 0 · /messages · status 200 · 4.673 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5991 left_j1=2.3493 left_j2=2.0689 left_j3=-1.3472 left_j4=-0.0071 left_j5=-0.5961 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -14.3795, 8.2803, 0.0952, -0.0024, -0.0757, -0.1343, -0.0615, 1.6068, 6.9675, 2.0, -0.0269, -0.0611, -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=-0.5991 left_j1=2.4065 left_j2=1.993 left_j3=-1.1793 left_j4=-0.0074 left_j5=-0.6006 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -12.9162, 5.5179, 0.5348, -0.0562, -0.0366, -0.0317, -0.0889, 2.0034, 7.1316, 1.9512, -0.0269, -0.0806, -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=-0.5983 left_j1=2.4119 left_j2=1.9869 left_j3=-1.1366 left_j4=0.0116 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1282, 3.453, 0.9939, -0.2418, -0.0269, -0.0171, 0.1026, 1.7436, 6.9949, 1.8584, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de00ecb39de1f284247ac0ada11cdfcbc79854c85c5790e90255533a8d9d62e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd67192778329f095e0c1c5e5c08447489d5079023d94b2ca661b0b06869d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5da0fcfe081a87b1a46752d7e94032d682026057139b6d4a639e57a1dfc428db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0de00ecb39de]
[blob 2fd671927783]
[blob 5da0fcfe081a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ChwioDups2HcxKfPLMfACW",
      "input": {
        "note": "In the top view the gripper sits about 8 cm farther forward than the blue block (block is below the gripper blob in image = closer to the base). Pulling the gripper radially inward to ~0.34 m and up to ~10 cm to re-acquire the block in the wrist camera.",
        "targets": {
          "left_j1": 2.119,
          "left_j2": 1.518,
          "left_j3": -0.97
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ChwioDups2HcxKfPLMfACW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5983 left_j1=2.1471 left_j2=1.5375 left_j3=-0.9829 left_j4=0.0162 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0494 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -12.3282, 5.3402, 0.359, -0.0952, -0.0317, -0.0122, -0.1983, 1.6342, 6.9812, 2.0147, -0.0024, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d2af6c075af3678f9a4eabe67666c6e96e2a137e4e088d182a61282cf7e898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154ec001706dba3cdd442af1b2e4105cf047d1d7f63a0a30ac8dd1f829c0ed15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffdabaaa48d413019f0f056d050f455c7405c563b34a47afbd94437ecaed5b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b0d2af6c075a
wire blob 154ec001706d
wire blob ffdabaaa48d4
call 5 attempt 0 · /messages · status 200 · 5.624 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5991 left_j1=2.4065 left_j2=1.993 left_j3=-1.1793 left_j4=-0.0074 left_j5=-0.6006 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -12.9162, 5.5179, 0.5348, -0.0562, -0.0366, -0.0317, -0.0889, 2.0034, 7.1316, 1.9512, -0.0269, -0.0806, -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=-0.5983 left_j1=2.4119 left_j2=1.9869 left_j3=-1.1366 left_j4=0.0116 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1282, 3.453, 0.9939, -0.2418, -0.0269, -0.0171, 0.1026, 1.7436, 6.9949, 1.8584, -0.022, -0.0562, -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=-0.5983 left_j1=2.1471 left_j2=1.5375 left_j3=-0.9829 left_j4=0.0162 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0494 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -12.3282, 5.3402, 0.359, -0.0952, -0.0317, -0.0122, -0.1983, 1.6342, 6.9812, 2.0147, -0.0024, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d2af6c075af3678f9a4eabe67666c6e96e2a137e4e088d182a61282cf7e898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154ec001706dba3cdd442af1b2e4105cf047d1d7f63a0a30ac8dd1f829c0ed15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdabaaa48d413019f0f056d050f455c7405c563b34a47afbd94437ecaed5b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b0d2af6c075a]
[blob 154ec001706d]
[blob ffdabaaa48d4]
{
  "content": [
    {
      "signature": "CAIS0QkKjAEIEBgCKkBiRhb4FrmdX1u0sAaS8KaiCtoWggkgPYbem5awyLASycdPe+vX8OPKDvvVymeSZx7j0pGB3HXp25XUM5ploa+YMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM52arqcN5K5rc+dRIGgyfloO1gZb+A2m3pvYiMHq7BB3+YG6Wpg8u1zFfRUAbb3kUU5xMs46MlhjrmYvDbAwi1oOk71T6ohP1FDDwmSrxB329hxULP9ixSc2D/PNWLG0H51fwy1YRoBX6s32UD6Ry9BUUYoTtKaRGyHn6lzDJuX4VMIFlLzUjP5FLg33BuXTW6bUPwhcMsbucaM70qey6Rq4PaLTU/OJ6T0TqgJE33TxB1eozmYtvC+l0XeoUp97DNs/DYlRiGzDiu0X03Pz3t+9m3a3DjlEyee13FFWNSLY3kcPbVW8fNqBPHGZg6j9iG1ohPjmuBXUTRDuWCX3LErz1ZMLxb1CIl5u14vh/B117Y6t6DKl+/PVys20aTTLE2iOc8bXgvxICtEBJPPpuVtepf1dLo4H3iL6QQHWl281hLg5W+1ZY1CrmHJdUQjv1lIzkaMFNaMg/dgX0H0Kzzew6IVAIyk7XHdilrIPr1Ypn+m/kq5wXv2hrfRQqauNJLhoiuBTN2PLyrqyrmI9Ip6WVEJIJJoLZfz1K2WQp8z975WUGaadzmouh9Pyxr0ZKo5K9OiM1vBDcuARi4JekhTiRzt3WPPi+vbR2NB3Gl2EYYsHesI1UYabYxxOqcM96xmUwJDCfrJ6vzxArW/Q5n/zslUtWtXqztU80FU1f4BIij1PHW/U3dmvzV8rIQ6BJpn8VAlujrx6nxTIiXLJ361ooI66PsGBvbQSA9qzzKh6SIocZb7jjNhVqWtJ6oD9PpFuVBHTAqfSXaNkl+hu2M8Z1oAHg4p9HN83pF0hBZU25YPKVx4TH+jRj63wiEUKRzYa25l0GgVJcJbFb3+4zf/Qe4kAEtveD2LiECSr3p3nTyIC26w+i/VGGqHUWLcFeiqGL0aeygSCNlSkZuhHLRofKrQWPB0PMrMQiiduCIQAKotM4aClrHwGaHqMB13v3HUJ/tsNZEpBxunoe3k/GPNeWwgeI1VEU/1jn788F9ikfPSP1LN8u8j2+7j6dYRRb66rXnM/5KVGXqDcFlHo1Bbuu9qO03b3Qz8vd/1QDVgzFXSVt0fSKagrmi2FJdootwenWWf1+gK5YLL3JIg4XmXRkuHeVJ3lEiVwM6p8mWwy8f51LGo/KBXIIFg/+/uW+4lxbGgtv7FavIohuT/OzdiclUy+1to6oGaxodw4J5xfNohc1w4d7m728CNnLS/xSCmF8EBuZdTI13einPXZ89KtDAFmLTqKMWQzhFS9/Vit5+5ZC5tUfqp15XwhfaSdft4BlFNx8L4ZpUTnsQeOCU7dCthHMBQZlGDrb1B5OivsebYNJcSqL8h7hBW8bx2ZpfR64wPh7i+blh2fpaLefEMaKp5srorm6Dk3MyCzSaivC7vhlMepNHQA8aa9K4B0JPJh+U673O06wRTP7n+vJUh0wp4+3buxdIchXpHEYrcQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nBFpjZLDTe8uYsBAhFvyA",
      "input": {
        "note": "The wrist camera now shows the blue/white block right at the jaws, slightly right of the jaw gap. Nudging j0 by -0.06 rad (~2 cm to the arm's right) to centre it between the fingers.",
        "targets": {
          "left_j0": -0.66
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_018nBFpjZLDTe8uYsBAhFvyA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.141 left_j2=1.5284 left_j3=-0.9798 left_j4=0.0154 left_j5=-0.6033 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1829, -10.5915, 6.2564, 0.2076, 0.0122, -0.0073, -0.0122, -0.1436, 1.6205, 7.1726, 1.8877, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b865e77a919335c2a518f07d07132bb38f97c2099fa69b18f8e711fcca5178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4beef426a966fd1247b0af81f00bd6e80b96bd5c2c6765ac7a3aa129490937d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81c5e705600598238f354faa54184a59fa8eb4ea22af4d3d0089f5a9fe35a63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 79b865e77a91
wire blob c4beef426a96
wire blob 81c5e7056005
