adhoc

completed
2026-08-14T23:03:51.379230+00:00 inspect-robots 0.53.1git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
12000
duration
938.6 s
total steps
693
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place the left block on top of the right block

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTwo blocks sit in the middle of the table in the overhead view (left one near image x=90, right near x=145). I'm raising the left arm into a gripper-down pose at roughly 40 cm radius, 15 cm height, angled toward the left block, to calibrate the overhead scale and my reach.
move_joints
left_j0-0.4000left_j12.2500left_j21.9600left_j3-1.2800left_j40.0000left_j5-0.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0242 left_j4=-0.0101 left_j5=-0.0154 left_gripper=0.999 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0055 right_j5=-0.017 right_gripper=0.9994 state[joint_eff]: [0.4444, 1.2786, 5.7915, 2.1172, 0.0269, 0.0757, -0.1099, -0.4444, 1.4017, 6.3658, 2.3028, -0.0269, 0.1294, -0.0757] 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": -0.4, "left_j1": 2.25, "left_j2": 1.96, "left_j3": -1.28, "left_j4": 0, "left_j5": -0.4, "left_gripper": 1}, "note": "Two blocks sit in the middle of the table in the overhead view (left one near image x=90, right near x=145). I'm raising the left arm into a gripper-down pose at roughly 40 cm radius, 15 cm height, angled toward the left block, to calibrate the overhead scale and my reach."})
tool
executing move_joints over 36 steps (3.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm is now up over the table and both blocks are clearly visible (blue 'i' block left, red 'a' block right). I'm swinging the base yaw by +0.34 rad at a known radius to calibrate the overhead pixel scale and the image direction of arm-left.
move_joints
left_j0-0.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3916 left_j1=2.236 left_j2=1.9324 left_j3=-1.2598 left_j4=-0.0063 left_j5=-0.395 left_gripper=0.999 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.9368, -11.6718, 7.6239, 0.149, 0.0122, -0.0952, -0.1197, -0.1709, 2.0855, 6.9812, 1.9805, -0.0366, -0.0562, -0.022] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.05}, "note": "The arm is now up over the table and both blocks are clearly visible (blue 'i' block left, red 'a' block right). I'm swinging the base yaw by +0.34 rad at a known radius to calibrate the overhead pixel scale and the image direction of arm-left."})
tool
executing move_joints over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe yaw test showed the gripper moving image-left, confirming arm-left = image-left. Now I pull the gripper 10 cm inward (radius 0.42→0.32 at the same 15 cm height) to calibrate the radial direction and pixel scale in the overhead view.
move_joints
left_j11.9600left_j21.5100left_j3-1.1200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0746 left_j1=2.2543 left_j2=1.9366 left_j3=-1.2678 left_j4=-0.0067 left_j5=-0.3973 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [0.1299, -13.6684, 5.3812, 0.3004, -0.0513, 0.0171, -0.0171, -0.0205, 1.6342, 6.9812, 1.8926, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.96, "left_j2": 1.51, "left_j3": -1.12}, "note": "The yaw test showed the gripper moving image-left, confirming arm-left = image-left. Now I pull the gripper 10 cm inward (radius 0.42\u21920.32 at the same 15 cm height) to calibrate the radial direction and pixel scale in the overhead view."})
tool
executing move_joints over 7 steps (0.7s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteCalibration gives roughly 3 px/cm overhead at this height; the blue block lies about 17 cm to the arm's right and 13 cm nearer than the current gripper spot, and nothing appears in the wrist view (so the block is inward of the fingertips). Moving to that estimated spot at 15 cm height, with wrist roll matched to base yaw.
move_joints
left_j0-0.7900left_j11.7800left_j21.2700left_j3-1.0600left_j5-0.7900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0746 left_j1=1.9953 left_j2=1.5116 left_j3=-1.1282 left_j4=-0.0071 left_j5=-0.3977 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0544 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1983, -12.8479, 5.5316, 0.232, -0.0415, -0.0415, -0.0073, -0.0342, 1.6342, 6.9949, 1.8974, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.79, "left_j1": 1.78, "left_j2": 1.27, "left_j3": -1.06, "left_j5": -0.79}, "note": "Calibration gives roughly 3 px/cm overhead at this height; the blue block lies about 17 cm to the arm's right and 13 cm nearer than the current gripper spot, and nothing appears in the wrist view (so the block is inward of the fingertips). Moving to that estimated spot at 15 cm height, with wrist roll matched to base yaw."})
tool
executing move_joints over 12 steps (1.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe blue block now appears at the very top of the left wrist image, meaning it is well beyond the fingertips; I'm extending the radius by 6 cm to bring it down into frame and calibrate the wrist-view scale.
move_joints
left_j11.9900left_j21.5500left_j3-1.1300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7925 left_j1=1.8145 left_j2=1.2747 left_j3=-1.0607 left_j4=-0.0067 left_j5=-0.783 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0578 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.0752, -11.1932, 5.0667, 0.2027, -0.0708, -0.1001, -0.0122, -0.0889, 1.6205, 6.9812, 1.917, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.99, "left_j2": 1.55, "left_j3": -1.13}, "note": "The blue block now appears at the very top of the left wrist image, meaning it is well beyond the fingertips; I'm extending the radius by 6 cm to bring it down into frame and calibrate the wrist-view scale."})
tool
executing move_joints over 5 steps (0.5s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe blue block is now fully in the wrist view at (88,55), still ahead of the jaws (grasp point projects near (115,200)); extending another 6 cm radially to bring it toward the jaw line.
move_joints
left_j12.2000left_j21.8900left_j3-1.2600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7925 left_j1=1.9781 left_j2=1.5082 left_j3=-1.1248 left_j4=-0.0067 left_j5=-0.7868 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1299, -9.6752, 7.4598, 0.149, -0.0366, 0.022, -0.0122, -0.0205, 1.5932, 6.9675, 1.9512, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2, "left_j2": 1.89, "left_j3": -1.26}, "note": "The blue block is now fully in the wrist view at (88,55), still ahead of the jaws (grasp point projects near (115,200)); extending another 6 cm radially to bring it toward the jaw line."})
tool
executing move_joints over 7 steps (0.7s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteTwo 5.6 cm radial steps let me calibrate the wrist view (~10.7 px/cm, image rotated ~32° by wrist roll); the block sits about 9 cm to the arm's left and 3.5 cm beyond the jaws. Moving to put the jaws over it, still at 15 cm height.
move_joints
left_j0-0.5700left_j12.3900left_j22.2200left_j3-1.4000left_j5-0.5700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7925 left_j1=2.1883 left_j2=1.8503 left_j3=-1.2503 left_j4=-0.0063 left_j5=-0.7937 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0063 right_j2=0.0074 right_j3=-0.0662 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.212, -10.988, 7.5966, 0.1441, -0.0366, 0.0366, -0.0073, -0.0889, 1.4701, 7.1726, 1.8828, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.57, "left_j1": 2.39, "left_j2": 2.22, "left_j3": -1.4, "left_j5": -0.57}, "note": "Two 5.6 cm radial steps let me calibrate the wrist view (~10.7 px/cm, image rotated ~32\u00b0 by wrist roll); the block sits about 9 cm to the arm's left and 3.5 cm beyond the jaws. Moving to put the jaws over it, still at 15 cm height."})
tool
executing move_joints over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe blue block is now right at the bottom-centre of the wrist view between the jaws, so the horizontal alignment is good; descending 5 cm while watching joint effort for contact.
move_joints
left_j12.4500left_j22.1100left_j3-1.2300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5808 left_j1=2.3814 left_j2=2.175 left_j3=-1.375 left_j4=-0.0029 left_j5=-0.6323 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0086 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [0.1162, -12.7795, 8.1436, 0.0562, -0.0904, 0.149, -0.0122, -0.1436, 1.4974, 7.0496, 1.9072, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.45, "left_j2": 2.11, "left_j3": -1.23}, "note": "The blue block is now right at the bottom-centre of the wrist view between the jaws, so the horizontal alignment is good; descending 5 cm while watching joint effort for contact."})
tool
executing move_joints over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteDescent so far is smooth with no contact effort; lowering another ~5 cm toward the table with the block still between the jaws.
move_joints
left_j12.5400left_j22.0600left_j3-1.0900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5766 left_j1=2.4252 left_j2=2.1311 left_j3=-1.2995 left_j4=-0.0029 left_j5=-0.622 left_gripper=0.9989 right_j0=0.0025 right_j1=0.009 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.6085, -12.9573, 5.0667, 0.3932, -0.0611, -0.0562, -0.0122, -0.0889, 1.5795, 7.0085, 1.873, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.54, "left_j2": 2.06, "left_j3": -1.09}, "note": "Descent so far is smooth with no contact effort; lowering another ~5 cm toward the table with the block still between the jaws."})
tool
executing move_joints over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent notej1 stalled and wrist effort rose, indicating the fingertips reached the table, and the block dropped out of the wrist view just below the jaws as expected. Closing the gripper to test the grasp — I'll check the residual against the block's ~4 cm width.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5781 left_j1=2.4691 left_j2=2.0918 left_j3=-1.1812 left_j4=0.012 left_j5=-0.6327 left_gripper=0.9988 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1299, -7.8291, 3.1658, 0.9451, -0.2662, 0.0855, -0.022, -0.0342, 1.6068, 6.9538, 1.9023, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "j1 stalled and wrist effort rose, indicating the fingertips reached the table, and the block dropped out of the wrist view just below the jaws as expected. Closing the gripper to test the grasp \u2014 I'll check the residual against the block's ~4 cm width."})
tool
executing move_joints over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe close came back empty (residual 0.009) and the block is untouched in the overhead view, so the jaws closed just short of it. Lifting back to ~15 cm to re-acquire the block in the wrist camera and re-measure the offset.
move_joints
left_j12.4000left_j22.2300left_j3-1.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5785 left_j1=2.4683 left_j2=2.0926 left_j3=-1.1839 left_j4=0.0196 left_j5=-0.6361 left_gripper=0.0093 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0205, -13.6, 5.6547, 0.2906, -0.0952, 0.0269, 0.6911, -0.0752, 1.6068, 7.1043, 1.8877, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4, "left_j2": 2.23, "left_j3": -1.4, "left_gripper": 1}, "note": "The close came back empty (residual 0.009) and the block is untouched in the overhead view, so the jaws closed just short of it. Lifting back to ~15 cm to re-acquire the block in the wrist camera and re-measure the offset."})
tool
executing move_joints over 10 steps (1.0s)
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 noteOverhead clearly shows the jaws sitting ~14 cm beyond (outward of) the blue block, and only a sliver of the block shows at the very bottom of the wrist frame, so the block is inward of the grasp point; retracting 6 cm radially at constant height to bring it under the jaws.
move_joints
left_j12.2100left_j21.7400left_j3-1.1000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5785 left_j1=2.4672 left_j2=2.2051 left_j3=-1.3716 left_j4=0.0196 left_j5=-0.6369 left_gripper=0.9949 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1299, -18.865, 7.5966, 0.0562, -0.0171, -0.0366, -0.0611, -0.0889, 1.6479, 7.0496, 1.9023, -0.0024, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_j1": 2.21, "left_j2": 1.74, "left_j3": -1.1}, "note": "Overhead clearly shows the jaws sitting ~14 cm beyond (outward of) the blue block, and only a sliver of the block shows at the very bottom of the wrist frame, so the block is inward of the grasp point; retracting 6 cm radially at constant height to bring it under the jaws."})
tool
executing move_joints over 8 steps (0.8s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteAfter retracting, the overhead shows the jaws right at the blue block and it fills the bottom of the wrist view; my height calibration says the fingertips are ~1 cm above the table, i.e. across the block's lower half, so I'm closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5766 left_j1=2.2608 left_j2=1.7622 left_j3=-1.1397 left_j4=0.0196 left_j5=-0.6357 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.4991, -15.2137, 5.5453, 0.442, -0.0171, -0.0317, 0.0952, -0.0342, 1.8803, 6.9812, 1.8974, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "After retracting, the overhead shows the jaws right at the blue block and it fills the bottom of the wrist view; my height calibration says the fingertips are ~1 cm above the table, i.e. across the block's lower half, so I'm closing."})
tool
executing move_joints over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteClosed empty again and the block got nudged slightly; in the overhead it now sits just inward and to the arm's right of the jaws. Reopening and shifting ~4 cm inward and ~2 cm right at the same height before trying again.
move_joints
left_gripper1.0000left_j0-0.6370left_j12.1100left_j21.5000left_j3-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5766 left_j1=2.2536 left_j2=1.7454 left_j3=-1.1374 left_j4=0.0196 left_j5=-0.6365 left_gripper=0.0092 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3214, -11.1385, 6.9949, 0.1197, -0.0317, 0.0024, 0.6764, -0.1983, 1.5932, 7.2, 1.9072, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -0.637, "left_j1": 2.11, "left_j2": 1.5, "left_j3": -0.96}, "note": "Closed empty again and the block got nudged slightly; in the overhead it now sits just inward and to the arm's right of the jaws. Reopening and shifting ~4 cm inward and ~2 cm right at the same height before trying again."})
tool
executing move_joints over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe wrist view now shows the blue block squarely between the two jaw silhouettes at the bottom of the frame — the best alignment yet. Closing to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.627 left_j1=2.1353 left_j2=1.5188 left_j3=-0.9821 left_j4=0.017 left_j5=-0.6361 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-1.0188, -12.7795, 4.7248, 0.3297, 0.0122, -0.0269, -0.1392, -0.0889, 1.9214, 7.1863, 1.8632, -0.0269, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The wrist view now shows the blue block squarely between the two jaw silhouettes at the bottom of the frame \u2014 the best alignment yet. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteGrasp confirmed: gripper residual 0.42 (~4 cm block) with high effort, and the blue block is gone from the table in the overhead. Lifting it ~10 cm before transporting to the red block.
move_joints
left_j11.9500left_j21.7200left_j3-1.3300
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=2.1315 left_j2=1.5116 left_j3=-0.9726 left_j4=0.02 left_j5=-0.6361 left_gripper=0.4212 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.0889, -10.6872, 5.9419, 0.105, -0.0562, -0.0122, 1.0281, -0.0205, 1.9214, 7.0496, 1.9121, -0.0464, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.95, "left_j2": 1.72, "left_j3": -1.33}, "note": "Grasp confirmed: gripper residual 0.42 (~4 cm block) with high effort, and the blue block is gone from the table in the overhead. Lifting it ~10 cm before transporting to the red block."})
tool
executing move_joints over 6 steps (0.6s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe gripper still reads 0.42 open (block-thickness) but the block is oddly visible in the wrist view, so I'm lifting higher to confirm whether it is truly held and travelling with the gripper.
move_joints
left_j11.9500left_j22.0500left_j3-1.6600
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=1.9961 left_j2=1.6894 left_j3=-1.2591 left_j4=0.0196 left_j5=-0.6403 left_gripper=0.4203 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.335, -12.4239, 7.2957, 0.1832, -0.0513, -0.022, -0.105, -0.1846, 1.9624, 7.0085, 1.8974, -0.0269, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.95, "left_j2": 2.05, "left_j3": -1.66}, "note": "The gripper still reads 0.42 open (block-thickness) but the block is oddly visible in the wrist view, so I'm lifting higher to confirm whether it is truly held and travelling with the gripper."})
tool
executing move_joints over 7 steps (0.7s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe block stayed behind on the table — the earlier grip was too shallow and it slipped out during the lift. Reopening and descending back to ~5 cm above the table with the block visible ahead in the wrist view, to retry with a deeper, lower grasp.
move_joints
left_gripper1.0000left_j12.1000left_j21.6300left_j3-1.1000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.63 left_j1=1.982 left_j2=2.0109 left_j3=-1.5951 left_j4=0.02 left_j5=-0.6476 left_gripper=0.4202 right_j0=0.0025 right_j1=0.0154 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2256, -12.3009, 6.9812, 0.3199, -0.0611, 0.0415, -0.0269, -0.1162, 1.9077, 7.159, 1.8974, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 2.1, "left_j2": 1.63, "left_j3": -1.1}, "note": "The block stayed behind on the table \u2014 the earlier grip was too shallow and it slipped out during the lift. Reopening and descending back to ~5 cm above the table with the block visible ahead in the wrist view, to retry with a deeper, lower grasp."})
tool
executing move_joints over 8 steps (0.8s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteBlock is centred between the jaws in the wrist view; my height model says the fingertips are ~5 cm up, above the block's top, so I'm dropping 4 cm to straddle the block's lower half before closing.
move_joints
left_j12.1500left_j21.5600left_j3-0.9800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6296 left_j1=2.0857 left_j2=1.6474 left_j3=-1.1755 left_j4=0.0193 left_j5=-0.6518 left_gripper=0.9965 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.0479, -9.9624, 5.6137, 0.4615, -0.0073, -0.0024, -0.149, -0.1846, 1.6752, 7.0222, 1.8681, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.15, "left_j2": 1.56, "left_j3": -0.98}, "note": "Block is centred between the jaws in the wrist view; my height model says the fingertips are ~5 cm up, above the block's top, so I'm dropping 4 cm to straddle the block's lower half before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteFingertips are now low with the blue block right at the jaw gap (visible as the blue sliver at the bottom centre). Closing for a deeper grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6308 left_j1=2.1361 left_j2=1.5757 left_j3=-1.0328 left_j4=0.0193 left_j5=-0.6521 left_gripper=0.9973 right_j0=0.0025 right_j1=0.017 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1436, -10.7009, 5.0256, 0.359, -0.0366, -0.0757, 0.0708, -0.0752, 1.6615, 7.241, 1.8681, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips are now low with the blue block right at the jaw gap (visible as the blue sliver at the bottom centre). Closing for a deeper grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteEmpty close again: at this radius the jaws straddle just outside the block. The one grasp that did catch was ~1 cm further in, so I'm reopening and retracting 1.2 cm radially at the same low height.
move_joints
left_gripper1.0000left_j12.1000left_j21.4600left_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6308 left_j1=2.1567 left_j2=1.5574 left_j3=-1.0267 left_j4=0.0196 left_j5=-0.6548 left_gripper=0.0091 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2256, -12.7932, 6.9538, 0.1001, -0.0171, -0.022, 0.6471, -0.0342, 1.7846, 7.159, 1.8974, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 2.1, "left_j2": 1.46, "left_j3": -0.93}, "note": "Empty close again: at this radius the jaws straddle just outside the block. The one grasp that did catch was ~1 cm further in, so I'm reopening and retracting 1.2 cm radially at the same low height."})
tool
executing move_joints over 10 steps (1.0s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe block has dropped out of the wrist frame (meaning it is at or inside the grasp point) and overhead shows it right at the jaws; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6289 left_j1=2.1139 left_j2=1.4807 left_j3=-0.952 left_j4=0.02 left_j5=-0.6552 left_gripper=0.9949 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2803, -11.8222, 3.959, 0.4567, -0.0611, -0.0317, -0.1441, -0.0752, 1.7983, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The block has dropped out of the wrist frame (meaning it is at or inside the grasp point) and overhead shows it right at the jaws; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteStill empty, so I suspect my height model is off and the jaws are closing above the block. With the gripper closed I'm descending ~4.5 cm to find true table contact from the joint effort and recalibrate my z offset.
move_joints
left_j12.2100left_j21.4200left_j3-0.7800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6289 left_j1=2.112 left_j2=1.4773 left_j3=-0.9455 left_j4=0.0269 left_j5=-0.6552 left_gripper=0.0092 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1983, -10.441, 5.6137, 0.1636, -0.0806, -0.0513, 0.6569, -0.0205, 1.6205, 7.0222, 1.8877, -0.0562, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.21, "left_j2": 1.42, "left_j3": -0.78}, "note": "Still empty, so I suspect my height model is off and the jaws are closing above the block. With the gripper closed I'm descending ~4.5 cm to find true table contact from the joint effort and recalibrate my z offset."})
tool
executing move_joints over 3 steps (0.3s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteEffort confirms the fingertips are touching the table at this pose, so height is right — the miss is radial: overhead shows the block ~6 cm inward of the finger tips. Lifting 5 cm and retracting 6 cm to line up over the block.
move_joints
left_gripper1.0000left_j11.8200left_j21.2600left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6289 left_j1=2.1151 left_j2=1.4689 left_j3=-0.9298 left_j4=0.0277 left_j5=-0.6552 left_gripper=0.0115 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0752, -3.2342, 1.5521, 1.7509, -0.022, -0.0366, 0.2222, -0.0752, 1.6068, 7.2274, 1.8877, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.82, "left_j2": 1.26, "left_j3": -1.02}, "note": "Effort confirms the fingertips are touching the table at this pose, so height is right \u2014 the miss is radial: overhead shows the block ~6 cm inward of the finger tips. Lifting 5 cm and retracting 6 cm to line up over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteNow the wrist camera shows the block clearly to the lower-right of the jaw gap; solving the calibrated wrist mapping, it lies ~3.5 cm further out and ~3 cm to the arm's right. Moving there at 4 cm height before descending.
move_joints
left_j0-0.7310left_j11.9700left_j21.4300left_j3-1.0300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6289 left_j1=1.8603 left_j2=1.272 left_j3=-1.0061 left_j4=0.0265 left_j5=-0.6556 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0479, -11.0838, 5.0256, 0.4029, 0.0122, -0.0317, -0.1392, -0.0205, 2.0308, 7.0496, 1.9121, -0.0073, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.731, "left_j1": 1.97, "left_j2": 1.43, "left_j3": -1.03}, "note": "Now the wrist camera shows the block clearly to the lower-right of the jaw gap; solving the calibrated wrist mapping, it lies ~3.5 cm further out and ~3 cm to the arm's right. Moving there at 4 cm height before descending."})
tool
executing move_joints over 3 steps (0.3s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteBlock is now nearly centred in the jaw gap in the wrist view; applying a final ~1 cm correction and descending to ~1 cm above the table for the grasp.
move_joints
left_j0-0.7460left_j12.0500left_j21.4100left_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7086 left_j1=1.9575 left_j2=1.3949 left_j3=-1.0317 left_j4=0.0238 left_j5=-0.6594 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1026, -10.1675, 6.9265, 0.1294, 0.0366, -0.0171, 0.1294, -0.0342, 1.6205, 6.9949, 1.9121, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.746, "left_j1": 2.05, "left_j2": 1.41, "left_j3": -0.93}, "note": "Block is now nearly centred in the jaw gap in the wrist view; applying a final ~1 cm correction and descending to ~1 cm above the table for the grasp."})
tool
executing move_joints over 2 steps (0.2s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe blue block sits dead centre between the jaws in the wrist view with the fingertips ~2 cm above the table; closing to grasp it around its lower half.
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=-0.7376 left_j1=2.0068 left_j2=1.4075 left_j3=-0.9966 left_j4=0.0235 left_j5=-0.6621 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.8274, -8.2393, 5.6137, 0.3883, -0.0073, -0.0366, -0.0024, -0.0205, 1.7573, 6.9949, 1.8681, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The blue block sits dead centre between the jaws in the wrist view with the fingertips ~2 cm above the table; closing to grasp it around its lower half."})
tool
executing move_joints over 10 steps (1.0s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe close shoved the block inward toward the base, which tells me the fingers were outward of it: the wrist view makes the block look closer than it is. Reopening and retracting ~6 cm to re-acquire it from a nearer stance.
move_joints
left_gripper1.0000left_j11.7200left_j21.1900left_j3-1.0400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=2.0605 left_j2=1.4052 left_j3=-0.9913 left_j4=0.0235 left_j5=-0.6624 left_gripper=0.009 right_j0=0.0025 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.1026, -14.5162, 5.3812, 0.0659, -0.022, -0.0024, 0.6764, -0.2256, 1.812, 6.9949, 1.9365, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.72, "left_j2": 1.19, "left_j3": -1.04}, "note": "The close shoved the block inward toward the base, which tells me the fingers were outward of it: the wrist view makes the block look closer than it is. Reopening and retracting ~6 cm to re-acquire it from a nearer stance."})
tool
executing move_joints over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteFrom this nearer stance the block fills the bottom of the wrist view right in the jaw gap; descending ~4 cm to fingertip height before closing.
move_joints
left_j11.8600left_j21.1200left_j3-0.8300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.7634 left_j2=1.2007 left_j3=-1.029 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9949 right_j0=0.0025 right_j1=0.02 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3761, -10.0855, 5.1761, 0.3346, -0.0464, -0.0659, -0.0659, -0.1983, 1.8803, 7.0222, 1.9072, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.86, "left_j2": 1.12, "left_j3": -0.83}, "note": "From this nearer stance the block fills the bottom of the wrist view right in the jaw gap; descending ~4 cm to fingertip height before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe block is now just a sliver at the bottom edge between the jaws, i.e. right at the grasp point; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.8568 left_j2=1.1278 left_j3=-0.8917 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9965 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2393, -8.5128, 5.4632, 0.3004, -0.0024, -0.0269, 0.1538, -0.0205, 1.5521, 7.2137, 1.9121, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The block is now just a sliver at the bottom edge between the jaws, i.e. right at the grasp point; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
right_cam
camera right_cam step 251
assistant
agent noteKey calibration: with the jaws closed I can see their convergence (the grasp point) at about (105,178) in the wrist image — the block had been sitting below that, i.e. too close to the base. Reopening, lifting slightly and extending 3 cm so the block lands on that grasp point.
move_joints
left_gripper1.0000left_j11.8500left_j21.3000left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.1206 left_j3=-0.886 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0204 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1846, -8.5538, 5.8872, 0.1148, -0.0269, -0.0269, 0.6569, -0.0752, 1.5932, 7.2274, 1.9316, -0.0708, -0.0757, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.85, "left_j2": 1.3, "left_j3": -1.02}, "note": "Key calibration: with the jaws closed I can see their convergence (the grasp point) at about (105,178) in the wrist image \u2014 the block had been sitting below that, i.e. too close to the base. Reopening, lifting slightly and extending 3 cm so the block lands on that grasp point."})
tool
executing move_joints over 10 steps (1.0s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe block now shows at (105,205) in the wrist view, still ~3 cm nearer than the grasp point at (105,178); extending 2.5 cm and descending to fingertip height for the close.
move_joints
left_j11.9900left_j21.3300left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.269 left_j3=-1.0119 left_j4=0.0231 left_j5=-0.6781 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.253, -9.7573, 7.8427, 0.232, 0.0024, 0.1001, -0.1148, -0.0342, 1.5795, 7.0085, 1.8779, -0.0611, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.99, "left_j2": 1.33, "left_j3": -0.92}, "note": "The block now shows at (105,205) in the wrist view, still ~3 cm nearer than the grasp point at (105,178); extending 2.5 cm and descending to fingertip height for the close."})
tool
executing move_joints over 3 steps (0.3s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
right_cam
camera right_cam step 264
assistant
agent noteThe descent cancelled my last extension in the image, so the block still sits below the grasp point; extending 3.5 cm radially at constant height to lift it to the jaw line.
move_joints
left_j12.0600left_j21.4500left_j3-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.9697 left_j2=1.3071 left_j3=-0.9695 left_j4=0.0231 left_j5=-0.6815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.294, -10.0444, 7.3778, 0.1587, -0.0562, -0.0122, 0.1392, -0.1983, 1.5932, 7.0906, 1.8974, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.06, "left_j2": 1.45, "left_j3": -0.96}, "note": "The descent cancelled my last extension in the image, so the block still sits below the grasp point; extending 3.5 cm radially at constant height to lift it to the jaw line."})
tool
executing move_joints over 3 steps (0.3s)
step 267
top_cam
camera top_cam step 267
left_cam
camera left_cam step 267
right_cam
camera right_cam step 267
assistant
agent noteThe block has dropped out of the wrist frame entirely and the images are motion-blurred, so I'm backing off vertically to ~13 cm at the same radius to get a clean, wide view and re-locate it.
move_joints
left_j11.8500left_j21.6600left_j3-1.3800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=2.0445 left_j2=1.412 left_j3=-0.9722 left_j4=0.0231 left_j5=-0.6884 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.294, -9.4701, 6.8308, 0.1636, -0.0122, 0.0073, -0.0024, -0.0205, 1.5658, 7.159, 1.8681, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.85, "left_j2": 1.66, "left_j3": -1.38}, "note": "The block has dropped out of the wrist frame entirely and the images are motion-blurred, so I'm backing off vertically to ~13 cm at the same radius to get a clean, wide view and re-locate it."})
tool
executing move_joints over 7 steps (0.7s)
step 274
top_cam
camera top_cam step 274
left_cam
camera left_cam step 274
right_cam
camera right_cam step 274
assistant
agent noteClean view at last: the block sits at (90,190) in the wrist frame, near the grasp point but ~5 cm to the arm's left of it. Swinging the base yaw to centre it laterally before descending straight down.
move_joints
left_j0-0.5700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7403 left_j1=1.8874 left_j2=1.6306 left_j3=-1.3148 left_j4=0.0238 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.1983, -11.0974, 7.5556, 0.2418, -0.0122, -0.0317, -0.0122, -0.1709, 1.6479, 7.0359, 1.8926, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.57}, "note": "Clean view at last: the block sits at (90,190) in the wrist frame, near the grasp point but ~5 cm to the arm's left of it. Swinging the base yaw to centre it laterally before descending straight down."})
tool
executing move_joints over 3 steps (0.3s)
step 277
top_cam
camera top_cam step 277
left_cam
camera left_cam step 277
right_cam
camera right_cam step 277
assistant
agent noteMy two estimates of where the grasp point projects disagree, so I'm briefly closing the empty jaws at this exact pitch to see where they converge in the wrist image and pin down the aim point.
move_joints
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6006 left_j1=1.8759 left_j2=1.6371 left_j3=-1.3293 left_j4=0.0326 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0216 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.0051, -7.8154, 5.3812, 0.3101, -0.0464, -0.0464, -0.0122, -0.1709, 1.5385, 6.9949, 1.8681, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.05}, "note": "My two estimates of where the grasp point projects disagree, so I'm briefly closing the empty jaws at this exact pitch to see where they converge in the wrist image and pin down the aim point."})
tool
executing move_joints over 10 steps (1.0s)
step 287
top_cam
camera top_cam step 287
left_cam
camera left_cam step 287
right_cam
camera right_cam step 287
assistant
agent noteThe empty-jaw close shows the grasp point at ~(110,190) in the wrist image and the blue block is sitting exactly there, so alignment is good; reopening and descending straight down ~10 cm at constant radius.
move_joints
left_gripper1.0000left_j12.0400left_j21.4200left_j3-0.9500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6029 left_j1=1.8797 left_j2=1.6341 left_j3=-1.3247 left_j4=0.0277 left_j5=-0.6888 left_gripper=0.055 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1983, -9.5385, 6.106, 0.2418, 0.0269, -0.0171, 0.1734, -0.0889, 1.8667, 7.0359, 1.9267, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 2.04, "left_j2": 1.42, "left_j3": -0.95}, "note": "The empty-jaw close shows the grasp point at ~(110,190) in the wrist image and the blue block is sitting exactly there, so alignment is good; reopening and descending straight down ~10 cm at constant radius."})
tool
executing move_joints over 10 steps (1.0s)
step 297
top_cam
camera top_cam step 297
left_cam
camera left_cam step 297
right_cam
camera right_cam step 297
assistant
agent noteDescended straight down to ~2 cm fingertip height with the block last seen exactly at the grasp point; closing now.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6025 left_j1=2.0258 left_j2=1.4322 left_j3=-1.0027 left_j4=0.0265 left_j5=-0.6888 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1436, -9.0188, 5.0667, 0.4225, 0.0122, -0.0513, -0.1001, -0.0889, 1.5932, 7.1179, 1.873, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Descended straight down to ~2 cm fingertip height with the block last seen exactly at the grasp point; closing now."})
tool
executing move_joints over 10 steps (1.0s)
step 307
top_cam
camera top_cam step 307
left_cam
camera left_cam step 307
right_cam
camera right_cam step 307
assistant
agent noteThe wrist view keeps saying 'aligned' while every close comes up empty, so I'm switching to top-camera servoing with the fingertips near table level: this +0.2 rad yaw swing (~6 cm) is a calibration move to measure how the jaw tip travels in the top image.
move_joints
left_j0-0.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6029 left_j1=2.0422 left_j2=1.422 left_j3=-0.9989 left_j4=0.0269 left_j5=-0.6888 left_gripper=0.0091 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.212, -11.2342, 6.1333, 0.1587, -0.0269, 0.0073, 0.6813, -0.0205, 1.7162, 7.0085, 1.8632, -0.0708, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4}, "note": "The wrist view keeps saying 'aligned' while every close comes up empty, so I'm switching to top-camera servoing with the fingertips near table level: this +0.2 rad yaw swing (~6 cm) is a calibration move to measure how the jaw tip travels in the top image."})
tool
executing move_joints over 4 steps (0.4s)
step 311
top_cam
camera top_cam step 311
left_cam
camera left_cam step 311
right_cam
camera right_cam step 311
assistant
agent noteThe calibration shows the top camera is very oblique (depth and height are conflated), so the apparent gap there is mostly the gripper being above the block; returning to the aligned yaw and driving the open jaws all the way down to table contact so the fingers straddle the block's full height.
move_joints
left_j0-0.6030left_gripper1.0000left_j12.1100left_j21.3700left_j3-0.8300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4126 left_j1=2.0422 left_j2=1.422 left_j3=-0.9981 left_j4=0.0303 left_j5=-0.6888 left_gripper=0.0114 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.2103, -10.1949, 5.3675, 0.232, -0.022, -0.0464, 0.2222, -0.0205, 1.5932, 7.0085, 1.8779, 0.0024, -0.0464, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.603, "left_gripper": 1, "left_j1": 2.11, "left_j2": 1.37, "left_j3": -0.83}, "note": "The calibration shows the top camera is very oblique (depth and height are conflated), so the apparent gap there is mostly the gripper being above the block; returning to the aligned yaw and driving the open jaws all the way down to table contact so the fingers straddle the block's full height."})
tool
executing move_joints over 10 steps (1.0s)
step 321
top_cam
camera top_cam step 321
left_cam
camera left_cam step 321
right_cam
camera right_cam step 321
assistant
agent noteTable contact confirmed (j1 stalls, wrist effort up) so my height model is exact; the remaining error must be radial, and the one stance where the block looked huge in the wrist view was ~5 cm nearer, so I'm retracting to that radius 1 cm above the table.
move_joints
left_j11.9055left_j21.1800left_j3-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5858 left_j1=2.0655 left_j2=1.3991 left_j3=-0.8845 left_j4=0.0105 left_j5=-0.7036 left_gripper=0.9949 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.0598, -6.8855, 3.0154, 0.823, 0.2369, 0.1294, 0.0073, -0.0889, 1.6068, 6.9949, 1.9316, -0.0659, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.9055, "left_j2": 1.18, "left_j3": -0.85}, "note": "Table contact confirmed (j1 stalls, wrist effort up) so my height model is exact; the remaining error must be radial, and the one stance where the block looked huge in the wrist view was ~5 cm nearer, so I'm retracting to that radius 1 cm above the table."})
tool
executing move_joints over 4 steps (0.4s)
step 325
top_cam
camera top_cam step 325
left_cam
camera left_cam step 325
right_cam
camera right_cam step 325
assistant
agent noteIn this clear top frame the left arm enters from the image-left, so image-down is the arm's right — and the blue block lies well to the arm's right of the fingertips, not inward. Lifting to 5 cm and swinging ~11 cm right to test that reading.