call 6 attempt 0 · /messages · status 200 · 7.707 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5983 left_j1=2.4119 left_j2=1.9869 left_j3=-1.1366 left_j4=0.0116 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0349 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1282, 3.453, 0.9939, -0.2418, -0.0269, -0.0171, 0.1026, 1.7436, 6.9949, 1.8584, -0.022, -0.0562, -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=-0.5983 left_j1=2.1471 left_j2=1.5375 left_j3=-0.9829 left_j4=0.0162 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0494 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -12.3282, 5.3402, 0.359, -0.0952, -0.0317, -0.0122, -0.1983, 1.6342, 6.9812, 2.0147, -0.0024, -0.0366, -0.0073]",
      "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=-0.6308 left_j1=2.141 left_j2=1.5284 left_j3=-0.9798 left_j4=0.0154 left_j5=-0.6033 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1829, -10.5915, 6.2564, 0.2076, 0.0122, -0.0073, -0.0122, -0.1436, 1.6205, 7.1726, 1.8877, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b865e77a919335c2a518f07d07132bb38f97c2099fa69b18f8e711fcca5178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4beef426a966fd1247b0af81f00bd6e80b96bd5c2c6765ac7a3aa129490937d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c5e705600598238f354faa54184a59fa8eb4ea22af4d3d0089f5a9fe35a63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 79b865e77a91]
[blob c4beef426a96]
[blob 81c5e7056005]
{
  "content": [
    {
      "signature": "CAISywcKjAEIEBgCKkB7OJs1qvocv+sld+HPkcbC+cWtp9o3R8Nd3rjbQr1CuAORHEAHt1dLLLhBTjWbphfbm3/uVz04ujgRpXcXT2PwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM64Et1Kn/A09GpFfwGgx84i9jUG3fUYScw5kiMNLb9JJ9hWKzrj/h+3k3uA4xmLxcljWBofAY2OZ/0QdB/MI42gbiWnWom7aqQxC6oyrrBdICCJWmbkZQFSylbRrBHwAHg2tVODTr22Q+4+KnOEgIGmxZyRP0GCFFVlzITvFKVgOvS5S0UXuIiQyHgINT+psrpHQ8e/HF4PtIXEpx65/qfGY8h4AemdAC1WS/6QV3bkQSCl3BpgL2IP+A5fVbG2sepAT04e6h4KxzYW6zAlL1DBUkGt97aM3EzILrd/RUG439RTbZziI/StppeJ7c8VGTAawLLviZ63AIQGE+ISzvv2KZ0TrjNas4AUu5/f+7kRLBiNPWWQIyZXL/uKKXPxXOH8pcvSfd3FSHZu6SSqQLIaqdI624B7YTcRK7YgVrQ3lTDkksFx6YHGbBJTlGCFuQFb4RhZOpehnMNd17dnyWF9oZX0whP39qNLhQ1hT9LrAtGCu4PrOj/Zzz4PwHUzNsLDNhAr/hsMnT1f5G8BNFwy/Ds3j5EHIiPM1nuhVeS2g7WmmytyhzezG0Y8vEaQnbYa5BKb2sHZ21Co58F7GpsZhZqyrFX4Ja2ZODw3aTN+Bua71h+E7ykohAE1YbKbeS6nGdwJU4CIoDlpBztuim4VNEn5d9TBej/IEnChoArsNi2hNzci2AQzNyQhGdYh+ZBc44lRBDOdsxLLe5gQuG4+JhOgsIf0fWWZNWGPreJcXXmIk6choqIfdSq58R/sbMnS44OTkKlzw/qMGws0ZQZtD0io+JXZv8ykZL+aytrURVu1/yt6zsFCOMb/HXXKr00cyqq4jGJhNmIxyeAii1UJWRr+msPgvoq6Wq1xdQGHSuzWPBGEPWZrSLdWvrKeGoBakVjhwXbPXe3ndBSnLQJuPGLktNTDhPp5P+oz/nrdx4uDQ1p3mNrVAzypkb9wHkdMAgNkl4rArjb94reayCzJmKJ2vCN2sVME4ZSvFqOUAINv0+u9u8ZpIwVIZhvKGkJYWHGqUmnfW0C8AbPf3s2fwu7gKrrAKikVCSoeu3hL7NNY2SOxOMUPZcbtdmLXuOW1FqH0M/SCgTMRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9ApyTztHDJy9tuCDtq2Xn",
      "input": {
        "note": "Block now sits centred in the jaw gap in the wrist view. Closing the gripper fully to test the grasp and read the residual thickness.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S9ApyTztHDJy9tuCDtq2Xn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=2.141 left_j2=1.5284 left_j3=-0.9825 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4509 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.0701, 5.3812, 0.2369, -0.0513, -0.0269, 1.0281, -0.0889, 1.6205, 7.159, 1.8974, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6863b098ef7e0d906f2f88ebe3d3517ce8d74675cc4cc5d4a80f45c53db92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:489a58056e756ecef49215c43cecb8606cb68013113d53ed6a9a95722639c993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee72b52cce2118d294edd6a43f80e08da98d221370a904d8bfe604d809f87dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ea6863b098ef
wire blob 489a58056e75
wire blob ee72b52cce21
call 7 attempt 0 · /messages · status 200 · 10.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5983 left_j1=2.1471 left_j2=1.5375 left_j3=-0.9829 left_j4=0.0162 left_j5=-0.6029 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0494 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -12.3282, 5.3402, 0.359, -0.0952, -0.0317, -0.0122, -0.1983, 1.6342, 6.9812, 2.0147, -0.0024, -0.0366, -0.0073]",
      "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=-0.6308 left_j1=2.141 left_j2=1.5284 left_j3=-0.9798 left_j4=0.0154 left_j5=-0.6033 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1829, -10.5915, 6.2564, 0.2076, 0.0122, -0.0073, -0.0122, -0.1436, 1.6205, 7.1726, 1.8877, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=2.141 left_j2=1.5284 left_j3=-0.9825 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4509 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.0701, 5.3812, 0.2369, -0.0513, -0.0269, 1.0281, -0.0889, 1.6205, 7.159, 1.8974, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6863b098ef7e0d906f2f88ebe3d3517ce8d74675cc4cc5d4a80f45c53db92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:489a58056e756ecef49215c43cecb8606cb68013113d53ed6a9a95722639c993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee72b52cce2118d294edd6a43f80e08da98d221370a904d8bfe604d809f87dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ea6863b098ef]
[blob 489a58056e75]
[blob ee72b52cce21]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PAfEXd8mcziJnL6HGLtGn8",
      "input": {
        "note": "Gripper closed to 0.45 (≈4.3 cm) with high gripper effort — the block is grasped. Lifting it ~10 cm straight up before transporting toward the red block.",
        "targets": {
          "left_j1": 1.967,
          "left_j2": 1.735,
          "left_j3": -1.339
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PAfEXd8mcziJnL6HGLtGn8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=1.9972 left_j2=1.7111 left_j3=-1.3319 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -12.6017, 7.5556, 0.1099, -0.0464, -0.0708, 1.033, -0.0479, 1.7573, 7.2821, 1.9512, -0.0269, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd15cef5b7c9e388b5f6c25b137148877b5f29f30a5463121d5bdcb85d9c93df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73218154a6759751b4512d9c9474aec72f6d9c0396a3a5edb7bea807596ec10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2611d849c841dfa79b544763e344d00950c4f3ed567e6fd8be3e6483a5ae6117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dd15cef5b7c9
wire blob b73218154a67
wire blob 2611d849c841