move_joints
left_j0-0.9400left_j11.7900left_j21.2700left_j3-1.0600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5869 left_j1=1.935 left_j2=1.2083 left_j3=-0.8467 left_j4=0.0132 left_j5=-0.7048 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0242 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0342, -10.4821, 4.8889, 0.3639, -0.0611, -0.0122, 0.0952, -0.2393, 1.7846, 7.241, 1.9365, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.94, "left_j1": 1.79, "left_j2": 1.27, "left_j3": -1.06}, "note": "In this clear top frame the left arm enters from the image-left, so image-down is the arm's right \u2014 and the blue block lies well to the arm's right of the fingertips, not inward. Lifting to 5 cm and swinging ~11 cm right to test that reading."})
tool
executing move_joints over 6 steps (0.6s)
step 331
top_cam
camera top_cam step 331
left_cam
camera left_cam step 331
right_cam
camera right_cam step 331
assistant
agent noteThe right-swing brought the block back into the wrist view at the lower-left of the jaw gap; correcting ~3.5 cm back to the arm's left and 2.5 cm inward while descending to just above the table.
move_joints
left_j0-0.7800left_j11.8300left_j21.0700left_j3-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9157 left_j1=1.8305 left_j2=1.2449 left_j3=-1.0183 left_j4=0.0181 left_j5=-0.7078 left_gripper=0.996 right_j0=0.0025 right_j1=0.0254 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0889, -10.7692, 7.5009, 0.1148, -0.1441, 0.0269, -0.0073, -0.0205, 2.0034, 7.0085, 1.8681, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.78, "left_j1": 1.83, "left_j2": 1.07, "left_j3": -0.81}, "note": "The right-swing brought the block back into the wrist view at the lower-left of the jaw gap; correcting ~3.5 cm back to the arm's left and 2.5 cm inward while descending to just above the table."})
tool
executing move_joints over 4 steps (0.4s)
step 335
top_cam
camera top_cam step 335
left_cam
camera left_cam step 335
right_cam
camera right_cam step 335
assistant
agent noteThe blue block shows as a sliver at the bottom centre of the jaw gap with the fingertips ~1 cm above the table; closing to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.786 left_j1=1.8275 left_j2=1.0855 left_j3=-0.8783 left_j4=0.0154 left_j5=-0.7074 left_gripper=0.996 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.4308, -7.4188, 5.559, 0.4469, 0.0171, -0.022, -0.0073, -0.0342, 1.5658, 7.0359, 1.873, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The blue block shows as a sliver at the bottom centre of the jaw gap with the fingertips ~1 cm above the table; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 345
top_cam
camera top_cam step 345
left_cam
camera left_cam step 345
right_cam
camera right_cam step 345
assistant
agent noteAnother empty close. I'm making a clean 5 cm radial extension (plus 5 cm up) purely to measure which way 'radially outward' points in the oblique top image, so I can convert the visible gripper-to-block gap into a correct move.
move_joints
left_j11.8500left_j21.3600left_j3-1.0800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7837 left_j1=1.8286 left_j2=1.0714 left_j3=-0.8753 left_j4=0.0162 left_j5=-0.7074 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.3897, -7.8838, 6.1333, 0.1197, -0.0415, -0.0171, 0.6667, -0.0068, 1.6479, 7.1453, 1.8877, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.85, "left_j2": 1.36, "left_j3": -1.08}, "note": "Another empty close. I'm making a clean 5 cm radial extension (plus 5 cm up) purely to measure which way 'radially outward' points in the oblique top image, so I can convert the visible gripper-to-block gap into a correct move."})
tool
executing move_joints over 5 steps (0.5s)
step 350
top_cam
camera top_cam step 350
left_cam
camera left_cam step 350
right_cam
camera right_cam step 350
assistant
agent noteThe last combined move barely shifted the image, so height and radius must cancel in this oblique top view; doing a pure 8 cm vertical raise (constant radius) to isolate which image direction corresponds to height.
move_joints
left_j11.7500left_j21.5800left_j3-1.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7837 left_j1=1.8462 left_j2=1.3209 left_j3=-1.0351 left_j4=0.0166 left_j5=-0.7116 left_gripper=0.0113 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.0479, -8.4581, 7.2547, 0.1929, 0.0073, 0.0171, 0.2711, -0.0342, 1.7299, 7.0085, 1.8926, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.75, "left_j2": 1.58, "left_j3": -1.4}, "note": "The last combined move barely shifted the image, so height and radius must cancel in this oblique top view; doing a pure 8 cm vertical raise (constant radius) to isolate which image direction corresponds to height."})
tool
executing move_joints over 6 steps (0.6s)
step 356
top_cam
camera top_cam step 356
left_cam
camera left_cam step 356
right_cam
camera right_cam step 356
assistant
agent noteThe pure raise proved image-up = height in the top view, so the gripper is roughly above the block; the wrist view says the block is still ~5 cm further out and ~7 cm to the arm's left, which matches the one pose where I did catch it. Moving there with jaws open at 7 cm height.
move_joints
left_gripper1.0000left_j0-0.5700left_j12.0100left_j21.6300left_j3-1.1900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7837 left_j1=1.7962 left_j2=1.5444 left_j3=-1.3331 left_j4=0.017 left_j5=-0.7155 left_gripper=0.0134 right_j0=0.0025 right_j1=0.0265 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3624, -10.9197, 7.3641, 0.1978, -0.0171, -0.022, 0.2027, -0.0205, 1.6342, 7.0085, 1.8779, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -0.57, "left_j1": 2.01, "left_j2": 1.63, "left_j3": -1.19}, "note": "The pure raise proved image-up = height in the top view, so the gripper is roughly above the block; the wrist view says the block is still ~5 cm further out and ~7 cm to the arm's left, which matches the one pose where I did catch it. Moving there with jaws open at 7 cm height."})
tool
executing move_joints over 10 steps (1.0s)
step 366
top_cam
camera top_cam step 366
left_cam
camera left_cam step 366
right_cam
camera right_cam step 366
assistant
agent noteBlock is at the bottom centre between the open jaws; descending straight down to the table at this radius.
move_joints
left_j12.1300left_j21.5200left_j3-0.9700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.58 left_j1=2.001 left_j2=1.6047 left_j3=-1.2182 left_j4=0.0196 left_j5=-0.7269 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0288 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.2667, -9.7436, 8.0205, 0.2906, -0.0366, 0.0366, -0.1392, -0.1026, 1.388, 7.0085, 1.8681, -0.0513, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.13, "left_j2": 1.52, "left_j3": -0.97}, "note": "Block is at the bottom centre between the open jaws; descending straight down to the table at this radius."})
tool
executing move_joints over 4 steps (0.4s)
step 370
top_cam
camera top_cam step 370
left_cam
camera left_cam step 370
right_cam
camera right_cam step 370
assistant
agent noteWith better lighting the top view is clear: the arm bases are at the TOP of the frame, so image-down is radially outward — the blue block is about 10 cm further out than my fingertips (the failed closes have been pushing it outward). Extending to r≈0.44 at 5 cm height.
move_joints
left_j0-0.6100left_j12.4300left_j22.2400left_j3-1.3800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5774 left_j1=2.1254 left_j2=1.5303 left_j3=-1.0458 left_j4=0.0193 left_j5=-0.73 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0292 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.4034, -11.7812, 5.4496, 0.3639, -0.0366, 0.0122, 0.0757, -0.0342, 1.5521, 7.2547, 1.873, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.61, "left_j1": 2.43, "left_j2": 2.24, "left_j3": -1.38}, "note": "With better lighting the top view is clear: the arm bases are at the TOP of the frame, so image-down is radially outward \u2014 the blue block is about 10 cm further out than my fingertips (the failed closes have been pushing it outward). Extending to r\u22480.44 at 5 cm height."})
tool
executing move_joints over 12 steps (1.2s)
step 382
top_cam
camera top_cam step 382
left_cam
camera left_cam step 382
right_cam
camera right_cam step 382
assistant
agent noteExtending moved the gripper image-up, so image-up is radially outward and the block is inward of me again; the wrist camera saw it just ahead at r≈0.34 but nothing at r=0.44, so I'm splitting the difference at r≈0.39, down at table height.
move_joints
left_j12.2900left_j21.8000left_j3-1.0800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6033 left_j1=2.4187 left_j2=2.1971 left_j3=-1.3598 left_j4=0.0231 left_j5=-0.7345 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.8274, -12.6017, 7.3641, 0.1929, -0.0952, 0.0171, -0.0122, -0.0752, 1.4838, 7.2274, 1.917, -0.0708, -0.0366, -0.0122] camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.29, "left_j2": 1.8, "left_j3": -1.08}, "note": "Extending moved the gripper image-up, so image-up is radially outward and the block is inward of me again; the wrist camera saw it just ahead at r\u22480.34 but nothing at r=0.44, so I'm splitting the difference at r\u22480.39, down at table height."})
tool
executing move_joints over 7 steps (0.7s)
step 389
top_cam
camera top_cam step 389
left_cam
camera left_cam step 389
right_cam
camera right_cam step 389
assistant
agent noteI can't resolve the radial gap visually, so I'm doing a probe: closing the jaws and sweeping from r=0.39 inward to r=0.25 along the table at this bearing — if the block lies in that band it will visibly get pushed, pinning down exactly where my fingertips are relative to it.
move_joints
left_gripper0.0000left_j11.8600left_j21.0800left_j3-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6044 left_j1=2.3215 left_j2=1.8339 left_j3=-1.1236 left_j4=0.0311 left_j5=-0.7338 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0322 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1573, -14.2291, 4.547, 0.188, -0.0855, -0.022, -0.0122, -0.0205, 2.0444, 7.1043, 1.8926, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 389): [image omitted: streamed camera frame] camera 'left_cam' (step 389): [image omitted: streamed camera frame] camera 'right_cam' (step 389): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0, "left_j1": 1.86, "left_j2": 1.08, "left_j3": -0.8}, "note": "I can't resolve the radial gap visually, so I'm doing a probe: closing the jaws and sweeping from r=0.39 inward to r=0.25 along the table at this bearing \u2014 if the block lies in that band it will visibly get pushed, pinning down exactly where my fingertips are relative to it."})
tool
executing move_joints over 12 steps (1.2s)
step 401
top_cam
camera top_cam step 401
left_cam
camera left_cam step 401
right_cam
camera right_cam step 401
assistant
agent noteThe inward sweep from r=0.39 to 0.25 never touched the block, and in the top view the block sits very close to the arm's shoulder — I now think repeated failed closes have pushed it to only ~15 cm from the base. Pulling the gripper in to r≈0.15 at 5 cm height to check that.
move_joints
left_j11.3300left_j20.8200left_j3-1.0700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6048 left_j1=1.874 left_j2=1.1183 left_j3=-0.8143 left_j4=0.0418 left_j5=-0.7334 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0368 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.253, -8.4855, 3.9179, 0.4225, -0.105, -0.0122, 0.696, -0.0889, 1.6068, 7.0632, 1.9023, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.33, "left_j2": 0.82, "left_j3": -1.07}, "note": "The inward sweep from r=0.39 to 0.25 never touched the block, and in the top view the block sits very close to the arm's shoulder \u2014 I now think repeated failed closes have pushed it to only ~15 cm from the base. Pulling the gripper in to r\u22480.15 at 5 cm height to check that."})
tool
executing move_joints over 9 steps (0.9s)
step 410
top_cam
camera top_cam step 410
left_cam
camera left_cam step 410
right_cam
camera right_cam step 410
assistant
agent noteConfirmed — the block really is way in near the base: it now fills the right side of the wrist view at r≈0.16. It is ~4.5 cm further out and ~3 cm to the arm's right of the jaws; moving there at the same height.
move_joints
left_j0-0.7660left_j11.5600left_j21.0000left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6048 left_j1=1.3613 left_j2=0.8352 left_j3=-1.0283 left_j4=0.0422 left_j5=-0.7338 left_gripper=0.0107 right_j0=0.0025 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2803, -4.6291, 5.4222, 0.442, 0.0024, -0.0171, 0.232, -0.1162, 1.5248, 7.0222, 1.917, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.766, "left_j1": 1.56, "left_j2": 1.0, "left_j3": -1.02}, "note": "Confirmed \u2014 the block really is way in near the base: it now fills the right side of the wrist view at r\u22480.16. It is ~4.5 cm further out and ~3 cm to the arm's right of the jaws; moving there at the same height."})
tool
executing move_joints over 4 steps (0.4s)
step 414
top_cam
camera top_cam step 414
left_cam
camera left_cam step 414
right_cam
camera right_cam step 414
assistant
agent noteThe last move shifted the block the right way in the wrist view but only a third as far as expected, so I'm repeating twice the same relative correction (7 cm out, 5 cm right) to bring it onto the jaw tip.
move_joints
left_j0-0.9500left_j11.8100left_j21.2500left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7479 left_j1=1.5517 left_j2=0.9649 left_j3=-1.0306 left_j4=0.0429 left_j5=-0.7338 left_gripper=0.0129 right_j0=0.0025 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3077, -6.0103, 7.3915, 0.1685, -0.0171, 0.0024, 0.2076, -0.0752, 1.5111, 7.1043, 1.8584, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.95, "left_j1": 1.81, "left_j2": 1.25, "left_j3": -1.02}, "note": "The last move shifted the block the right way in the wrist view but only a third as far as expected, so I'm repeating twice the same relative correction (7 cm out, 5 cm right) to bring it onto the jaw tip."})
tool
executing move_joints over 5 steps (0.5s)
step 419
top_cam
camera top_cam step 419
left_cam
camera left_cam step 419
right_cam
camera right_cam step 419
assistant
agent noteOvershot: the block is now just left of the jaw tip in the wrist view. Applying a 40% reverse correction (2.8 cm back in, 2 cm left) and opening the jaws for the grasp.
move_joints
left_gripper1.0000left_j0-0.8350left_j11.6800left_j21.0800left_j3-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.931 left_j1=1.7931 left_j2=1.2106 left_j3=-1.0355 left_j4=0.0456 left_j5=-0.7403 left_gripper=0.0143 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.3761, -7.9795, 7.1043, 0.1294, -0.0659, 0.0024, 0.1294, -0.0205, 1.4974, 7.2137, 1.8779, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 419): [image omitted: streamed camera frame] camera 'left_cam' (step 419): [image omitted: streamed camera frame] camera 'right_cam' (step 419): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -0.835, "left_j1": 1.68, "left_j2": 1.08, "left_j3": -0.96}, "note": "Overshot: the block is now just left of the jaw tip in the wrist view. Applying a 40% reverse correction (2.8 cm back in, 2 cm left) and opening the jaws for the grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 429
top_cam
camera top_cam step 429
left_cam
camera left_cam step 429
right_cam
camera right_cam step 429
assistant
agent noteThe block is centred between the open jaws in the wrist view with the fingertips at about its top edge; descending 2.5 cm straight down so the jaws straddle its middle.
move_joints
left_j11.7800left_j21.0300left_j3-0.8300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8429 left_j1=1.7161 left_j2=1.0897 left_j3=-0.9714 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.3761, -10.0444, 5.0256, 0.3443, 0.0024, -0.0269, -0.1441, -0.0889, 1.7299, 7.0359, 1.8779, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 429): [image omitted: streamed camera frame] camera 'left_cam' (step 429): [image omitted: streamed camera frame] camera 'right_cam' (step 429): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.78, "left_j2": 1.03, "left_j3": -0.83}, "note": "The block is centred between the open jaws in the wrist view with the fingertips at about its top edge; descending 2.5 cm straight down so the jaws straddle its middle."})
tool
executing move_joints over 3 steps (0.3s)
step 432
top_cam
camera top_cam step 432
left_cam
camera left_cam step 432
right_cam
camera right_cam step 432
assistant
agent noteBlock dead-centre in the jaw gap at the correct height; closing to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8406 left_j1=1.7626 left_j2=1.0435 left_j3=-0.8833 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0889, -7.1863, 4.9709, 0.2955, 0.0269, -0.0659, 0.1197, -0.1709, 1.6752, 7.2137, 1.9267, -0.0659, -0.0317, -0.0122] camera 'top_cam' (step 432): [image omitted: streamed camera frame] camera 'left_cam' (step 432): [image omitted: streamed camera frame] camera 'right_cam' (step 432): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Block dead-centre in the jaw gap at the correct height; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 442
top_cam
camera top_cam step 442
left_cam
camera left_cam step 442
right_cam
camera right_cam step 442
assistant
agent noteMissed by roughly a centimetre — the block now shows just right of the closed jaw tip. Reopening and nudging ~1.2 cm to the arm's right to line the jaw gap up on it.
move_joints
left_gripper1.0000left_j0-0.8900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.841 left_j1=1.784 left_j2=1.0286 left_j3=-0.8783 left_j4=0.0448 left_j5=-0.7414 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3214, -8.9641, 6.3658, 0.0855, -0.0073, -0.0024, 0.6618, -0.0068, 1.5658, 7.0769, 1.8974, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 442): [image omitted: streamed camera frame] camera 'left_cam' (step 442): [image omitted: streamed camera frame] camera 'right_cam' (step 442): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -0.89}, "note": "Missed by roughly a centimetre \u2014 the block now shows just right of the closed jaw tip. Reopening and nudging ~1.2 cm to the arm's right to line the jaw gap up on it."})
tool
executing move_joints over 10 steps (1.0s)
step 452
top_cam
camera top_cam step 452
left_cam
camera left_cam step 452
right_cam
camera right_cam step 452
assistant
agent noteAfter the nudge the block is centred in the jaw gap again; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8833 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0448 left_j5=-0.7422 left_gripper=0.995 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.5675, -7.6376, 4.9983, 0.1783, -0.0024, -0.0513, -0.0904, -0.1709, 1.7162, 7.0769, 1.9316, -0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 452): [image omitted: streamed camera frame] camera 'left_cam' (step 452): [image omitted: streamed camera frame] camera 'right_cam' (step 452): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "After the nudge the block is centred in the jaw gap again; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 462
top_cam
camera top_cam step 462
left_cam
camera left_cam step 462
right_cam
camera right_cam step 462
assistant
agent noteTwo centred closes came up empty, which means what I see at the bottom of the wrist frame is actually just beyond the fingertips; reopening and creeping 1.5 cm further out so the block sits exactly in the jaw plane.
move_joints
left_gripper1.0000left_j11.8300left_j21.0900left_j3-0.8400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8852 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1436, -7.5145, 5.1761, 0.1587, 0.0024, -0.0659, 0.6667, -0.0615, 1.5521, 7.0769, 1.9121, -0.0757, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 462): [image omitted: streamed camera frame] camera 'left_cam' (step 462): [image omitted: streamed camera frame] camera 'right_cam' (step 462): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.83, "left_j2": 1.09, "left_j3": -0.84}, "note": "Two centred closes came up empty, which means what I see at the bottom of the wrist frame is actually just beyond the fingertips; reopening and creeping 1.5 cm further out so the block sits exactly in the jaw plane."})
tool
executing move_joints over 10 steps (1.0s)
step 472
top_cam
camera top_cam step 472
left_cam
camera left_cam step 472
right_cam
camera right_cam step 472
assistant
agent noteThe block is now only a sliver at the very bottom edge between the jaws — i.e. right in the jaw plane; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8852 left_j1=1.816 left_j2=1.0664 left_j3=-0.8669 left_j4=0.0448 left_j5=-0.7521 left_gripper=0.9956 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3761, -6.7077, 7.1726, 0.4567, -0.022, 0.0952, -0.1441, -0.0752, 1.5385, 7.0496, 1.9072, -0.0415, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 472): [image omitted: streamed camera frame] camera 'left_cam' (step 472): [image omitted: streamed camera frame] camera 'right_cam' (step 472): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The block is now only a sliver at the very bottom edge between the jaws \u2014 i.e. right in the jaw plane; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 482
top_cam
camera top_cam step 482
left_cam
camera left_cam step 482
right_cam
camera right_cam step 482
assistant
agent noteNow that the light is good I can see the blue object is lying flat and is thin, so my jaws have been closing above it; reopening and descending to true table contact before the next close.
move_joints
left_gripper1.0000left_j11.8900left_j21.0700left_j3-0.7500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8852 left_j1=1.8164 left_j2=1.0687 left_j3=-0.8677 left_j4=0.0456 left_j5=-0.7574 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2393, -7.9795, 4.8889, 0.2222, -0.0024, 0.0317, 0.6862, -0.0205, 1.5385, 7.0906, 1.9023, -0.0513, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 482): [image omitted: streamed camera frame] camera 'left_cam' (step 482): [image omitted: streamed camera frame] camera 'right_cam' (step 482): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.89, "left_j2": 1.07, "left_j3": -0.75}, "note": "Now that the light is good I can see the blue object is lying flat and is thin, so my jaws have been closing above it; reopening and descending to true table contact before the next close."})
tool
executing move_joints over 10 steps (1.0s)
step 492
top_cam
camera top_cam step 492
left_cam
camera left_cam step 492
right_cam
camera right_cam step 492
assistant
agent noteFingertips are confirmed on the table (j1 stalled, wrist effort up). Closing at table level so even a thin, flat block gets caught.
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=-0.8864 left_j1=1.845 left_j2=1.0752 left_j3=-0.8154 left_j4=0.0456 left_j5=-0.7715 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.0205, -4.3145, 4.8342, 0.9499, 0.0122, 0.149, -0.149, -0.0615, 1.5385, 7.0496, 1.9072, -0.0708, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 492): [image omitted: streamed camera frame] camera 'left_cam' (step 492): [image omitted: streamed camera frame] camera 'right_cam' (step 492): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips are confirmed on the table (j1 stalled, wrist effort up). Closing at table level so even a thin, flat block gets caught."})
tool
executing move_joints over 10 steps (1.0s)
step 502
top_cam
camera top_cam step 502
left_cam
camera left_cam step 502
right_cam
camera right_cam step 502
assistant
agent noteIn this bright top frame I can finally locate everything: both arm bases sit at the bottom corners, and relative to the left base the blue tile is ~19 cm to the arm's right and only ~20 cm out — well right of where I have been probing. Swinging to that bearing at 1 cm height.
move_joints
left_gripper1.0000left_j0-1.2600left_j11.6800left_j20.8800left_j3-0.7700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.886 left_j1=1.8458 left_j2=1.0782 left_j3=-0.8223 left_j4=0.0532 left_j5=-0.7769 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1846, -8.1299, 4.7795, 0.2955, -0.0757, 0.022, 0.6716, -0.3487, 1.5385, 7.0496, 1.8926, -0.0513, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 502): [image omitted: streamed camera frame] camera 'left_cam' (step 502): [image omitted: streamed camera frame] camera 'right_cam' (step 502): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -1.26, "left_j1": 1.68, "left_j2": 0.88, "left_j3": -0.77}, "note": "In this bright top frame I can finally locate everything: both arm bases sit at the bottom corners, and relative to the left base the blue tile is ~19 cm to the arm's right and only ~20 cm out \u2014 well right of where I have been probing. Swinging to that bearing at 1 cm height."})
tool
executing move_joints over 10 steps (1.0s)
step 512
top_cam
camera top_cam step 512
left_cam
camera left_cam step 512
right_cam
camera right_cam step 512
assistant
agent noteExcellent — the blue tile now sits large and centred between the two jaws in the wrist view. Dropping the last ~1.5 cm onto the floor surface before closing.
move_joints
left_j11.7600left_j20.8600left_j3-0.6900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2442 left_j1=1.7008 left_j2=0.8974 left_j3=-0.7788 left_j4=0.0422 left_j5=-0.7788 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0479 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.253, -7.8154, 4.3419, 0.3883, 0.0952, -0.0171, -0.1392, -0.1983, 1.7162, 7.0359, 1.8632, -0.0708, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 512): [image omitted: streamed camera frame] camera 'left_cam' (step 512): [image omitted: streamed camera frame] camera 'right_cam' (step 512): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.76, "left_j2": 0.86, "left_j3": -0.69}, "note": "Excellent \u2014 the blue tile now sits large and centred between the two jaws in the wrist view. Dropping the last ~1.5 cm onto the floor surface before closing."})
tool
executing move_joints over 2 steps (0.2s)
step 514
top_cam
camera top_cam step 514
left_cam
camera left_cam step 514
right_cam
camera right_cam step 514
assistant
agent noteFingertips are on the floor (j1 stalled, wrist effort up) with the tile right in the jaw gap; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2541 left_j1=1.7027 left_j2=0.8917 left_j3=-0.7761 left_j4=0.0425 left_j5=-0.7815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0479 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [0.8821, -1.7026, 2.8513, 1.0867, 0.0073, 0.022, 0.1392, -0.0205, 1.5658, 7.1863, 1.9219, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 514): [image omitted: streamed camera frame] camera 'left_cam' (step 514): [image omitted: streamed camera frame] camera 'right_cam' (step 514): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips are on the floor (j1 stalled, wrist effort up) with the tile right in the jaw gap; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 524
top_cam
camera top_cam step 524
left_cam
camera left_cam step 524
right_cam
camera right_cam step 524
assistant
agent noteEmpty again and the tile has been pushed out of view; lifting to ~11 cm to re-find it in both the wrist and top views.
move_joints
left_j11.6400left_j21.3200left_j3-1.2500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2411 left_j1=1.6997 left_j2=0.9031 left_j3=-0.7261 left_j4=-0.0147 left_j5=-0.7856 left_gripper=0.0094 right_j0=0.0025 right_j1=0.0486 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-0.8137, -6.6803, 4.4923, -0.1001, 0.5983, 0.0464, 0.7155, -0.0752, 1.8256, 7.0496, 1.8974, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 524): [image omitted: streamed camera frame] camera 'left_cam' (step 524): [image omitted: streamed camera frame] camera 'right_cam' (step 524): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.64, "left_j2": 1.32, "left_j3": -1.25}, "note": "Empty again and the tile has been pushed out of view; lifting to ~11 cm to re-find it in both the wrist and top views."})
tool
executing move_joints over 9 steps (0.9s)
step 533
top_cam
camera top_cam step 533
left_cam
camera left_cam step 533
right_cam
camera right_cam step 533
assistant
agent noteThe blue cube is right at my fingertips in the wrist view (it is a cube, not a tile), sitting ~2 cm left and 1.5 cm beyond the jaw gap; opening and moving there, descending to mid-cube height.
move_joints
left_gripper1.0000left_j0-1.1180left_j11.8800left_j21.2000left_j3-0.8900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.24 left_j1=1.6691 left_j2=1.2842 left_j3=-1.1877 left_j4=-0.0101 left_j5=-0.7937 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0486 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1162, -9.347, 7.4872, 0.1734, -0.0708, 0.0659, 0.2027, -0.0068, 1.5385, 7.0359, 1.8926, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 533): [image omitted: streamed camera frame] camera 'left_cam' (step 533): [image omitted: streamed camera frame] camera 'right_cam' (step 533): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -1.118, "left_j1": 1.88, "left_j2": 1.2, "left_j3": -0.89}, "note": "The blue cube is right at my fingertips in the wrist view (it is a cube, not a tile), sitting ~2 cm left and 1.5 cm beyond the jaw gap; opening and moving there, descending to mid-cube height."})
tool
executing move_joints over 10 steps (1.0s)
step 543
top_cam
camera top_cam step 543
left_cam
camera left_cam step 543
right_cam
camera right_cam step 543
assistant
agent noteThe cube has slipped just under the bottom edge of the wrist frame again — my recurring failure mode is stopping ~2 cm short, so I'm extending 2 cm further out while descending to floor contact.
move_joints
left_j12.0000left_j21.2400left_j3-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1248 left_j1=1.8671 left_j2=1.2053 left_j3=-0.9394 left_j4=-0.0071 left_j5=-0.8017 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0494 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.3214, -7.7744, 5.1761, 0.4225, -0.0415, 0.0366, -0.1343, -0.0752, 1.5111, 7.0769, 1.8974, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 543): [image omitted: streamed camera frame] camera 'left_cam' (step 543): [image omitted: streamed camera frame] camera 'right_cam' (step 543): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0, "left_j2": 1.24, "left_j3": -0.81}, "note": "The cube has slipped just under the bottom edge of the wrist frame again \u2014 my recurring failure mode is stopping ~2 cm short, so I'm extending 2 cm further out while descending to floor contact."})
tool
executing move_joints over 3 steps (0.3s)
step 546
top_cam
camera top_cam step 546
left_cam
camera left_cam step 546
right_cam
camera right_cam step 546
assistant
agent noteSwitching to a physical probe: closing the jaws and going to r=0.30 at floor level on the bearing where the cube looked closest, so I can then sweep inward and see exactly when the cube gets pushed.
move_joints
left_gripper0.0000left_j0-1.2400left_j12.0200left_j21.3100left_j3-0.8600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1206 left_j1=1.9553 left_j2=1.2373 left_j3=-0.8776 left_j4=0.0063 left_j5=-0.8124 left_gripper=0.996 right_j0=0.0025 right_j1=0.0502 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.1436, -5.9145, 4.8752, 0.4567, -0.105, 0.0708, 0.0562, -0.0752, 1.9761, 7.2274, 1.8974, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 546): [image omitted: streamed camera frame] camera 'left_cam' (step 546): [image omitted: streamed camera frame] camera 'right_cam' (step 546): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0, "left_j0": -1.24, "left_j1": 2.02, "left_j2": 1.31, "left_j3": -0.86}, "note": "Switching to a physical probe: closing the jaws and going to r=0.30 at floor level on the bearing where the cube looked closest, so I can then sweep inward and see exactly when the cube gets pushed."})
tool
executing move_joints over 10 steps (1.0s)
step 556
top_cam
camera top_cam step 556
left_cam
camera left_cam step 556
right_cam
camera right_cam step 556
assistant
agent noteReturning to the one stance where the cube sat large and centred between the jaws (r≈0.20 at floor level) with the jaws open, to retry with a gentler partial close this time.
move_joints
left_gripper1.0000left_j11.7600left_j20.8600left_j3-0.6900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2301 left_j1=1.9957 left_j2=1.2953 left_j3=-0.8837 left_j4=0.0154 left_j5=-0.8268 left_gripper=0.0087 right_j0=0.0025 right_j1=0.0505 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.6906, -7.2957, 6.5846, 0.4811, -0.0952, 0.1538, 0.6716, -0.0615, 1.4974, 7.2137, 1.8974, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 556): [image omitted: streamed camera frame] camera 'left_cam' (step 556): [image omitted: streamed camera frame] camera 'right_cam' (step 556): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j1": 1.76, "left_j2": 0.86, "left_j3": -0.69}, "note": "Returning to the one stance where the cube sat large and centred between the jaws (r\u22480.20 at floor level) with the jaws open, to retry with a gentler partial close this time."})
tool
executing move_joints over 10 steps (1.0s)
step 566
top_cam
camera top_cam step 566
left_cam
camera left_cam step 566
right_cam
camera right_cam step 566
assistant
agent noteNothing in the jaw view here; the top frame puts the cube down-left of the gripper, so I'm moving ~4 cm to the arm's left and 2 cm inward at floor level to re-acquire it in the wrist camera.
move_joints
left_j0-1.0500left_j11.6800left_j20.7800left_j3-0.6800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2339 left_j1=1.7206 left_j2=0.9245 left_j3=-0.6746 left_j4=0.0109 left_j5=-0.8272 left_gripper=0.995 right_j0=0.0025 right_j1=0.0521 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.0752, -3.0974, 1.2786, 0.0806, 0.0659, -0.0122, -0.2125, -0.0889, 1.9624, 7.0906, 1.9219, -0.0317, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 566): [image omitted: streamed camera frame] camera 'left_cam' (step 566): [image omitted: streamed camera frame] camera 'right_cam' (step 566): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.05, "left_j1": 1.68, "left_j2": 0.78, "left_j3": -0.68}, "note": "Nothing in the jaw view here; the top frame puts the cube down-left of the gripper, so I'm moving ~4 cm to the arm's left and 2 cm inward at floor level to re-acquire it in the wrist camera."})
tool
executing move_joints over 3 steps (0.3s)
step 569
top_cam
camera top_cam step 569
left_cam
camera left_cam step 569
right_cam
camera right_cam step 569
assistant
agent noteStarting a systematic radial series of gentle closes along this bearing; first attempt at r=0.18, closing only to 0.25 (about 2.4 cm gap) so the fingers pinch rather than swat the cube.
move_joints
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0798 left_j1=1.6478 left_j2=0.8406 left_j3=-0.6651 left_j4=0.0097 left_j5=-0.8284 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0525 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.6496, -2.6735, 1.9214, 0.5201, 0.0366, -0.0317, 0.0757, -0.0615, 1.5248, 7.2, 1.8779, 0.0122, -0.0562, -0.0122] camera 'top_cam' (step 569): [image omitted: streamed camera frame] camera 'left_cam' (step 569): [image omitted: streamed camera frame] camera 'right_cam' (step 569): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.25}, "note": "Starting a systematic radial series of gentle closes along this bearing; first attempt at r=0.18, closing only to 0.25 (about 2.4 cm gap) so the fingers pinch rather than swat the cube."})
tool
executing move_joints over 8 steps (0.8s)
step 577
top_cam
camera top_cam step 577
left_cam
camera left_cam step 577
right_cam
camera right_cam step 577
assistant
agent noteIn the top frame the cube sits almost directly beside the arm's base, so I'm swinging further right to j0=-1.45 at the same small radius, jaws open, to see it in the wrist camera.
move_joints
left_gripper1.0000left_j0-1.4500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0779 left_j1=1.6371 left_j2=0.8314 left_j3=-0.6716 left_j4=0.0006 left_j5=-0.8314 left_gripper=0.2551 right_j0=0.0025 right_j1=0.0525 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.212, -5.559, 5.9009, 0.569, 0.0464, 0.0122, 0.1832, -0.0205, 1.7299, 7.2274, 1.8632, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 577): [image omitted: streamed camera frame] camera 'left_cam' (step 577): [image omitted: streamed camera frame] camera 'right_cam' (step 577): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -1.45}, "note": "In the top frame the cube sits almost directly beside the arm's base, so I'm swinging further right to j0=-1.45 at the same small radius, jaws open, to see it in the wrist camera."})
tool
executing move_joints over 8 steps (0.8s)
step 585
top_cam
camera top_cam step 585
left_cam
camera left_cam step 585
right_cam
camera right_cam step 585
assistant
agent noteThe swing brought the cube right into the jaw gap (and j0 stalled with load, suggesting I nudged it); closing gently to 0.2 to pinch it.
move_joints
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3918 left_j1=1.6363 left_j2=0.8314 left_j3=-0.6678 left_j4=-0.1211 left_j5=-0.8383 left_gripper=0.9942 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-4.3829, -6.2974, 5.6, 0.3297, 1.4432, 0.3394, -0.2271, -0.0068, 1.853, 7.0906, 1.8926, -0.0659, -0.0757, -0.0122] camera 'top_cam' (step 585): [image omitted: streamed camera frame] camera 'left_cam' (step 585): [image omitted: streamed camera frame] camera 'right_cam' (step 585): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.2}, "note": "The swing brought the cube right into the jaw gap (and j0 stalled with load, suggesting I nudged it); closing gently to 0.2 to pinch it."})
tool
executing move_joints over 8 steps (0.8s)
step 593
top_cam
camera top_cam step 593
left_cam
camera left_cam step 593
right_cam
camera right_cam step 593
assistant
agent noteThe gentle close reached its commanded gap with no object, but the cube is visible right below the jaw tips; straightening the wrist yaw and extending ~2 cm outward with jaws wide so the cube falls inside the jaw span.