call 8 attempt 0 · /messages · status 200 · 10.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.141 left_j2=1.5284 left_j3=-0.9798 left_j4=0.0154 left_j5=-0.6033 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1829, -10.5915, 6.2564, 0.2076, 0.0122, -0.0073, -0.0122, -0.1436, 1.6205, 7.1726, 1.8877, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=2.141 left_j2=1.5284 left_j3=-0.9825 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4509 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.0701, 5.3812, 0.2369, -0.0513, -0.0269, 1.0281, -0.0889, 1.6205, 7.159, 1.8974, -0.0659, -0.0806, -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=-0.6304 left_j1=1.9972 left_j2=1.7111 left_j3=-1.3319 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -12.6017, 7.5556, 0.1099, -0.0464, -0.0708, 1.033, -0.0479, 1.7573, 7.2821, 1.9512, -0.0269, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd15cef5b7c9e388b5f6c25b137148877b5f29f30a5463121d5bdcb85d9c93df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73218154a6759751b4512d9c9474aec72f6d9c0396a3a5edb7bea807596ec10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2611d849c841dfa79b544763e344d00950c4f3ed567e6fd8be3e6483a5ae6117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dd15cef5b7c9]
[blob b73218154a67]
[blob 2611d849c841]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RmduiYxU7Ym169L5KT4sKR",
      "input": {
        "note": "Block is held (residual 0.46, effort 1.0) and lifted. Swinging the base yaw toward the red block's bearing before extending; I'll re-check the overhead view to judge how far out to reach.",
        "targets": {
          "left_j0": -0.88
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RmduiYxU7Ym169L5KT4sKR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=1.9972 left_j2=1.71 left_j3=-1.3315 left_j4=0.02 left_j5=-0.6041 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.1402, 5.7641, 0.1783, -0.105, -0.0464, 1.0281, -0.1983, 1.7573, 7.0632, 1.873, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b994f2ba62fb4720b9e6cd179d5c6007eb61a0bce600132d37a71658dd4fb8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e64153695184f23c923c9e9026bf80ab309f309ec46c9dd753df5737b1c9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49ed9315671c39313bf76a4ac3db53e533f2b9948ee9767e8a438a0121461ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b994f2ba62fb
wire blob d9e641536951
wire blob 49ed9315671c
call 9 attempt 0 · /messages · status 200 · 8.224 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=2.141 left_j2=1.5284 left_j3=-0.9825 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4509 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0086 right_j5=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.0701, 5.3812, 0.2369, -0.0513, -0.0269, 1.0281, -0.0889, 1.6205, 7.159, 1.8974, -0.0659, -0.0806, -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=-0.6304 left_j1=1.9972 left_j2=1.7111 left_j3=-1.3319 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -12.6017, 7.5556, 0.1099, -0.0464, -0.0708, 1.033, -0.0479, 1.7573, 7.2821, 1.9512, -0.0269, -0.0757, -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 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=-0.8532 left_j1=1.9972 left_j2=1.71 left_j3=-1.3315 left_j4=0.02 left_j5=-0.6041 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.1402, 5.7641, 0.1783, -0.105, -0.0464, 1.0281, -0.1983, 1.7573, 7.0632, 1.873, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b994f2ba62fb4720b9e6cd179d5c6007eb61a0bce600132d37a71658dd4fb8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e64153695184f23c923c9e9026bf80ab309f309ec46c9dd753df5737b1c9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ed9315671c39313bf76a4ac3db53e533f2b9948ee9767e8a438a0121461ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b994f2ba62fb]
[blob d9e641536951]
[blob 49ed9315671c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FxbXCvMXevee5sWPvq3M9s",
      "input": {
        "note": "Overhead shows the held block still about 13 cm left of and slightly beyond the red block. Swinging further clockwise and extending, staying high (~15 cm) so I clear the red block, then I'll fine-align with the wrist camera.",
        "targets": {
          "left_j0": -1.157,
          "left_j1": 2.4,
          "left_j2": 2.512,
          "left_j3": -1.512
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01FxbXCvMXevee5sWPvq3M9s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1461 left_j1=2.4004 left_j2=2.4832 left_j3=-1.5261 left_j4=0.0223 left_j5=-0.6186 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -12.7658, 8.0479, 0.6325, -0.0904, 0.0659, 1.0281, -0.1299, 1.6068, 7.1726, 1.9853, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:219a293fce14de802c9274128c9415f7fe4bce5d62019dc403319784267ec362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11acfe5bf27d5b1a4d20efc32ea4d965d272ec051b422be1f0d9d00b68e0b803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c9fb42773038d9724a8703689537e352f8d849b37d4f4fa170787e489ef0ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 219a293fce14
wire blob 11acfe5bf27d
wire blob 4c9fb4277303
call 10 attempt 0 · /messages · status 200 · 4.926 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6304 left_j1=1.9972 left_j2=1.7111 left_j3=-1.3319 left_j4=0.0185 left_j5=-0.6033 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -12.6017, 7.5556, 0.1099, -0.0464, -0.0708, 1.033, -0.0479, 1.7573, 7.2821, 1.9512, -0.0269, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.8532 left_j1=1.9972 left_j2=1.71 left_j3=-1.3315 left_j4=0.02 left_j5=-0.6041 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.1402, 5.7641, 0.1783, -0.105, -0.0464, 1.0281, -0.1983, 1.7573, 7.0632, 1.873, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1461 left_j1=2.4004 left_j2=2.4832 left_j3=-1.5261 left_j4=0.0223 left_j5=-0.6186 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -12.7658, 8.0479, 0.6325, -0.0904, 0.0659, 1.0281, -0.1299, 1.6068, 7.1726, 1.9853, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:219a293fce14de802c9274128c9415f7fe4bce5d62019dc403319784267ec362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11acfe5bf27d5b1a4d20efc32ea4d965d272ec051b422be1f0d9d00b68e0b803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9fb42773038d9724a8703689537e352f8d849b37d4f4fa170787e489ef0ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 219a293fce14]
[blob 11acfe5bf27d]
[blob 4c9fb4277303]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwRW3Q2VeSTHeYaJoSEYMN",
      "input": {
        "note": "The wrist view now shows the red block up and to the left, so I overshot to the arm's right and am short in radius. Zeroing wrist roll first so the wrist image axes align with arm-right / radial directions for a clean correction.",
        "targets": {
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RwRW3Q2VeSTHeYaJoSEYMN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1484 left_j1=2.4012 left_j2=2.4825 left_j3=-1.5505 left_j4=0.0223 left_j5=-0.0299 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -13.1214, 5.7368, 0.6764, -0.0317, 0.2759, 1.033, -0.1573, 1.6479, 6.9949, 1.8877, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6034f55770e0e9eaad7317fcf1004601aeba62f20cbfa7540dbd5a9ef112399d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403d994d1a4938650ca7b3ca1684fd617cb2f8fea42db577ed32570e3fa3c1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ef6da82d423ff356c03b01f17f23aae2223553693bb4e0e7cfb061409ace218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6034f55770e0
wire blob 403d994d1a49
wire blob 5ef6da82d423
call 11 attempt 0 · /messages · status 200 · 5.648 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=1.9972 left_j2=1.71 left_j3=-1.3315 left_j4=0.02 left_j5=-0.6041 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0582 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.1402, 5.7641, 0.1783, -0.105, -0.0464, 1.0281, -0.1983, 1.7573, 7.0632, 1.873, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1461 left_j1=2.4004 left_j2=2.4832 left_j3=-1.5261 left_j4=0.0223 left_j5=-0.6186 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -12.7658, 8.0479, 0.6325, -0.0904, 0.0659, 1.0281, -0.1299, 1.6068, 7.1726, 1.9853, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1484 left_j1=2.4012 left_j2=2.4825 left_j3=-1.5505 left_j4=0.0223 left_j5=-0.0299 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -13.1214, 5.7368, 0.6764, -0.0317, 0.2759, 1.033, -0.1573, 1.6479, 6.9949, 1.8877, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6034f55770e0e9eaad7317fcf1004601aeba62f20cbfa7540dbd5a9ef112399d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403d994d1a4938650ca7b3ca1684fd617cb2f8fea42db577ed32570e3fa3c1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef6da82d423ff356c03b01f17f23aae2223553693bb4e0e7cfb061409ace218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6034f55770e0]
[blob 403d994d1a49]
[blob 5ef6da82d423]
{
  "content": [
    {
      "signature": "CAIS6QoKjAEIEBgCKkAtInlN0X2VNYL2sALVUDVydDfa1agLaxRAx72iUS8ryHlcdM5ay8IeLxgQVoOyU2JG54H76oW/KymsaxseNKf7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFdRk05IKHNJehYkbGgzDG9p5ki7qHeSiZ3kiMHxFfSE/AYnVfh1TYg+++TvLtjYnkPErjsCh2sRrpQg84mAik3xM6go/cDk3bUee1yqJCfScu4q1dvYYPpku5cr1wdvMNOrLHZWjPhTW0ScjqJkjcgS01uCv87Ji2alwIDa+wdaddd0XVZvizUMH2T0gV6zkStkp4lLQEtNiVcV2nXFulfIlo4a45W8oUBNVU5d/4FTYbqMVxqD/nW4DPX9+N07ydPd2RHgWnsYFUWI+RdNutyelxZwN4oVrlirppOAlR9uRgiw4o8Daf3NxxB+fhtCw//ql7Kv6wvnHgzjE2dISIfJs8S1gLIAlZ98T8wiJFUUTGpQG+WF9Zt+a/s4tFjEbvTxwDJ1+UtkD1OCYtZinO5quweaJqLPvTB1pfJb5i+NzC47BimDMfYaDEjit+oivEQpZQ5TRJyCjZVbn+qyoQ6K1mjsazC8423Bqan0WlgEdmBgeceYfbqxx2ESrbrmgHxdZkGtK9SDnvH6Ek/WkFCd119Ct1UDNTiqpjETp1feteUp6DQsZEhAiEqH0p6x03g05zjU0jthkVk2fgqF3UX3W/fuPPOXtV6q6v3hsb4CAx6MT4/7ru/JFx7lJLHwZbGonr2wI+A59s1+Y7Y1Gr05YFrCdo8HzUZQRtb6ZqLBaghcKveDP08AgJiK2/VQjoCsNwps9NdEiDgvXEf3gREz4DgCRZXFIl8EC+olBA6HbE8+8RJeJRSYVDPJBfVLsW4HwCLwLfEuhsn4I0rayDsVsGFdAzftUGKQwGVEDTTu8YYLaSrnKvB1hQwfMdsgfWb2e+qWHn/PCbleam93jWkAbi3MgDhzCF55VGTt4aWHWAQFaA1w7EX3RFvEVwktRvnikt6Py/1ZYOWJAV6sO1KG0uw0x3POwT3OjFdBZt4W5ZulL4LubR6dsLErc6LpPsn0C+X125zhCl+XUFuqPdKqxl/NfeMmf6Y2/vxq+kabb97QOIysO2n7kyHf29fD3/ADJ+RyI9xqAclqeELokDiHGoDqY5jbbCYK7wIGQV6QL4H/xmowdPpY1pi+IjjtCH45zcZ9dNyPcicI7eHrwPg4gCV+lMcuVfIjM5IxtHAMhaHecqOrHue4jnEk8x4tWWRUpl5hCNSRCVm1w4gXAg6q9IguXCVGF6Y9SAbS8R2gBQjxn2HTMuuYJyfcLYjCIqBQ/mpBmdTdOzgr7JwnhnN6apElLhvV7xX4FRQIFeIgn2ciQczNe4uAQeJlfVivZ1Ypet2aKoYIAQxmy2RtqmkjaFIpH27Q/F8wKxu26LtpYt04TFcejYrnq12vlbDHtWy6bIY7VD8GHHWPbZttPBUMBHqdDwS1QWMePV/Zd/G0/6Nmi/3pchVA5todd7qC4aVQoDifjxe3EiYZwmSelclXBAN1pnQ5xWOxjUss/cni4GFLqdtwjqPMAfhPI3AvoX5X0+g8gaMkbu6Tq59gfQp8ROaKZ4PnNBAc9NNE9V9qnSPvNi6QJ15y52FTE7/IKtwkD4hOHuXHkHIDl9AKE4tzEYkLPQY2FXRSh7w+rzIQpkQhpBv0kORgkgezR8HK8bqZEfu3WBp0HQ1qZsgTk7MwV4wZbWPa2AohXodnWUk7gTpSocmGC5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WjuKC5SUg7cA8h9oShDuGu",
      "input": {
        "note": "With roll zeroed, the red block sits at the left edge, upper-middle of the wrist view; my held block is the pale blob at the bottom. Nudging j0 by +0.12 rad (~5 cm toward the arm's left) both to correct and to calibrate the pixel scale of this view.",
        "targets": {
          "left_j0": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WjuKC5SUg7cA8h9oShDuGu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0534 left_j1=2.4016 left_j2=2.4821 left_j3=-1.5593 left_j4=0.0223 left_j5=-0.0315 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -13.0667, 5.5316, 0.5299, -0.0562, -0.022, 1.0281, -0.0889, 1.7983, 6.9812, 1.8584, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb9635b491fa30929f59d09001ba9f61052b32d1758fc4e6762f575d9862bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1adc90bea3e89fb988311319eca4524d94b1a788d1b5de36c570ebe80379a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4eec8de1911facf4cd67cc34988c248f4a573d6d1458c2e5d48e2f946b55730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fcb9635b491f
wire blob a1adc90bea3e
wire blob c4eec8de1911
call 12 attempt 0 · /messages · status 200 · 8.058 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1461 left_j1=2.4004 left_j2=2.4832 left_j3=-1.5261 left_j4=0.0223 left_j5=-0.6186 left_gripper=0.4559 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -12.7658, 8.0479, 0.6325, -0.0904, 0.0659, 1.0281, -0.1299, 1.6068, 7.1726, 1.9853, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1484 left_j1=2.4012 left_j2=2.4825 left_j3=-1.5505 left_j4=0.0223 left_j5=-0.0299 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -13.1214, 5.7368, 0.6764, -0.0317, 0.2759, 1.033, -0.1573, 1.6479, 6.9949, 1.8877, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0534 left_j1=2.4016 left_j2=2.4821 left_j3=-1.5593 left_j4=0.0223 left_j5=-0.0315 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -13.0667, 5.5316, 0.5299, -0.0562, -0.022, 1.0281, -0.0889, 1.7983, 6.9812, 1.8584, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb9635b491fa30929f59d09001ba9f61052b32d1758fc4e6762f575d9862bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1adc90bea3e89fb988311319eca4524d94b1a788d1b5de36c570ebe80379a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4eec8de1911facf4cd67cc34988c248f4a573d6d1458c2e5d48e2f946b55730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fcb9635b491f]
[blob a1adc90bea3e]
[blob c4eec8de1911]
{
  "content": [
    {