move_joints
left_gripper1.0000left_j40.0000left_j11.7400left_j20.8600left_j3-0.6900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3766 left_j1=1.636 left_j2=0.8379 left_j3=-0.6624 left_j4=-0.2214 left_j5=-0.8314 left_gripper=0.2065 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.4427, -6.2564, 4.8889, 0.3932, 0.8327, -0.0757, 0.2466, -0.0752, 1.9077, 7.0906, 1.9072, -0.0562, -0.0122, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 593): [image omitted: streamed camera frame] camera 'left_cam' (step 593): [image omitted: streamed camera frame] camera 'right_cam' (step 593): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j4": 0.0, "left_j1": 1.74, "left_j2": 0.86, "left_j3": -0.69}, "note": "The gentle close reached its commanded gap with no object, but the cube is visible right below the jaw tips; straightening the wrist yaw and extending ~2 cm outward with jaws wide so the cube falls inside the jaw span."})
tool
executing move_joints over 8 steps (0.8s)
step 601
top_cam
camera top_cam step 601
left_cam
camera left_cam step 601
right_cam
camera right_cam step 601
assistant
agent noteNew read on the geometry: the cube sits slightly BELOW the finger line in the wrist image, i.e. ~1.5 cm nearer than the jaw plane, which is why the fingers keep brushing it. Retracting 1.5 cm so it lines up exactly with the jaws.
move_joints
left_j11.6870left_j20.7980left_j3-0.6820
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3682 left_j1=1.6886 left_j2=0.8795 left_j3=-0.6762 left_j4=-0.0902 left_j5=-0.8387 left_gripper=0.995 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.0462, -2.4684, 3.8359, 0.3101, 0.652, 0.022, -0.1685, -0.0889, 1.9624, 7.0769, 1.9023, -0.0708, -0.0562, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 601): [image omitted: streamed camera frame] camera 'left_cam' (step 601): [image omitted: streamed camera frame] camera 'right_cam' (step 601): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.687, "left_j2": 0.798, "left_j3": -0.682}, "note": "New read on the geometry: the cube sits slightly BELOW the finger line in the wrist image, i.e. ~1.5 cm nearer than the jaw plane, which is why the fingers keep brushing it. Retracting 1.5 cm so it lines up exactly with the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 603
top_cam
camera top_cam step 603
left_cam
camera left_cam step 603
right_cam
camera right_cam step 603
assistant
agent noteCube is between the jaws at the bottom of the wrist frame and the fingertips are on the floor; doing a full close.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3674 left_j1=1.6691 left_j2=0.8524 left_j3=-0.6506 left_j4=-0.0952 left_j5=-0.831 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.4171, -4.3419, 2.0308, -0.0904, 0.0659, -0.105, 0.149, -0.1709, 1.7846, 7.1453, 1.8926, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 603): [image omitted: streamed camera frame] camera 'left_cam' (step 603): [image omitted: streamed camera frame] camera 'right_cam' (step 603): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube is between the jaws at the bottom of the wrist frame and the fingertips are on the floor; doing a full close."})
tool
executing move_joints over 10 steps (1.0s)
step 613
top_cam
camera top_cam step 613
left_cam
camera left_cam step 613
right_cam
camera right_cam step 613
assistant
agent noteAnother empty close and the cube is out of view again; pulling the arm up and back so the overhead camera can show me where the cube actually ended up.
move_joints
left_j10.9000left_j21.3000left_j3-0.8000left_j0-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3548 left_j1=1.6585 left_j2=0.8616 left_j3=-0.6342 left_j4=-0.1646 left_j5=-0.8314 left_gripper=0.0093 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [-1.1145, -5.7368, 4.9983, 0.3785, 0.6227, -0.0122, 0.7155, -0.0342, 1.7299, 7.1316, 1.8828, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 613): [image omitted: streamed camera frame] camera 'left_cam' (step 613): [image omitted: streamed camera frame] camera 'right_cam' (step 613): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 0.9, "left_j2": 1.3, "left_j3": -0.8, "left_j0": -1.0}, "note": "Another empty close and the cube is out of view again; pulling the arm up and back so the overhead camera can show me where the cube actually ended up."})
tool
executing move_joints over 13 steps (1.3s)
step 626
top_cam
camera top_cam step 626
left_cam
camera left_cam step 626
right_cam
camera right_cam step 626
assistant
agent noteWith the arm out of the way the top view shows the blue block at the near edge, about 23 cm to the right of the left base and only ~3 cm forward — i.e. ~4 cm further out than my last stance. Going there with jaws open at floor level.
move_joints
left_gripper1.0000left_j0-1.4400left_j11.8300left_j20.9800left_j3-0.7300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0119 left_j1=0.9291 left_j2=1.2621 left_j3=-0.7971 left_j4=-0.1646 left_j5=-0.8391 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.3077, -1.1419, 8.335, 1.8877, -0.0757, 0.0269, 0.2125, -0.1846, 1.5795, 7.1453, 1.8974, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 626): [image omitted: streamed camera frame] camera 'left_cam' (step 626): [image omitted: streamed camera frame] camera 'right_cam' (step 626): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -1.44, "left_j1": 1.83, "left_j2": 0.98, "left_j3": -0.73}, "note": "With the arm out of the way the top view shows the blue block at the near edge, about 23 cm to the right of the left base and only ~3 cm forward \u2014 i.e. ~4 cm further out than my last stance. Going there with jaws open at floor level."})
tool
executing move_joints over 15 steps (1.5s)
step 641
top_cam
camera top_cam step 641
left_cam
camera left_cam step 641
right_cam
camera right_cam step 641
assistant
agent noteThe cube shows at the lower-left corner of the jaw view; correcting ~4 cm to the arm's left and 4 cm inward at floor height.
move_joints
left_j0-1.2100left_j11.7200left_j20.8300left_j3-0.6800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.4239 left_j1=1.7855 left_j2=1.0058 left_j3=-0.7258 left_j4=-0.1726 left_j5=-0.8467 left_gripper=0.9961 right_j0=0.0025 right_j1=0.0563 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.9778, -4.3966, 3.6171, 0.0073, 0.0317, 0.2222, -0.149, -0.1846, 1.6068, 7.2274, 1.7753, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 641): [image omitted: streamed camera frame] camera 'left_cam' (step 641): [image omitted: streamed camera frame] camera 'right_cam' (step 641): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.21, "left_j1": 1.72, "left_j2": 0.83, "left_j3": -0.68}, "note": "The cube shows at the lower-left corner of the jaw view; correcting ~4 cm to the arm's left and 4 cm inward at floor height."})
tool
executing move_joints over 4 steps (0.4s)
step 645
top_cam
camera top_cam step 645
left_cam
camera left_cam step 645
right_cam
camera right_cam step 645
assistant
agent noteThe cube is just under the frame edge at this stance (a sign it is at or inside the jaw plane); closing to test.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2324 left_j1=1.6962 left_j2=0.8822 left_j3=-0.6434 left_j4=-0.1413 left_j5=-0.8501 left_gripper=0.9967 right_j0=0.0025 right_j1=0.057 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [0.2803, -3.9043, 2.2359, 0.0317, -0.4029, -0.0024, 0.0611, -0.2393, 1.4701, 7.0769, 1.8974, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 645): [image omitted: streamed camera frame] camera 'left_cam' (step 645): [image omitted: streamed camera frame] camera 'right_cam' (step 645): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "The cube is just under the frame edge at this stance (a sign it is at or inside the jaw plane); closing to test."})
tool
executing move_joints over 10 steps (1.0s)
step 655
top_cam
camera top_cam step 655
left_cam
camera left_cam step 655
right_cam
camera right_cam step 655
assistant
agent noteRetracting the arm clear of the near edge one more time so the overhead can show me exactly where the blue cube has ended up after that last nudge.
move_joints
left_j10.9000left_j21.3000left_j3-0.8000left_j0-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2327 left_j1=1.6867 left_j2=0.8742 left_j3=-0.6399 left_j4=-0.141 left_j5=-0.8566 left_gripper=0.0089 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.2667, -5.9556, 5.9966, 0.5153, -0.1343, 0.0415, 0.6813, -0.0889, 1.4974, 7.2957, 1.917, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 655): [image omitted: streamed camera frame] camera 'left_cam' (step 655): [image omitted: streamed camera frame] camera 'right_cam' (step 655): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 0.9, "left_j2": 1.3, "left_j3": -0.8, "left_j0": -0.8}, "note": "Retracting the arm clear of the near edge one more time so the overhead can show me exactly where the blue cube has ended up after that last nudge."})
tool
executing move_joints over 13 steps (1.3s)
step 668
top_cam
camera top_cam step 668
left_cam
camera left_cam step 668
right_cam
camera right_cam step 668
assistant
agent noteThe cube is visible again at the near edge, about 16 cm to the right of the base and barely forward of it; swinging almost fully right (j0=-1.52) at r≈0.17, jaws open at floor level for one more attempt.
move_joints
left_gripper1.0000left_j0-1.5200left_j11.6400left_j20.7400left_j3-0.6700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8143 left_j1=0.9314 left_j2=1.2606 left_j3=-0.7952 left_j4=-0.1413 left_j5=-0.865 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [0.294, -1.1692, 8.5402, 1.8291, -0.0269, 0.022, 0.2466, -0.212, 1.8256, 7.1453, 1.9121, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 668): [image omitted: streamed camera frame] camera 'left_cam' (step 668): [image omitted: streamed camera frame] camera 'right_cam' (step 668): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j0": -1.52, "left_j1": 1.64, "left_j2": 0.74, "left_j3": -0.67}, "note": "The cube is visible again at the near edge, about 16 cm to the right of the base and barely forward of it; swinging almost fully right (j0=-1.52) at r\u22480.17, jaws open at floor level for one more attempt."})
tool
executing move_joints over 12 steps (1.2s)
step 680
top_cam
camera top_cam step 680
left_cam
camera left_cam step 680
right_cam
camera right_cam step 680
assistant
agent noteThe yaw stalled against something (high j0/j4 effort) and the cube shows at the lower-left of the jaw gap; easing back to j0=-1.40 to relieve the contact and centre the cube between the jaws.
move_joints
left_j0-1.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.4673 left_j1=1.5944 left_j2=0.7872 left_j3=-0.646 left_j4=-0.2451 left_j5=-0.8757 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0582 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-4.041, -2.7419, 1.8393, -0.2076, 1.5897, 0.3297, -0.1978, -0.1709, 1.6342, 7.2684, 1.8486, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 680): [image omitted: streamed camera frame] camera 'left_cam' (step 680): [image omitted: streamed camera frame] camera 'right_cam' (step 680): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.4}, "note": "The yaw stalled against something (high j0/j4 effort) and the cube shows at the lower-left of the jaw gap; easing back to j0=-1.40 to relieve the contact and centre the cube between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 682
top_cam
camera top_cam step 682
left_cam
camera left_cam step 682
right_cam
camera right_cam step 682
assistant
agent noteCube sliver is centred at the bottom edge between the jaws with the fingertips at floor level; closing.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.4281 left_j1=1.6028 left_j2=0.7788 left_j3=-0.617 left_j4=-0.2687 left_j5=-0.8902 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0589 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993 state[joint_eff]: [0.2803, -6.5162, 5.9556, 0.2711, 0.0073, 0.0952, 0.1197, -0.0752, 1.4701, 7.0906, 1.9072, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 682): [image omitted: streamed camera frame] camera 'left_cam' (step 682): [image omitted: streamed camera frame] camera 'right_cam' (step 682): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube sliver is centred at the bottom edge between the jaws with the fingertips at floor level; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 692
top_cam
camera top_cam step 692
left_cam
camera left_cam step 692
right_cam
camera right_cam step 692
assistant
agent noteAfter ~45 grasp attempts I could never close the left gripper on the blue block: every close came back with a residual of ~0.009 (empty), and the repeated finger contacts progressively pushed the block from mid-table to the very near edge of the workspace, where it is now out of every camera's view. With 5 calls left there is no way to re-find it, grasp it and stack it on the red block.
give_up
hindsightHard-won facts about this rig (rig-1-like, wooden floor workspace): 1. The overhead camera here is NOT a nadir view — it is high and very oblique, and the two axes it resolves (height vs. radial depth) are almost degenerate. A 5 cm radial move and a 5 cm lift produce nearly cancelling pixel shifts. Do NOT plan grasps from it. Both arm bases are at the BOTTOM corners (arm-forward = image-up, arm-right = image-right), and useful scale is ~4-5 px/cm at table level, ~3.4 px/cm near the baseline. 2. The wrist camera's vertical axis is the killer: an object sitting at the very bottom edge of the frame can be anywhere from 2 cm inside to 4 cm beyond the jaw plane, and descending pushes objects down in the image exactly like extending does. I flip-flopped in/out for 30+ calls on this. Calibrate it ONCE properly: close the empty jaws and note the convergence pixel (~(110,190) at gripper-down pitch here), then only trust *lateral* (image-x) information from the wrist view, and get depth from an independent source. 3. Best depth tool I found (use it early): with the jaws CLOSED at surface height, sweep radially along the target bearing — if the object is on that ray it visibly gets shoved, which pins its radius exactly. A sweep that touches nothing is also informative (rules out that ray). 4. z calibration worked well: FK-from-formula reads ~8.8 cm high on this left arm (contact at computed z≈0.09). Contact is unmistakable: j1 stops tracking, its holding effort relaxes from ~-10 to ~-3, and j3 effort jumps above +0.8. 5. Failed closes drag/shove the object 2-8 cm every time, usually inward/sideways; after 5-6 failures the object had migrated ~25 cm and ended off-frame. Cap yourself at ~3 attempts, then re-localise from scratch with the arm parked clear of the camera. 6. One close did catch (residual 0.42 ≈ 4 cm block, gripper effort 1.0) but the block slipped out during the lift — grasp deeper (fingertips within ~1 cm of the surface) and lift in small steps, verifying the residual holds. 7. Budget: this rig's controller undershoots every move (re-issue or overshoot by 0.1-0.2 rad), and each verified grasp cycle costs 3-4 calls. Do not spend more than ~30 calls on one pick.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.4158 left_j1=1.6028 left_j2=0.7807 left_j3=-0.6071 left_j4=-0.3454 left_j5=-0.8906 left_gripper=0.009 right_j0=0.0025 right_j1=0.0589 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993 state[joint_eff]: [-1.265, -6.106, 5.1624, 0.3053, 0.5397, -0.0122, 0.696, -0.2393, 1.7162, 7.2957, 1.8877, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 692): [image omitted: streamed camera frame] camera 'left_cam' (step 692): [image omitted: streamed camera frame] camera 'right_cam' (step 692): [image omitted: streamed camera frame]
assistant
give_up({"reason": "After ~45 grasp attempts I could never close the left gripper on the blue block: every close came back with a residual of ~0.009 (empty), and the repeated finger contacts progressively pushed the block from mid-table to the very near edge of the workspace, where it is now out of every camera's view. With 5 calls left there is no way to re-find it, grasp it and stack it on the red block.", "hindsight": "Hard-won facts about this rig (rig-1-like, wooden floor workspace):\n\n1. The overhead camera here is NOT a nadir view \u2014 it is high and very oblique, and the two axes it resolves (height vs. radial depth) are almost degenerate. A 5 cm radial move and a 5 cm lift produce nearly cancelling pixel shifts. Do NOT plan grasps from it. Both arm bases are at the BOTTOM corners (arm-forward = image-up, arm-right = image-right), and useful scale is ~4-5 px/cm at table level, ~3.4 px/cm near the baseline.\n2. The wrist camera's vertical axis is the killer: an object sitting at the very bottom edge of the frame can be anywhere from 2 cm inside to 4 cm beyond the jaw plane, and descending pushes objects down in the image exactly like extending does. I flip-flopped in/out for 30+ calls on this. Calibrate it ONCE properly: close the empty jaws and note the convergence pixel (~(110,190) at gripper-down pitch here), then only trust *lateral* (image-x) information from the wrist view, and get depth from an independent source.\n3. Best depth tool I found (use it early): with the jaws CLOSED at surface height, sweep radially along the target bearing \u2014 if the object is on that ray it visibly gets shoved, which pins its radius exactly. A sweep that touches nothing is also informative (rules out that ray).\n4. z calibration worked well: FK-from-formula reads ~8.8 cm high on this left arm (contact at computed z\u22480.09). Contact is unmistakable: j1 stops tracking, its holding effort relaxes from ~-10 to ~-3, and j3 effort jumps above +0.8.\n5. Failed closes drag/shove the object 2-8 cm every time, usually inward/sideways; after 5-6 failures the object had migrated ~25 cm and ended off-frame. Cap yourself at ~3 attempts, then re-localise from scratch with the arm parked clear of the camera.\n6. One close did catch (residual 0.42 \u2248 4 cm block, gripper effort 1.0) but the block slipped out during the lift \u2014 grasp deeper (fingertips within ~1 cm of the surface) and lift in small steps, verifying the residual holds.\n7. Budget: this rig's controller undershoots every move (re-issue or overshoot by 0.1-0.2 rad), and each verified grasp cycle costs 3-4 calls. Do not spend more than ~30 calls on one pick."})
tool
give_up: After ~45 grasp attempts I could never close the left gripper on the blue block: every close came back with a residual of ~0.009 (empty), and the repeated finger contacts progressively pushed the block from mid-table to the very near edge of the workspace, where it is now out of every camera's view. With 5 calls left there is no way to re-find it, grasp it and stack it on the red block.
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 · 10.18 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=-0.0242 left_j4=-0.0101 left_j5=-0.0154 left_gripper=0.999 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0055 right_j5=-0.017 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.2786, 5.7915, 2.1172, 0.0269, 0.0757, -0.1099, -0.4444, 1.4017, 6.3658, 2.3028, -0.0269, 0.1294, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d891be81adda693b66a9d28fd7addadd21d0e96b43560722511ce181dc4738",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da4222d4ab36873017862896c9d8b8183df445bf927d9d8f75bd2556040c89c",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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      "source": {
        "data": "$blob:fab74fc37fee46a80ecf48eb46e58bd1f5358f8d9f743b1bc2b48fced793abf3",
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  "role": "user"
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wire blob fab74fc37fee
call 1 attempt 0 · /messages · status 200 · 9.617 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=-0.0242 left_j4=-0.0101 left_j5=-0.0154 left_gripper=0.999 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0055 right_j5=-0.017 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.2786, 5.7915, 2.1172, 0.0269, 0.0757, -0.1099, -0.4444, 1.4017, 6.3658, 2.3028, -0.0269, 0.1294, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d891be81adda693b66a9d28fd7addadd21d0e96b43560722511ce181dc4738",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da4222d4ab36873017862896c9d8b8183df445bf927d9d8f75bd2556040c89c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab74fc37fee46a80ecf48eb46e58bd1f5358f8d9f743b1bc2b48fced793abf3",
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  "content": [
    {
      "signature": "CAIS8xgKjAEIEBgCKkAqBV9HrwPFk3njUbKAi1JvLut/uFVieQqp/1lsTabF7AXTvkWWRiZZkpZR+QtjMBbH/y89Q5uffDuQGhibQkwBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkLoGaTxG96zya5hgGgyUc0HKakYbYgU4emQiMKcS7Jdz7W0V0cxnJYkmP49cBpwSJYdCrBVfQDZB0Hq6pkikHrO0V9bMCpbX9Ij7bCqTF8kyR70CMc5SP7d+wewBDtVgj44ZKI9bgeG7cleldfaDFZKl+vQGDwRlXBGWu99wQtuwBD3MgCuJFDSY4Ny1sEB0F5GZfkRBDNwfQSAg2CA7ZMhxNNLld6B68m82Fh0qp/ACyRbwm2g3feZ+Ic3pI/jaoA+s33VycQEbrjmmv3tE28ZfyLRl0MXOcfKlJ6TiCmI+Qyp57if/HfXTCJr0Qn511YXptfVXZOGAsGCLwcI9gK9yW5O1MpZpfadIJJD7xvsOyV9McoUOPiHivbG1qbji0HygdtJ+B470rLroHIojtWhzH7PUo0zfMTMoySyLwNKYdHkRfPYq4U6O3saWuHRHl8TCkqfB+y/PIVrKFfYU2huXis3aRHu2Ro93IwxGybgtC4d8dUV5gYC6HoI17isU4jFHBYgLwSB0GJ29d/PCHqR2QKSEWS9sfcVs0tYl+j7U65uheGNXjMFV8gMybVbXZa6TAvcH37yV2Uci08Iq+YtNn+qQLvQWBtpnPouaCKcEIfXL6m5cQ/bEnxAbwF0PhxrjK+a15upoO5UjYr6oSsPSWwV13mBTV/G+3htld4hCMh2kZbu9ZO6v7DLKBfESCpDTxxUz3QLwtC4JVXuPwhEK3nUXMjwm/abEXIMcCJR2TI3MZSijCDnu0hviyT+NkPhxXayPhymd7FYKcBeDnSYLxmlkkOMiYfXpNgF2sU/Gy/t/mKhvWbgKMNUPL/hp/5WWTavhjTvo7GtWWtKECMMC9vFuhZZxMKK2i7pDxNJdb+MJJku54fhAZjuI4d00khorYGUSf4fEQ6FKCCMQdIFXqyx/8o5hOR2SmIsVPVRo8i+cfEs+wCYK3TG20Vjoq7bXXN/ul61ltf+Aiaw4rxp3kQMZgf9QMMj2h8qwgavmYbIUBvBjEJ2lg+lnhZrV/RYboGRNp5P2zlOSLQ7Gl78capqitHMG0zoYIZCCObl0G1qhN1UD2kCNLeC7iRcIIhT/ORkbN8kVonDGwHUTuXMSoAy47LTxhjhI8Yso9Yirtot425fwSMe9/zGT2oK6V0rKpwBxlqAEW6D8uOU+3TaAlK9wBE7lX45W1GcfiXqP2W1PoZQq8W+NsnGLm1p6oLtRsyoK0agHo0x+Yse2UCEi2cAozQGoYvVPRNf7lvsjWqeI/G2mKJ8BU3sKYK4v3IPiI7ldL0mY2hOepVbfIwGHa2Goc62gPKO7fn4AOXK155s/PDGRM+xdiu2xhjLLMo6FGi5VqtDpdtzHipu/v2jv0LKGhaPZRryt4vXnX/qe0bA12hG+MqMEcjNTMfaH9eZeT+iyIrDuIim684KfJK/daUucjNWrF/ykLrF8mb8qDrvjTAfYtRGlRYSctKLiJs83X/3drEWZOReeM2E58pxuw6FuMdW6eIbBJm9TftAmNQ/RIVqxyvoU8i7k6Njb9eayDq+YpwL3GL2hXH7+JsXdDMIzJq7O8AZv44nsrCEN9X8wHtVMcypM4ogRnq1PIJlQ6teIxF3J/mV54NHb3UTDSoqi5pxhLlzUALCQTAVGVXnqHLvSRh12x/kOIflq9IEsAv7xKanQdesgBd/KLpU/weAe9kAzc+hu27VMMzr0vFqaZbui9QW5ZTl7xTKCJGePZayeXjApqYFi3zh0P60fL1X3AqYS1Y80CJc0WDW+51yagpeX2nsI5kUHFP9itU/npaKlA1/nwCelWjDG4/e4mU4qlOe2juPkVxA63gouvojWNMXXkwQVIC6xts32or0mEiHKV/nmBhpA9RMo1UtGlwKhwTc+xXz+na3e5SkfLJiphtjaPRpupNp2jpdcN9DZhSEafCFpqztPB6H1634RuUi/c6CLUqriyZ7PzzF0jWdb6t/XR1JvNY/VO7PdMIul78BuOXTYhgF0WJEcgaMtMkLzWD3n939K+vqmG7GS2a/0lAHc9eY/O07bHHibfPdDZ6JPhOU9vfJ0mO3xE6u7wMqlnVFbx2TkLe3s9LssR2b34iXjdGM1eKcL9mIoLhT3+Z5xZ3g1xtWcTi0xi1m0ZLHQrXOIiPiuPB0KhkzWOHFAFvtKX3+j11dvlif6QOTqlV07S/14KXA2b+M8YLlR1LOzcYXanH7xrZgGtBsOBVENX5ZH53Z7Hsu5FlJWwzV+bBJ4YJEsES0/kVucOD3H2rEEBq/2ZaoAqtMELum0LeRoa0/KfurA9X4hcq+vdG5UkAx0yHtQfEqYYCS91csV8fRen/5l2bv/o3A0FGKll/jHFZuLdScRVnVs2cMUdGBYcCUBhdSG88zICOX/3A3UkmGjjwBZhYqMRknArkUGZSXLLNhDQnokGfH9XwLoD52zvydXh5qia7fM3HEEHSPJdSoB1VPtFbIytd/jLOccTTOOA1CMbE8Q49ORenp6+NiBC9ngOCsI3JQMltGOm2+c8ynFIqd9uyJrC8eVkN9togQQd2VuTDZp+1MzPmtJwEjf97Hr4JzfUNHFHh9x92MDisYpyzX3OUzp+YGcMnjJeeqX3oPxGDJeyAo65OPdMQ3tCchlHOCFCftq1seqNG7vsxwJtu22lj2OxvTnl9HpXlDqW7CMGAuFduCk77AFhoBzio+YSJNTRLq49kIJbg1ZQ7bMe1mrPTolKIgJjFIasoTwndYG5BIzi+Q+4Sa0Z+eh3T6mkU/tjLCMy9i0DDbHJh0wgTPqWSvJSWvXG1sb60DL9lpsUQtTAGrGW4iMmhltc1fA6MXoG+ZFB2Qgth9x/9F/CKvbMqn+oCid4Mfk0R7ZFMeJN5uIM7gQrr5b8ppC+1vNqXp4TWg5L9bt/krikQHkb7YD9cl6SByBbuFoPObjasoy1nz3NkCXKWI2rSvvMNTz5aV8aF/5bgIgIrHmTyxBhlAKWN8wmqccBky7LBWxF3C6B1boqgP8/36EQU68dDQBe4KonQeUzWmtw2bPHK23aFchn9DMy5d46ZGEoVw8ZF4nbhh9JJ13ueeQIFCDBGgEoKOx1GpHrPmzvvtjGcfHn0df0LTaXhOjyN/z5edtSPD7pzJBPGanhju4Kxp2osg7+PLcgcl8GMK6CKkoaJOkVpURi7mEhelK1dFz9TYp5rYMZk1jwC7An5GLUp3UOvWCtNMu7eaK4wjGOoZJCUslNNZMCbMqCsf6LnAIaOk4hqm3W9HGAdykOpfjQmf/LwXP6K6trf3rnZ4q1vE9ud9cz32kI3pSn1xfl6Au8lGGFdXpB+M4s0q+oPxSekYb74LPsuvnatRNQItFD9XWX+gtYZJB2Ov2wkWKeu5LV4dRFEgNBEqACqGepWL3MSu21tYOZe8XWY3mURd71Iq7KePI6Mif7s0/qaUbjoGot1RmQXlTWK43afang7KB1DSMeGTJtoLN4alkwQcnroJe1Olr2na/J7+ya5PeIDGIP+FMmt29ZLeMka6vQk4F3OlwCbeR0tNbd1yErsb3XF5/a0Viloj+NariAFIEMtHx8jdduHnhqli33rCoOxqI1HJiZm8hEL6Ac57CPozyzcG/XmR278yk4MqSNxBz4yUe01GAmiVp2ZZtOGO4nILhJEll3cb5P2nCubuubd/HvUHipLquvRMQnmHeSKQawVEhy6NwfOAK8XVJbC3RKVX4PbVlHvW15U7Sxu/D0Lpx03hJj2s0misTB0drju5k+JNJP3dq9NowUqPnDU4ooDA2OQ0mIVLEiLcq6b5iYegY1jXIm/PeyxJKWt2ZeIJLmeppgmPDXmHqyPN9G8/pf8uLk9ZTazcSwDOzAlsQ5+Pd33bfUnEmXGQ7t0AmDdnZas4IsWw1SvAl8NyJ0UNdSk+iGtjK+sRcxfe81g6Qpd8NqJyB3YpvV0vtZeXUpoIM+bjG+KiW82qG6XnZaRoYScC+NY7mHzXyKczfv1w54YlxGpWX9s01Yi/06xs/OI6EgjNRv4Jvkh3x73RIdZM3sM0P56As4DA7422PF239WC47Acj/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YCUpPJDbmwwUTU3UdDuci1",
      "input": {
        "note": "Two blocks sit in the middle of the table in the overhead view (left one near image x=90, right near x=145). I'm raising the left arm into a gripper-down pose at roughly 40 cm radius, 15 cm height, angled toward the left block, to calibrate the overhead scale and my reach.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.4,
          "left_j1": 2.25,
          "left_j2": 1.96,
          "left_j3": -1.28,
          "left_j4": 0,
          "left_j5": -0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 36 steps (3.6s)",
      "tool_use_id": "toolu_01YCUpPJDbmwwUTU3UdDuci1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3916 left_j1=2.236 left_j2=1.9324 left_j3=-1.2598 left_j4=-0.0063 left_j5=-0.395 left_gripper=0.999 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9368, -11.6718, 7.6239, 0.149, 0.0122, -0.0952, -0.1197, -0.1709, 2.0855, 6.9812, 1.9805, -0.0366, -0.0562, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7234c0fd37aedb14abc21e85c79ad034d851cd224affd9e042ffb45374f476fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b476e5bca2ad0dee7f1a113d5525c3494c7c2719827e341c66df9a079e7b6331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3576c703b51b61b0d87ff96a57d8d0713db0343b5b8734820bf8ca1e61e715f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7234c0fd37ae
wire blob b476e5bca2ad
wire blob a3576c703b51
call 2 attempt 0 · /messages · status 200 · 10.19 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=-0.0242 left_j4=-0.0101 left_j5=-0.0154 left_gripper=0.999 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0055 right_j5=-0.017 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.2786, 5.7915, 2.1172, 0.0269, 0.0757, -0.1099, -0.4444, 1.4017, 6.3658, 2.3028, -0.0269, 0.1294, -0.0757]",
      "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=-0.3916 left_j1=2.236 left_j2=1.9324 left_j3=-1.2598 left_j4=-0.0063 left_j5=-0.395 left_gripper=0.999 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9368, -11.6718, 7.6239, 0.149, 0.0122, -0.0952, -0.1197, -0.1709, 2.0855, 6.9812, 1.9805, -0.0366, -0.0562, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7234c0fd37aedb14abc21e85c79ad034d851cd224affd9e042ffb45374f476fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b476e5bca2ad0dee7f1a113d5525c3494c7c2719827e341c66df9a079e7b6331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3576c703b51b61b0d87ff96a57d8d0713db0343b5b8734820bf8ca1e61e715f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7234c0fd37ae]
[blob b476e5bca2ad]
[blob a3576c703b51]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgYWMpBk5MzEoG4syu9Hrj",
      "input": {
        "note": "The arm is now up over the table and both blocks are clearly visible (blue 'i' block left, red 'a' block right). I'm swinging the base yaw by +0.34 rad at a known radius to calibrate the overhead pixel scale and the image direction of arm-left.",
        "targets": {
          "left_j0": -0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EgYWMpBk5MzEoG4syu9Hrj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0746 left_j1=2.2543 left_j2=1.9366 left_j3=-1.2678 left_j4=-0.0067 left_j5=-0.3973 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -13.6684, 5.3812, 0.3004, -0.0513, 0.0171, -0.0171, -0.0205, 1.6342, 6.9812, 1.8926, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74bf094db6bacab47e5b98745f0dee5951f612c738b910cfabbd1edbe91ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1b193375da510ed97be1303dbec86af56ee6b61af11e8e18ee9c719ec2e35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44d6e9097fcc568aa43e21c5e1d775792ae42fe93952277af10c04f93b446a8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2b74bf094db6
wire blob cd1b193375da
wire blob 44d6e9097fcc
call 3 attempt 0 · /messages · status 200 · 8.888 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=-0.0242 left_j4=-0.0101 left_j5=-0.0154 left_gripper=0.999 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0055 right_j5=-0.017 right_gripper=0.9994\nstate[joint_eff]: [0.4444, 1.2786, 5.7915, 2.1172, 0.0269, 0.0757, -0.1099, -0.4444, 1.4017, 6.3658, 2.3028, -0.0269, 0.1294, -0.0757]",
      "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=-0.3916 left_j1=2.236 left_j2=1.9324 left_j3=-1.2598 left_j4=-0.0063 left_j5=-0.395 left_gripper=0.999 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9368, -11.6718, 7.6239, 0.149, 0.0122, -0.0952, -0.1197, -0.1709, 2.0855, 6.9812, 1.9805, -0.0366, -0.0562, -0.022]",
      "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=-0.0746 left_j1=2.2543 left_j2=1.9366 left_j3=-1.2678 left_j4=-0.0067 left_j5=-0.3973 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -13.6684, 5.3812, 0.3004, -0.0513, 0.0171, -0.0171, -0.0205, 1.6342, 6.9812, 1.8926, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74bf094db6bacab47e5b98745f0dee5951f612c738b910cfabbd1edbe91ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1b193375da510ed97be1303dbec86af56ee6b61af11e8e18ee9c719ec2e35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d6e9097fcc568aa43e21c5e1d775792ae42fe93952277af10c04f93b446a8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2b74bf094db6]
[blob cd1b193375da]
[blob 44d6e9097fcc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVEN16QXJB11DGGQzz3Pn8",
      "input": {
        "note": "The yaw test showed the gripper moving image-left, confirming arm-left = image-left. Now I pull the gripper 10 cm inward (radius 0.42→0.32 at the same 15 cm height) to calibrate the radial direction and pixel scale in the overhead view.",
        "targets": {
          "left_j1": 1.96,
          "left_j2": 1.51,
          "left_j3": -1.12
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UVEN16QXJB11DGGQzz3Pn8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0746 left_j1=1.9953 left_j2=1.5116 left_j3=-1.1282 left_j4=-0.0071 left_j5=-0.3977 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0544 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8479, 5.5316, 0.232, -0.0415, -0.0415, -0.0073, -0.0342, 1.6342, 6.9949, 1.8974, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e029f8c42b4fba8ef7ec99b60613746f16509014a566be4246c306221947301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c148698228de869311eac3d76e00e7deee327e1cd7e1eec649b11dc87eee7677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecdc897df1347702e8bd8434b1db83eb3a1a50368832f08e66fc5aadfcaa264c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6e029f8c42b4
wire blob c148698228de
wire blob ecdc897df134
call 4 attempt 0 · /messages · status 200 · 6.124 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=-0.3916 left_j1=2.236 left_j2=1.9324 left_j3=-1.2598 left_j4=-0.0063 left_j5=-0.395 left_gripper=0.999 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9368, -11.6718, 7.6239, 0.149, 0.0122, -0.0952, -0.1197, -0.1709, 2.0855, 6.9812, 1.9805, -0.0366, -0.0562, -0.022]",
      "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=-0.0746 left_j1=2.2543 left_j2=1.9366 left_j3=-1.2678 left_j4=-0.0067 left_j5=-0.3973 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -13.6684, 5.3812, 0.3004, -0.0513, 0.0171, -0.0171, -0.0205, 1.6342, 6.9812, 1.8926, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0746 left_j1=1.9953 left_j2=1.5116 left_j3=-1.1282 left_j4=-0.0071 left_j5=-0.3977 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0544 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8479, 5.5316, 0.232, -0.0415, -0.0415, -0.0073, -0.0342, 1.6342, 6.9949, 1.8974, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e029f8c42b4fba8ef7ec99b60613746f16509014a566be4246c306221947301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c148698228de869311eac3d76e00e7deee327e1cd7e1eec649b11dc87eee7677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdc897df1347702e8bd8434b1db83eb3a1a50368832f08e66fc5aadfcaa264c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6e029f8c42b4]
[blob c148698228de]
[blob ecdc897df134]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdRmbLaTMfVeFQfrHisymU",
      "input": {
        "note": "Calibration gives roughly 3 px/cm overhead at this height; the blue block lies about 17 cm to the arm's right and 13 cm nearer than the current gripper spot, and nothing appears in the wrist view (so the block is inward of the fingertips). Moving to that estimated spot at 15 cm height, with wrist roll matched to base yaw.",
        "targets": {
          "left_j0": -0.79,
          "left_j1": 1.78,
          "left_j2": 1.27,
          "left_j3": -1.06,
          "left_j5": -0.79
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01PdRmbLaTMfVeFQfrHisymU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7925 left_j1=1.8145 left_j2=1.2747 left_j3=-1.0607 left_j4=-0.0067 left_j5=-0.783 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0578 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -11.1932, 5.0667, 0.2027, -0.0708, -0.1001, -0.0122, -0.0889, 1.6205, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2fdc27d95410cd08e117c1d13d813cbba65cdc9aad6fedf0c4e5d3e7f81b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c9e9b6e7c7010cc327c8b1f844b60a4b7ffd36c784d2c53e810e8fd1e4d21ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce69566ab34ded7d96aa1df0cd6d16dd5a9202ed8ab5ecda274ec2bc903d0a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4d2fdc27d954
wire blob 2c9e9b6e7c70
wire blob ce69566ab34d
call 5 attempt 0 · /messages · status 200 · 7.083 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=-0.0746 left_j1=2.2543 left_j2=1.9366 left_j3=-1.2678 left_j4=-0.0067 left_j5=-0.3973 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0505 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -13.6684, 5.3812, 0.3004, -0.0513, 0.0171, -0.0171, -0.0205, 1.6342, 6.9812, 1.8926, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0746 left_j1=1.9953 left_j2=1.5116 left_j3=-1.1282 left_j4=-0.0071 left_j5=-0.3977 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0544 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8479, 5.5316, 0.232, -0.0415, -0.0415, -0.0073, -0.0342, 1.6342, 6.9949, 1.8974, -0.0562, -0.0708, -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=-0.7925 left_j1=1.8145 left_j2=1.2747 left_j3=-1.0607 left_j4=-0.0067 left_j5=-0.783 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0578 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -11.1932, 5.0667, 0.2027, -0.0708, -0.1001, -0.0122, -0.0889, 1.6205, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2fdc27d95410cd08e117c1d13d813cbba65cdc9aad6fedf0c4e5d3e7f81b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c9e9b6e7c7010cc327c8b1f844b60a4b7ffd36c784d2c53e810e8fd1e4d21ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce69566ab34ded7d96aa1df0cd6d16dd5a9202ed8ab5ecda274ec2bc903d0a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4d2fdc27d954]
[blob 2c9e9b6e7c70]
[blob ce69566ab34d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CNCgBMSE3McTpxVto6mTvs",
      "input": {
        "note": "The blue block now appears at the very top of the left wrist image, meaning it is well beyond the fingertips; I'm extending the radius by 6 cm to bring it down into frame and calibrate the wrist-view scale.",
        "targets": {
          "left_j1": 1.99,
          "left_j2": 1.55,
          "left_j3": -1.13
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CNCgBMSE3McTpxVto6mTvs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7925 left_j1=1.9781 left_j2=1.5082 left_j3=-1.1248 left_j4=-0.0067 left_j5=-0.7868 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -9.6752, 7.4598, 0.149, -0.0366, 0.022, -0.0122, -0.0205, 1.5932, 6.9675, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e1530e1c2762aeb1f1069cff9615dbf618ceaef7748e3433cef6fca6c1b460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1817be2b9fe7fc17e65942aafa1698573954fd1432a3d769af01e30118d8452f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d0d2bea9e7c9306359491ddadc070165ae9f8aeda1c1fc88734c862429ac1a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 99e1530e1c27
wire blob 1817be2b9fe7
wire blob 9d0d2bea9e7c
call 6 attempt 0 · /messages · status 200 · 9.702 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=-0.0746 left_j1=1.9953 left_j2=1.5116 left_j3=-1.1282 left_j4=-0.0071 left_j5=-0.3977 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0544 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8479, 5.5316, 0.232, -0.0415, -0.0415, -0.0073, -0.0342, 1.6342, 6.9949, 1.8974, -0.0562, -0.0708, -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=-0.7925 left_j1=1.8145 left_j2=1.2747 left_j3=-1.0607 left_j4=-0.0067 left_j5=-0.783 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0578 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -11.1932, 5.0667, 0.2027, -0.0708, -0.1001, -0.0122, -0.0889, 1.6205, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.7925 left_j1=1.9781 left_j2=1.5082 left_j3=-1.1248 left_j4=-0.0067 left_j5=-0.7868 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -9.6752, 7.4598, 0.149, -0.0366, 0.022, -0.0122, -0.0205, 1.5932, 6.9675, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e1530e1c2762aeb1f1069cff9615dbf618ceaef7748e3433cef6fca6c1b460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1817be2b9fe7fc17e65942aafa1698573954fd1432a3d769af01e30118d8452f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0d2bea9e7c9306359491ddadc070165ae9f8aeda1c1fc88734c862429ac1a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 99e1530e1c27]
[blob 1817be2b9fe7]
[blob 9d0d2bea9e7c]
{
  "content": [
    {
      "signature": "CAISkA4KjAEIEBgCKkCRPhYe7C/pe1jkzh0m2G2A3TNwFZ8iIdISMgioW9YODfu7/D4NKtJqSzhFrpgVqVVbLMHEgxyl53pt8qqBLUjVMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDEoeyOgjYZNDengAGgwHpp+2osr2+db3e28iMFRC7u+3MleIjg6wpcCHSKN4dYt5xoTIySnmVysmX/MofKZNHsb1ce1j3FfddHfKsCqwDK9Wcwy7gkiYAEuObT/ZDbLJZ3OLn2h+d6bqg+DS2RSdl9/ibSB/2DY9bipsONx9pcMWEoDJU1Wf/gMPaoGzjm14lJH1nbjArrlqbFucf3cf0uSY0XK1d3SBq5gIhhywm+e0iX3OsB8fjjxMTNvHJnBGok+Yaj4Lfd0/L8EIycIRAqWQlFSUwGIWkEnjqZb8SwmVOBZdEWdgJwxBh0JZUrW/PZy8kJBAOIDFpvU73R80ecEktwahFPWkQDO5SwIl4Nykh2E8brSL94qcBi4B+TZskjHKFMQOo3e3bYrNNV+1qJD+3V/vQZk8KXbKwg4si/v2n3S4BHea8pAvEmNaPN85HzgervcDLJKI06pHjSNEaWXEQ453VT85lH17L1hwephzKHe7D6OwgC4ApWndz1moYTg0oc1m2ciNFx5gHVOgcHs3fIrxg+oZeSxqiuLe0gmpHktdHgmTSjNF6/3bYvtfnErBV/xY2beIDD1o4HU64dObmCMFIXopAiwlrHEHEZYSiewuiq6P2IJVp9m6zTkbLEYh21gOfzQUzrggNNfviJ1S6vbgBTgO9Jo2d8P/qeU1KNVvn1nsaMEyevr8Z7X1dESTows+YBdnJ0CPugrJTt/voot8UIBd80xnPMb1depT/I0jRHQ2JEDUHmQDXN/7/QtGqS7EJuyZxtlvhReZhzzOxDl1DgYi7SuOjiB2j6BJQnUMiMjFlvr5/+DxsBDp1xbmkbVrwu/UCfoU43SHo6alHXCndNPHA2L15Z59tF9vEmPfkaRiKz61Xem+Rpr0o+8UQFEVTZua5T3sTxxlwM8pcXmEAS+xxeTZ1eBj4l+MyOOSs3cw+3rUndOEmgz5XrVE3UjNpP/GirisRNlPMISE9qTAJcDXsEyoPu556ihhEapt1CA1wuS+Khf8u7cUfvg1F1XGW0X3f4nS5MSFis6z+vyV8B0TiGuvV2yKHX/SH+cetW7m0axYaP/gdIigehsU91hwLsqYxrH1ZH7xfdAScaNkh7fJY5acYnM5HywRatFcjXGlT1fa9NHxNrGuN81M3yfcruo79UM3vd5r5NFjo8QvtopC6DQBLtRbdD9bEMl7oVU8hbnTviT3L863NNqUbUmmpXg/8M49EI8+geogGMJTISoQmsKhXB7xFjXwfxzzbB3IPqEYAUOokVwUU/10ayYBZFMBAzpyHMTtB3TX9rdH+0YByVjTJjI+JfqMc3318b8YJHANvt8uzVocMPBdMviKmQkqXfqsbwg2XHI7f5nVuAY8JkzFNlD84F5/QtlBOKj+m7tBEn6Otj1jz+jtm9JD1zdov8RMtfmn7K0efV2M2ezIksH68NH9oWGVUBihuJATJ8I25ppWajJOXo+qhkggD+QYMqx70/mWQauxBezo3CrCX5GkDTpcG55iliNtUE5S1LcsDwuylses1DOiyTWu222mmneRlaozq6PTwkIu5P75Xwdm4W+GZxl9++EuY6gLbvQN9M8uem4hOmuDTHaxx8JvpfgSNAbwA0Bpo/7We0LHVvBvP07qZYTieNhZ6/T40Q9sjuLSKY+k5jSaosRIXBbWaSU3uw3Kq7ckxSrSdjhmzfeuuG9yNuE+mxt7S66Nf1YNoTD4Xu3cWgIS4LIK5SEsXpvQJhP4gZlqvgPbO6vxWxJhrTJWj/Z+fui5jOmTJLZudRMKr+gocAed95azZuMuIFw+NcGcCiGx43Iesm/cc/gPt4twvBHJDNiwG+wrevVjjyIkhhnwnVMtZ7uqrSt5u74VswQ/ccVUm6lhQoecbjvPWcWwusc4+AvRlKYJw8U5T9r4G0V81XhAwSH38vDuQk/poOZy6Rc2qkJFGOSw5SpHn0TgGd1gNEt0Y/xDEXc2euzMSdNeBDPg35xFLK7R9/6WZPpCUGZ/ZYfhiCZFLKf6QvvUgNXRj05DdxBmvXNgyHaQW7ckueCRVDjdMRIFYFzwV1y4B4D8Wj1JkwN+Z6ZQciFxcsTPHwTOfPmKh1D+ERvbWUZ7u2AX5gku1g5ZJqinunNoNYhVWm4Q3F/CfLPnomNitlZHn0Dsl+eOq78Yxn9GJnzDvw/lzl/PO6Mt4e4+Rb7RhLf5KXnHFzVoclhe4E49zxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011wvztjjSy7z43MCX9VuYr7",
      "input": {
        "note": "The blue block is now fully in the wrist view at (88,55), still ahead of the jaws (grasp point projects near (115,200)); extending another 6 cm radially to bring it toward the jaw line.",
        "targets": {
          "left_j1": 2.2,
          "left_j2": 1.89,
          "left_j3": -1.26
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_011wvztjjSy7z43MCX9VuYr7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7925 left_j1=2.1883 left_j2=1.8503 left_j3=-1.2503 left_j4=-0.0063 left_j5=-0.7937 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0063 right_j2=0.0074 right_j3=-0.0662 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -10.988, 7.5966, 0.1441, -0.0366, 0.0366, -0.0073, -0.0889, 1.4701, 7.1726, 1.8828, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ad22267aff6a9b6a565157bf0edca742b2c74f6d33749993f5441d28a91cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4e504d89e129cc5ec27e559d253a548db37e40344f43748713f9c17d4aa63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbf8ab7d93535b3436c6916f2436326358bbfa0fb5e76670cb2113b89df1edaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 85ad22267aff
wire blob 2c4e504d89e1
wire blob dbf8ab7d9353
call 7 attempt 0 · /messages · status 200 · 5.649 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=-0.7925 left_j1=1.8145 left_j2=1.2747 left_j3=-1.0607 left_j4=-0.0067 left_j5=-0.783 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0036 right_j2=0.0074 right_j3=-0.0578 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -11.1932, 5.0667, 0.2027, -0.0708, -0.1001, -0.0122, -0.0889, 1.6205, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7925 left_j1=1.9781 left_j2=1.5082 left_j3=-1.1248 left_j4=-0.0067 left_j5=-0.7868 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -9.6752, 7.4598, 0.149, -0.0366, 0.022, -0.0122, -0.0205, 1.5932, 6.9675, 1.9512, -0.0611, -0.0611, -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=-0.7925 left_j1=2.1883 left_j2=1.8503 left_j3=-1.2503 left_j4=-0.0063 left_j5=-0.7937 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0063 right_j2=0.0074 right_j3=-0.0662 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -10.988, 7.5966, 0.1441, -0.0366, 0.0366, -0.0073, -0.0889, 1.4701, 7.1726, 1.8828, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ad22267aff6a9b6a565157bf0edca742b2c74f6d33749993f5441d28a91cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4e504d89e129cc5ec27e559d253a548db37e40344f43748713f9c17d4aa63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf8ab7d93535b3436c6916f2436326358bbfa0fb5e76670cb2113b89df1edaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 85ad22267aff]
[blob 2c4e504d89e1]
[blob dbf8ab7d9353]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KjUTuZNsUUS6AeDjdZe3Ky",
      "input": {
        "note": "Two 5.6 cm radial steps let me calibrate the wrist view (~10.7 px/cm, image rotated ~32° by wrist roll); the block sits about 9 cm to the arm's left and 3.5 cm beyond the jaws. Moving to put the jaws over it, still at 15 cm height.",
        "targets": {
          "left_j0": -0.57,
          "left_j1": 2.39,
          "left_j2": 2.22,
          "left_j3": -1.4,
          "left_j5": -0.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KjUTuZNsUUS6AeDjdZe3Ky",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5808 left_j1=2.3814 left_j2=2.175 left_j3=-1.375 left_j4=-0.0029 left_j5=-0.6323 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0086 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -12.7795, 8.1436, 0.0562, -0.0904, 0.149, -0.0122, -0.1436, 1.4974, 7.0496, 1.9072, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:756dff2114729eaba5cea3cf8c8678dabba16549502f3cf5595542b189c6c4a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34110167ff5127d4d0b9bb5b5f4aa7873cd95aa72b9d3a54ac79504da9f50453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92ffee3a8ed98bfa3b188f9b9ab0bcc615038622dcd00b90c6aac04e10adcd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 756dff211472
wire blob 34110167ff51
wire blob 92ffee3a8ed9
call 8 attempt 0 · /messages · status 200 · 4.9 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=-0.7925 left_j1=1.9781 left_j2=1.5082 left_j3=-1.1248 left_j4=-0.0067 left_j5=-0.7868 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -9.6752, 7.4598, 0.149, -0.0366, 0.022, -0.0122, -0.0205, 1.5932, 6.9675, 1.9512, -0.0611, -0.0611, -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=-0.7925 left_j1=2.1883 left_j2=1.8503 left_j3=-1.2503 left_j4=-0.0063 left_j5=-0.7937 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0063 right_j2=0.0074 right_j3=-0.0662 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -10.988, 7.5966, 0.1441, -0.0366, 0.0366, -0.0073, -0.0889, 1.4701, 7.1726, 1.8828, -0.0269, -0.0611, -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=-0.5808 left_j1=2.3814 left_j2=2.175 left_j3=-1.375 left_j4=-0.0029 left_j5=-0.6323 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0086 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -12.7795, 8.1436, 0.0562, -0.0904, 0.149, -0.0122, -0.1436, 1.4974, 7.0496, 1.9072, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:756dff2114729eaba5cea3cf8c8678dabba16549502f3cf5595542b189c6c4a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34110167ff5127d4d0b9bb5b5f4aa7873cd95aa72b9d3a54ac79504da9f50453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ffee3a8ed98bfa3b188f9b9ab0bcc615038622dcd00b90c6aac04e10adcd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 756dff211472]
[blob 34110167ff51]
[blob 92ffee3a8ed9]
{
  "content": [
    {
      "signature": "CAIS6goKjAEIEBgCKkBhvexE5/bVOaukRRiaqqn3m40k4dkTdTob9PemnRc3YtpyjPeYlVmO8C3gQXKeSRb/6E1zSSXEnGDa/FOYLQLXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMR2TgVsU8iKWeVVCbGgx8FLvmMNnB+bWL40MiMHoaOSXkvwtvVsEvOV4QvSEoZ183XQxFHMm2LGtTwb8QuT7irwC+U9d5Zz4TYcgpuCqKCU3bYRuNZBR2VIm/KIlbrIem3dkGCRJnYpSOOrQjzxtA4whV+xXGe5he1zC1f2SOrhqtMlTZ0hPgpGaNnfvLiK21yd8ValgJ9x8KA3Q84SFKr9d7uN8IghiHD69CxOk5L8l2I2KHwceQg8MqWwx8BzyGamiRDzE0qNr0dpw+tHZfaNpEATOV+y9uov84RZrOTP7wJWws7uZsx/Bj02ErFmn0VhnmOVgmGzOQUuOKksdGoZvpBApGA1jqGLtJSPHNcsfJ9pSHI6r8qP1XD41+gRCEPZMc7W+0Zp34BFHZwTkOzRlt6PdENEagOoUXBS6goA7j8eevBHVoIK4vGbYsPTjH9vKjGvUdP0JoF0/VRK8IbvOpIBBuS5PmnGRl4R5z+KHcx6MhBX9aI95NT6ltWRzs1VlBlSpNIuqkr5eB4HtVGZHbbRfM5gWfLR0s8xQFRDVxelcZpShJVTJfdSeJ/ZjRScjyuhh+RgFDQiotbJ2QSrv6YT0SREeQYf7GF49MHRn1is1BViCPXSw+jZyJnYPkIIXmjuPO+PqxWOVuxeiax+bXILOIA/TGSiqmrA67GXOUfL/P0hQjjLI9qlW98nROF9mNYTGP5xrXKMstfQ5zH4PklYlIl7dwsvfcSA8HVImvb0+Gdgt8QIDyAhK6iIWNoThOW5nNMWYnz2RyDCsg0lkSdXQOPJ+Q7HOQs5O0K6xzWxYrxf+c4PZ+kGx5+VUeKU/VdWMjfgL6XSWVg7z68Yf+Q5khq8VKy5O4mlcNqYWqczK80Gg16Fn0LwdiwXIT5CWLmZNf9wqnoECtjVZtYXGE9UAIneWlQa3VFX/BNnbT1wv8Gfe7YoBIa9VBHts+syNERRw1pk5KB3PkVAjVxQHm5Veaj3cZ8gzMDuS/AkCgf7PeidiX4guts9OWW9y7ge/VtnoaB7VVCmqL64ge1y4+Ksn9nYaW0h6e5Uupcjzugc4+sI3jbqY8Sa7VyQWovVB86ARhhYazHsanW8JHQx0smhaemmBTqYb+ny4snV/x5T4d2gXVqkbSKbGrR2tYAT5oqKbq2whzWsujsm0Ccgs5TX6Mir2DDywxmX9p0Z39KzWWjpyAZmM4vSoIXJfYrbjhav84EUTUPhrqRe8dC7BYJISHMyhUchPqu7AofwOhSbzUblsSswv39LjENvrYjkicIoXPsI2+zastEmif4R1oMZMGUV5XfSRnLEb9KxGjjQymv2GqlFzCbDThel0BfEiReZ+DElqtAnNoyk3tbXP0UQkJUbqUKYz2PYF2G6QsUrTrJ7UHIQwlmwKEpg0VmFgXe5EmCyit2MIz2g9/nEortZd3tbnrvhFoPZyAuwjFEMv0udNHktGl7rti00i4uKUJr+WF4HJo8CpK3NDsIHxxQi/BAdZ0yZhrk49OcFu9ciwsmOU9kw2GgeZ76Y3HSrw6z0b0dYi0QXwhaHXJAjrVa557JVhuepdMUjRcCjmCa3xdHRyc1/dr7WkzSZNpwwuCEHvfZS6JobUQ9CllNn8xhNAh1hgrCBf6ubpvfGZ8F4PCExevZz8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VHVvzxzYjfyPtvWkerQ6T",
      "input": {
        "note": "The blue block is now right at the bottom-centre of the wrist view between the jaws, so the horizontal alignment is good; descending 5 cm while watching joint effort for contact.",
        "targets": {
          "left_j1": 2.45,
          "left_j2": 2.11,
          "left_j3": -1.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018VHVvzxzYjfyPtvWkerQ6T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.4252 left_j2=2.1311 left_j3=-1.2995 left_j4=-0.0029 left_j5=-0.622 left_gripper=0.9989 right_j0=0.0025 right_j1=0.009 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -12.9573, 5.0667, 0.3932, -0.0611, -0.0562, -0.0122, -0.0889, 1.5795, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d280596e1ee7ab0bcd747dda1d8748a8e13144e598381f3bddcaec7ec4e43974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a04927a5e2c1098079e42acdc1c4b3eaf6913835fd391226f6120907fa669b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcf91732acb162ac5eac3b2b74d2687104183ce6acd4b7f23a611e29e59ab6bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d280596e1ee7
wire blob e9a04927a5e2
wire blob bcf91732acb1
call 9 attempt 0 · /messages · status 200 · 7.964 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=-0.7925 left_j1=2.1883 left_j2=1.8503 left_j3=-1.2503 left_j4=-0.0063 left_j5=-0.7937 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0063 right_j2=0.0074 right_j3=-0.0662 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -10.988, 7.5966, 0.1441, -0.0366, 0.0366, -0.0073, -0.0889, 1.4701, 7.1726, 1.8828, -0.0269, -0.0611, -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=-0.5808 left_j1=2.3814 left_j2=2.175 left_j3=-1.375 left_j4=-0.0029 left_j5=-0.6323 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0086 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -12.7795, 8.1436, 0.0562, -0.0904, 0.149, -0.0122, -0.1436, 1.4974, 7.0496, 1.9072, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.4252 left_j2=2.1311 left_j3=-1.2995 left_j4=-0.0029 left_j5=-0.622 left_gripper=0.9989 right_j0=0.0025 right_j1=0.009 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -12.9573, 5.0667, 0.3932, -0.0611, -0.0562, -0.0122, -0.0889, 1.5795, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d280596e1ee7ab0bcd747dda1d8748a8e13144e598381f3bddcaec7ec4e43974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a04927a5e2c1098079e42acdc1c4b3eaf6913835fd391226f6120907fa669b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf91732acb162ac5eac3b2b74d2687104183ce6acd4b7f23a611e29e59ab6bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d280596e1ee7]
[blob e9a04927a5e2]
[blob bcf91732acb1]
{
  "content": [
    {
      "signature": "CAISgwYKjAEIEBgCKkAQ6uYaAeO7dWZo7aYVMm9+z0G3zog+li22/J2nBfKc+0BP/C+we1+J6sbkL4Wqo4IQVFRwryJ2en3HH00ETReHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+SOeqq4LVMC65JliGgxQ1b5lQYM/fHOyrlgiMGNVNluE4Z8+3/D5/5YS3+u/RfxTV3CSxNDaGj84y4zeWOf6UjSg2F+CrqLrElnuhyqjBCXcCISK2WSXjOkwdmUyiAZa73s2y6BHS/mNLZGLQxKsP9+itxNFI3wp8xgiW8D3BkeJeu6MCsW/c3rhgY/xee6WPm4JnYXf8gcvzX/V0dEiZggFZexFR0TK+EYXuQbT5MhLPpUt3JoCuSjB+vV2ZlsB2daOreR5hDrvDTh3nntGLhnK9tOGiIQ2+AfXp5lkigbQiQwaz4gFxOcoqsucN/0CNIeYp7OrwuxmNI3jLD60Vm+PBSdiboJqOtNRdC2/F63ZXWNkPGWT0DFjRxsHl3txa7GGKJiJFkMlzqeD92LkelqbOV8i5OhEhI1d51hldf+k8ppfjkqvCn9x3kN/AkS5TMxvi6CmHFW4HqlSPgtSE84bt9bN1tiMlwUoVE0pkfZmn7TjouCdlpXJ1i/9Znz3wmUd5FXrAR1+3cLQu8gRfWdrcu+u1k7WE0me7+IRwn8meEeZk7rTXOaSWPLuaxVp9eq+mHquWeSDydjvTsJo5QkS6UY8wnxS1MzYKS71ESzaRPUghcsgvT3NZLbXE1tQLO+BzFgc41dxVPLypKWo5gsBw62AjANm9yqQRZOITW3Wt+T+FeWRWyJfPnOeuVHTNgKRYMGgWQgcEWapZM8himRP0d9XlUhgPgS2cEPD4CQ9hVBtDepgBSvNV0y9EgoBgiXXZtPk3muv5vau18Xyz4+EC7r8PlGdkI+fz6zVD1ONDKMYA6fV+ASKUNk04vc0CJYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDXcQ315ho2CLFkU3YL8xH",
      "input": {
        "note": "Descent so far is smooth with no contact effort; lowering another ~5 cm toward the table with the block still between the jaws.",
        "targets": {
          "left_j1": 2.54,
          "left_j2": 2.06,
          "left_j3": -1.09
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VDXcQ315ho2CLFkU3YL8xH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5781 left_j1=2.4691 left_j2=2.0918 left_j3=-1.1812 left_j4=0.012 left_j5=-0.6327 left_gripper=0.9988 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -7.8291, 3.1658, 0.9451, -0.2662, 0.0855, -0.022, -0.0342, 1.6068, 6.9538, 1.9023, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c4298e0c3aa92dcb9b8a1871ef21aa40df23ee92dca2a5d3cf71c88257bf24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb95b78d3764b814000b2169fd8a0ce01b1734aacc7e900d430be9bfd53b7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9cadddb098a5e907c1d1647ea01590be310dfc722a7e30efa50653cad57e810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2c4298e0c3a
wire blob eeb95b78d376
wire blob a9cadddb098a
call 10 attempt 0 · /messages · status 200 · 14.99 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=-0.5808 left_j1=2.3814 left_j2=2.175 left_j3=-1.375 left_j4=-0.0029 left_j5=-0.6323 left_gripper=0.9989 right_j0=0.0025 right_j1=0.0086 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -12.7795, 8.1436, 0.0562, -0.0904, 0.149, -0.0122, -0.1436, 1.4974, 7.0496, 1.9072, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.4252 left_j2=2.1311 left_j3=-1.2995 left_j4=-0.0029 left_j5=-0.622 left_gripper=0.9989 right_j0=0.0025 right_j1=0.009 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -12.9573, 5.0667, 0.3932, -0.0611, -0.0562, -0.0122, -0.0889, 1.5795, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5781 left_j1=2.4691 left_j2=2.0918 left_j3=-1.1812 left_j4=0.012 left_j5=-0.6327 left_gripper=0.9988 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -7.8291, 3.1658, 0.9451, -0.2662, 0.0855, -0.022, -0.0342, 1.6068, 6.9538, 1.9023, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c4298e0c3aa92dcb9b8a1871ef21aa40df23ee92dca2a5d3cf71c88257bf24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb95b78d3764b814000b2169fd8a0ce01b1734aacc7e900d430be9bfd53b7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9cadddb098a5e907c1d1647ea01590be310dfc722a7e30efa50653cad57e810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2c4298e0c3a]
[blob eeb95b78d376]
[blob a9cadddb098a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QHAvf2FSNcQijB8ndU9J2z",
      "input": {
        "note": "j1 stalled and wrist effort rose, indicating the fingertips reached the table, and the block dropped out of the wrist view just below the jaws as expected. Closing the gripper to test the grasp — I'll check the residual against the block's ~4 cm width.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QHAvf2FSNcQijB8ndU9J2z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4683 left_j2=2.0926 left_j3=-1.1839 left_j4=0.0196 left_j5=-0.6361 left_gripper=0.0093 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.6, 5.6547, 0.2906, -0.0952, 0.0269, 0.6911, -0.0752, 1.6068, 7.1043, 1.8877, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041c85f1360eae4ccd13254d4f3d224ccd57f1222d051b8dfc24dcbf94087b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b713522b72aaf11e23593fd1a522dca26a55f9e6b370201c17ce3bcc64186d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed72a3ced319a8fb26d5972f3b4c02837fa32d1b49c55b3c562845fcaa950ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 041c85f1360e
wire blob 8b713522b72a
wire blob ed72a3ced319
call 11 attempt 0 · /messages · status 200 · 13.79 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=-0.5766 left_j1=2.4252 left_j2=2.1311 left_j3=-1.2995 left_j4=-0.0029 left_j5=-0.622 left_gripper=0.9989 right_j0=0.0025 right_j1=0.009 right_j2=0.0074 right_j3=-0.0666 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -12.9573, 5.0667, 0.3932, -0.0611, -0.0562, -0.0122, -0.0889, 1.5795, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5781 left_j1=2.4691 left_j2=2.0918 left_j3=-1.1812 left_j4=0.012 left_j5=-0.6327 left_gripper=0.9988 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -7.8291, 3.1658, 0.9451, -0.2662, 0.0855, -0.022, -0.0342, 1.6068, 6.9538, 1.9023, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4683 left_j2=2.0926 left_j3=-1.1839 left_j4=0.0196 left_j5=-0.6361 left_gripper=0.0093 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.6, 5.6547, 0.2906, -0.0952, 0.0269, 0.6911, -0.0752, 1.6068, 7.1043, 1.8877, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041c85f1360eae4ccd13254d4f3d224ccd57f1222d051b8dfc24dcbf94087b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b713522b72aaf11e23593fd1a522dca26a55f9e6b370201c17ce3bcc64186d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed72a3ced319a8fb26d5972f3b4c02837fa32d1b49c55b3c562845fcaa950ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 041c85f1360e]
[blob 8b713522b72a]
[blob ed72a3ced319]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YNF4TpnkDamWZNFtKWENif",
      "input": {
        "note": "The close came back empty (residual 0.009) and the block is untouched in the overhead view, so the jaws closed just short of it. Lifting back to ~15 cm to re-acquire the block in the wrist camera and re-measure the offset.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 2.4,
          "left_j2": 2.23,
          "left_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YNF4TpnkDamWZNFtKWENif",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4672 left_j2=2.2051 left_j3=-1.3716 left_j4=0.0196 left_j5=-0.6369 left_gripper=0.9949 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -18.865, 7.5966, 0.0562, -0.0171, -0.0366, -0.0611, -0.0889, 1.6479, 7.0496, 1.9023, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95e843fe73a5a1d7c02aea32623936b7aaaf98cdea2be4f85b81054e32bc7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f21e16678bf95f0fdfe59ca46c01272b9c7e902e54ca9382a6c4081ef2f7d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33007cc928d67447d76d2dacbe7754bab144f5e282ffc0d624e3caf03f5b1450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b95e843fe73a
wire blob 9f21e16678bf
wire blob 33007cc928d6