      "signature": "CAISlgsKjAEIEBgCKkB9odmjB4VeNAqUkIn6hWaPYa6Mz6FLj0RFHIcpavudpSabB857BiTLsHc0xFnp+5qFNI34fTZ/q+zo77M3XvBFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM8lCpLprFNy78g60IGgznsaQ1FPH3GP1PdkIiMMRbyaOFNh5qIyONYvBOgptAj9H82H7WtlKNTanTUd5Hu0FhpGJXXeyt6heM9knGWyq2CZUuRKKaz2x1+7cPHCDo/R6CKb8Y+D6/51fl7eFLuZHkJcBiSkRL9akmKAwhdJK36BcHrAuZ1HLHcAQG1m4UKkBkOub9x1PxsTYy+kJTrym12ahLI9ZOs4gAvs5GELOa3+85J27BbEHSVGUC332FGGv3s5sYvCanPnTiUbE7zc/5WQJLq+YhebrS7WBUyXJEqDF0T6wjYL8O3PdSwPiSQGpXE5SjCpqCxSH6wsycr2WbGRfd6WTfKh7DPh1M6mYSBeaumhfuQG2Ps2eWl8K+7MT0y+IKCIw/bHKurgL3TFNnbX5cv2gdTMlVfJlwmxvlEodmqRTadTfr+VXBoPeXyYaHkFH4hgQmVKUu0pvFbb3/yqMoW2uwFfC7mp10quUIn2WcvjP0yGle9o1kTfKPpXPnQJPI24Jef2R1xnQ4thnCdJHrq49xAYJV93A+1nUD7EHjLeCK0+HygDXU/wegY3j5W8EJpMWuadHm8YHI2o7s54/H3IlrtQeZOSzLfpar8kuhcw8Cfvq/l4qTveIZXcKM/sbeIB7rCc467ld7A9mxVeHmywsW34t5qD6SPhMywl1QDe8BJkolbpQo5J3CwmgcCxpdebUtHDACQUpa7vqa7Ro0R5WFTd3fFT8bM7IeDqxKIAsUpYF6lPlT3TYk6/PvPFyXiLDqu8Irez7ADS8sEuDZN1G0pM+vBAFBR1k+kS9tGfzsF9wMRYbeM2Hof2g4UdTuO+kIvAeWCZ0UFbicflxJ3MJbK60ltMbuEZCx8EaaHMKiAYxXkVusd1bV3q6lT/Ob+4augJk6oCXz+174BhOgTdtXQsiul/WCM+moAMS882PM6puxy0doK3Xc7vKusGtn7V1BF6yoNJ/4NFLhUEfx0sxJj5wA1sXkCFq/xXUBEWE3FqxIuPua57yzzsn/X3mwSrSPLrCiwtuqzJvYkL7m/Gr0APxskLnGOlNYVziQr8E33vGA4YHt5hMZTVejq6w4AYdXAICtLAvGdqYGKpjkkDFZWffX4C92RyFZhMM9nPW+V6PdD6/UFAXydYZHKHipfD3hFK+7X5BHwdddyLVPNtTgy3hK6KugPHbNmJX2DIG+4LN3qOWqN2WWAGIXEbi2ciLABBYWpobO3sJBmk5HUL05gTEaaYO8vtKdseHjRi1g4+kocw4rJ8PaF3mxwKoa3fUSDEnZYgsQzMePvvdZKwm+3Zk1QkmdXKwD3UM8P1BAZWeOJZbnU1uS+cfJXdmreaHtFdS55RoU9fwsyP0vLyEYvqElwF5IG6ZbVT1eyp/dNUEuQCxsNvdyabld9ctv7ezfG8Ucb4IjreV2r1pG9RBH5U1I8WNKoV02fWeu5LR2KahQHHPouP7emkmQgBmK+++PiLG+jRZ8sONUexZlX4t5ID6MFXyQyUdkK4GYYjx6HMAaFc6HJMsMQJAY1Aqkc0G8HuBibFcjL0WjXKft/FmxzXj2QzwvnFVBdQNDNwh+IdqbwN50dnZ9EChVnqC7b+GSC86gMwSadYe8RPv7Mf3BeCuMgsVfLJWVgjKFuuyJeJ+Fg/i7RoKtnZAQf1NmZdayi0PP6VbO2001q+spxGwfqvhNYFvERXVesZNEGPpZWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016BfpV9gE6ejwic8p3fnMpf",
      "input": {
        "note": "Calibrated: 0.095 rad of j0 shifted the scene ~28 px, i.e. ~6.4 px/cm in this wrist view. The red block needs ~11 cm more toward the arm's left, so commanding j0 to -0.81.",
        "targets": {
          "left_j0": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_016BfpV9gE6ejwic8p3fnMpf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8364 left_j1=2.4016 left_j2=2.4821 left_j3=-1.56 left_j4=0.0219 left_j5=-0.0334 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -13.0393, 5.5726, 0.486, -0.0317, -0.0464, 1.0281, -0.0342, 1.6205, 6.9949, 1.8681, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb75273bd061876f6bd3a9ee4588fe21d608cf2a1593982c1a5c3463e80c50c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7e11fc55b6d505f9a13a6056d7f27968a4b26dd4c9ed621518f8ec6f5c13a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40045d8aad8482349d973e85a8cdb1a36e078ebde060845d1bee862041b79d4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob eb75273bd061
wire blob 7a7e11fc55b6
wire blob 40045d8aad84
call 13 attempt 0 · /messages · status 200 · 8.825 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1484 left_j1=2.4012 left_j2=2.4825 left_j3=-1.5505 left_j4=0.0223 left_j5=-0.0299 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -13.1214, 5.7368, 0.6764, -0.0317, 0.2759, 1.033, -0.1573, 1.6479, 6.9949, 1.8877, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0534 left_j1=2.4016 left_j2=2.4821 left_j3=-1.5593 left_j4=0.0223 left_j5=-0.0315 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -13.0667, 5.5316, 0.5299, -0.0562, -0.022, 1.0281, -0.0889, 1.7983, 6.9812, 1.8584, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8364 left_j1=2.4016 left_j2=2.4821 left_j3=-1.56 left_j4=0.0219 left_j5=-0.0334 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -13.0393, 5.5726, 0.486, -0.0317, -0.0464, 1.0281, -0.0342, 1.6205, 6.9949, 1.8681, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb75273bd061876f6bd3a9ee4588fe21d608cf2a1593982c1a5c3463e80c50c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7e11fc55b6d505f9a13a6056d7f27968a4b26dd4c9ed621518f8ec6f5c13a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40045d8aad8482349d973e85a8cdb1a36e078ebde060845d1bee862041b79d4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob eb75273bd061]
[blob 7a7e11fc55b6]
[blob 40045d8aad84]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016RXByuSp13RqqZrGEoTkrM",
      "input": {
        "note": "Red block now sits slightly right of the jaw column and well above centre, meaning it's still farther out radially. Correcting ~2.5 cm to the arm's right and reaching ~4 cm farther out while lowering ~4 cm.",
        "targets": {
          "left_j0": -0.88,
          "left_j1": 2.632,
          "left_j2": 2.783,
          "left_j3": -1.551
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_016RXByuSp13RqqZrGEoTkrM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.6198 left_j2=2.735 left_j3=-1.5856 left_j4=0.0189 left_j5=-0.049 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1556, -13.5863, 7.8291, 0.696, 0.0024, 0.1197, 1.0281, -0.1573, 1.9077, 7.1863, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fba8331e18c69be1d8e7bb2c14a1d9aafcd96edb01e447b50235c94497f0a599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c0fbd8ed23d5aa5d5f2d2962a74e56fdad3d0a204b9f9a223a8ad3fc82d1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08315968ac135bb8f77ae92c8f217c2366e69472d7c288d3b2024e447b23eb59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fba8331e18c6
wire blob b1c0fbd8ed23
wire blob 08315968ac13
call 14 attempt 0 · /messages · status 200 · 3.691 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0534 left_j1=2.4016 left_j2=2.4821 left_j3=-1.5593 left_j4=0.0223 left_j5=-0.0315 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -13.0667, 5.5316, 0.5299, -0.0562, -0.022, 1.0281, -0.0889, 1.7983, 6.9812, 1.8584, -0.0122, -0.0757, -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=-0.8364 left_j1=2.4016 left_j2=2.4821 left_j3=-1.56 left_j4=0.0219 left_j5=-0.0334 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -13.0393, 5.5726, 0.486, -0.0317, -0.0464, 1.0281, -0.0342, 1.6205, 6.9949, 1.8681, -0.0317, -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=-0.8692 left_j1=2.6198 left_j2=2.735 left_j3=-1.5856 left_j4=0.0189 left_j5=-0.049 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1556, -13.5863, 7.8291, 0.696, 0.0024, 0.1197, 1.0281, -0.1573, 1.9077, 7.1863, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fba8331e18c69be1d8e7bb2c14a1d9aafcd96edb01e447b50235c94497f0a599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c0fbd8ed23d5aa5d5f2d2962a74e56fdad3d0a204b9f9a223a8ad3fc82d1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08315968ac135bb8f77ae92c8f217c2366e69472d7c288d3b2024e447b23eb59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fba8331e18c6]
[blob b1c0fbd8ed23]
[blob 08315968ac13]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015shV2gtc21K5dVhLhXGy3E",
      "input": {
        "note": "The red block has come down to mid-frame but is still ~3 cm to the arm's right and short of the jaw line. Nudging right and extending another ~1 cm at constant height to close in.",
        "targets": {
          "left_j0": -0.935,
          "left_j1": 2.703,
          "left_j2": 2.798,
          "left_j3": -1.495