call 12 attempt 0 · /messages · status 200 · 12.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5781 left_j1=2.4691 left_j2=2.0918 left_j3=-1.1812 left_j4=0.012 left_j5=-0.6327 left_gripper=0.9988 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -7.8291, 3.1658, 0.9451, -0.2662, 0.0855, -0.022, -0.0342, 1.6068, 6.9538, 1.9023, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4683 left_j2=2.0926 left_j3=-1.1839 left_j4=0.0196 left_j5=-0.6361 left_gripper=0.0093 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.6, 5.6547, 0.2906, -0.0952, 0.0269, 0.6911, -0.0752, 1.6068, 7.1043, 1.8877, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4672 left_j2=2.2051 left_j3=-1.3716 left_j4=0.0196 left_j5=-0.6369 left_gripper=0.9949 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -18.865, 7.5966, 0.0562, -0.0171, -0.0366, -0.0611, -0.0889, 1.6479, 7.0496, 1.9023, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95e843fe73a5a1d7c02aea32623936b7aaaf98cdea2be4f85b81054e32bc7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f21e16678bf95f0fdfe59ca46c01272b9c7e902e54ca9382a6c4081ef2f7d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012C2rVZgUnnkmrVTjUwdFNF",
      "input": {
        "note": "Overhead clearly shows the jaws sitting ~14 cm beyond (outward of) the blue block, and only a sliver of the block shows at the very bottom of the wrist frame, so the block is inward of the grasp point; retracting 6 cm radially at constant height to bring it under the jaws.",
        "targets": {
          "left_j1": 2.21,
          "left_j2": 1.74,
          "left_j3": -1.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_012C2rVZgUnnkmrVTjUwdFNF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.2608 left_j2=1.7622 left_j3=-1.1397 left_j4=0.0196 left_j5=-0.6357 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -15.2137, 5.5453, 0.442, -0.0171, -0.0317, 0.0952, -0.0342, 1.8803, 6.9812, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32d0f55e950945eba44be486d9b48773b0e0ba90355cfa1c5fe50a204bc20f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98978f3261b95dede23f8f3a2dc1f1284fb9fc5fd355b5400655dcaa5cdb9059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18ff3c64df6148e66e60c4d079276f2075f9267cf33d2dc0d54fcecd34b441c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e32d0f55e950
wire blob 98978f3261b9
wire blob 18ff3c64df61
call 13 attempt 0 · /messages · status 200 · 12.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4683 left_j2=2.0926 left_j3=-1.1839 left_j4=0.0196 left_j5=-0.6361 left_gripper=0.0093 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.6, 5.6547, 0.2906, -0.0952, 0.0269, 0.6911, -0.0752, 1.6068, 7.1043, 1.8877, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4672 left_j2=2.2051 left_j3=-1.3716 left_j4=0.0196 left_j5=-0.6369 left_gripper=0.9949 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -18.865, 7.5966, 0.0562, -0.0171, -0.0366, -0.0611, -0.0889, 1.6479, 7.0496, 1.9023, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.5766 left_j1=2.2608 left_j2=1.7622 left_j3=-1.1397 left_j4=0.0196 left_j5=-0.6357 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -15.2137, 5.5453, 0.442, -0.0171, -0.0317, 0.0952, -0.0342, 1.8803, 6.9812, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32d0f55e950945eba44be486d9b48773b0e0ba90355cfa1c5fe50a204bc20f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98978f3261b95dede23f8f3a2dc1f1284fb9fc5fd355b5400655dcaa5cdb9059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18ff3c64df6148e66e60c4d079276f2075f9267cf33d2dc0d54fcecd34b441c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e32d0f55e950]
[blob 98978f3261b9]
[blob 18ff3c64df61]
{
  "content": [
    {
      "signature": "CAIS/BAKjAEIEBgCKkCzeXEYsJ7d8r/9kXb77JGjl/hH3XxPtTu2cZghpWrpUghIaGCBG7ySeF4EPZMpRClUmKEQojjmWEe5q25AGekvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMd3HCA52ghxarFF98Ggze4n8//I2f3uKLaCAiMDZ8YIx8i2FedeX1rNCAYDol8a9H95ksmUOO0w3XEyFfSEIVjeCW7ElGyNrNXQXONSqcD9QdQAQAkj3YiHl0rPDW0GB070rZwiJvZ0BuI8w81ezsEVZYODXPVQkqcpEmyw9g1Mj44IU4cMUggR2PCdJcX5C9r10S1wgAYYU9fsiiD9N2XBxNsui04xJqCuazZT0HPcXIqCRdKkKGQXkO3692P4b2ivXWxJOmGwCIYRauzUYFtfwRxO+DvbBtxitJzuJ0JYwTn7GdGdYijPlzjG+ufd12m9u5ut5aeMSlvSk248yKhZ8ahyh4kdbI1G/Iu+CH9kU3JZwbbk2SeGs8aZnTkSt/bCro8XIo4iJAHMw+OpePSOfEQ5yJf/Qm7h8nJdQK+vcfW8t9zltjg9CrNayMByaU0xXWZkD4Kdv1v4HlUUZopray7w/n8a0Sso8QXcIEpD/AiOuS83A1MAudCaNRjgu1VUG4O3RUbiZ5vxQ5LsMt+uQ7gGdSkA/Dh4PJw9L/E3gLB91ad5NbGD6EMfeORPMLBE0mh54eluMwHsmGPT9N1sK2ZNUE+Gt1M8ume3OS9DkJ38CYP/al9tXGRkSQEsLZ2T1I/4+T2RXzlYXYy7yKxyO1dBPxWNeY+883hwt6CvgVHkncCevdyqhCkHUPd3pTVpjrM3pxxJyvAseLc/qaQlBhZ6aVgyP2XR3Wpm/GyR7M8bpV3BzpGhoGE6maO7s4Vl7KD5uH+UMF9toPDETFY+WtNPyGNd1RXc+uE62VdJ91kcFRZNConGR6zf1oYZeDSC09o4ub5QbdxRxDwVanJPN4XtyIwA9UXsC7vA9Ycu8Jjeoz3U/518PLGP1YJL6UwLyR/ninwgjI1GdfR0AFLkcgk3xzDJvlAV/UkmW8E1iS+i/vZrTzi9ZbfA4E830X5hbrmOEboopuvWod6JdujbzHt85skWHkAItnLzeAVBaaxpMPMt32jWWVwcfHeBecQHZJHUSYcH0tYHjhOvegFFSE1pGpAOxkObbsZlIMncpCb3cMdcse7MHSElufkdehutWIMVdNS9vKGJ0f8MSXyz3aJ63MsL3XZeeAL+aXm/ZVuf3UPy8kFSm+neI+p3ZewErI7SzW2naFxSatXcgIVyBvRowjiPdMsYSjhDG4YMG1GvsyYVdNd6e1dUNd4KoCTt39ZrjyoeAY8JBpxkgZD7KfgfBE5cACpGIB+b6wQSYNrqrHl8x39CHRB0wqt7VVJKvpHi+UrHXvmu0b/kCCc3d+xpfnUtVBD4sGKGHFlFu0pYKwE6kMYRGd+CKs+23X/NhNL7J+bQSakmTrvDIRkRK2qnQoLExiTAO4Pc6yS/YNLFjnlNHyVag92MPgutgESqpFI3bjrcbbMNxBbddGOXKwFAuX3/iWB2IvUdcIR9FMcXkahGzfaDoUaBGAslQV0KytdT3M+lyGDfdf+ig/0YBc6PUjzbZv4H3bKM8scWqhmpA5gnWQZjUPWlHmMdyCUqvdrSozZpoOxPCJoHyZQO/PHZj8dweUaX/1jKB3cU9IM7cKFSSJUQTiHdTc9xbXQXf+3mr8V2NdrSgCMZq/9xlzyc1HeFoOWjk81/FRawifoqiZhjIJru9dkakDKhICB5dQwhVDaPWaiHRV6BZ4jlVHKoa0aVqWVYTu6NCALthT+XG7t11W7FY0l6w4vTNXY9Z2TSSaltBAVTCNb883vZHMdvLM/eVj/Jf5BmhCuau3p2eCr/rK2qFdXhQJ5jIizkb6Jl3Uio9Yts48x3Sqzr24cH7ILGyNy/vKqM/yghh2fe2f8RL/kiIqaXd5Q8ih4WgBBBj+9RtcCP7DXg94eNgLMwlCEEjWgpXjpu3aJksrPGxtmqiqaZFcVPwO0I8Jvm/eGqlFCwfKnFoeDkgzc4WJQamg49Uhsx/PC2slBoAel/Z/oYN0DXiUUr85P6ui0LBgW4F9Udn5ewho82F+n6S7m5xLqO2473gi9w4tMNFVlKU9QI4nz9QQIWiNzpZT1R4YYr82LGABLwstRdRTEwbf+dz3HaTBIHZIyljzoYTEDSltlEwptMh8mA4flBHByH8id+aMyF/A825ObRi8gMFj+I8ozScw+oFcij3YjP01SEGPyCct2NJyrx9hGzOGoI8OqJrT8QNfT1+W2hy0dOuR9WyYIficnZf3POUdDsdFrz0CvAMay24tjuC8veRb8SJ1e270Whi8EjBaQ8FgoEUvJhW54U7nA9J08po2w9Ou4N6SAJ7GxFtArsVqUt2JLv9+AymNogwVO6OXf+2Du22hRrSHotnhP+k6PqRbY7sRgtuyMePkhF0+/zPXGz0JnF27TN6Q15Xopvlpsnl6qlLZjB6hL5brVwLGdo2UP7CfguWXVQcxLpipo9yZeH3JQr8eY7oKDgmAz0KPGZ3A9cqI/AdcSqIprs3tEfIxRbtulywBA2ZEwv3HGwpJ3JJRPlngKeSb2Aa3pjIrsKzHJWKj+csvUQOR7qa+c+4FbISRCdy7YBpJumytQ3VVFTKlnnJGV5xRbeW1UAwrmq4h/zxwUFgq4sXtl+Jj+qyezzCDfqBY2lHxf++lMeXceiQty+BAGsxBeYfOFWvJFKG1W/Ps4hHH8HTPlciImqj80XNK2net9eHXte+dFB3cT/2JykU3jek8BU4aEpcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EUQG87vL69BvSu1V7dDsdJ",
      "input": {
        "note": "After retracting, the overhead shows the jaws right at the blue block and it fills the bottom of the wrist view; my height calibration says the fingertips are ~1 cm above the table, i.e. across the block's lower half, so I'm closing.",
        "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_01EUQG87vL69BvSu1V7dDsdJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.2536 left_j2=1.7454 left_j3=-1.1374 left_j4=0.0196 left_j5=-0.6365 left_gripper=0.0092 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -11.1385, 6.9949, 0.1197, -0.0317, 0.0024, 0.6764, -0.1983, 1.5932, 7.2, 1.9072, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7dec21c4549ab8a26bcb7fa175b13a8cef9c64264383a482fe3654935667c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601dd1670a4f4efd3426cafb0b9fe2d8739524c25b3b0408f230150e25d21627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7eb19c260a737af1c44ff9aedf6c1de3a22018502714eb77879e32535992a76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8a7dec21c454
wire blob 601dd1670a4f
wire blob 7eb19c260a73
call 14 attempt 0 · /messages · status 200 · 4.447 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5785 left_j1=2.4672 left_j2=2.2051 left_j3=-1.3716 left_j4=0.0196 left_j5=-0.6369 left_gripper=0.9949 right_j0=0.0025 right_j1=0.009 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -18.865, 7.5966, 0.0562, -0.0171, -0.0366, -0.0611, -0.0889, 1.6479, 7.0496, 1.9023, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.5766 left_j1=2.2608 left_j2=1.7622 left_j3=-1.1397 left_j4=0.0196 left_j5=-0.6357 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -15.2137, 5.5453, 0.442, -0.0171, -0.0317, 0.0952, -0.0342, 1.8803, 6.9812, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.2536 left_j2=1.7454 left_j3=-1.1374 left_j4=0.0196 left_j5=-0.6365 left_gripper=0.0092 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -11.1385, 6.9949, 0.1197, -0.0317, 0.0024, 0.6764, -0.1983, 1.5932, 7.2, 1.9072, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7dec21c4549ab8a26bcb7fa175b13a8cef9c64264383a482fe3654935667c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601dd1670a4f4efd3426cafb0b9fe2d8739524c25b3b0408f230150e25d21627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb19c260a737af1c44ff9aedf6c1de3a22018502714eb77879e32535992a76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8a7dec21c454]
[blob 601dd1670a4f]
[blob 7eb19c260a73]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HyBPTLY1FCdFwJyvvXWp4J",
      "input": {
        "note": "Closed empty again and the block got nudged slightly; in the overhead it now sits just inward and to the arm's right of the jaws. Reopening and shifting ~4 cm inward and ~2 cm right at the same height before trying again.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.637,
          "left_j1": 2.11,
          "left_j2": 1.5,
          "left_j3": -0.96
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HyBPTLY1FCdFwJyvvXWp4J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.627 left_j1=2.1353 left_j2=1.5188 left_j3=-0.9821 left_j4=0.017 left_j5=-0.6361 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.0188, -12.7795, 4.7248, 0.3297, 0.0122, -0.0269, -0.1392, -0.0889, 1.9214, 7.1863, 1.8632, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5de8307a1b31bb76839a0684757a530dbab9949df23f340cc1b3c42b16f62f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fef787a98bd6607aff317ffbbaaea70e5fa880a6f2e830b34dd0011652d33144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd2a91a429709e3a06ed68396609d2ab9c6fbfe08ee39a5ce44bca63a0c51a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c5de8307a1b3
wire blob fef787a98bd6
wire blob cd2a91a42970
call 15 attempt 0 · /messages · status 200 · 13.25 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=-0.5766 left_j1=2.2608 left_j2=1.7622 left_j3=-1.1397 left_j4=0.0196 left_j5=-0.6357 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -15.2137, 5.5453, 0.442, -0.0171, -0.0317, 0.0952, -0.0342, 1.8803, 6.9812, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5766 left_j1=2.2536 left_j2=1.7454 left_j3=-1.1374 left_j4=0.0196 left_j5=-0.6365 left_gripper=0.0092 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -11.1385, 6.9949, 0.1197, -0.0317, 0.0024, 0.6764, -0.1983, 1.5932, 7.2, 1.9072, -0.0415, -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=-0.627 left_j1=2.1353 left_j2=1.5188 left_j3=-0.9821 left_j4=0.017 left_j5=-0.6361 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.0188, -12.7795, 4.7248, 0.3297, 0.0122, -0.0269, -0.1392, -0.0889, 1.9214, 7.1863, 1.8632, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5de8307a1b31bb76839a0684757a530dbab9949df23f340cc1b3c42b16f62f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fef787a98bd6607aff317ffbbaaea70e5fa880a6f2e830b34dd0011652d33144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2a91a429709e3a06ed68396609d2ab9c6fbfe08ee39a5ce44bca63a0c51a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c5de8307a1b3]
[blob fef787a98bd6]
[blob cd2a91a42970]
{
  "content": [
    {
      "signature": "CAIS4AUKjAEIEBgCKkDIZfRnXmUrLioaw2RV/a0nT2cKBIZ6f3DZwtZMzvNghMoFAWOprHcTIUjEmMsFBeEqSCyM3ZQTY2Ckxr4wuIOAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFnjs7oazpWaFdUqEGgw2hJBgS0BwViFjHa4iMKvM6FGCjMmLwQRzXVkYDlCUJ1PKorVGVRlSw62N0dr2ICIGMAW5Fkyj0ySCgaTGTSqABE4KC8xrcMwxxsZ2UMcAgSydABk2j2JaraBtgSgox9xDTdjifQV7kEiOuQ2vlmCgJqVRvAq3Nmm0csl/vnl4U1HGII3gATykov/knDRWTOTzrouzXiJU+aEh9LpjFS+GTDKmCoxsYdNyubjxs/V++5is7FiPa6u/HzbiGkUfwpDuco7ep+TIvP0psrry0uqTcmPefInPE6/bIDmCbxEhPjYj75Mtt7lS6VyPZ5TMYJE16/3FhlCgtD2URwJ+Heuq3ETsuSN3pdbDsr+b/xMdHciv1Q3GG15cqzGbH2NICsV+jeQ+oUoqcaxZKRHggG/BgqnJLyc8QgeYU9wIi/x3g+Cm0acvHLRRNgnmsM2q5zAXxVrJCZUucqekhy5Hckrp6wVtwe3paQkJjQK7QTLdYwPHgIZMlo/AJ4pzwI3dKfGwVnwj4q30X46hmdXL/s+Lee+NTH+iF/zt7zR5/ADWPGqq55V7Zd/IdJFEJ4U3fdKWmsHPt5aIwCMFy8L4Mca+pohYe/04Km/jaedCTycHRSiYP1A58R54R2X78eiTfaFiy4vPcs5MH2i5LPLyJSXNtumCX7UK9YDope6LhFVJkqnBQWfkFwVKAJBVPybGDrNLMuIeqajnUa1hJQ5Ia5S1iQ3yE4xELEjNmMIiIa/2WzbPy09+slkyxuTtQuJ0irLHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017TFDCS83Y6QD6qbTVytj1i",
      "input": {
        "note": "The wrist view now shows the blue block squarely between the two jaw silhouettes at the bottom of the frame — the best alignment yet. Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017TFDCS83Y6QD6qbTVytj1i",
      "type": "tool_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=2.1315 left_j2=1.5116 left_j3=-0.9726 left_j4=0.02 left_j5=-0.6361 left_gripper=0.4212 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -10.6872, 5.9419, 0.105, -0.0562, -0.0122, 1.0281, -0.0205, 1.9214, 7.0496, 1.9121, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce398127985e17e60532e251800a7352e232ca8715ebbba6ce4a824205dbba28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a992a4db1b09d36a0dace537e1ad58d7e61c78b28f28888542928a27bce182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6e0ea149bd484fe41b53016d42e60ba94c1a713991131071e97591145132ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ce398127985e
wire blob e3a992a4db1b
wire blob b6e0ea149bd4
call 16 attempt 0 · /messages · status 200 · 9.06 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=-0.5766 left_j1=2.2536 left_j2=1.7454 left_j3=-1.1374 left_j4=0.0196 left_j5=-0.6365 left_gripper=0.0092 right_j0=0.0025 right_j1=0.0109 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -11.1385, 6.9949, 0.1197, -0.0317, 0.0024, 0.6764, -0.1983, 1.5932, 7.2, 1.9072, -0.0415, -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=-0.627 left_j1=2.1353 left_j2=1.5188 left_j3=-0.9821 left_j4=0.017 left_j5=-0.6361 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.0188, -12.7795, 4.7248, 0.3297, 0.0122, -0.0269, -0.1392, -0.0889, 1.9214, 7.1863, 1.8632, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6308 left_j1=2.1315 left_j2=1.5116 left_j3=-0.9726 left_j4=0.02 left_j5=-0.6361 left_gripper=0.4212 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -10.6872, 5.9419, 0.105, -0.0562, -0.0122, 1.0281, -0.0205, 1.9214, 7.0496, 1.9121, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce398127985e17e60532e251800a7352e232ca8715ebbba6ce4a824205dbba28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a992a4db1b09d36a0dace537e1ad58d7e61c78b28f28888542928a27bce182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e0ea149bd484fe41b53016d42e60ba94c1a713991131071e97591145132ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ce398127985e]
[blob e3a992a4db1b]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016M2fCsSuvDSVK5p9QdoxY5",
      "input": {
        "note": "Grasp confirmed: gripper residual 0.42 (~4 cm block) with high effort, and the blue block is gone from the table in the overhead. Lifting it ~10 cm before transporting to the red block.",
        "targets": {
          "left_j1": 1.95,
          "left_j2": 1.72,
          "left_j3": -1.33
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_016M2fCsSuvDSVK5p9QdoxY5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=1.9961 left_j2=1.6894 left_j3=-1.2591 left_j4=0.0196 left_j5=-0.6403 left_gripper=0.4203 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 7.2957, 0.1832, -0.0513, -0.022, -0.105, -0.1846, 1.9624, 7.0085, 1.8974, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca30cab17f650baf263e821ef74e0ed908197f73b8e004f5e53562f8171b06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f56270857bbc1df5f78d5d93e4bb04cb51f776ec29841805169c52ba3330b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e84c1fae004e14f444a96a7c49c5f205e2945a9bcbefc12530b7ce2a6072444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9ca30cab17f6
wire blob 34f56270857b
wire blob 3e84c1fae004
call 17 attempt 0 · /messages · status 200 · 9.86 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=-0.627 left_j1=2.1353 left_j2=1.5188 left_j3=-0.9821 left_j4=0.017 left_j5=-0.6361 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.0188, -12.7795, 4.7248, 0.3297, 0.0122, -0.0269, -0.1392, -0.0889, 1.9214, 7.1863, 1.8632, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6308 left_j1=2.1315 left_j2=1.5116 left_j3=-0.9726 left_j4=0.02 left_j5=-0.6361 left_gripper=0.4212 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -10.6872, 5.9419, 0.105, -0.0562, -0.0122, 1.0281, -0.0205, 1.9214, 7.0496, 1.9121, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=1.9961 left_j2=1.6894 left_j3=-1.2591 left_j4=0.0196 left_j5=-0.6403 left_gripper=0.4203 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 7.2957, 0.1832, -0.0513, -0.022, -0.105, -0.1846, 1.9624, 7.0085, 1.8974, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca30cab17f650baf263e821ef74e0ed908197f73b8e004f5e53562f8171b06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f56270857bbc1df5f78d5d93e4bb04cb51f776ec29841805169c52ba3330b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e84c1fae004e14f444a96a7c49c5f205e2945a9bcbefc12530b7ce2a6072444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9ca30cab17f6]
[blob 34f56270857b]
[blob 3e84c1fae004]
{
  "content": [
    {
      "signature": "CAISnhcKjAEIEBgCKkDbuJ7KZ+pnD1YeQiiCBmUC3d2IGPI8tTYVu67eKTMp8yoWaO6G2TsEh1MJDqFPiT2iJr6eBKV+/8v8nac7KKdwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM1J9+Tbr+n/JihfRRGgzns8rjAOv936ioxM0iMN0K2Hm67Qlt5z9JEZHM5XCOgNcDjYfQDFttJWOSgVyzsEuWGAZqP5b62U8k/w4kHiq+FcwnORJPEzWvo0blg6Tn3sGw1rz65SJRxTLs6c8jTULO+RkaAMYLri7pRQiOqEqD1UORq4l/E8j+XO9iY5mhkv7DcP+KfwetWnPrR5j5mh/Yz8ZpzAFB1DvOlbPLKMzTIRt1YrpazdhqKp8n5JRhfAMRPfYISz+/Mvmyzj5pNoiFz5CcqGUw11N2ZaCMGIQEh0SR7KiVwQh9mpff4VQ+PS8LHxLYIUA3tcrHU1arE53JyyVJd/sthkqWpiU4eJYW1x3wrAn0aI1D18db+mTPiF0ZlEBVvT3tCPC5He+Thuj1ECdK0WSLs0CgLUHm3/HtxTkgiUXjKvT1XM209BCGuE38IOQXHdxZtlzDOKL5XwGg0P5/q2mjAqziNAoXXhOrlqHMxMBS4XIz94h8Gz+QUrbvsAbU3iDpEF5z+j4vmFHFht6rIipvAa8KjLFDG/E3SS57Se4uYkS5c+IxYQjt8WoWqsEAoZvmRvKmfX7iZUTCNUCpdeD1m2KRWLUI33WGpfnGY9SYsO+2RteoIkJiR5ZrWWM+1SguU+dUm1ARXgDW/6E+Bc5GmN+rdEkbDiLJiRmBGFuONvFoIFGn1mJfPc1g9KXvwb4frLYmLN3PY6DLdNZo6Fr0TuXvODeNv1cEDda928dE07lnLHyfmk698DvQD4JpmSCLXDnyEFxvEWa7nf/G59e/DY2as+ISGl9zoGgLAIbtNUG3zC1R+6svFW07YUc/w8yqN9NAPCUFE1YSK/CkVCAJUMj6VIJqcHWWimcDSjroRYnvAG+ixslqWFgw18iqLZ6jrvSqZLf/T2dy1msrcRxcFHJLcQnND9bc8WXSPY7PetTkb4X7sgpRLW/YkSw1ScIVQmxDcvkOG7+boPRv4peP8nSyScu9XwgET8HPzGZchnQ+k+UUzFcScanDVLPuPy9T0xyTZ0t42JvJT6F0ehus73xk3Dr5ps7t/czIH1fo0fmx74XrYC2OIaZGBi+TN2Sx/52sCBBw4u91sYYh1R1YRt2424ryBMFv9Dm6h1okmwivVBjEyRw6oZhlb7QhHvdC++vXO/drGLEZGg3r5dwrqn1CCEqUXsLDMcHJYBjFzUQhTh0Q9jl7nPARIxiGWCWlstZx36RGW/bN6PXRCidpPQt+n+TBf6UyRqYaiNayQNVUN0YhnQs91FKEPTAzZVablLiq23thJXtPxM4hwXTvaysMiwPsBD6mNz7SDdCDC16nTW5zUQbwBPUOYBieJsY0bQP0ehCZoWC4k6p5c0hun2k32rFWYqzPqAibzzQsihhUW8JlTX0KpFp93cVXzny2GKBky30CmRsZaXPW7uWM6PtHxiVV5CffXXhP03C4tYeJaZxgQIF0ZpkPb0tRBUcvC2iyAtugcop2OYlQnB5seO6FsfgMtrH3GNPEOWA2iEbGgXa+ITscIypHa0OJ6EOQ8oI20XN7XXI1OzpXrWmCddTG7oEdfhDb46mHb8jWpOothVknWn4tspTP5YvGCBp4l0d79M0QmrYusrbp6fK6qDrlgKsgPT9c9ilQKK+fDzKeJ0Pixribad5jcv+/V5m5Cbx+L6UbmVeOqWbIpEvHSCRjXLGGxyZOHaR7g5KOk45QxNnyXXlGjwBQNWzHsIlw7M1ku41Ja1v0uwXK5HpuGf7zZ8lIzsRKyQimPQ316vmt92l1Qsik6cBVTPjt8DUU9Cm4BEw1p4rSW0BU4JZaO1O3YoJ+tCwQocCKtTwKYhvMOPSE0fV+PlYHNQ8jQrSr2pGP3AVIx9JbefV+k3RotNBTZ8mX+voAIC5H6NqHZWQ1+khXlAjvKgdxjLVor8VLMoFxGE0Xi3nW2wUEbHYcF/noVNulx9nOGUy7+WM2V10sPMOmhx3nkOvCGewmFewi+POv+LCVqf/L0FRIp2oE3gDivsRx9v4eanu9Exr9E56b9jkdmvc3f2rBxVF+uJwVMLXRP1Pr4mQn6HFI8R1QJKtssubbiUtgOSH1QgVfB3cFfXs6d8Y6CuYbu2qHAM7KMQQoaznPQ5hNYsgntUvYNTZE148e6Vcy3UKlh5A8y1VigMR4Ww9clBbHvEiQ3AJ4AD6EDpL35JwpAdpUlRF0COaK40SndccTWjkX6Lko6mwW1jcR026tmuXkaQ1kkg/X7Az2+ahYHbaOp/Bs8WOsQ7AqB/AJhdjcR3/wE7EX6/tZIOvU8ZhpboXwAzN9Y0oZ3vUcKS3rfqk2ZxmRkk3/H0mMok5QBZiw+WUu/SfmL2B69aPnS5RiX2of3KOo6WuBpML+Q65OaEEApNuMB9fhjVQvZvEr/FfJjR8tylD2z2dZzPJ1IYqfPJHwxHS2+mhfBmqg6IRQ7Mxh2dP6SyQgPIGBMrEn/299WRKBVIlmfUxKBegi00Jr5KZbBLvsaD2Y+gb8PPFbYwjP0mefWvlOZj+tnPwMgUzf+tBYRtvJjI/WqEO8zjHMPPbMKSBj2vTUkgxrmPMikPoLxqSTji24PCMS8K3kQn9FmKUUuxCE96QEG/VfDyhmW6zdDxF4zfJhpUCNLFpswkE18otkX2pn/uN0XhYlF8DaKpktKAP4NNMktgQZGONWMuKFa5sBtXn3iaaxxVeJpiZ0jj7vlKI2/KdeuIgBy9LrbyZpuhVAIluiLod2yVKCQ2e04X1PyMEM9aeVKNgyQE0jjqEg7kXXArrImLpTqrrh1iObiopHOS34iikQwaMxyk6UB6dgpFmsJPj9Jvud8WcIOkhi8nLFuhKnZAKRwssKFfUtBifLj5MFfz1LBq5OrLNPIxVDq9B028PKD0YQMOvs1roYJhQ5XBbe+WvLZetOMhLREMZ+6V/cN6P/0gVhFJ28FSaXzkeK3sKZbYSutYd7glANcOFCGjwP2OepEbalkg3DcaS9//tzmK2pc99rL8LMaAo/DGVz1ckaue+syyAneJ0c2b3+mg55/Q5Qtgwsvnc9RPRsSbVj50Jw92pPxTWcRXHCa1SuElpyMoHl2opzOw+JV6ebXQPBHdB87sFrEcIm1ANFCA37v7R9cEOoEPaDMleVQFzazi4i4c1TiIDKBqvCwb5Su9cIDT7NKP/ZXI7eFCmyuYB0pQq5bhZYznIZX23Ar5Jm/Q1N4tpzXw8Ynq+cWO7y2O1Q6aMavmlJh61IcQSPzyjxgDtVFPoDYNzh7pM1buhwLgBMAGPP8ltsScVjrpX/WBRsD1mKzE+qmZr4fSvpoS2pUB1n/AQRMcJAEdpi2CmhwuFR13i9Yg6ovOlXIueTsvo5wob2N6je2YBUhbay0GKPyCIqZByD3c/rUgBkq5GZU8rZLU/6oQVZ7/ON94Eqq1qP5Zf0IgMT25UGJCMc4QQ+QkzUXSUof4PnLa379uNe9qIUdrWGo3EgjlQAYiwKR03B3AYg8BnYQueGGaf/WUx4/11apaLOzG3g1MlL2yEJyB180w7lVvzniYgpliAeZKJ95amUldbNTwm0wBAWJcR5yRwB0Wy815TzCNBv22JE4Fm3lLxfHZXjSkmBwISFJqTt5aZiJrTeKf7oUTM4TJ28gRQH2G/htZy5lTToy25PcEDur6mqxxAde2iMcR6eRD/WOn+q9TcgmFBeiqEDPvwh9YxbOdKFT5IcOmfZCueM3TPGhcPUTzr5bnFOHbVI9TnogLWrvZ2ULw+k77NOE22iJoSXMj7mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxuGvGMNzHTfJ9xkuEd8FK",
      "input": {
        "note": "The gripper still reads 0.42 open (block-thickness) but the block is oddly visible in the wrist view, so I'm lifting higher to confirm whether it is truly held and travelling with the gripper.",
        "targets": {
          "left_j1": 1.95,
          "left_j2": 2.05,
          "left_j3": -1.66
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AxuGvGMNzHTfJ9xkuEd8FK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.63 left_j1=1.982 left_j2=2.0109 left_j3=-1.5951 left_j4=0.02 left_j5=-0.6476 left_gripper=0.4202 right_j0=0.0025 right_j1=0.0154 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.3009, 6.9812, 0.3199, -0.0611, 0.0415, -0.0269, -0.1162, 1.9077, 7.159, 1.8974, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d91658c0d7ba853f0c029627350b2db07f978e6f2ddb2e2b6ecd32fbb127454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d216a0e62cb9c2ec8e8248a7d9157e917defa2434db1198d837c759ae10a86c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f54db34ae1cb3bf9d0b06bda3f70e1fa1761253ccb3c6cecd13c706867fbeeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8d91658c0d7b
wire blob d216a0e62cb9
wire blob f54db34ae1cb
call 18 attempt 0 · /messages · status 200 · 7.011 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=-0.6308 left_j1=2.1315 left_j2=1.5116 left_j3=-0.9726 left_j4=0.02 left_j5=-0.6361 left_gripper=0.4212 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -10.6872, 5.9419, 0.105, -0.0562, -0.0122, 1.0281, -0.0205, 1.9214, 7.0496, 1.9121, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=1.9961 left_j2=1.6894 left_j3=-1.2591 left_j4=0.0196 left_j5=-0.6403 left_gripper=0.4203 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 7.2957, 0.1832, -0.0513, -0.022, -0.105, -0.1846, 1.9624, 7.0085, 1.8974, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.63 left_j1=1.982 left_j2=2.0109 left_j3=-1.5951 left_j4=0.02 left_j5=-0.6476 left_gripper=0.4202 right_j0=0.0025 right_j1=0.0154 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.3009, 6.9812, 0.3199, -0.0611, 0.0415, -0.0269, -0.1162, 1.9077, 7.159, 1.8974, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d91658c0d7ba853f0c029627350b2db07f978e6f2ddb2e2b6ecd32fbb127454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d216a0e62cb9c2ec8e8248a7d9157e917defa2434db1198d837c759ae10a86c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f54db34ae1cb3bf9d0b06bda3f70e1fa1761253ccb3c6cecd13c706867fbeeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8d91658c0d7b]
[blob d216a0e62cb9]
[blob f54db34ae1cb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7iauDqmgMx2h3rPzKGUnv",
      "input": {
        "note": "The block stayed behind on the table — the earlier grip was too shallow and it slipped out during the lift. Reopening and descending back to ~5 cm above the table with the block visible ahead in the wrist view, to retry with a deeper, lower grasp.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 2.1,
          "left_j2": 1.63,
          "left_j3": -1.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01L7iauDqmgMx2h3rPzKGUnv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6296 left_j1=2.0857 left_j2=1.6474 left_j3=-1.1755 left_j4=0.0193 left_j5=-0.6518 left_gripper=0.9965 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -9.9624, 5.6137, 0.4615, -0.0073, -0.0024, -0.149, -0.1846, 1.6752, 7.0222, 1.8681, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf69c02373e28174095ba452dc169d85515e5c69bf6962175e36ae5002d77511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae706f700ceaeaa107ff9dbb32383a9912f5955dd6310cb6814c5ffa6c8a816f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a055365628407b7677ce8e5fdc92cfeefba960c1385e765972c80ae70378349c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bf69c02373e2
wire blob ae706f700cea
wire blob a05536562840
call 19 attempt 0 · /messages · status 200 · 3.828 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=-0.6308 left_j1=1.9961 left_j2=1.6894 left_j3=-1.2591 left_j4=0.0196 left_j5=-0.6403 left_gripper=0.4203 right_j0=0.0025 right_j1=0.0139 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 7.2957, 0.1832, -0.0513, -0.022, -0.105, -0.1846, 1.9624, 7.0085, 1.8974, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.63 left_j1=1.982 left_j2=2.0109 left_j3=-1.5951 left_j4=0.02 left_j5=-0.6476 left_gripper=0.4202 right_j0=0.0025 right_j1=0.0154 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.3009, 6.9812, 0.3199, -0.0611, 0.0415, -0.0269, -0.1162, 1.9077, 7.159, 1.8974, -0.0708, -0.0464, -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=-0.6296 left_j1=2.0857 left_j2=1.6474 left_j3=-1.1755 left_j4=0.0193 left_j5=-0.6518 left_gripper=0.9965 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -9.9624, 5.6137, 0.4615, -0.0073, -0.0024, -0.149, -0.1846, 1.6752, 7.0222, 1.8681, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf69c02373e28174095ba452dc169d85515e5c69bf6962175e36ae5002d77511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae706f700ceaeaa107ff9dbb32383a9912f5955dd6310cb6814c5ffa6c8a816f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a055365628407b7677ce8e5fdc92cfeefba960c1385e765972c80ae70378349c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bf69c02373e2]
[blob ae706f700cea]
[blob a05536562840]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EzFgtj9Nnt8Mj1uLp47TAo",
      "input": {
        "note": "Block is centred between the jaws in the wrist view; my height model says the fingertips are ~5 cm up, above the block's top, so I'm dropping 4 cm to straddle the block's lower half before closing.",
        "targets": {
          "left_j1": 2.15,
          "left_j2": 1.56,
          "left_j3": -0.98
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EzFgtj9Nnt8Mj1uLp47TAo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1361 left_j2=1.5757 left_j3=-1.0328 left_j4=0.0193 left_j5=-0.6521 left_gripper=0.9973 right_j0=0.0025 right_j1=0.017 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -10.7009, 5.0256, 0.359, -0.0366, -0.0757, 0.0708, -0.0752, 1.6615, 7.241, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9d731fe82ff60dc275e968c9ab1cc4d54dda1262cc4f38871feb40f0cd8edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba1cb8890b940ef40893fbe48e6704f9f6c7faec2dd0ca0d48982a1c8e366941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e761b09a432a58292f03f9a1814c216a3dc0dbfbd25b41277a44953a686ab53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7f9d731fe82f
wire blob ba1cb8890b94
wire blob 4e761b09a432
call 20 attempt 0 · /messages · status 200 · 8.297 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=-0.63 left_j1=1.982 left_j2=2.0109 left_j3=-1.5951 left_j4=0.02 left_j5=-0.6476 left_gripper=0.4202 right_j0=0.0025 right_j1=0.0154 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.3009, 6.9812, 0.3199, -0.0611, 0.0415, -0.0269, -0.1162, 1.9077, 7.159, 1.8974, -0.0708, -0.0464, -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=-0.6296 left_j1=2.0857 left_j2=1.6474 left_j3=-1.1755 left_j4=0.0193 left_j5=-0.6518 left_gripper=0.9965 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -9.9624, 5.6137, 0.4615, -0.0073, -0.0024, -0.149, -0.1846, 1.6752, 7.0222, 1.8681, -0.0317, -0.0708, -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=-0.6308 left_j1=2.1361 left_j2=1.5757 left_j3=-1.0328 left_j4=0.0193 left_j5=-0.6521 left_gripper=0.9973 right_j0=0.0025 right_j1=0.017 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -10.7009, 5.0256, 0.359, -0.0366, -0.0757, 0.0708, -0.0752, 1.6615, 7.241, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9d731fe82ff60dc275e968c9ab1cc4d54dda1262cc4f38871feb40f0cd8edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba1cb8890b940ef40893fbe48e6704f9f6c7faec2dd0ca0d48982a1c8e366941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e761b09a432a58292f03f9a1814c216a3dc0dbfbd25b41277a44953a686ab53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7f9d731fe82f]
[blob ba1cb8890b94]
[blob 4e761b09a432]
{
  "content": [
    {
      "signature": "CAIS4wIKjAEIEBgCKkAKekhpquBGYXtiQsiw9q6R+V7pv7WSdPJalM42fuRuD0xzcbNm3aTYfUubxU7BGqVqwXPe4bjjhqSZueSg9cbTMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMke5dGhD1JcxtmfN7Ggx6vwYFFLmuvscIHjgiMEhUj5XIHBQRPeorxg0EWHeS33e2a4lsp9G+fn20K7lo9OactKx/kJ89MbDo7vbS5iqDARD0v+ZFesORzzgOObwHe63J6p1d6cCfS5KvBECFY7xEx4Deg8ZUeNH1ieHWCPNF0HqqslNq+8V17qiCVCy5yiNCa5P57UcmnXvP9ycdqkqb6SgC1xIRRBOh5LtjDsy5+suYLwS20jQhItBzi09frU7KFSXvbBD8HJ4J3l8gb5JGTt9TGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EjnBwaisTyZ3M2eKymf4aM",
      "input": {
        "note": "Fingertips are now low with the blue block right at the jaw gap (visible as the blue sliver at the bottom centre). Closing for a deeper grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EjnBwaisTyZ3M2eKymf4aM",
      "type": "tool_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=2.1567 left_j2=1.5574 left_j3=-1.0267 left_j4=0.0196 left_j5=-0.6548 left_gripper=0.0091 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.7932, 6.9538, 0.1001, -0.0171, -0.022, 0.6471, -0.0342, 1.7846, 7.159, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26fdeb811c9ea41e99792099cb8c396ed1d71237cb93111ba6399f73774c5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1a79d2a50ef3b435e11ef42beb300e5803dcd238005cfe1cb5eabc1ea6467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89c372602b834330c6c6c0eb90af8a1d9469883b7e5754459d4e027b00191e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e26fdeb811c9
wire blob 1b1a79d2a50e
wire blob 89c372602b83
call 21 attempt 0 · /messages · status 200 · 4.503 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6296 left_j1=2.0857 left_j2=1.6474 left_j3=-1.1755 left_j4=0.0193 left_j5=-0.6518 left_gripper=0.9965 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -9.9624, 5.6137, 0.4615, -0.0073, -0.0024, -0.149, -0.1846, 1.6752, 7.0222, 1.8681, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1361 left_j2=1.5757 left_j3=-1.0328 left_j4=0.0193 left_j5=-0.6521 left_gripper=0.9973 right_j0=0.0025 right_j1=0.017 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -10.7009, 5.0256, 0.359, -0.0366, -0.0757, 0.0708, -0.0752, 1.6615, 7.241, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1567 left_j2=1.5574 left_j3=-1.0267 left_j4=0.0196 left_j5=-0.6548 left_gripper=0.0091 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.7932, 6.9538, 0.1001, -0.0171, -0.022, 0.6471, -0.0342, 1.7846, 7.159, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26fdeb811c9ea41e99792099cb8c396ed1d71237cb93111ba6399f73774c5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1a79d2a50ef3b435e11ef42beb300e5803dcd238005cfe1cb5eabc1ea6467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89c372602b834330c6c6c0eb90af8a1d9469883b7e5754459d4e027b00191e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e26fdeb811c9]
[blob 1b1a79d2a50e]
[blob 89c372602b83]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kWcZ29Mf5edR6BWHsdqQC",
      "input": {
        "note": "Empty close again: at this radius the jaws straddle just outside the block. The one grasp that did catch was ~1 cm further in, so I'm reopening and retracting 1.2 cm radially at the same low height.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 2.1,
          "left_j2": 1.46,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017kWcZ29Mf5edR6BWHsdqQC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1139 left_j2=1.4807 left_j3=-0.952 left_j4=0.02 left_j5=-0.6552 left_gripper=0.9949 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -11.8222, 3.959, 0.4567, -0.0611, -0.0317, -0.1441, -0.0752, 1.7983, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df302f17e48a588cc462ec0120b7999561277df12830353263f41d332f426518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29736b11306a9ef7b78f11dd03b9ef4b2e26ca9457149affd6604e9969820f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d065155b2312425a1ed6b3341e5f084babdacf08bd5b7217759aece6a81c7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df302f17e48a
wire blob c29736b11306
wire blob 5d065155b231
call 22 attempt 0 · /messages · status 200 · 11.02 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1361 left_j2=1.5757 left_j3=-1.0328 left_j4=0.0193 left_j5=-0.6521 left_gripper=0.9973 right_j0=0.0025 right_j1=0.017 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -10.7009, 5.0256, 0.359, -0.0366, -0.0757, 0.0708, -0.0752, 1.6615, 7.241, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1567 left_j2=1.5574 left_j3=-1.0267 left_j4=0.0196 left_j5=-0.6548 left_gripper=0.0091 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.7932, 6.9538, 0.1001, -0.0171, -0.022, 0.6471, -0.0342, 1.7846, 7.159, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1139 left_j2=1.4807 left_j3=-0.952 left_j4=0.02 left_j5=-0.6552 left_gripper=0.9949 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -11.8222, 3.959, 0.4567, -0.0611, -0.0317, -0.1441, -0.0752, 1.7983, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df302f17e48a588cc462ec0120b7999561277df12830353263f41d332f426518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29736b11306a9ef7b78f11dd03b9ef4b2e26ca9457149affd6604e9969820f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d065155b2312425a1ed6b3341e5f084babdacf08bd5b7217759aece6a81c7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df302f17e48a]
[blob c29736b11306]
[blob 5d065155b231]
{
  "content": [
    {
      "signature": "CAISoAMKjAEIEBgCKkBOwdBwuN3MK22qOr4xuZw7ozv9tx08p/WNBzKzYP7u/PWMiC/U9kxDtAWCNilW/yjVKj2CeHP9RtgIPRZ7QbziMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMgX4p1pnKqFEwBI95Ggy3Adz9hZAfszcefEciMPloCrmaBjQ9tAXS2cjlhJzqUJutpLt7t2VhkS7VJZA3HXFGh3a1W0SN1LxhNVs9dCrAAcCpfHWw5CtLZ9oRhP4hs2GNfio3qba8Lt0MsR5iXSJXRUBeEMeLZ3uTzjh2f0lAMrxMHZyfeFLJCg6AJs01igYodX4PTwK08NlLLy+kPpWUio75GC8KW1lfAj1hufDD6qctrk/FGao57PoB7s7yxB5p1P5djLmCly4iL/kXsf7U4vFza33F6lRDsOoymF7KIYtZPgVWRaJYlIx2u86KSADbR0H9w1MdiAn2fmoOE488vTLuohajTja+mccyT4/OPRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBZpDLQ8s8TcEda5esBAcW",
      "input": {
        "note": "The block has dropped out of the wrist frame (meaning it is at or inside the grasp point) and overhead shows it right at the jaws; closing.",
        "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_01BBZpDLQ8s8TcEda5esBAcW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.112 left_j2=1.4773 left_j3=-0.9455 left_j4=0.0269 left_j5=-0.6552 left_gripper=0.0092 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.441, 5.6137, 0.1636, -0.0806, -0.0513, 0.6569, -0.0205, 1.6205, 7.0222, 1.8877, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880e809aaa787ce25cf5760027cf6b47efa4695602f75657dc9cd8c3dba9543a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8da743207b988d6ed751b023fc3a5bd23043dd01e7a1142317569a008e3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f62757290cf68bf79272b1a19d06f74d3bcdc489eaf39f2ee7e69518ba4b6cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 880e809aaa78
wire blob d3d8da743207
wire blob f62757290cf6
call 23 attempt 0 · /messages · status 200 · 10.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6308 left_j1=2.1567 left_j2=1.5574 left_j3=-1.0267 left_j4=0.0196 left_j5=-0.6548 left_gripper=0.0091 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -12.7932, 6.9538, 0.1001, -0.0171, -0.022, 0.6471, -0.0342, 1.7846, 7.159, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1139 left_j2=1.4807 left_j3=-0.952 left_j4=0.02 left_j5=-0.6552 left_gripper=0.9949 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -11.8222, 3.959, 0.4567, -0.0611, -0.0317, -0.1441, -0.0752, 1.7983, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.112 left_j2=1.4773 left_j3=-0.9455 left_j4=0.0269 left_j5=-0.6552 left_gripper=0.0092 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.441, 5.6137, 0.1636, -0.0806, -0.0513, 0.6569, -0.0205, 1.6205, 7.0222, 1.8877, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880e809aaa787ce25cf5760027cf6b47efa4695602f75657dc9cd8c3dba9543a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8da743207b988d6ed751b023fc3a5bd23043dd01e7a1142317569a008e3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62757290cf68bf79272b1a19d06f74d3bcdc489eaf39f2ee7e69518ba4b6cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 880e809aaa78]
[blob d3d8da743207]
[blob f62757290cf6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X2uJy35xdDvAHVySDnvh2A",
      "input": {
        "note": "Still empty, so I suspect my height model is off and the jaws are closing above the block. With the gripper closed I'm descending ~4.5 cm to find true table contact from the joint effort and recalibrate my z offset.",
        "targets": {
          "left_j1": 2.21,
          "left_j2": 1.42,
          "left_j3": -0.78
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01X2uJy35xdDvAHVySDnvh2A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1151 left_j2=1.4689 left_j3=-0.9298 left_j4=0.0277 left_j5=-0.6552 left_gripper=0.0115 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -3.2342, 1.5521, 1.7509, -0.022, -0.0366, 0.2222, -0.0752, 1.6068, 7.2274, 1.8877, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569bc6b4d587419c350d3f1218e639db0a52d1d2c47d36bafeb01b0674102688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:866d6f05ed0c901007762b2a90853ca24752b68c8482c318cb876e21ced82b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abbd0f5a3d5889e9922b23c36e897fdf6747abe7ddf7c0f770bdabf23485b5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 569bc6b4d587
wire blob 866d6f05ed0c
wire blob abbd0f5a3d58
call 24 attempt 0 · /messages · status 200 · 9.863 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1139 left_j2=1.4807 left_j3=-0.952 left_j4=0.02 left_j5=-0.6552 left_gripper=0.9949 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -11.8222, 3.959, 0.4567, -0.0611, -0.0317, -0.1441, -0.0752, 1.7983, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.112 left_j2=1.4773 left_j3=-0.9455 left_j4=0.0269 left_j5=-0.6552 left_gripper=0.0092 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.441, 5.6137, 0.1636, -0.0806, -0.0513, 0.6569, -0.0205, 1.6205, 7.0222, 1.8877, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1151 left_j2=1.4689 left_j3=-0.9298 left_j4=0.0277 left_j5=-0.6552 left_gripper=0.0115 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -3.2342, 1.5521, 1.7509, -0.022, -0.0366, 0.2222, -0.0752, 1.6068, 7.2274, 1.8877, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569bc6b4d587419c350d3f1218e639db0a52d1d2c47d36bafeb01b0674102688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:866d6f05ed0c901007762b2a90853ca24752b68c8482c318cb876e21ced82b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abbd0f5a3d5889e9922b23c36e897fdf6747abe7ddf7c0f770bdabf23485b5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 569bc6b4d587]
[blob 866d6f05ed0c]
[blob abbd0f5a3d58]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LNUNi7tusrX2RKQjJjgJqz",
      "input": {
        "note": "Effort confirms the fingertips are touching the table at this pose, so height is right — the miss is radial: overhead shows the block ~6 cm inward of the finger tips. Lifting 5 cm and retracting 6 cm to line up over the block.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.82,
          "left_j2": 1.26,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LNUNi7tusrX2RKQjJjgJqz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=1.8603 left_j2=1.272 left_j3=-1.0061 left_j4=0.0265 left_j5=-0.6556 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -11.0838, 5.0256, 0.4029, 0.0122, -0.0317, -0.1392, -0.0205, 2.0308, 7.0496, 1.9121, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca4fb5f9e1d22fd35a8129c8000f4cadd7b2951107bf75072a871a0b21365a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0adc7c80f57ccc9d98798b45ffcf7271fa259e915e5e0dbadadc976d4b0e1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:020718aff5ad04dd823019731884cdeb4a1032916d19b02edb5fe953fb9d9a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4ca4fb5f9e1d
wire blob c0adc7c80f57
wire blob 020718aff5ad
call 25 attempt 0 · /messages · status 200 · 7.013 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.112 left_j2=1.4773 left_j3=-0.9455 left_j4=0.0269 left_j5=-0.6552 left_gripper=0.0092 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.441, 5.6137, 0.1636, -0.0806, -0.0513, 0.6569, -0.0205, 1.6205, 7.0222, 1.8877, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1151 left_j2=1.4689 left_j3=-0.9298 left_j4=0.0277 left_j5=-0.6552 left_gripper=0.0115 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -3.2342, 1.5521, 1.7509, -0.022, -0.0366, 0.2222, -0.0752, 1.6068, 7.2274, 1.8877, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=1.8603 left_j2=1.272 left_j3=-1.0061 left_j4=0.0265 left_j5=-0.6556 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -11.0838, 5.0256, 0.4029, 0.0122, -0.0317, -0.1392, -0.0205, 2.0308, 7.0496, 1.9121, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca4fb5f9e1d22fd35a8129c8000f4cadd7b2951107bf75072a871a0b21365a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0adc7c80f57ccc9d98798b45ffcf7271fa259e915e5e0dbadadc976d4b0e1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020718aff5ad04dd823019731884cdeb4a1032916d19b02edb5fe953fb9d9a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4ca4fb5f9e1d]
[blob c0adc7c80f57]
[blob 020718aff5ad]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EiQJhTY6bNXXwS5wfx6Fj4",
      "input": {
        "note": "Now the wrist camera shows the block clearly to the lower-right of the jaw gap; solving the calibrated wrist mapping, it lies ~3.5 cm further out and ~3 cm to the arm's right. Moving there at 4 cm height before descending.",
        "targets": {
          "left_j0": -0.731,
          "left_j1": 1.97,
          "left_j2": 1.43,
          "left_j3": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EiQJhTY6bNXXwS5wfx6Fj4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7086 left_j1=1.9575 left_j2=1.3949 left_j3=-1.0317 left_j4=0.0238 left_j5=-0.6594 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -10.1675, 6.9265, 0.1294, 0.0366, -0.0171, 0.1294, -0.0342, 1.6205, 6.9949, 1.9121, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df4d4a94bd12b3b1b9f43489b954c8e4e3ca92c5c7163ae52729dc09ff09b538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2059e2d5de8158e53af6c161bd8cc7f8a3086ddb124dfe8c9741811c6894a179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b7649b421a5b5fe54ada6f4e4aca4df6c44c1ac8be1a1702695b06c3b265401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df4d4a94bd12
wire blob 2059e2d5de81
wire blob 5b7649b421a5
call 26 attempt 0 · /messages · status 200 · 8.307 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=2.1151 left_j2=1.4689 left_j3=-0.9298 left_j4=0.0277 left_j5=-0.6552 left_gripper=0.0115 right_j0=0.0025 right_j1=0.017 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -3.2342, 1.5521, 1.7509, -0.022, -0.0366, 0.2222, -0.0752, 1.6068, 7.2274, 1.8877, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=1.8603 left_j2=1.272 left_j3=-1.0061 left_j4=0.0265 left_j5=-0.6556 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -11.0838, 5.0256, 0.4029, 0.0122, -0.0317, -0.1392, -0.0205, 2.0308, 7.0496, 1.9121, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7086 left_j1=1.9575 left_j2=1.3949 left_j3=-1.0317 left_j4=0.0238 left_j5=-0.6594 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -10.1675, 6.9265, 0.1294, 0.0366, -0.0171, 0.1294, -0.0342, 1.6205, 6.9949, 1.9121, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df4d4a94bd12b3b1b9f43489b954c8e4e3ca92c5c7163ae52729dc09ff09b538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2059e2d5de8158e53af6c161bd8cc7f8a3086ddb124dfe8c9741811c6894a179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b7649b421a5b5fe54ada6f4e4aca4df6c44c1ac8be1a1702695b06c3b265401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df4d4a94bd12]
[blob 2059e2d5de81]
[blob 5b7649b421a5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BaLW8usRzecLG1Cx549nAZ",
      "input": {
        "note": "Block is now nearly centred in the jaw gap in the wrist view; applying a final ~1 cm correction and descending to ~1 cm above the table for the grasp.",
        "targets": {
          "left_j0": -0.746,
          "left_j1": 2.05,
          "left_j2": 1.41,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BaLW8usRzecLG1Cx549nAZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7376 left_j1=2.0068 left_j2=1.4075 left_j3=-0.9966 left_j4=0.0235 left_j5=-0.6621 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -8.2393, 5.6137, 0.3883, -0.0073, -0.0366, -0.0024, -0.0205, 1.7573, 6.9949, 1.8681, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a247795589955222b7b0f982beeece9797ea73e3607e02a168ea18280db73396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6374515498296197813b64cbd92d45a77b5c964943f04ff54534b46f12fbe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b071f2d80603e321f11c5039f834842d33e78db75f7e99b40cba2ac9339ee06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a24779558995
wire blob 3b6374515498
wire blob 3b071f2d8060
call 27 attempt 0 · /messages · status 200 · 10.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6289 left_j1=1.8603 left_j2=1.272 left_j3=-1.0061 left_j4=0.0265 left_j5=-0.6556 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -11.0838, 5.0256, 0.4029, 0.0122, -0.0317, -0.1392, -0.0205, 2.0308, 7.0496, 1.9121, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7086 left_j1=1.9575 left_j2=1.3949 left_j3=-1.0317 left_j4=0.0238 left_j5=-0.6594 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -10.1675, 6.9265, 0.1294, 0.0366, -0.0171, 0.1294, -0.0342, 1.6205, 6.9949, 1.9121, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7376 left_j1=2.0068 left_j2=1.4075 left_j3=-0.9966 left_j4=0.0235 left_j5=-0.6621 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -8.2393, 5.6137, 0.3883, -0.0073, -0.0366, -0.0024, -0.0205, 1.7573, 6.9949, 1.8681, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a247795589955222b7b0f982beeece9797ea73e3607e02a168ea18280db73396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6374515498296197813b64cbd92d45a77b5c964943f04ff54534b46f12fbe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b071f2d80603e321f11c5039f834842d33e78db75f7e99b40cba2ac9339ee06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a24779558995]
[blob 3b6374515498]
[blob 3b071f2d8060]
{
  "content": [
    {
      "signature": "CAIS6QUKjAEIEBgCKkDZoYNIfGIBXFPEyBcSeQ/1ujU6hOPVv2SX8KR1vhLsGBUBPd+GQKBXvjy6AbibOqOXGB24OcloayaWtkMuZJP2MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMsnPSYZ5BWHvtwVN4GgxV82I9cPwGiZez10UiMBd4qDI9rrcOcO1fBSmnnl44z4/NDBwexZh7wABzEdkLXBy0U0P516r6NSwXNnS9SyqJBJTmr5//m6Kkq9qHV+SsZB2lld98v6oflV958P2GCOzQuTsmg/Tl8BHexKXjn06osWPpuUWmcHZbtDoffH/JLY/nHNxJKMJaQs/xD7WRqIEViRJRS2kKWgqWwXkrv3YitjyQJXlSLi5l38QussGrwh5f+XEdcWpv6FDuqqgaISn4fciSSsGE9TMENyRVPxmf364e6D6mpu7sPD3JGpB7TyHSqTxcr+hxUiaFWpgZfrJNU3OGMz1b6IBqHAEeypMPg8fIGWxssEb0I6vqF8ctWXdJLL8VXBGic84obbtv95OLQzuw+2fXSERNPnwuppj8JaeAuYhV8u+eXZZX5oyQjBtodJdTnbvRhEWotGLSHzJhOoUslwKitnO7oyI8zod45NxMf4gQpvos0v0apU32r9yxn6U5ZZJNeyeojoL9tWb8XGhu6HkKNXDS3ATSroQlABuJOybVbc2VjZmmTfrJ6fWcy3wf+vLXZVzpcZN8L5GSs31d/xNKafmJqi8lHq3u2+WCkLldvjBKfwecvfGmt2DpXZjQuobz7rXGMVc4g0vfL2+9EyG2HSF0y5KtqSakXV505VmlHAeE/wUT+xNRsYc+owyzTz3TxyvsIxvQoLnfdx1eXOyvnwSNgWEkQ7y/3EAHZSqDik3s65nMarU+J8cRIR/xlK4N7wBKS3rGOhhf7xUiP+qQ3qcxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SpQo1wxDgcxpUtVkAVfvZQ",
      "input": {
        "note": "The blue block sits dead centre between the jaws in the wrist view with the fingertips ~2 cm above the table; closing to grasp it around its lower half.",
        "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_01SpQo1wxDgcxpUtVkAVfvZQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0605 left_j2=1.4052 left_j3=-0.9913 left_j4=0.0235 left_j5=-0.6624 left_gripper=0.009 right_j0=0.0025 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -14.5162, 5.3812, 0.0659, -0.022, -0.0024, 0.6764, -0.2256, 1.812, 6.9949, 1.9365, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2e226c5a5fb370bc8b24a6eabaedc288f52b95062ed4422b0f14086de9dc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27caada076e4d84bd6cd6155fe8c013b11459fb3c9c140389fda04fa26ed698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:865d58086f3db1391b2b962fc04a281aa1a82884471301047b918b0fb37e1f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bc2e226c5a5f
wire blob a27caada076e
wire blob 865d58086f3d
call 28 attempt 0 · /messages · status 200 · 7.142 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7086 left_j1=1.9575 left_j2=1.3949 left_j3=-1.0317 left_j4=0.0238 left_j5=-0.6594 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -10.1675, 6.9265, 0.1294, 0.0366, -0.0171, 0.1294, -0.0342, 1.6205, 6.9949, 1.9121, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7376 left_j1=2.0068 left_j2=1.4075 left_j3=-0.9966 left_j4=0.0235 left_j5=-0.6621 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -8.2393, 5.6137, 0.3883, -0.0073, -0.0366, -0.0024, -0.0205, 1.7573, 6.9949, 1.8681, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0605 left_j2=1.4052 left_j3=-0.9913 left_j4=0.0235 left_j5=-0.6624 left_gripper=0.009 right_j0=0.0025 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -14.5162, 5.3812, 0.0659, -0.022, -0.0024, 0.6764, -0.2256, 1.812, 6.9949, 1.9365, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2e226c5a5fb370bc8b24a6eabaedc288f52b95062ed4422b0f14086de9dc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27caada076e4d84bd6cd6155fe8c013b11459fb3c9c140389fda04fa26ed698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865d58086f3db1391b2b962fc04a281aa1a82884471301047b918b0fb37e1f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bc2e226c5a5f]
[blob a27caada076e]
[blob 865d58086f3d]
{
  "content": [
    {
      "signature": "CAIS/RsKjAEIEBgCKkCmPGx9xYZDznMkexeYcKIM91/h0Wga/BTKhX3uLJfvD3D38TVHBUSUeiM7H0rZ/vOtLmZMyfaZz1l4e22HZnkKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMiU+wfTxJJ/RADnNPGgycOWH4oAPP9FJY94kiMMhxAazR2znnz/NmvNhgP6pXyyixyq9TfpYHk6qz7CFkDh5yK/AGiDZIquHs77mohiqdGume6kZTjFVnnBtA3jppvEAv7a+3nwLLBOT1omkToiYdKtyMjQkvmfX4rsXKqfWwLBN62gp/u5GM9qntNgm3IEKDCX4E5cfjIu51bLlCrwcgMS72evqcFAyt+sK79J5xhrhFrjbdCk6qhfX0prSJrI83qbbXr18P1JLRyPoKiGd5OZ/QMW+eodiOaCLXiPkV6+LU+Lol6bbzm1/9RDEbLpFfj4lPDyyUyw4inV54uAghPR0J9UdTmjssLm1VFeWAKfNVaHUcOoQ1Ygtg1KS3SgfSTVqI/tYH+p2VotJ7XuFhLRvKZAnU7xiOQ6of0L4CB59XlEymG7OSW2Qd6DsOPXdw4zYoDkjLVoizQntEejtREV86DS/s2WqYHJCKtkt2twHAyqqxpRSL+oFb/LKqDKyWUJtE9wGqb/vI5JX1Se6TFC72wkqcX2YR1RYpN+h0lMhmK2+5kqxdneYiQ4I6QxCtgj/Td4pgDM3QpG4dNJqNaNR3I62OMyYw/LmXekFGFTapuwm7baVl20zc+HzQsdY+Bw+ziX6Qhg1HYzKmJuZHC/q3EnkbDUd9sVGAusXxHRmtcpK0qLK7lpvtIs4Fn94AjKM1JHuoe5mT5y0TtG3li4hbZwUqLmjcQGHBaSYSPyIa07NNkOEjvB73fUJFRS7eXZcyaFPzPc9J2MBqidIXJqWtsDOi8cIzgy1YTaPRA/sFnkkGGhwgZaZT1PB/9nBFgQsOmH+EseG5i/hpB9KelK+sz7DumWuql6PkDzSRyDIRnLOwvXp7YR37Ciu+qI/Xed2M8DQjBgW1yDlLIGBcjxFOlljtSrfCqLnE0F2ULzTMcFys4JvEWHq+4a9FRJtzpbilq8+YnrAcsEvCga6h4JUAYr6dBr6DUwUMuK+tgOhr+3FwAL9hppxKUjSd30QKiJTHhwTjjjNTI5zbTAeCKNL8gk6/jcxQKUZRpaW9nErg8XLG1tJkElVCsUNmNHd9O39Xtrb6mW2tXfkcLdkmkxcbDs1VPy80Hf+E5NQB2mf4SYjSFHmXk70TNALCP/Ax4AW/UBdJuBY7K1pOahRHS451rE5LVkSrj9DkmUGOjLNWtnQbGfHqpqn1WW7UeRbCbk481DKEkFRqInMlbNxiMvcv9DM0En53mUC+6wphITZJfl+EAJM/gaDOW/Su0HVtVYOrpFWGW/O3cCn8oJUOW7ArwetzP0j7cuUx1yPt5xzYuH+unuBdO5kz06eGENUZSNOr+xaaZ6HMlh9IYd5ri1wCdT+VZHpX0Vu8JmE6cijEvYNouAeMyV1aGw34RL9AyaVd7dpZ1CT28Gg6wkOtuF/tuSp6AayyHSYK5XdU/hCZPSqh7evGLXaWMCS82EEih4pYAKe9bTSiUuW5V+JsNg4aSR/iuB35ak3WzjjRYy+K8KcmEiCmXFz4x6HyEDapuf7vMoLBPXouGtHV+iHeLj+AlhQ7Sxg7sZcckO1lW8m4jZCGEyowux4Afj6cBtXTsQH1HqNJZlvI8j6MogeqzjyQ+hA71le/FrlARG3cBwxo89XJ2NHzj2BC8ruE24xTBPFi+mZerUwmgH1DvjH0561ids0LLmp1nvAJ5Z9V9eBw+woQUHmMXnskDqT4qSNC8WMlg7H3DEkZ2eW91SP5x8jy+VOXaF9g2t/EuoXXS949J/yRfoLnN+k4pKpeydAFfYzDvWy18CgYKUAQ3z/tKoFV8dTcpHP5YKQCfCbXNPAFdqlX/oQtdJPpcdmlNnqXLVVyX9RRkt7ws2qsyW+ykOpyoO8CWugpda2K3Lt0XMoaVBhfFBuc0Er6Y5TReFja99Svey/EaIbndfSiGZtynaLOhiuYNSmRDNQvfJHvT3CPlvpLyoemj64u4YSj/LyNRM30+1yiN7k77HqxXp3+Dp1SsEiPjzxkydncv1Nnot2FgJoSmcmHi0/VYWlx0ZQrEwSF4Mfkz1na12v+8P/M8m+W7xfXrgL3YCpdsOkqaKXQoRAxM124HVseKaXSmMsh8sPB5cCfGv0iDldUENC0LLvDI8OEw+usRawzE/cNKuu+PLsSMJT2Mmez7Ry1TZJixea0YNjT3kWglt+Y9Er6PptV+mN/AIA41UObiQsMm/G6/euD5yY0PZ1wVvT+SANR697f1De9Oka3YxsD11I7SGqf6IqlGbQREm8/TdCHwUKacTmNNjEuksCoB3J7/lPAk3RE28lMAZ30X0ANB/onLt6BEG+AvE6kQgcWLdWFK3QbxncRuHquV3SATklpH+aSA0LAUsk0MAuUmfB0RD6hKIgq48nCKlMAjg+iMlQTfcbX9L2S5Sjecz0kU1Btp1TrxVSgodXq3GHELyCJKohFkwlzoHgIH14y4Br7Q0T017EyR1LzAZbbwP2MzHIYjOOo3XIzTCkwpkT9aZt703uZtB42lOSNVSD6Ti8/9GjPI/2kU7g4lhoccBRsmerNIp7t36j9NBJl1LTDzyvN0bEM3EPovc/3a0WzEFvRxQIleJReIVD03igbAkJYHfASfZHTzntSi1AbuaaD7S5YGBvl3DcRWQpiUHf8PEizBOFokdHWfF4GGjg72b6fPDiuJ7oXl1BWWdxEgz21jEtaabW238+Buj4zgwPJbItVzjD+EPzGGMEdXJJ2AGVVZ+ScDzwLdJRD+g4nsnKj721T8bLE4yxk/yyVcx/x3+u2Fkyui8xthCywxk0RWD50n8vd2zu3b/nBbcQKK08EsGk1VcMBorvOkcSjfDRfNlgEY3NFr/+RUMidYefV73N4IkHkp5AhKPKJEUEu+MpzH7AS49FaWxCGWbzyft3Tt083jKng4TmirgP9AECysJGf0w26M3jKh6+XmfTzclf8uDJTHy8ZOv4bmUc2MP9pi0zniLtZG3sx7sfrGsfrcTv3nKbxXOVb8II62HlwFRmaxKY5TQXyact4XPRl7isW0gibcMzfZbSnNaSZQM8Qsdl0f/T2UwoCFxSkxiBV5c5FT0/KckexfGTC2YEYSb4a/1ndmJheaOdEi7e9rOPdiNGDwIe/vX8GVa7qj6r0ItVzaPiDeCAwBxZXKZ/WqElnm90yZ9+eHNO2U6MWCVMNOKq/LQs1vrQToptz/lvCxE7YxtYApMYRnvefwcW3Cb8qnxVYR0u7gWEtn3JPAeMyJCfES0Cr+YIMjw6ZPfO+K1rQ6i6yuualZEIBsPMXy/mvct5NAjL7CtEEYrY9YkS8xF6e8CqM/axcFMUF6zmLIRrpN8fJeyiB79lgm11Vs51CpHwElDjkw1Xsa0DwUdasxAjit6wFZxWJQzodW35tutDLJ0YcCueHlTznfE4o/IMDG2QpsdYPuO2d6orMmde+ffZSf1FYJDzbbARdMzbLf8uXjyOHS3nEu3ccUqbK5trHQopMKgQDXhDheH3GTlCUsmjQsLYy1/xIU/crjnWB1IOSqIJ2r3bpUsrfadONRhkx2OGikqVIQeUl/yCiIOkyTS7RlTqMUw6acsxox+RQnqXoE0Dt2fyS5fV98AHdpaLyZDJKa8gHr1ouQoRV8QdmLqh4wDgwQLuVu17V48CzHqt6LHd3QDfwKjM9nDfHZfYtfEGTBFrNi1ZEWWxWxZnEDvgNtAQX/SkdxlG4Z6DLDb7jgawLJceV1puVlZpVfi2Rq0VuvYXCn+R7FHjtG9ZZBnHG4GrHTEYP8xS8srYd0nkWR4efIvcgqyFwj6mVUAzEjbrsLXAcasZquwO78et/e/Cq0VwxezowMfWmrGq7J2S3fNhA4PJCQwtvmYUHagbV1igXPRqWmGYXdc01L2m0v46dFi5EVBqY1gicR/JgsrjJm/oDOqy4nh1PXmI1vhgTiUvRjUZZq1JZKyY2LTDSZ2JdpVOdmKcMOn/lp33bnTNvAu6yXi5dgj8m81aX3/JI5DHftSt1vm8zaa3elz1KoTc9MVQvQebNz1JJpcWORJUKT205HhdN5bGISgGh91IUffT/jByFccuukUiFnzzQizooH1CS9omyzYgQ+cC7YKBWarRniIn4rRv8BZ2EOHmuksJOP5zJhEnJNrmQTCCDHdx48fFaZhjER0xqGiJosBQeRY+H5h3zjHV9E1g6VjE0TSptFkGcVx80WfZQdnX4QgADRZGfoNrrVVqsld+LQxQpJ2hHjo+lapAeasWCWXj/YVvcaNrxD530u3nqZtt6LHchEn4V4g9tlnfN3eQ9ufylAKkslM2aAP4FjLq/lLwRjddpX9MllJLNCgo4rYX9BrY1PS9Nc0M1EpCEhVN/l0w8vyOzNoR+klX/vYtRZ908V/9SwXDd72haQiN7cUCaF9Eku73miutJqGmxsER5mwMCu9asLto6t6Hl4w7iJZukNgk2qkwaqtia3cH1MmU5sJ8SiV2GOIxRDoki5JDcCwLkqa1WoWDOzoeoYXgB5prKpVLA1KQUPOo45lAgETHzM5hKvT6TZv6nB0MyoFWi2Zu3/34/jO81bqrsrmHLuIDQaFCERhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dxb9AJbGx32hSy6cryXB6M",
      "input": {
        "note": "The close shoved the block inward toward the base, which tells me the fingers were outward of it: the wrist view makes the block look closer than it is. Reopening and retracting ~6 cm to re-acquire it from a nearer stance.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.72,
          "left_j2": 1.19,
          "left_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dxb9AJbGx32hSy6cryXB6M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.7634 left_j2=1.2007 left_j3=-1.029 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9949 right_j0=0.0025 right_j1=0.02 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -10.0855, 5.1761, 0.3346, -0.0464, -0.0659, -0.0659, -0.1983, 1.8803, 7.0222, 1.9072, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d672d700b96c59c696268f536662227577ef36113987bd9ccf836ce675360b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee0e407df9b4a363521020ee79a72fbe303a898013a4eb3d95fb3923a848612e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b35494483f77c8fdce636190f8725de543aac0b8c58df7e84a799159be33f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d672d700b96c
wire blob ee0e407df9b4
wire blob 7b35494483f7
call 29 attempt 0 · /messages · status 200 · 4.753 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7376 left_j1=2.0068 left_j2=1.4075 left_j3=-0.9966 left_j4=0.0235 left_j5=-0.6621 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0189 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -8.2393, 5.6137, 0.3883, -0.0073, -0.0366, -0.0024, -0.0205, 1.7573, 6.9949, 1.8681, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0605 left_j2=1.4052 left_j3=-0.9913 left_j4=0.0235 left_j5=-0.6624 left_gripper=0.009 right_j0=0.0025 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -14.5162, 5.3812, 0.0659, -0.022, -0.0024, 0.6764, -0.2256, 1.812, 6.9949, 1.9365, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.7634 left_j2=1.2007 left_j3=-1.029 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9949 right_j0=0.0025 right_j1=0.02 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -10.0855, 5.1761, 0.3346, -0.0464, -0.0659, -0.0659, -0.1983, 1.8803, 7.0222, 1.9072, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d672d700b96c59c696268f536662227577ef36113987bd9ccf836ce675360b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee0e407df9b4a363521020ee79a72fbe303a898013a4eb3d95fb3923a848612e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b35494483f77c8fdce636190f8725de543aac0b8c58df7e84a799159be33f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d672d700b96c]
[blob ee0e407df9b4]
[blob 7b35494483f7]
{
  "content": [
    {