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015shV2gtc21K5dVhLhXGy3E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8902 left_j1=2.6633 left_j2=2.7785 left_j3=-1.5681 left_j4=0.0151 left_j5=-0.0532 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-2.947, -12.4923, 6.694, 0.8034, 0.0366, 0.0024, 1.0281, -0.0752, 1.6205, 7.0222, 1.8681, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6aa4b66a6ca08497c13ae939350f73fefcd33e0e07d1948eaa0f0e51d89defa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4d045f312f0419a7618b364e337be849803e5c22a1c63aacd3f81b62576d4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7ecb6971bcd58c29888b7ebd966d091e2457d28a06fd4296d8fbf5636298b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6aa4b66a6ca
wire blob 0d4d045f312f
wire blob a7ecb6971bcd
call 15 attempt 0 · /messages · status 200 · 6.739 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8364 left_j1=2.4016 left_j2=2.4821 left_j3=-1.56 left_j4=0.0219 left_j5=-0.0334 left_gripper=0.4592 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -13.0393, 5.5726, 0.486, -0.0317, -0.0464, 1.0281, -0.0342, 1.6205, 6.9949, 1.8681, -0.0317, -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=-0.8692 left_j1=2.6198 left_j2=2.735 left_j3=-1.5856 left_j4=0.0189 left_j5=-0.049 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1556, -13.5863, 7.8291, 0.696, 0.0024, 0.1197, 1.0281, -0.1573, 1.9077, 7.1863, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8902 left_j1=2.6633 left_j2=2.7785 left_j3=-1.5681 left_j4=0.0151 left_j5=-0.0532 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-2.947, -12.4923, 6.694, 0.8034, 0.0366, 0.0024, 1.0281, -0.0752, 1.6205, 7.0222, 1.8681, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6aa4b66a6ca08497c13ae939350f73fefcd33e0e07d1948eaa0f0e51d89defa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4d045f312f0419a7618b364e337be849803e5c22a1c63aacd3f81b62576d4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7ecb6971bcd58c29888b7ebd966d091e2457d28a06fd4296d8fbf5636298b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6aa4b66a6ca]
[blob 0d4d045f312f]
[blob a7ecb6971bcd]
{
  "content": [
    {
      "signature": "CAISwwUKjAEIEBgCKkAa5AlW1KocJDp8eU2tvfzcwqirt6fPA9R1/XmDHvvJA5cF9eT+h7/9CMitDBmH5CC5iQuacdB5KoD9RDb8jYi/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxaZdHzLrqv1ItZtPGgzIAuA/e6x1g/t8CPAiMBAvQumpDmzeztD3div+SD5u/sRDywBtRZZQvZJrsMBjHwrHjlyJgtUHlPeroNs1aCrjA0d123JQTRXtNz/1ZxcGghr1p6V+xS2osIAJo3ClLfKtvSU77XB6WSkqIkTuAcOZY126v0HYFt4CnpSbCGSGfBNlak/AqXAvGIdGAmHB2q5xVyX7leADlnIv+LcOq+AgQYqA1RJvjK1Oim3NoDTygiBy/9A8WN7/JhhBeeHUBtQN09fQ0lAfLpCv0EI0U16nFISgH/x05nVNEYoDUeBZV6GyUB7u7EjsPodpERGX/mTOEmRT4hQOUWNJhgiOUstrZF7EgEi/oH00inIpQCY3SeIZ7v8NVdkyGF+ICFkU5mtVw17a8WQ7GZcPlkdJRcCGPfAV3vZABJQ3FKW0CPvINyNy7BO1TjiUfwOEizL1p9df0BwHJ2IY/8HZAniEQsCmKloeSyujgwmMfjHjO/yD6Kscf2vqbQ0lX9tG8rgyiCYfH4qHH34Y06S0/5GE8qxq8unixzvOOiid/8l1Vt1NNTypaXMQxr87Din+VktA1i3fwamItwNYhZgiFDP7wZ7e9yMP067lu4YlzWaJqURFZ67UDT27DbwjCQ4gFvwS6aIDUVZ7vIRo7FBz8lpN/euCYjK6rxP+t+mBJOYgBJf1b9PKdHbeX58/f3/HPAMXXkRqh3UtjS2JeZvooK6PeBmqW4cOPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XydsSoUs8Ddqbi1ahEDcY7",
      "input": {
        "note": "Move was delta-clamped and only partly executed; the red block sits just off the top-right corner of my held block. Re-issuing slightly beyond the target to converge on being directly over it.",
        "targets": {
          "left_j0": -0.96,
          "left_j1": 2.75,
          "left_j2": 2.83,
          "left_j3": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XydsSoUs8Ddqbi1ahEDcY7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9424 left_j1=2.7457 left_j2=2.804 left_j3=-1.5383 left_j4=0.0124 left_j5=-0.057 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.3607, -14.4068, 7.4462, 0.9109, 0.1441, 0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9121, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5469dd49f07c44db17097cd7d9d3208f1b0eae10c81288bf8d498fb4f99fc8aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa38f8b5940dfe16e666788da9a8b11d86a68652463196cf02afab516da7d46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d754d4e9217e53f571eb0639068325bc665c278319ff361998025c762b15f095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5469dd49f07c
wire blob 6aa38f8b5940
wire blob d754d4e9217e
call 16 attempt 0 · /messages · status 200 · 6.741 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.6198 left_j2=2.735 left_j3=-1.5856 left_j4=0.0189 left_j5=-0.049 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.1556, -13.5863, 7.8291, 0.696, 0.0024, 0.1197, 1.0281, -0.1573, 1.9077, 7.1863, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8902 left_j1=2.6633 left_j2=2.7785 left_j3=-1.5681 left_j4=0.0151 left_j5=-0.0532 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-2.947, -12.4923, 6.694, 0.8034, 0.0366, 0.0024, 1.0281, -0.0752, 1.6205, 7.0222, 1.8681, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9424 left_j1=2.7457 left_j2=2.804 left_j3=-1.5383 left_j4=0.0124 left_j5=-0.057 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.3607, -14.4068, 7.4462, 0.9109, 0.1441, 0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9121, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5469dd49f07c44db17097cd7d9d3208f1b0eae10c81288bf8d498fb4f99fc8aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa38f8b5940dfe16e666788da9a8b11d86a68652463196cf02afab516da7d46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d754d4e9217e53f571eb0639068325bc665c278319ff361998025c762b15f095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5469dd49f07c]
[blob 6aa38f8b5940]
[blob d754d4e9217e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ujw7uw59S4dpuJrW74Gm2V",
      "input": {
        "note": "The red block is now hidden directly behind my held block — laterally aligned. Descending ~2 cm at a time and watching effort for the touch-down of the carried block onto the red one.",
        "targets": {
          "left_j1": 2.744,
          "left_j2": 2.72,
          "left_j3": -1.456
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Ujw7uw59S4dpuJrW74Gm2V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9531 left_j1=2.7312 left_j2=2.7647 left_j3=-1.512 left_j4=0.017 left_j5=-0.0605 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -13.2171, 3.2615, 0.779, -0.0904, 0.0024, 1.0281, -0.0068, 1.7846, 7.0222, 1.9023, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:176444292fd2d41186dd2f8b7047b55c802612ae4cde11c37f9d4dd97cb8641d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae381e6dc133b4cf66f754db73a8d01b7db083f98895ca597e2bb4f08ab53ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01560c3141a8725d2611fc5c1481974e82b0c55034724abba550d5b55003ebe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 176444292fd2
wire blob 6ae381e6dc13
wire blob 01560c3141a8