      "signature": "CAIS1QgKjAEIEBgCKkD1sLFVcH9q9IxRL/w36UB/HR/GrIW+3sxxpUzG1nYMLWCQ7bNOpYuUjsRbuSlsZA26XDS+R3mwTXcr6yBiR4phMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMcCJ3jrRdvi4j+ubUGgwDBkXA+MM4inFRJUkiMOaypbFW3Y9fWvwUSuWZBQXRCmu4+kglSOGEdId0imdbT1jOubzGyrL+8PVC/3Gaqyr1Bjn21XvI3JuuLBi55MXTWcKVmv2rUem3PT/pj3cpRQlvN+4anhgO/9fzZRFYLK6TXxWoK3a4+hwo3/qRKWUYRSH20jn4qgjRpX1fE9heB793o6x0WK1zcUJYK+rumh50NXBuAOC0gacm+vdR1k2SHFQr2TpJcc7KXU2WbyA2ipxBmbv0q+CiPcVTFXs1IEkU0gRlaRyysunQ9EXzCyl0URllwdpRKTXWoRZU31B7UGLGQDeZwUgVFxgiKD/OtiuY9YE9/2U7wYl1WQYi4K12UH0iXuE14Fs7agNMje1A0O8fC8Ni6DyEIkhfoxkZi93lHg8qTG2XeQPnz2XydYRmE4vzbmSq+elBBs45CpaJgABpAx7Ru+4nBds89rtqoOhtC5XQZ8DNoZq8qC8Xup5FDfA99nq/T4zNVsxMUwIB3xc11tzgdDQiJOoaHGvKwAIVWHkngc+jy1MB8QgoXTQjsI3EeURCgCg6k6XQpPc5kajTf84XIes+Xlf3pcrTvP8E+OzJzgA7SdHd6AkFoacUiYjjsz7oPr/OuhTrZznDfgGGk4x/uxhEvc8jy67mwhhIfjk7/l01PjpRy1qkPiNdMce6BVQ2VU94OWk143Fu2TRD4YflSFj2p4ElJIOTYy2nOAR2dytIrm4jQG95CHxCenmX1o/RiKakt7xe/tTU9254967rU7I6X+xNkKiZFxC6DqR8JZAaqyr656CEJY/b0CyiJiexyTkNuEvl8x3ZVHgDrF63ChHapP1UAOea+gWa2qPj61sR0k/xFEQRvi9iRGDWJU3FS7dOtKjk0C7HiFcTxCRixLqdAyFtcAGp1Xy3O+f+2raxYK7vCzJ7pAU8C0UxXpBD/0GG+lM34fHlpYPffOeHpIoBmd9jaPZ4Ql4n2lMSIdH9SiJdFrnUpZ5LVbQkyRLY+/xTFl7znjirxWI4jBhJYIzv/mjpF5efYuIkDM0bPl3NHyc//gwOOGiq6+wCvYA4uNxW7snbBk0I23rBc44nJikA/Y8gLUmdWsMQu/ldZnYqs1Uvbnm4smzM/AbCChGIEe+UX6+g0RShdMIFXakKGehOF0wcSjBWMwoDEgRUYFIlwroxoHdBykY7cYR08yK52lreDySt2gLsca4LDbwQ1u+M35U+Mwx2FcluhNDvQO9DUDAnmDCxSfKJVSgJLDQzehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F9RdneLMJKrV8g6JTU2iin",
      "input": {
        "note": "From this nearer stance the block fills the bottom of the wrist view right in the jaw gap; descending ~4 cm to fingertip height before closing.",
        "targets": {
          "left_j1": 1.86,
          "left_j2": 1.12,
          "left_j3": -0.83
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01F9RdneLMJKrV8g6JTU2iin",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8568 left_j2=1.1278 left_j3=-0.8917 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9965 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.5128, 5.4632, 0.3004, -0.0024, -0.0269, 0.1538, -0.0205, 1.5521, 7.2137, 1.9121, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c650d8c0d74c52cd9adb7384afa6857202ad362caf52382f2b93cc47ab79bb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd03b5870fb93f0662983997ef909af88eee4aff80b84688b4a68e923df74ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7136c8896e0012daccf43ec57cbce9e853febe87d1a4898344ccec5fb0a37474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4c650d8c0d74
wire blob 8bd03b5870fb
wire blob 7136c8896e00
call 30 attempt 0 · /messages · status 200 · 15.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0605 left_j2=1.4052 left_j3=-0.9913 left_j4=0.0235 left_j5=-0.6624 left_gripper=0.009 right_j0=0.0025 right_j1=0.0189 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -14.5162, 5.3812, 0.0659, -0.022, -0.0024, 0.6764, -0.2256, 1.812, 6.9949, 1.9365, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.7634 left_j2=1.2007 left_j3=-1.029 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9949 right_j0=0.0025 right_j1=0.02 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -10.0855, 5.1761, 0.3346, -0.0464, -0.0659, -0.0659, -0.1983, 1.8803, 7.0222, 1.9072, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8568 left_j2=1.1278 left_j3=-0.8917 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9965 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.5128, 5.4632, 0.3004, -0.0024, -0.0269, 0.1538, -0.0205, 1.5521, 7.2137, 1.9121, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c650d8c0d74c52cd9adb7384afa6857202ad362caf52382f2b93cc47ab79bb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd03b5870fb93f0662983997ef909af88eee4aff80b84688b4a68e923df74ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7136c8896e0012daccf43ec57cbce9e853febe87d1a4898344ccec5fb0a37474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4c650d8c0d74]
[blob 8bd03b5870fb]
[blob 7136c8896e00]
{
  "content": [
    {
      "signature": "CAIS6QIKjAEIEBgCKkASZLBJQyAIwAvUDBXhb1yfYvkQ/Pb2rDerz9ixgbvgRbJ5H5C4BYuJ7XlteX5XK2I4GyMloffRVBf4mQF/msvpMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMU8hquDHHwxEBTPRzGgzYA/DjUc95bChQfnEiMP6NlXoF7fdDZ7doWH7wl0+8CNLS+9sqta54/oz5vXqfHuEXI5e9YnaIF9341pSt1yqJASHRGbmq8KvpfSy4AAvqUUD/7mMKyZZd4DBjvOVT4cfPLd01S7zV1+Uv/Tc48gJwAfIwQNC+DAuyg9fErdHagOyKcQPvmyF1gb5AfdiYcaXbinG51krSTQsxv9/nuMs/EM319vdsYaRid2fap+bixMBh/RDK7pZ6I1M/7apQZySLlodGzEH/MsXuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJYBJdGnD5ujaRq3SdUqkH",
      "input": {
        "note": "The block is now just a sliver at the bottom edge between the jaws, i.e. right at the grasp point; closing.",
        "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_01LJYBJdGnD5ujaRq3SdUqkH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.1206 left_j3=-0.886 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0204 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.5538, 5.8872, 0.1148, -0.0269, -0.0269, 0.6569, -0.0752, 1.5932, 7.2274, 1.9316, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e3d34f357637ab173315a2622af065364e504e114b4101b555f5f5c581ac7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce79b9c8952e79edf6100ab36a3db5f3d3e7aafb3427f2f88189732a37a6eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af1615eef93d3b711f0de5fe9c49249651a7ef6b7264945568a0578a0cc4eb86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 05e3d34f3576
wire blob 0ce79b9c8952
wire blob af1615eef93d
call 31 attempt 0 · /messages · status 200 · 9.231 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.7634 left_j2=1.2007 left_j3=-1.029 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9949 right_j0=0.0025 right_j1=0.02 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -10.0855, 5.1761, 0.3346, -0.0464, -0.0659, -0.0659, -0.1983, 1.8803, 7.0222, 1.9072, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8568 left_j2=1.1278 left_j3=-0.8917 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9965 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.5128, 5.4632, 0.3004, -0.0024, -0.0269, 0.1538, -0.0205, 1.5521, 7.2137, 1.9121, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.1206 left_j3=-0.886 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0204 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.5538, 5.8872, 0.1148, -0.0269, -0.0269, 0.6569, -0.0752, 1.5932, 7.2274, 1.9316, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e3d34f357637ab173315a2622af065364e504e114b4101b555f5f5c581ac7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce79b9c8952e79edf6100ab36a3db5f3d3e7aafb3427f2f88189732a37a6eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1615eef93d3b711f0de5fe9c49249651a7ef6b7264945568a0578a0cc4eb86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 05e3d34f3576]
[blob 0ce79b9c8952]
[blob af1615eef93d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEnofxoiKkjcuGT4g4igPL",
      "input": {
        "note": "Key calibration: with the jaws closed I can see their convergence (the grasp point) at about (105,178) in the wrist image — the block had been sitting below that, i.e. too close to the base. Reopening, lifting slightly and extending 3 cm so the block lands on that grasp point.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.85,
          "left_j2": 1.3,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BEnofxoiKkjcuGT4g4igPL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.269 left_j3=-1.0119 left_j4=0.0231 left_j5=-0.6781 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7573, 7.8427, 0.232, 0.0024, 0.1001, -0.1148, -0.0342, 1.5795, 7.0085, 1.8779, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1461d2eb0d2f081a4158b37d317dee31ad784dcf2f48b6ac43319fd7b69c04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c1abb211620b457f10fc220b137984b4167ddf591583372242a56b04d76eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19a425d52543e013a730bdb221d41e3a2fc7c1f4a6764978b5ceb87ccdd07706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2a1461d2eb0d
wire blob 80c1abb21162
wire blob 19a425d52543
call 32 attempt 0 · /messages · status 200 · 13.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8568 left_j2=1.1278 left_j3=-0.8917 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.9965 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.5128, 5.4632, 0.3004, -0.0024, -0.0269, 0.1538, -0.0205, 1.5521, 7.2137, 1.9121, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.1206 left_j3=-0.886 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0204 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.5538, 5.8872, 0.1148, -0.0269, -0.0269, 0.6569, -0.0752, 1.5932, 7.2274, 1.9316, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.269 left_j3=-1.0119 left_j4=0.0231 left_j5=-0.6781 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7573, 7.8427, 0.232, 0.0024, 0.1001, -0.1148, -0.0342, 1.5795, 7.0085, 1.8779, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1461d2eb0d2f081a4158b37d317dee31ad784dcf2f48b6ac43319fd7b69c04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c1abb211620b457f10fc220b137984b4167ddf591583372242a56b04d76eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a425d52543e013a730bdb221d41e3a2fc7c1f4a6764978b5ceb87ccdd07706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2a1461d2eb0d]
[blob 80c1abb21162]
[blob 19a425d52543]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017edXtQroeecuMpNT6m6YRs",
      "input": {
        "note": "The block now shows at (105,205) in the wrist view, still ~3 cm nearer than the grasp point at (105,178); extending 2.5 cm and descending to fingertip height for the close.",
        "targets": {
          "left_j1": 1.99,
          "left_j2": 1.33,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_017edXtQroeecuMpNT6m6YRs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.9697 left_j2=1.3071 left_j3=-0.9695 left_j4=0.0231 left_j5=-0.6815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -10.0444, 7.3778, 0.1587, -0.0562, -0.0122, 0.1392, -0.1983, 1.5932, 7.0906, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfee7de95892c6d3986daf654300c192a3adc5897613384f09701d22aa586cad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40ea005dcaa65f69341ee00ce22b3b729f22ff184a2cabe4f98dc94b9f826ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c42dd964643ee7161bb8026f783413cb05e023a1b6b823d0a2a660107bd6cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bfee7de95892
wire blob e40ea005dcaa
wire blob 9c42dd964643
call 33 attempt 0 · /messages · status 200 · 12.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.1206 left_j3=-0.886 left_j4=0.0231 left_j5=-0.6624 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0204 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.5538, 5.8872, 0.1148, -0.0269, -0.0269, 0.6569, -0.0752, 1.5932, 7.2274, 1.9316, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.269 left_j3=-1.0119 left_j4=0.0231 left_j5=-0.6781 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7573, 7.8427, 0.232, 0.0024, 0.1001, -0.1148, -0.0342, 1.5795, 7.0085, 1.8779, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.9697 left_j2=1.3071 left_j3=-0.9695 left_j4=0.0231 left_j5=-0.6815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -10.0444, 7.3778, 0.1587, -0.0562, -0.0122, 0.1392, -0.1983, 1.5932, 7.0906, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfee7de95892c6d3986daf654300c192a3adc5897613384f09701d22aa586cad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40ea005dcaa65f69341ee00ce22b3b729f22ff184a2cabe4f98dc94b9f826ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c42dd964643ee7161bb8026f783413cb05e023a1b6b823d0a2a660107bd6cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bfee7de95892]
[blob e40ea005dcaa]
[blob 9c42dd964643]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKJjJjfPJDnLwiGs8F1abV",
      "input": {
        "note": "The descent cancelled my last extension in the image, so the block still sits below the grasp point; extending 3.5 cm radially at constant height to lift it to the jaw line.",
        "targets": {
          "left_j1": 2.06,
          "left_j2": 1.45,
          "left_j3": -0.96
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YKJjJjfPJDnLwiGs8F1abV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0445 left_j2=1.412 left_j3=-0.9722 left_j4=0.0231 left_j5=-0.6884 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -9.4701, 6.8308, 0.1636, -0.0122, 0.0073, -0.0024, -0.0205, 1.5658, 7.159, 1.8681, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc41d3d115c99b305de57131709429c5576b0e2694813f68fd9954fa147edea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023d406f7f44d01c8101c9fc90970316bdc638f7bb35bf87000d12d564837e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fe0d591474e34b265cac69b9ea83873655df955c381c919aacb3617176103e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dc41d3d115c9
wire blob 023d406f7f44
wire blob 3fe0d591474e
call 34 attempt 0 · /messages · status 200 · 10.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8629 left_j2=1.269 left_j3=-1.0119 left_j4=0.0231 left_j5=-0.6781 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7573, 7.8427, 0.232, 0.0024, 0.1001, -0.1148, -0.0342, 1.5795, 7.0085, 1.8779, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.9697 left_j2=1.3071 left_j3=-0.9695 left_j4=0.0231 left_j5=-0.6815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -10.0444, 7.3778, 0.1587, -0.0562, -0.0122, 0.1392, -0.1983, 1.5932, 7.0906, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0445 left_j2=1.412 left_j3=-0.9722 left_j4=0.0231 left_j5=-0.6884 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -9.4701, 6.8308, 0.1636, -0.0122, 0.0073, -0.0024, -0.0205, 1.5658, 7.159, 1.8681, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc41d3d115c99b305de57131709429c5576b0e2694813f68fd9954fa147edea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023d406f7f44d01c8101c9fc90970316bdc638f7bb35bf87000d12d564837e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fe0d591474e34b265cac69b9ea83873655df955c381c919aacb3617176103e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dc41d3d115c9]
[blob 023d406f7f44]
[blob 3fe0d591474e]
{
  "content": [
    {
      "signature": "CAISzhUKjAEIEBgCKkCUcZKGY2zlXe0R38PlyA70pqD/Qlfk1mwbpFsdBfR5cxajxl0oa85GWgkDZVba+a+NmK94A9rjaYac0qvHN2G6MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMEzAzn6ydNqWgisOqGgwAR12v2H/7L/Dz1+EiMPgBB3OmGJ1G3XvNec0h11rfoi956KlYm61rLg0VbcSI6fIR2CnQ4UOWJxRVb2vKuCruE3O0hSr1xWthY1uLBD+R5hjXNzUCwZTlUagcdtB1WTchrw7lJw6H0hAT61KJVFjGswf0j7s2rGV2+DapBoyPGTFVoaEx5WA6REgKlcSasbOBR6+TBCoYOy4OAavjgt64LP9fWzBjycvuNulDVRpWmXN8nSB08ahA2ddLEbQPoRdSszCiVSfrX2piSGL8fBrcNwptoCJrxgmZCwxjKbxaV9kA045CW9c7K1DBdZTQs+CWALHDS4Q5a7n2CoKTssZWpjYwrFYHakRe//1WDT2cDQrobB53GubbedJ+QgR8Hue+0Z6pS66wPiAkAV+ssDHQvqAMZGOhaeSmZXix8yX7HVDw0o+8xH6r/A5CKUePBv/ULIyNy+Ms872ubd8Ah6v5gDAUnCrctMdaWLxGIGKj8wQ+JzkMvE2eTsxCnZvWfwaLHtN/TjwnT/18qUUN+HQ9pCsxxn6lbUZJ10/C/i2t1/SXHBKSX0SsPxBeYTBSUsCQcHO6+ymcSOeZkvteQdi3iDvuIJuuXnLC+rFWtyU42gz1EkDRmXSSkKu/SXh/wtQ3BJZztRR5hHEYKdis/MqIrxWybfW54WMGbW8Cr9FG7Gdr/heXLiWroQXx1pS0gyuCmLmCAJfUJaNjlso/fVkBxrzks22eDn4ZqhMnCn6QGvNAVHypI3xK5myf8aGJgH/fRzgorZOcqE1cGUxzzNkHUHSZly46hr+yhMQS28rlzXkvdmchY7bj9cdt2gHhhniCkbZBBrQaDKnyme3n1MaCTAkuSh4dIJZAxxCkbCbfPFyWXgZ3lC03vg6nIJBQ1KccstVenDA6a8OFrw6fbEKm9/2tA0DobpEK4MM60nQo8xCL0hMTT9QbK74Em6LhFTFRCyYOeefLb7hUQxhnMraquHirZ8UnR5mjFHk4vtdtr1vPupMnsDpnw6FaAvZRrhTiqSWuretU9QDU5XvYnjcGK7B1ZztFK7vphz2LV3sLoAbAr2xloz42X7kMYPX6fPCpABe3JuwsMWVjeJQ/FgI02lKTIy0SY3nRQpgyKTWOQmvt6CJmCgOAp1DyzP5FrQfKuthP2OXby2zVH5tKkcQekW6lKgdrA15kkA+V4B5/bPnvik/KeRLsaF6buGSCO0Wt6I8UxTIUPnKgEUQoteo4ufTmvMtg5hXa42vU8C8Y962tg1eA3P8CE3O2hDoGgef9HH0fS9w5XhOi7IrwEEpAZqcO6odMED69icIKmLXsaCagDQh2HoO2BOxB1Nay8/diMZtvG3VrcOo3qCC07PlAp6KXzGPahNmryRU5Af4A+RSK7GRM/uwW8ORHKwzyp+h18QJbhGla6BTvI22y6HXdt5w4CHESepdjCs0QW3cCZt08sVirFd2Bp7tKWpkNk2BbUm0kodEePvW+WgIDXvW/J+8ixxlVGV8nAtIbV4rMWkKQUyETg+wsj85tK0CALwtwHut4MBKIqfyZ0iKeZ/9j8lTXLiVGuiD4m982ET5FvZLMUVdwzX4NcQGbKSq4EotPQOiLBSc0U1Qo7DqdO5M/bUBh7esRQjbLtx29p8deXbnaSV52pQFu3fOKri6ewaZiMNgxA5LI4N1PiwMibg223tKMcvfY9TBV7KLb+rLYl7zisOvhxxQeTC10AQ+9OKJJC/umoQ4oCXZwsvHXEYQixpEVgkARMZvrMTwfZLjvevjoyxQBukROVP1Hi50aO/Mu1cxIqPZfCpXWFvSTh3gzwnFxMA2Bvdi1cZAPijYPdsPYHEF8FUdkJIQmzF5dTgHVtIfsbO4F6x5CvOEze7g7YGgNEyvOBrjlY5+adVioDU5qq/rLo6QJOi6J/UR7tlI8Zc7Gae1bKk+IdM0GZCyO5aOVpfj0TSgJ+d5Wi243LWrifq3mgCfN+NOdCWkxYVzllLX81e5w5AclMet87fcKr+5TdC5t46Qvg6tg4uk3BG/5noyoDqYyXYJvZbMgFSiWb9bWsmDT1QphXw53IezS7pwCM0FzfuFFaLqL9macaC+ertakQJDtE9MZvQ70+JeF/1VFFiCPtc4bELymtnE9MpWKAe7A+WjB3aMrsA1hNsNhMUCOuzdIe3OqqLO4Ey3UVXS5CJV4bv8eR7XQpTicH8s8EywGRbA4gQBdULaiUTdTADoURLLQxDa8xlC/GK+SV5Aicl8k/3e0hRLb9GBfCP5ZcsPZfUvmrtIa4QN8bLVR0Uq6ZqboW5XtyinXyMxQXtQWwUdehL2AGDbQPtePc3sKMMw1fXkRb4lXkyE7S2G/bFO8o/kYqFAVOEvmGv/FmDEZWCrYr2sPLzHcZjFPyA3ZKpMV2gRH7riH0sdDjSAehLxsvYJzibV984bnTq7hcI/u34FtOQWPeFDJvkYDhM44OuQSn5VkM/EgXlMk5hWsx+LmyRZfU4mikkulr2wHD/o9yaY1qvReSEgaZ+8JAlYwQ6Xcmb2h6BEi/WfGJTBPIexXFCeXRTcEUMyJq+5qUYbUZI36G6546dn77GePv+CHfIN5dfo2VQb41nhLURKaDQOMY3Dr4i8JxhJu7JBPXrGGfthn8q6+5aYVGMW04FFEoS5v+iNmvzvL8Waq3j9ywMn2g1Kvdo4mp3NBg+9vRbu5LJoVV2hxm+0rLESjLJlpwqn/PvxjJBZ0rlM9VYvGqHxd9L7hMQA7KY9FQBqqwY88M9LEEN/qdIsOGqel4jamLMRMCUHDJ8gjLdXqEf4xdlNXIk6xnBP5Pl5DDp+GPMCQbrCMO8yGMOEGcYlXqCl8NbQFlR3GuayEd0ifqo/RlhJfysreNu2U/8PF1xoX7V8pJSE5ipFjRLMc88GPB5WeY/CwcEzxG3rPbLlXWwacDjjh2LRcoBQnv/F7W0azKG0QF8S8OE2Dfgw3qZ01FCSVuRxZecWMiquUeyTXeTDrwcbuSS/RRg9e0We53oSW0iofY2v31tQvtzu4K9sAE4Bs7wJjibfHuU1ViHQhTCd9A2w+lHtDEDZefiOaEapxUKv29otNSMQnD0eShdGprNnWeS7MJCZvwV02kS83xiw3LtTZJtkBw1WJnC0OW63gYs2uy4lBHe2ce5ngN6ke4rGbHXcY/pCHEmjf31NH2qsw4oRwFE3LOG6zQL0fvsQ5kZxPmNuk75NKtBbBT5Cvm+3qNnCSCtnKrVvsulfq0fIkjBJIdD/KhKJCQxNLExSSLLcK9p7xpEVbGVe9206H2g0CmUUUr+mFqwXlyb2q0a1BmDp3jp88nqTTIjdjBgNCHsWMK7+0tp97EdwsvbBTpwahW+Sms1fzQ3Rpelo5bUg+c4LUbmPQcQZT5ejXpDOnZpOVufzuMJjTsHKvs9gK87WRUYybvb74dncJm5aAXBewZ33TpgnbceKxhvKLqp4dQVL8/vp551LdbdNWJoQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RGUURVHkNJNByNTWDfjhSp",
      "input": {
        "note": "The block has dropped out of the wrist frame entirely and the images are motion-blurred, so I'm backing off vertically to ~13 cm at the same radius to get a clean, wide view and re-locate it.",
        "targets": {
          "left_j1": 1.85,
          "left_j2": 1.66,
          "left_j3": -1.38
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RGUURVHkNJNByNTWDfjhSp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8874 left_j2=1.6306 left_j3=-1.3148 left_j4=0.0238 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -11.0974, 7.5556, 0.2418, -0.0122, -0.0317, -0.0122, -0.1709, 1.6479, 7.0359, 1.8926, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82702047a1c2d13e497cccf17f1e21cf5a22111134f1e013f2916304fa9889d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89e7d4f335a0e92c59b39a4ac388dd4cb7881d7362d90a4a97a408599773404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96b905571f3198d97fa0344928959f3cd38645f47553dfe7daa6a557a96226dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 82702047a1c2
wire blob a89e7d4f335a
wire blob 96b905571f31
call 35 attempt 0 · /messages · status 200 · 9.227 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.9697 left_j2=1.3071 left_j3=-0.9695 left_j4=0.0231 left_j5=-0.6815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0204 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -10.0444, 7.3778, 0.1587, -0.0562, -0.0122, 0.1392, -0.1983, 1.5932, 7.0906, 1.8974, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0445 left_j2=1.412 left_j3=-0.9722 left_j4=0.0231 left_j5=-0.6884 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -9.4701, 6.8308, 0.1636, -0.0122, 0.0073, -0.0024, -0.0205, 1.5658, 7.159, 1.8681, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8874 left_j2=1.6306 left_j3=-1.3148 left_j4=0.0238 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -11.0974, 7.5556, 0.2418, -0.0122, -0.0317, -0.0122, -0.1709, 1.6479, 7.0359, 1.8926, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82702047a1c2d13e497cccf17f1e21cf5a22111134f1e013f2916304fa9889d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89e7d4f335a0e92c59b39a4ac388dd4cb7881d7362d90a4a97a408599773404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b905571f3198d97fa0344928959f3cd38645f47553dfe7daa6a557a96226dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 82702047a1c2]
[blob a89e7d4f335a]
[blob 96b905571f31]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzDAUV2rAzz74b2vuQ2Dbt",
      "input": {
        "note": "Clean view at last: the block sits at (90,190) in the wrist frame, near the grasp point but ~5 cm to the arm's left of it. Swinging the base yaw to centre it laterally before descending straight down.",
        "targets": {
          "left_j0": -0.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CzDAUV2rAzz74b2vuQ2Dbt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6006 left_j1=1.8759 left_j2=1.6371 left_j3=-1.3293 left_j4=0.0326 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0216 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0051, -7.8154, 5.3812, 0.3101, -0.0464, -0.0464, -0.0122, -0.1709, 1.5385, 6.9949, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea64824aac04c1492fe0042bb47f4fc9b2c9f5432be697bc319dbd53390d352d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80964ed89823efc08d44fd81aefb68096218120ae141f85cdd56e46167f259b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1af78d74a29e9e5176354c74d6c3648fad9ff52b07eb34883faaba1b7badd47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ea64824aac04
wire blob d80964ed8982
wire blob d1af78d74a29
call 36 attempt 0 · /messages · status 200 · 10.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=2.0445 left_j2=1.412 left_j3=-0.9722 left_j4=0.0231 left_j5=-0.6884 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -9.4701, 6.8308, 0.1636, -0.0122, 0.0073, -0.0024, -0.0205, 1.5658, 7.159, 1.8681, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8874 left_j2=1.6306 left_j3=-1.3148 left_j4=0.0238 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -11.0974, 7.5556, 0.2418, -0.0122, -0.0317, -0.0122, -0.1709, 1.6479, 7.0359, 1.8926, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6006 left_j1=1.8759 left_j2=1.6371 left_j3=-1.3293 left_j4=0.0326 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0216 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0051, -7.8154, 5.3812, 0.3101, -0.0464, -0.0464, -0.0122, -0.1709, 1.5385, 6.9949, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea64824aac04c1492fe0042bb47f4fc9b2c9f5432be697bc319dbd53390d352d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80964ed89823efc08d44fd81aefb68096218120ae141f85cdd56e46167f259b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1af78d74a29e9e5176354c74d6c3648fad9ff52b07eb34883faaba1b7badd47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ea64824aac04]
[blob d80964ed8982]
[blob d1af78d74a29]
{
  "content": [
    {
      "signature": "CAIS5wkKjAEIEBgCKkDLy/6nKOK9D9e/vQemgWDGGF2IuE8owJoeofjqCJIaK8agw4ILxg3T9GBn2KRUc2YuHXwjEZ8ndzEc/xyAQMslMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/JYEA9QhkeUyFIqvGgxOrrV+luYb9izcn7YiMAYCTSATrzSu2+EWrC3xBovCIpbjnspAFevDNO30fH5g1/bS8BkERAS7CKkyRo08oyqHCDkheLNnaTJ3AMoEJslLIxrSZtPPe3f+hLSo3UcLCU5M3AepDQlzXdb30jtCmkRBz9Ps+gQDNiE/GEW0XdWZNepzE4/eFb6Lb0CBXByMe18Gb7AHk08kKf/mjK3NBNoSkH5HDdm/TIa4Sji+rRD589xE/PuJfLcoeJfHxyRA9JVP0GFgqK27ydH1TJTxwpTcyXYUxf32Pz0uzPXcK1PthzFPzA70+lhXYivlw6wrwOvc2il8yOn6fZGp79Dfo8DfyZ30WErAZcituq2ZKbtjJvDDq+UPbC5TlT/DwvfaGtx8Fx9IHABWGoxE3EJaXVlVJ2Pmgakbd3APK/zhp0vxlyjKGUT0TmYfwX2VbboQqGssqzle4BnoNSm7XNeY5Z7uYtWn7Sw2q8uzgxjU3nvz4V75VpHe2b3+IAqCFGsuKh4RTWHvGkJb5EXyPKY8Co6HFtjnh9/TcSskkhZGdgnS2zup/G+Sob6zi2vD1XKKaQ9gGz+F1wOSMpbor30Za9ZTcJW4YcFPQlxqjeTgbZFZbNh6U84Gifii8B1HN+pmPRqoKlUh7x6fUBuGnffj4sKqT9lhTetncAU1KHI7yqM1yjodW6/nvADL9XtIYHqE2opjZDHwdo+K84ZHmMa4kH7w0PIjswGMpSVAexx9jJB6S/bNY0eH3kSsduI3EFF+nbNUg0oJ6cG5ey04jchDSw/yomUYdQyfjGm/jq6ZO/E1htDjueFIUXKTb5Pk9ji1M3hmke8NybqyAbwzmwNw9csfel0anVG+xNQ1Wwm8K5IjPT+DDMIWWCJ+vI8rXzp50sJfq+u69Por7HaN/tLpzakoXAdijhUB5qvwEtEmt/vr9jN2Y9G1+sBCQdSB1xXGMIaLwCpQ6z5zroUIMpxpkcy/c74IGTueIcZqsAViMRrEBL5EMqWdE9eim12zfuMzdRKH/yKC3y0bNMNPTbpI2mJvgYo1qyMV8CPVjYAnHdTQj1caOG6c3OETMXNmkCmvuJtZl4UAKI2BQbnJ94lyRl7YsOLlt985UsIr4f0EbIRLFo1/9fChbyBrQfH9PN2bR8sf5bNF7wyzw13dEu6bd5b9IVZGLVSXdeEwDmgNjtIOhScZZRdmfoTWMtkblJkDqYPkG9pgukzNE8mp43o1qhjbr43jJ7hI3xGYapwJwipY9aRo4YJSU4wNp3r9K/+Cml/r24QD5GcCdr51RXukKVEtDj+hOoh4JE6FiZ+rgR6GDvDrGoxznFyOO3ASYisxX6064W7ktzYX3vS+JbxooAZKNI4FOryd5kn7WVLU6Gy3nd1KfVD8PRmwas6JVDVpElimfXNwpjSLm9HDED68sFp96OS2mVeFuuv+lSkAXxXh7JsGjTr4IfT9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FadMcRWgyeVJr7a3G81Awk",
      "input": {
        "note": "My two estimates of where the grasp point projects disagree, so I'm briefly closing the empty jaws at this exact pitch to see where they converge in the wrist image and pin down the aim point.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FadMcRWgyeVJr7a3G81Awk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=1.8797 left_j2=1.6341 left_j3=-1.3247 left_j4=0.0277 left_j5=-0.6888 left_gripper=0.055 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -9.5385, 6.106, 0.2418, 0.0269, -0.0171, 0.1734, -0.0889, 1.8667, 7.0359, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4475e5583ae96e6c66778251f19a713e68cb88780f8a89902a466f80655d0d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67bdc04643cfacfa410afbb949a07b22bc84aa85624bca1484057f5a9ffeecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d19b5eb33a3cba4ec786de98d3afc53a1245d84db5768c0f970a91db747f131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4475e5583ae9
wire blob d67bdc04643c
wire blob d19b5eb33a3c
call 37 attempt 0 · /messages · status 200 · 5.932 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7403 left_j1=1.8874 left_j2=1.6306 left_j3=-1.3148 left_j4=0.0238 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0208 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -11.0974, 7.5556, 0.2418, -0.0122, -0.0317, -0.0122, -0.1709, 1.6479, 7.0359, 1.8926, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6006 left_j1=1.8759 left_j2=1.6371 left_j3=-1.3293 left_j4=0.0326 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0216 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0051, -7.8154, 5.3812, 0.3101, -0.0464, -0.0464, -0.0122, -0.1709, 1.5385, 6.9949, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=1.8797 left_j2=1.6341 left_j3=-1.3247 left_j4=0.0277 left_j5=-0.6888 left_gripper=0.055 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -9.5385, 6.106, 0.2418, 0.0269, -0.0171, 0.1734, -0.0889, 1.8667, 7.0359, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4475e5583ae96e6c66778251f19a713e68cb88780f8a89902a466f80655d0d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67bdc04643cfacfa410afbb949a07b22bc84aa85624bca1484057f5a9ffeecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d19b5eb33a3cba4ec786de98d3afc53a1245d84db5768c0f970a91db747f131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4475e5583ae9]
[blob d67bdc04643c]
[blob d19b5eb33a3c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CudDLrtej8upi41rKdbQ7o",
      "input": {
        "note": "The empty-jaw close shows the grasp point at ~(110,190) in the wrist image and the blue block is sitting exactly there, so alignment is good; reopening and descending straight down ~10 cm at constant radius.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 2.04,
          "left_j2": 1.42,
          "left_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CudDLrtej8upi41rKdbQ7o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6025 left_j1=2.0258 left_j2=1.4322 left_j3=-1.0027 left_j4=0.0265 left_j5=-0.6888 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -9.0188, 5.0667, 0.4225, 0.0122, -0.0513, -0.1001, -0.0889, 1.5932, 7.1179, 1.873, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe0fb90532693d0e0f169cb1bf66f825f4f7fe5174737a90a83a36c70785d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5f4cd4555cbb61620c7f86a25ef675d8cfb2af9caf05667039a34dd1e3e1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e81d55ef005731d2daa2304ee4badec227d986197e8830d034d24d4e079166dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cfe0fb905326
wire blob 7c5f4cd4555c
wire blob e81d55ef0057
call 38 attempt 0 · /messages · status 200 · 14.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6006 left_j1=1.8759 left_j2=1.6371 left_j3=-1.3293 left_j4=0.0326 left_j5=-0.6888 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0216 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0051, -7.8154, 5.3812, 0.3101, -0.0464, -0.0464, -0.0122, -0.1709, 1.5385, 6.9949, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=1.8797 left_j2=1.6341 left_j3=-1.3247 left_j4=0.0277 left_j5=-0.6888 left_gripper=0.055 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -9.5385, 6.106, 0.2418, 0.0269, -0.0171, 0.1734, -0.0889, 1.8667, 7.0359, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6025 left_j1=2.0258 left_j2=1.4322 left_j3=-1.0027 left_j4=0.0265 left_j5=-0.6888 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -9.0188, 5.0667, 0.4225, 0.0122, -0.0513, -0.1001, -0.0889, 1.5932, 7.1179, 1.873, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe0fb90532693d0e0f169cb1bf66f825f4f7fe5174737a90a83a36c70785d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5f4cd4555cbb61620c7f86a25ef675d8cfb2af9caf05667039a34dd1e3e1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e81d55ef005731d2daa2304ee4badec227d986197e8830d034d24d4e079166dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cfe0fb905326]
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[blob e81d55ef0057]
{
  "content": [
    {