call 17 attempt 0 · /messages · status 200 · 4.559 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8902 left_j1=2.6633 left_j2=2.7785 left_j3=-1.5681 left_j4=0.0151 left_j5=-0.0532 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-2.947, -12.4923, 6.694, 0.8034, 0.0366, 0.0024, 1.0281, -0.0752, 1.6205, 7.0222, 1.8681, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9424 left_j1=2.7457 left_j2=2.804 left_j3=-1.5383 left_j4=0.0124 left_j5=-0.057 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.3607, -14.4068, 7.4462, 0.9109, 0.1441, 0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9121, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9531 left_j1=2.7312 left_j2=2.7647 left_j3=-1.512 left_j4=0.017 left_j5=-0.0605 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -13.2171, 3.2615, 0.779, -0.0904, 0.0024, 1.0281, -0.0068, 1.7846, 7.0222, 1.9023, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:176444292fd2d41186dd2f8b7047b55c802612ae4cde11c37f9d4dd97cb8641d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae381e6dc133b4cf66f754db73a8d01b7db083f98895ca597e2bb4f08ab53ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01560c3141a8725d2611fc5c1481974e82b0c55034724abba550d5b55003ebe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 176444292fd2]
[blob 6ae381e6dc13]
[blob 01560c3141a8]
{
  "content": [
    {
      "signature": "CAISxwkKjAEIEBgCKkDz1cp+MyJN4dTwwXTJgKFZNGDstRsQlsDXLQNjDaAKVk+O9v9H5+9YMGy2esfNQd62/LeiqOagfADbHeuufjAvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMQg99fhJU3Mg7fLXoGgzLalDrASWTgsT1zsciMPRRdZXZDvpsEvwhzQPR4EHJebKjj25WKC0U+VFsruVnsijKsdcLex7B5GLwr1VJ3irnB5d/niuL+XS9zt3k1eGwy/ydz6PYcHfrvFZgnVDzc6hjSHhFwcsdXezaZo9erJPf475qQeGI4p4D/V8QbJO7aaWEZAnpsZwFulmxTrIN0KlnrRbILRQCo0esk9aOWCzNRV9s4l/1+loLV1XbOqPndV5ocrEHOtHn9dnSy18VEsz2uFBligEpLCqF+tsIY+dKOTcl8YqZbRkJaq46pqCfCqqMJQSlfVLBiOuj5QDJLoYw//wyfd43ZtJqCmfNyt2OwGh6xOAoTsoA/pLY9HiydAhhddzYq4lV8KaRsPEow2hOozMAHTUizgSAYNKkohga35+MS+7hBdyQ1uVaOsix4lbX90qEzHtQ9bQCDGJnP8VSJElHePzDGwGOm6mPmP5Ybnv5KNU72IBn913kksZbZi5/XZEKLJvaYpVKW2xUbtfa7gl5b0/scDNjR+GNDPyDpKMs91to9k5JOyIgRl0QVpR3o6TTxjUeHM0KiItBo7VhgXR9quUwRWOtMPRnRuXytPZBpR2sp/7YZ+PXplLqEzERv08OBTqJGu7gN8CrtppJ3OyBMLwV4jOqeqJ1N2fFHzKLBi/SCutVCUi1rSDs85uuL7sd7YCVPDneZdAUpQTE+XoibK3+T3TKt/hFlV2JGuzcSJj0tbp0lIs82/dANgogOGYFF41yeh4dLpRio4S6Emn2BbbcdjVZLaSyTW4xgtgzNVqHzfYKUws0r7a6ZrTAykc6moL1dSqADRd450vUCyuPe2kRIRcal7zCR/EMyHi55qiWi9FKir6TBzvHxmG6KXjZCUdmqnMiThxIJSq25Mh2MlSJAguq0dOEXxaCAeEoz3wywOnxZgnqjxeEM8CqDpG4dxuzgnYpaWcZHg6Iqu0RP/SvZflt0mF/t10japtYqIPqLnzkQA3IH1iMyOC0SETU9rf7SzedaX4anzC3H8DOzwV+TKg5vA1cOasDthbkjZx2BOitmQ3nTaHXt3nYgTU/TQDhKAU6a4PVPRRDZ6+TpMSo8mZAIKglqZCuic6uLeWwGwuvJaRTWEJme080YB0CiLsSjFBG9cBXOIgY7P9Ktvupf81KJLW56H1T32nFuclY2Kukqgxt3g7Pe93l87PJ4sD2oCXQSZAS8Lfqewy8d8vjv7qfN4KaMfOSzDAVmSNciZ+z8TDuieh8RoMHZrcDqx3PMKf1CdS/aVVh/PCEZj4klk8hq7dC7oYb8+Zi5Wdb7PRKI6hSkzA9c8OfCXheeHLizhpJEE841UyQvA+NKkAqOg0Uuks2L/sjWj3CfssFG8KM13dvwiUkqqy5R2wIVisEUujENY4Y9wHD106vguKEmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S7dNC5bhgfdojVY7THJPxR",
      "input": {
        "note": "Only a sliver of the red block still peeks above my carried block, so alignment looks good. Continuing a small ~2 cm descent, watching for the effort rise that means the carried block has landed.",
        "targets": {
          "left_j1": 2.754,
          "left_j2": 2.659,
          "left_j3": -1.385
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01S7dNC5bhgfdojVY7THJPxR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.7056 left_j2=2.7071 left_j3=-1.4727 left_j4=0.0177 left_j5=-0.0673 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.6462, 2.5641, 1.2234, -0.0415, 0.1197, 1.0281, 0.0068, 1.6068, 7.2274, 1.873, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a47ba27dad0a06b204dd4151b52a240c3173ba30bdd506dbab708b76797735d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9207ce05950c151263c655060fac8caec5feda484a2590065ecf1b12bbb4d259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8df2be17a79fab90d7a057f581c62267b817c46e1c8d10feccc43745ef08d3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4a47ba27dad0
wire blob 9207ce05950c
wire blob 8df2be17a79f
call 18 attempt 0 · /messages · status 200 · 3.362 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9424 left_j1=2.7457 left_j2=2.804 left_j3=-1.5383 left_j4=0.0124 left_j5=-0.057 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.3607, -14.4068, 7.4462, 0.9109, 0.1441, 0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9121, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9531 left_j1=2.7312 left_j2=2.7647 left_j3=-1.512 left_j4=0.017 left_j5=-0.0605 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -13.2171, 3.2615, 0.779, -0.0904, 0.0024, 1.0281, -0.0068, 1.7846, 7.0222, 1.9023, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.7056 left_j2=2.7071 left_j3=-1.4727 left_j4=0.0177 left_j5=-0.0673 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.6462, 2.5641, 1.2234, -0.0415, 0.1197, 1.0281, 0.0068, 1.6068, 7.2274, 1.873, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a47ba27dad0a06b204dd4151b52a240c3173ba30bdd506dbab708b76797735d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9207ce05950c151263c655060fac8caec5feda484a2590065ecf1b12bbb4d259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df2be17a79fab90d7a057f581c62267b817c46e1c8d10feccc43745ef08d3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4a47ba27dad0]
[blob 9207ce05950c]
[blob 8df2be17a79f]
{
  "content": [
    {
      "signature": "CAIS/QYKjAEIEBgCKkAaSEZz/F3orCWEvu/f0sV2YZcbhCJFbgA1C9YurepBr58shutKxS1g0jYhJRiIcxPJV6FcVqL10J0ZG2ZOArErMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMskr2pHxWAGt5yWtiGgx9ynxJed1wgnV5VfgiMPjfEsn+2w3NIN9wcrkUz2K04eOP0F0S6LcBeG8RIcEW6o6YCVs62KguSPP/AGBpDyqdBf7vclcW6dhvyD9Yh8DwhB3l+NQsinoEoE+WsvrQg/BmQdN3KiRbdaAPUAIsnzogJSMDfU8WMl/wbnFm6emUreCBHPXlnPFPO8EfExxaxB/HGvPRgCq8BzDLsrjQ7QXeYQ4L7gU9Sc51GEjc1n44mhGwBvUa7p3acchyzVcWLSPIa5tVxr1ZhVl2RF/LFf/US9nLoo1r/FRD+y5U3SsSacoqvOgbmWzaVTS3XukRPv5oIrC3XiH6kLhtiW8Ed6ooByqojIqnGQc6JmlkgrT79tDomhuvUpDgK1JmtUY9FGhSNWXtUuYCBgZsva7Xyyc4bCSJijzkIhT4unjiw1c/cuZ9oiJq7PQK0+ipMx+l94oRw90EJtet4lmon9+fCpekX1TjeOS4Mj3646jFmSgRkk8SjsTy7buzHJPkWhWwtQoodOPBwRlyAYqcknmVho+BbRJIiOrHzru4E92EUhXILC+cyuMkLEnfJx3N0IiyhYmDNuJuulNPJ+8YJWphR875ox0Z1DWkm7z0iKK7qFV4Uz2JeIWApoF65Vv+G9wV7sayytQgiD27TY1keZODjCromavchFcJUSaj8IkdnhHq6tIQkl0RK0Ko33kt0W/8gXT7TCQoGlFnUXWnb7QKovDhiuCI0nyUhR0Gq4mHQEcHtHTCh2hudl7Xq0DbzT2weEz7yaq73xt/lNu8Rc38/UH/Gnq2FQZ4VNjDnNGzXoX4CDToxQDZAVWflVWNIwnnhDsJOin+A2IH9/sBYi/t4OxwKn74G022b+DowAjZ6HIup2WDAzdIYjBESN8qLj31gywNU53NHCCDFtivpxllpDsRmfyH5yNvjv1gkZekR8POIuam0ZnNEErdGGrsDQoTnZc9dnARC3IXZSpRi23PhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHUsu3GmBXJJttPVWPh6GY",
      "input": {
        "note": "Descent stalled and the j2 holding effort dropped from ~7 to 2.6, meaning the arm is being supported — the carried block has landed. Opening the gripper to release it.",
        "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_01XHUsu3GmBXJJttPVWPh6GY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.6991 left_j2=2.7022 left_j3=-1.4796 left_j4=0.0143 left_j5=-0.0761 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -14.065, 6.065, 0.525, -0.0269, 0.0366, -0.1245, -0.1162, 1.7299, 7.1726, 1.9463, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b9d4dbfd3672538d55665240906481bcd9b4c131fb3cb72bc554ca8208ddd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f6254d40976c6e35c9d143282452413d8c4e380592e7885c0513abdc5a89696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42d324bf1cac7999cb1d27fb65d3f9590517b5d9feb9285c39ee31ab0b999f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 44b9d4dbfd36
wire blob 2f6254d40976
wire blob 42d324bf1cac
call 19 attempt 0 · /messages · status 200 · 3.149 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9531 left_j1=2.7312 left_j2=2.7647 left_j3=-1.512 left_j4=0.017 left_j5=-0.0605 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -13.2171, 3.2615, 0.779, -0.0904, 0.0024, 1.0281, -0.0068, 1.7846, 7.0222, 1.9023, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.7056 left_j2=2.7071 left_j3=-1.4727 left_j4=0.0177 left_j5=-0.0673 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.6462, 2.5641, 1.2234, -0.0415, 0.1197, 1.0281, 0.0068, 1.6068, 7.2274, 1.873, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.6991 left_j2=2.7022 left_j3=-1.4796 left_j4=0.0143 left_j5=-0.0761 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -14.065, 6.065, 0.525, -0.0269, 0.0366, -0.1245, -0.1162, 1.7299, 7.1726, 1.9463, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b9d4dbfd3672538d55665240906481bcd9b4c131fb3cb72bc554ca8208ddd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f6254d40976c6e35c9d143282452413d8c4e380592e7885c0513abdc5a89696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d324bf1cac7999cb1d27fb65d3f9590517b5d9feb9285c39ee31ab0b999f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 44b9d4dbfd36]
[blob 2f6254d40976]
[blob 42d324bf1cac]
{
  "content": [
    {
      "signature": "CAISsQMKjAEIEBgCKkBbUoG0lTrS5WGumd0bJ/hs/Rfe1cEqf5aUQCr7aAj9lQcZ/dBGNGNMBaXpzRlF7NfBH4JR4PbyF+jT/Tuy/Ja3MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMuB8keDi43ZqN2qBqGgx7nET08NbI38BB9aUiMIuIbQx9C2+NIkZvnVnSbnOa1Qnd9jgGsqTpgXZF0YyyQxo73T94AYBq8pOBNvrdgCrRAWO39YgQyGUk3BUuMKmX5IVHbHAhreUPwV9sPyCNyauQZEJx6B2kXS9qdyt1iYtJIYsRlWM+wR5y5MbvRNvu4nypaIeidGyyHDublbECBGDElKQ0x55GSP9MFU5uQM3UyK9G77Ilkg8lIm6seI/bX8r/fDtXmHaafM+RMcz3zCd79klk3/O1V20xqmHBrQsvEj/ycDEPs+Gae3OaW6GdD0D1aGM/9LiOEo4dNL/04j3BrDBaHuRVDkhX+3Q0burWcb7Y/5aCNYGPj64AgjWbCWfZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MmJ6bTAU8Ju7Y9AvyghMrK",
      "input": {
        "note": "Gripper released. Retracting and lifting the arm to clear the overhead view so I can verify whether the block landed on top of the red one.",
        "targets": {
          "left_j1": 2.1,
          "left_j2": 1.7,
          "left_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01MmJ6bTAU8Ju7Y9AvyghMrK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9539 left_j1=2.1437 left_j2=1.7222 left_j3=-1.3109 left_j4=0.012 left_j5=-0.0776 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -13.2991, 5.6, 0.2369, -0.0171, -0.0122, 0.0952, -0.0205, 2.0718, 6.9812, 1.8828, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43f323fc56da471f82fdd8e48ba33c1963ece5c24e8c2795d979cd15abc6dc90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41ae92770beab3ee6b4ac9e07b497efd3b076cdc05bcffc7ee6fba074728704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19f5f208343bf16ac5538893134af8825c35b3c42a20cff1515ded5679c529dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 43f323fc56da
wire blob e41ae92770be
wire blob 19f5f208343b
call 20 attempt 0 · /messages · status 200 · 7.237 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.7056 left_j2=2.7071 left_j3=-1.4727 left_j4=0.0177 left_j5=-0.0673 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.6462, 2.5641, 1.2234, -0.0415, 0.1197, 1.0281, 0.0068, 1.6068, 7.2274, 1.873, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9543 left_j1=2.6991 left_j2=2.7022 left_j3=-1.4796 left_j4=0.0143 left_j5=-0.0761 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -14.065, 6.065, 0.525, -0.0269, 0.0366, -0.1245, -0.1162, 1.7299, 7.1726, 1.9463, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9539 left_j1=2.1437 left_j2=1.7222 left_j3=-1.3109 left_j4=0.012 left_j5=-0.0776 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0086 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -13.2991, 5.6, 0.2369, -0.0171, -0.0122, 0.0952, -0.0205, 2.0718, 6.9812, 1.8828, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43f323fc56da471f82fdd8e48ba33c1963ece5c24e8c2795d979cd15abc6dc90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41ae92770beab3ee6b4ac9e07b497efd3b076cdc05bcffc7ee6fba074728704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f5f208343bf16ac5538893134af8825c35b3c42a20cff1515ded5679c529dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 43f323fc56da]
[blob e41ae92770be]
[blob 19f5f208343b]
{
  "content": [
    {
      "signature": "CAIS2gIKjAEIEBgCKkAZdwgdDy9A0bNb6ShKPNdsnf3UPDnpFy87NaEKFAlwXTslKnav0ixQfq5DD+Cu4IgBmWpkpWn0RabpnZI3iKSLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNWct+lZ6FwxrtH2FGgyv7J+Fys2FUQxwZcEiMOvmPVv5obM8ZRfcA2WyyX55lwiZmlpigt8d+DhJgOpmSXxxu5wzDM1qJq540SZLJip7OFxq/mPeZTIL02xKkgEWc97T3tgf94jbbSrQnk4lPnEs98yYJaR5Z0EZ446C5l6XZpu+qWINTkkaemf7qzncCjNhfWi0TrAgPBJqtUOPJNX+/EZVxwNigwbo93rTPaN+jCPsLfqkifuZ5ZTohew6wOTSDbcCPlL1PN1uGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SQXFeX8cTEVTravZPYX8Qa",
      "input": {
        "note": "The arm still blocks the overhead camera. Swinging it back toward its own base to clear the view of the blocks.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 1.2,
          "left_j2": 1.6,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01SQXFeX8cTEVTravZPYX8Qa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0246 left_j1=1.2346 left_j2=1.6039 left_j3=-1.0481 left_j4=0.0147 left_j5=-0.0792 left_gripper=0.9966 right_j0=-0.0013 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0082 right_j5=-0.001 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -3.8359, 5.6547, 1.9707, -0.0464, -0.0317, -0.0024, -0.0889, 1.7162, 7.2274, 1.9023, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddd856b71cf2132603edaea68700866a8c4330475a82c592c06895e33b26836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd1bb69e3cf293c23709388f996d028e319a34131574e6ba2d9fb449ccf7575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a1756169005633a3d0216a9100b87660ea292d8891e1b99ae5cebf56d0ced4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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wire blob efd1bb69e3cf
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