      "signature": "CAIS4AUKjAEIEBgCKkAvT+tMoz0XvfPEAfPHcI2AUu0MQiwtWMQ8O0jRkWw/gLxKwym9hcfW3dLmDxiCJEuV/1628pDBBjckMSkihuQEMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRnrmLzMphKPMmYXCGgzCHQ3QseMAplbQ1YkiMCUwxsFYaP3+v+IBl1orZOHAdLuqENmhBEiuHr8naduhgc+jgkBv1cAQvs8MjPVh2iqABH4chWWt4m+66hX9ymJFZY7DRasFVLMvVZt68SPM0G+XX1bFHL4FKuT6ciOqkVuyZyg6mKl+Q46E9a8wlgKNh6VZYL/BauHTjN0oYOxQuh0h1o1hkCN2A3Nb3tFUZwLlDP1UI6dO3dkfo5G1QDOge+jD/IAPefFMNWWxhO7HZlGduwH4xiJo4f4mtabhLP61wMhWzQ7W3YLKxI5gr94bbzG75EvlcERyB65QWdJstUvtzpxoAq+7H314J9KSA6jCz99Uq3hsf+VfBidRAvCzCsTenNvLy7O9XWZ3m3dsgWYdM3T0CWC2H+jezGmIBJVS2StGVKHcXAH3P8XsNGhczO5iiia7YBfa1i5lbvDTdFqTm26OGXu8gqFQ0CWURp604AK1keh6PqTArefz5LQCMe1UjS2qBAiLs8L9eWuiRgulbTUjTJ01caUD9kCvwY9XT1ZmXq+qxEPifkFlQWjRX0yQu56TOSKqyo8XZtiNPLae+i31UEtgwpKGv5qnVRVsvRajDhO4yC+vveQPkmpSs5a3/AyRVTa4797qlmX8FZYHdNohLxWCV4wUfDH7F/vKLkQ8zXTP0GOAJ1WwDMP7VG7NCc7IlYkHbkhezP5Zmf6fFrI6gpVs0Xam31Bkmuj5FOXeUYEzTuoF4gkeBJCqFvS7AJDFlJrWGLkhyyr6xHJOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vr5fCaQxzPPkCTrxT7r37Y",
      "input": {
        "note": "Descended straight down to ~2 cm fingertip height with the block last seen exactly at the grasp point; closing now.",
        "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_01Vr5fCaQxzPPkCTrxT7r37Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=2.0422 left_j2=1.422 left_j3=-0.9989 left_j4=0.0269 left_j5=-0.6888 left_gripper=0.0091 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.2342, 6.1333, 0.1587, -0.0269, 0.0073, 0.6813, -0.0205, 1.7162, 7.0085, 1.8632, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826f4a68e037ea205aa5f6ebacd7acc6542681a1d7b07bdd16fce2adc0ae7576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a07ad1ebc8bde717e877900d16a85e712568f37bd90f2554709c6d12c19b39ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38f792664c23cfd4a6a24a5f0956421dab4043c21b678ef3b8bae5067cd7237d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 826f4a68e037
wire blob a07ad1ebc8bd
wire blob 38f792664c23
call 39 attempt 0 · /messages · status 200 · 15.84 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=1.8797 left_j2=1.6341 left_j3=-1.3247 left_j4=0.0277 left_j5=-0.6888 left_gripper=0.055 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -9.5385, 6.106, 0.2418, 0.0269, -0.0171, 0.1734, -0.0889, 1.8667, 7.0359, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6025 left_j1=2.0258 left_j2=1.4322 left_j3=-1.0027 left_j4=0.0265 left_j5=-0.6888 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -9.0188, 5.0667, 0.4225, 0.0122, -0.0513, -0.1001, -0.0889, 1.5932, 7.1179, 1.873, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=2.0422 left_j2=1.422 left_j3=-0.9989 left_j4=0.0269 left_j5=-0.6888 left_gripper=0.0091 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.2342, 6.1333, 0.1587, -0.0269, 0.0073, 0.6813, -0.0205, 1.7162, 7.0085, 1.8632, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826f4a68e037ea205aa5f6ebacd7acc6542681a1d7b07bdd16fce2adc0ae7576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a07ad1ebc8bde717e877900d16a85e712568f37bd90f2554709c6d12c19b39ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f792664c23cfd4a6a24a5f0956421dab4043c21b678ef3b8bae5067cd7237d",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
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[blob 826f4a68e037]
[blob a07ad1ebc8bd]
[blob 38f792664c23]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VvzocBJLzAdySvBc1njYhW",
      "input": {
        "note": "The wrist view keeps saying 'aligned' while every close comes up empty, so I'm switching to top-camera servoing with the fingertips near table level: this +0.2 rad yaw swing (~6 cm) is a calibration move to measure how the jaw tip travels in the top image.",
        "targets": {
          "left_j0": -0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VvzocBJLzAdySvBc1njYhW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4126 left_j1=2.0422 left_j2=1.422 left_j3=-0.9981 left_j4=0.0303 left_j5=-0.6888 left_gripper=0.0114 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.2103, -10.1949, 5.3675, 0.232, -0.022, -0.0464, 0.2222, -0.0205, 1.5932, 7.0085, 1.8779, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4872cd5de088f89ae3ab706a99391634949822fd79145a9524dbad92962d5153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90be34b118c8d00694cd410dccbb171f567763149e7e1be0f4bd3f97c0d4c4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78f3d0accef64caf52839f885f44de8af5d5351689b6a4e990ea7268381297eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4872cd5de088
wire blob 90be34b118c8
wire blob 78f3d0accef6
call 40 attempt 0 · /messages · status 200 · 13.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6025 left_j1=2.0258 left_j2=1.4322 left_j3=-1.0027 left_j4=0.0265 left_j5=-0.6888 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -9.0188, 5.0667, 0.4225, 0.0122, -0.0513, -0.1001, -0.0889, 1.5932, 7.1179, 1.873, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=2.0422 left_j2=1.422 left_j3=-0.9989 left_j4=0.0269 left_j5=-0.6888 left_gripper=0.0091 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.2342, 6.1333, 0.1587, -0.0269, 0.0073, 0.6813, -0.0205, 1.7162, 7.0085, 1.8632, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4126 left_j1=2.0422 left_j2=1.422 left_j3=-0.9981 left_j4=0.0303 left_j5=-0.6888 left_gripper=0.0114 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.2103, -10.1949, 5.3675, 0.232, -0.022, -0.0464, 0.2222, -0.0205, 1.5932, 7.0085, 1.8779, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4872cd5de088f89ae3ab706a99391634949822fd79145a9524dbad92962d5153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90be34b118c8d00694cd410dccbb171f567763149e7e1be0f4bd3f97c0d4c4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f3d0accef64caf52839f885f44de8af5d5351689b6a4e990ea7268381297eb",
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEAZYyWmL55VRtUYJWM48B",
      "input": {
        "note": "The calibration shows the top camera is very oblique (depth and height are conflated), so the apparent gap there is mostly the gripper being above the block; returning to the aligned yaw and driving the open jaws all the way down to table contact so the fingers straddle the block's full height.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.603,
          "left_j1": 2.11,
          "left_j2": 1.37,
          "left_j3": -0.83
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NEAZYyWmL55VRtUYJWM48B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5858 left_j1=2.0655 left_j2=1.3991 left_j3=-0.8845 left_j4=0.0105 left_j5=-0.7036 left_gripper=0.9949 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0598, -6.8855, 3.0154, 0.823, 0.2369, 0.1294, 0.0073, -0.0889, 1.6068, 6.9949, 1.9316, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3f809a0800cf782619f3bc491e7216c7142e6a82847ddfd7d5e2a6b9effa36",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16426ea7fb1e1c07b69aa53c22eb59d30a2d503e8fde9203d2630312f2af4139",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d34170de5aef0343cc3fe440fd9415a602affbb67164b2570eaf49371938b5c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ba3f809a0800
wire blob 16426ea7fb1e
wire blob 3d34170de5ae
call 41 attempt 0 · /messages · status 200 · 13.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6029 left_j1=2.0422 left_j2=1.422 left_j3=-0.9989 left_j4=0.0269 left_j5=-0.6888 left_gripper=0.0091 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.2342, 6.1333, 0.1587, -0.0269, 0.0073, 0.6813, -0.0205, 1.7162, 7.0085, 1.8632, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4126 left_j1=2.0422 left_j2=1.422 left_j3=-0.9981 left_j4=0.0303 left_j5=-0.6888 left_gripper=0.0114 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.2103, -10.1949, 5.3675, 0.232, -0.022, -0.0464, 0.2222, -0.0205, 1.5932, 7.0085, 1.8779, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5858 left_j1=2.0655 left_j2=1.3991 left_j3=-0.8845 left_j4=0.0105 left_j5=-0.7036 left_gripper=0.9949 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0598, -6.8855, 3.0154, 0.823, 0.2369, 0.1294, 0.0073, -0.0889, 1.6068, 6.9949, 1.9316, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3f809a0800cf782619f3bc491e7216c7142e6a82847ddfd7d5e2a6b9effa36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16426ea7fb1e1c07b69aa53c22eb59d30a2d503e8fde9203d2630312f2af4139",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d34170de5aef0343cc3fe440fd9415a602affbb67164b2570eaf49371938b5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhdAgKb9A2646SgJS6g6su",
      "input": {
        "note": "Table contact confirmed (j1 stalls, wrist effort up) so my height model is exact; the remaining error must be radial, and the one stance where the block looked huge in the wrist view was ~5 cm nearer, so I'm retracting to that radius 1 cm above the table.",
        "targets": {
          "left_j1": 1.9055,
          "left_j2": 1.18,
          "left_j3": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NhdAgKb9A2646SgJS6g6su",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5869 left_j1=1.935 left_j2=1.2083 left_j3=-0.8467 left_j4=0.0132 left_j5=-0.7048 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0242 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.4821, 4.8889, 0.3639, -0.0611, -0.0122, 0.0952, -0.2393, 1.7846, 7.241, 1.9365, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:932c21c2aaae30ba86c86214ba82640dfceadecacee7bd10c9eec7f6e65ab127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc58bb183346dc2a870d3d40136b6c062c89f7972eb377b4a12a5f2496042230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5c7f4886c8e538e45ada2cecfdefc9d6a9a36a4de507093983972114648d8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 932c21c2aaae
wire blob cc58bb183346
wire blob b5c7f4886c8e
call 42 attempt 0 · /messages · status 200 · 9.103 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4126 left_j1=2.0422 left_j2=1.422 left_j3=-0.9981 left_j4=0.0303 left_j5=-0.6888 left_gripper=0.0114 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.2103, -10.1949, 5.3675, 0.232, -0.022, -0.0464, 0.2222, -0.0205, 1.5932, 7.0085, 1.8779, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5858 left_j1=2.0655 left_j2=1.3991 left_j3=-0.8845 left_j4=0.0105 left_j5=-0.7036 left_gripper=0.9949 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0598, -6.8855, 3.0154, 0.823, 0.2369, 0.1294, 0.0073, -0.0889, 1.6068, 6.9949, 1.9316, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5869 left_j1=1.935 left_j2=1.2083 left_j3=-0.8467 left_j4=0.0132 left_j5=-0.7048 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0242 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.4821, 4.8889, 0.3639, -0.0611, -0.0122, 0.0952, -0.2393, 1.7846, 7.241, 1.9365, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:932c21c2aaae30ba86c86214ba82640dfceadecacee7bd10c9eec7f6e65ab127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc58bb183346dc2a870d3d40136b6c062c89f7972eb377b4a12a5f2496042230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5c7f4886c8e538e45ada2cecfdefc9d6a9a36a4de507093983972114648d8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 932c21c2aaae]
[blob cc58bb183346]
[blob b5c7f4886c8e]
{
  "content": [
    {
      "signature": "CAIStiAKjAEIEBgCKkDert1fIEf3sYhP8V1Lf9vp9iLXCTluxFq9UaYo8fhhcFtXOgMIK3yT3HFHvhgN37A4mHqjUF9N4AIMcsneZcudMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM1zcAFqb7mjzCPws0Ggzj3wwdkelMFfOMMHQiMEBEsZy7U8KuYuiAwtaGCKcbxnG8uobbPdh5Uj671bvuThLTjdte8c2G14LK7KDE6SrWHoRrvvIupkGAMLMXJ2E0xXxlrNJvRqp0BskrJuile8LFSOdB2Xk7KO8vr8f3a9TajOiD5+Day3shgnB2wia3lEgCPbDZkKbjgu4w43DjkHB/tFjBuIfwmEFE/bRYUsjjjdFFsgzo7JHj6y2oc/tNYAsqF99F5xxgH6EJQHG7pRXqFskjYaFqCncPQVLdebkJ0oTCBzWpT/LKyXyvNzB72F8xENW3AZEYV3cOQFtT93YVKRl9lv0Ti2YA58I4HYWvWW/Ym+h7uW3ObsEeHPMgSDv3Cgk1jJf/uG185KFnEox9bL/uP1XGijN0UEXEsfiCgjxoB2optonKgY7yyPmp1GIlc/xmXpOlQmkAVxXydA1sisE50zYClQYeXAxDke+TofY0P0i8BToGiwc/+aVTugNL8SL2/pC2OqB6cfHD1ur1fnL2XxdF1s7sGD9eqfe1/3jvyCpP4cW7OMGOV23q2ijtMPuvk+/CEuk++keJWAh7gSS3HJ104dClZoZkS+pK4HOYsp5GL8XWSwHQcMCNiiCT5+U0Bg0WZabTGL2ddPbwdVwF3TVq56nxZ8Zum6a/HFekWD38jSRvmMrhLqKmE1WBxcqJmHBJtsscAYt4b2RE6Xr4e4r8Q+IaNZ0wbiC+Wg/+TEfn34J5H1b4hfu5q1faOfa2nhycIzbgvtM+uup+BgDS6z9sJpsNuQXeHc4u2TwVc0DNXHgL87G0msG/lWKK42CY/pIA5lTeliPPbTBoXC8dsUghXB98PsrORNRtlVx15oK9IADgDkyReA9+kXD6JHCQlU+fBsZ8mIgsjuY/0kww7r1wkMMLGzPDBL8vBV5OkrWVj0vbj/omjGfNpmXJPpeY0tJsgd98DrKsIcXFtXmG/4L8JwLOqM/t+KNYVELFJZwCoXPddxsSWqgqyM4abP/9/CQBRjuJDslGKcEvUZ8dIPtvGKiqrOa9qE1UyNQ/1PPt7pFf67uXZZepkj1F6+vECZf6S0jXny1Fk+gilmc1wGlCA4APDC00VNhX0/lDbA+rZNR2y36/J00GXbKrZtda7RpECEi4MxF8yWAlVxck8xhiyB+ojPJkanHD/0mfyvphX0gOOj7eOFalLvydSK2ZqTIYKvIvGo6egoos6TAYOwlSlkT1zORFv42I1xUWiOhhi/WTUDNmjUA2RSLi5glYpEKjuViyTbTVs3IkFRUPPzBEkg8Qh+TVnMP1hFZkZuvAQeTgjZ5JxHUluEtpWF1MapCdooUFsKN9n6BoxSftbK0rTjoIt1iS5810tPdTjfA2Fr06rNXi+hcG0ts0WF4vYe8jAdweIwj6t/eTSzQOIoEMKwNKzkhTQ1Sp66l+IWr3mLms8Qgpr8Ueu0peWvF2P/SMWEby3lszjltObl3RGWYanxffAhsCLZUtRgtpRuwbe1Jc2+H+LsFUkavzyZ5P/bZXr8l3A6KnBOYwwrfQqZplPnA2IZ4un+kL00g5hz9C1svO9RcHZ1LPZolaK6my033JQjOW5hZuG5h3+TEU0bKL/6dtw2DpAbaCECLCqceQseii2MscmYJqBY8A5pqiyguIr/zAlgYUgQCWC1kqQvfkhBU8tXpfy2YBEpdHzYF04Gp1Jfqmy7hJKXg+bqHWNZoLI7UZqWn6HqCIQNkMGxMC1KiqchSKto642fknC1E4f6WqWSF/QxX1dReyBm/rcohSIEXhWCe6Duwo2JYeuT80qkL2AobY+m7SQqWQe7nKLEHsd0pGb33E16y1PHhfGXYWCu/jtP9QHGyecJTDKgf2ibXfFxZIcOofvvdkfvhtP/MUTvY7sLEuXmxaliZVEXxcWcbjz5RaMmO0Csg0gG3+kf3XbG4JZsmLaUdXR3i2Q2GIOheoTop6+AqK+MA0a3yQ2W3g7wPrimTyyYyh7Tlp1/ziqmWTDkr7DAgM0ewKU/jwXyfUPyEB4ypY0lTHDpJyJ7+PDKbMg2ShmD82CnGzmw5Kbp+0ecQbe+rSPW2PvhEMRZlolPsRWGDdakYlvOfkHkZ29ns3BVw5STbuj2GWzRk5mMfX2dooGBIvWjyiBEVxwzK2pQEcOZGhRn+4NIY1phZlLp8nNmDs6gIIk1kEQZF/uOFU4F5bsunula0qjxjWvea0VD1MreXNhnkWU0zH4BGwncdijQjg3/EGkhxRU2e9oW+LYdhU550NDR61AGPr6pBeC5CccZ3qKRRa9mKhPZ2WA7PiG5E8pYETagpaphWMOrSh3ghN0jTbjcjDaZIvTLK8okHFZueeydA/VQCDlpoc8WbXtofJQ0OUBUbUdE1vh3gyBGhq+UK7WZVeVhiRcJVtuREp5cbfrgsJxFFJDCIW6p+JVN3kNNaaBojWdBhsnld1DMkPJOJYCCiu//vbkDGRqPGk06w7ntQLao9fC8HClQaZHvNh5rxeDI9fFLr47uWxaMkIrCb3FpQRNbyT0nGUTpdQ08q1wN37KqWpP+2mH+HxGMZE0jw/senoI16/UeCiYILIAIGX+x7v7xy5t9T6QiRUdsN0yu78n/A0ZYIAQphnZmt6I8Q6ySGr1NJFV6ebalUu7popX+cACSw2UFshB2EUQ34WhPaZfnmb7sh4jMvuypyBBPpvd++2FgUXpGVrweSe7lURYtTYhZTmcw0lQZNRBYd0Z+88gkhg5TrhB1GkH1X5i4stb+06mrwikoMWbJLpTQHHIsMTOZ1lpCqX+2JC9EPOQSR2zHr69UM3wxAW87wYSW9VzD54BVzlUatyULffJZLdgLk9/xcgmPFd2JVZsDFxrfJWO0uCEt7sRdFxUuR8Ebsskm/mKW/GpRMtVlx8VNPUMfguxZOBNh34U/8VyHG5+ioWl3qh3cIqjADFTYiwPCk62Skv5ZMevy4EDeYj+Rhm4SLp+/blNP611+5yriGnYh1Z9coV1SIhc+inJRuk7IlbLjWiumPoVrLuDuhNDWvnHRHb6rjaFbcFxETI/oJQQSz/I5i74rCeE16Rb1nxnVZp8CtdbPk1ebItiy8QcxHPxiu8xnzuBYe6FeSyM2/12o9llZAKKozz06pThDYDI/web/8SaAFZ9lpL2cAWEjAujotWJ6Ylw4tvTuls3elD0H02J8sAc0JhABIYjV/kzV+6iuzvl3mBlaXymOEUL7iv/jvQKQSg9/iRaMTziDyrhLmApW5Y1ZwPXth/JXraYL6AiJpM2Ud3ZbiXrXQU3+pETNs4sG8hZ7GgtMJO8yLts/fH9ChI8XHMBVwAaRFvmpTHBIJ47SUFgtmbg/iMtEwSG8NCJjRtfe+n/qfAp8zYID74netU4BZRJ/E/hUcS6e6NOK1Up7Rbd2mXYweESbom2aKzhRRq0LhH2KN4v2IA0hpaWCAnMD0OjYDzLyQ7pq53u5jxCIeG4jyzacPz78PRPjIzotGl0PnMU4zneEqgtyPzREN3D0Oy9IrWv5pzys3ljKHBhr9TJfzynJp5dOdVAODPgo0E8v3ZdqCtwY8RM7ZTTcAL+Rd1uHj2D9qUOdjdVVTP+KCak4GLqzJY17WkDY9yY1nWG+8ImcEHRgZLVh4Ef7t1SA6sXMj0jTUbyKUvLQ7AFk6bmd0BPNBLEijodvhJDNNyG27iU9hO4hoWdUYiQZRLDU2hCgl/IIcSsQK6IqqwKfNy4ulOtU2hd0K03gqF2LMmO0zVWLXxAYiieVpaVX4bX45Q3w1dL5gI2nBQGCcjtbziFCHkZRwDCvVsMZAEbXpkXbfqS/FeWXXi+hMvHFABVOEmjQlNYXzB3rIL/Ql12KA1IVhyJnWRvHcSPrpbiE1DsZq/g+SJSry6WeHZZxWo98D6KE8BiQItY76lEXhpxmpAkEAJtPuUNGg1ht0jLq9rNEhuDfo8/OE5K5Yv8nzdZdiqQoUjhy33BBPt5bjHPG+FwwNl4mmd8l95sSE2i/nRCKfu9OC/5jfbspDVJ5428bmSjqimmQ+2RkTklDCA35rsEUBo5jewjihlcHzthafcdMH3X/ZhS9/yoN0jK97BwTGhf50C9/VfGCRD/OTpGdfuYSpBrup8VhN4RU4Oa8ZeBppDTNeCBZdOUqI7QzmH2AgX1jM1YGaN6+siZdD+Bn7+0YHyR5bt0pp9gqHNr+P7e8so6eLFjcFl1yVfU14AjBc4pMM7s7FjSQJ31wcHT7XMzrHm1WqcgRR5hwBAFRx02eMCAzrBopXz9yg05k2xt75MP+Z1MZiOkTCc8fUIYaEbuUm1KEwNHDFzUJ55Mr5U0FRde9K4u6v8w3c8n4uBK8/bgveMEUGKEXb07dFgTulL5uGwjcYLPHKAdWXTAmQRw8LgYFbG70/NXin6Se+z0u+OHr5OOWBvTP5A+LfdnmZlSQpERP5anbKDzBivO9H0V2u3SfnezIKm+Bno8FTcJGRwOwUIi/qflM6YAaZLc0ZFbm42V1kCifu5mcRU4Od8BIll8NugoZmkm1nSG1W3TpeEga1HBtK20tw8L6UsQ6ytQh4y+gP68J8LmfrEF+1RAdLYGxJZZChPh3ACOZnrN9ETEeDO0zmfYcsGAZeXTQuVLIhLRuKrUoelTLwraFt4rCPkuaiy678rW9MMP8sZIevRL9Q/y+ZYdC7WvuJSAKkoU6qxsNehNudvoKHCrPx+1Ga9FUPH1w+aLpE9Zg5ZhsJXer7kY202EpL+NT+/c1fCKWOma4VmB1RrUwiJNZ3Yv8J0QL1GZ0z9d4SUnG3aPlaVGtMKd/uJIhkCxjg4SpTYLhBCVePAUcWfnAzgfkUpOxEsXURXOwmP+bpLcpy6zENIcHabWsQhGe7R3JTRqOHN6jjlGJmZV4xjWFix+JYgM3MGYuoogtks0I7FESshn4rNE7RqfsYprVOeecjMYxm3Qj/oewyYT9z6Z4TomE7YU8PEKwSiPxq+iNaNzMmqNyV3ofeqvUtU0dUMP2Egajp4uH2iRx5w05FiDfBLltMc3ubf0zTLjSCIk8m04fDpdETH/87KAfPrbxHFmVuhO7knoVqrrZ+9L6ELs4f4o2a4CKVe5CHhvZeO//JWMYYFzJj0urV9a7ELfyygbnsLowXk/w8PzKCofMdutYraiDTkABp3YyO4iz69B384lZOnn1OiBerGnTHc8rKZbVOieHV8kq1+Qa5s05ikdlVfDFy/CjhGCpBgfgVPZJ9TH4s0CnYUDpaA8yvFzx1WKJjTLyS7Lxbf2/YjQ1oaShF4MFENyF+YSDnSeT2tTVayG8nm/PT6wD9GggPyNoJSfOA1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014MDbeVZYF6JzsvLb1o9ZtB",
      "input": {
        "note": "In this clear top frame the left arm enters from the image-left, so image-down is the arm's right — and the blue block lies well to the arm's right of the fingertips, not inward. Lifting to 5 cm and swinging ~11 cm right to test that reading.",
        "targets": {
          "left_j0": -0.94,
          "left_j1": 1.79,
          "left_j2": 1.27,
          "left_j3": -1.06
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_014MDbeVZYF6JzsvLb1o9ZtB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9157 left_j1=1.8305 left_j2=1.2449 left_j3=-1.0183 left_j4=0.0181 left_j5=-0.7078 left_gripper=0.996 right_j0=0.0025 right_j1=0.0254 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -10.7692, 7.5009, 0.1148, -0.1441, 0.0269, -0.0073, -0.0205, 2.0034, 7.0085, 1.8681, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51b341409bb6066d7535c3ec03399c7630b39d21d5186dfc1614084733724607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a659b006a956a1d711049c3b9c4df5d49c923c3e57c4073df58d8ce6295e057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0fa65e7b1710b7d1c105b910434885d22bf48fd44ff0e12b1c9ebd7c679d0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 51b341409bb6
wire blob 5a659b006a95
wire blob d0fa65e7b171
call 43 attempt 0 · /messages · status 200 · 7.194 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5858 left_j1=2.0655 left_j2=1.3991 left_j3=-0.8845 left_j4=0.0105 left_j5=-0.7036 left_gripper=0.9949 right_j0=0.0025 right_j1=0.0216 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0598, -6.8855, 3.0154, 0.823, 0.2369, 0.1294, 0.0073, -0.0889, 1.6068, 6.9949, 1.9316, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5869 left_j1=1.935 left_j2=1.2083 left_j3=-0.8467 left_j4=0.0132 left_j5=-0.7048 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0242 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.4821, 4.8889, 0.3639, -0.0611, -0.0122, 0.0952, -0.2393, 1.7846, 7.241, 1.9365, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9157 left_j1=1.8305 left_j2=1.2449 left_j3=-1.0183 left_j4=0.0181 left_j5=-0.7078 left_gripper=0.996 right_j0=0.0025 right_j1=0.0254 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -10.7692, 7.5009, 0.1148, -0.1441, 0.0269, -0.0073, -0.0205, 2.0034, 7.0085, 1.8681, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51b341409bb6066d7535c3ec03399c7630b39d21d5186dfc1614084733724607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a659b006a956a1d711049c3b9c4df5d49c923c3e57c4073df58d8ce6295e057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0fa65e7b1710b7d1c105b910434885d22bf48fd44ff0e12b1c9ebd7c679d0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 51b341409bb6]
[blob 5a659b006a95]
[blob d0fa65e7b171]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XsjEyciXGKbwEonFEvebgx",
      "input": {
        "note": "The right-swing brought the block back into the wrist view at the lower-left of the jaw gap; correcting ~3.5 cm back to the arm's left and 2.5 cm inward while descending to just above the table.",
        "targets": {
          "left_j0": -0.78,
          "left_j1": 1.83,
          "left_j2": 1.07,
          "left_j3": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XsjEyciXGKbwEonFEvebgx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.786 left_j1=1.8275 left_j2=1.0855 left_j3=-0.8783 left_j4=0.0154 left_j5=-0.7074 left_gripper=0.996 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.4188, 5.559, 0.4469, 0.0171, -0.022, -0.0073, -0.0342, 1.5658, 7.0359, 1.873, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65337deb86874664b6d06be86eb6047ee50e00262505e63b6f558296c640559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e371f286ac4675a6f92666859097682bd2b7a312b57fbe22ae68644dae18c931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c1aa409febdbe68afe6d31e349db8842017b81dc4027d81a2fe2e4d8f661f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b65337deb868
wire blob e371f286ac46
wire blob 5c1aa409febd
call 44 attempt 0 · /messages · status 200 · 9.738 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5869 left_j1=1.935 left_j2=1.2083 left_j3=-0.8467 left_j4=0.0132 left_j5=-0.7048 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0242 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.4821, 4.8889, 0.3639, -0.0611, -0.0122, 0.0952, -0.2393, 1.7846, 7.241, 1.9365, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9157 left_j1=1.8305 left_j2=1.2449 left_j3=-1.0183 left_j4=0.0181 left_j5=-0.7078 left_gripper=0.996 right_j0=0.0025 right_j1=0.0254 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -10.7692, 7.5009, 0.1148, -0.1441, 0.0269, -0.0073, -0.0205, 2.0034, 7.0085, 1.8681, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.786 left_j1=1.8275 left_j2=1.0855 left_j3=-0.8783 left_j4=0.0154 left_j5=-0.7074 left_gripper=0.996 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.4188, 5.559, 0.4469, 0.0171, -0.022, -0.0073, -0.0342, 1.5658, 7.0359, 1.873, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65337deb86874664b6d06be86eb6047ee50e00262505e63b6f558296c640559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e371f286ac4675a6f92666859097682bd2b7a312b57fbe22ae68644dae18c931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c1aa409febdbe68afe6d31e349db8842017b81dc4027d81a2fe2e4d8f661f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b65337deb868]
[blob e371f286ac46]
[blob 5c1aa409febd]
{
  "content": [
    {
      "signature": "CAIS0woKjAEIEBgCKkBzaQJIjcHI0Vy0CNZRTMbP45LJTm3JefmCavenL6WtSDrJ/pTqEj4C+vyI1JwrFCHsayddxrN6vJAJlmRCGQsPMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGr7HM43GHDJqQGrNGgxLvudQmYQjPf/A6ZIiMDGL9Bhp4hPqFfrHxSXna2BQmuO53pXxc5df7EQ57JEI5FRPpGNPuzAFiP+roC/bNSrzCB+nKJ70xCdX0H3PNSBvvlSmIPwro2t+FzZz1NjMaguD8jj4u1prvoDGIbc1Gv06+zQdtLTv4EVeslmU/6SehAKUhj/cU8g/vwReWxBEBfmqPjBR0vVurVS1NM7W1wPADWpEv/1i5pTEgx7QHMhZ1RMtNFvH3xfw4WF//JF4DfOqZ1QOO66hyKeW5j1ke21kOTFm0zNCd7wD1SEN2Xe6SAgyTDT8nHwSD+uVw5+ZEMikpJ5Cim4uFL2xGFVi/lO0Zj8vkLc6e+j+NUWvgzcQ8FtaHPwkGkoJEX+WsYUxPWKqvSpGz/L3t/D7uJPTy9jDBzcYtpF9S9jT973EW8Hy8t+nAfaJLXDOCszEne56VU4wRB9hKlsml9xwU5U6pzy7PrdFqYefeLGwQBUG9pRbBNL0OKoVTAy/aJIfSQpxXgbg24W37yszafR6oa63RBBKkputnwec0rKMWCKRo9p3YiDMGHl9oY3fUeDuYpZzkmdp3YFOVxI1mcxqqgXTH3ztyUPskXMR3jsGI9uBW9Mjrba1Ulpzfaj8rDRGJFZq2WOQAatz9RmXV41FVYkkAJWRZUVkrfPoT0MQXGDAaxPWfUi6o2i3ojxoWLNI+fE67jwgnUWd8DriNMEwQNjAfqZ2RHvM0oe6sSZa1fzKf3Bsz1CK2lHmQDMZShtIiSTrUv8UXV7RDxUAf8crto5UqkfuFw9WSPsTIpwvGU4cTgtnxGFKWhVdC52RntiZZ1F7VV1bXihDViJukIZ8O8RewWn5eyO15OrnfXC1ev69QkWQFGoeu4QOYugPaIQ4W7eOqTfKwZaSsi5X6c8iprLTZ4kIJ2FcaFI7sRvXr8Xqxl9dxjh11FNMLuCG3F4UW8SzwrSGFh38/s93mi+8T9lFuLYPO2b5/+tQF0uiprbkgzJgqhw/44Wgho4ef6RiUfxDFrHzDBpCkDvIwWaqMl3XQnbvMqSL7s/CnGMRop8w4vdD70Kb7PHI1dbrfZelLc43naH6jZSUjtd1zA66vpXXLGNGPqBe5wkOjcqikwmSl2U6cMauA0vCaXt0R0xdVrNkUas9mlqcJSJeURuBBDulpaQqQZ9Jpnda4oVN52j2dJ7ktGF38+d1ldHZHb9wYvlB/fYj/znjOH5E0f9D8BUu6kQrCGZleVpX80BCcEeD2whlSeZmr05dgrhfBn8p+ZsaQHAIGKNMByiLgjbXBwJV/gChRXCBUQsMC6RnwhP54JXJvChIn9N4AdasqpXNh64EZZrQ+fY5uYvyNjx1gTpTlsB2Fghz+LOK8MkW6HKOIpJAqJoezLjGy93WpGKEkN8vrAiL48Bjj8fK09FeH9VkS5Vj+DAsvFG/uUxyn22224fNTSh8/3VPRCceW86V166p4112XelNAI5d0Xwx21N4ngXZlA27i6Kg8N6XR1lNdJ7ijRVErd4NDmbn+CJ5behy55Ro9NZITCmr2r1dNGq2SEIOPgsccHl4xlxHhefHoj4zMbN3G5ozzKM15kRRNHXJYXG5sA/IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XuWQJNHX8dqxpqqcVpttk1",
      "input": {
        "note": "The blue block shows as a sliver at the bottom centre of the jaw gap with the fingertips ~1 cm above the table; closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XuWQJNHX8dqxpqqcVpttk1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8286 left_j2=1.0714 left_j3=-0.8753 left_j4=0.0162 left_j5=-0.7074 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -7.8838, 6.1333, 0.1197, -0.0415, -0.0171, 0.6667, -0.0068, 1.6479, 7.1453, 1.8877, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbdcec3157f858b35091f55cd0c6ce33784669059ea52a8b8d0736783e40d20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c59c37d3afe28660a1a43672cea6c4524b1936aacd6b9a3ea8daf4adb343219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65505c8892afdcd077e823fbd4f967a82a5675d4f376b345ed3ad3d9fb252313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bbdcec3157f8
wire blob 8c59c37d3afe
wire blob 65505c8892af
call 45 attempt 0 · /messages · status 200 · 18.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9157 left_j1=1.8305 left_j2=1.2449 left_j3=-1.0183 left_j4=0.0181 left_j5=-0.7078 left_gripper=0.996 right_j0=0.0025 right_j1=0.0254 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -10.7692, 7.5009, 0.1148, -0.1441, 0.0269, -0.0073, -0.0205, 2.0034, 7.0085, 1.8681, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.786 left_j1=1.8275 left_j2=1.0855 left_j3=-0.8783 left_j4=0.0154 left_j5=-0.7074 left_gripper=0.996 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.4188, 5.559, 0.4469, 0.0171, -0.022, -0.0073, -0.0342, 1.5658, 7.0359, 1.873, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8286 left_j2=1.0714 left_j3=-0.8753 left_j4=0.0162 left_j5=-0.7074 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -7.8838, 6.1333, 0.1197, -0.0415, -0.0171, 0.6667, -0.0068, 1.6479, 7.1453, 1.8877, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbdcec3157f858b35091f55cd0c6ce33784669059ea52a8b8d0736783e40d20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c59c37d3afe28660a1a43672cea6c4524b1936aacd6b9a3ea8daf4adb343219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65505c8892afdcd077e823fbd4f967a82a5675d4f376b345ed3ad3d9fb252313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bbdcec3157f8]
[blob 8c59c37d3afe]
[blob 65505c8892af]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eza3tZdosx7poxCT3zz4nY",
      "input": {
        "note": "Another empty close. I'm making a clean 5 cm radial extension (plus 5 cm up) purely to measure which way 'radially outward' points in the oblique top image, so I can convert the visible gripper-to-block gap into a correct move.",
        "targets": {
          "left_j1": 1.85,
          "left_j2": 1.36,
          "left_j3": -1.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Eza3tZdosx7poxCT3zz4nY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8462 left_j2=1.3209 left_j3=-1.0351 left_j4=0.0166 left_j5=-0.7116 left_gripper=0.0113 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.4581, 7.2547, 0.1929, 0.0073, 0.0171, 0.2711, -0.0342, 1.7299, 7.0085, 1.8926, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a348d72b115130940ca10d2672427d5110abe299cc8c143177645363ad3802f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9ad53e6affda6d942f399281e323681021f646f6b6ca73c0029e00af76d013a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c649a3a4a73de3aa39b990df2a6666d6983c42b3fdb307f388e3c6ba02a5f24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a348d72b1151
wire blob f9ad53e6affd
wire blob c649a3a4a73d
call 46 attempt 0 · /messages · status 200 · 22.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.786 left_j1=1.8275 left_j2=1.0855 left_j3=-0.8783 left_j4=0.0154 left_j5=-0.7074 left_gripper=0.996 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.4188, 5.559, 0.4469, 0.0171, -0.022, -0.0073, -0.0342, 1.5658, 7.0359, 1.873, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8286 left_j2=1.0714 left_j3=-0.8753 left_j4=0.0162 left_j5=-0.7074 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -7.8838, 6.1333, 0.1197, -0.0415, -0.0171, 0.6667, -0.0068, 1.6479, 7.1453, 1.8877, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8462 left_j2=1.3209 left_j3=-1.0351 left_j4=0.0166 left_j5=-0.7116 left_gripper=0.0113 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.4581, 7.2547, 0.1929, 0.0073, 0.0171, 0.2711, -0.0342, 1.7299, 7.0085, 1.8926, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a348d72b115130940ca10d2672427d5110abe299cc8c143177645363ad3802f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9ad53e6affda6d942f399281e323681021f646f6b6ca73c0029e00af76d013a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c649a3a4a73de3aa39b990df2a6666d6983c42b3fdb307f388e3c6ba02a5f24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a348d72b1151]
[blob f9ad53e6affd]
[blob c649a3a4a73d]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GQghU7dh73RjW6Vyh4c8BS",
      "input": {
        "note": "The last combined move barely shifted the image, so height and radius must cancel in this oblique top view; doing a pure 8 cm vertical raise (constant radius) to isolate which image direction corresponds to height.",
        "targets": {
          "left_j1": 1.75,
          "left_j2": 1.58,
          "left_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GQghU7dh73RjW6Vyh4c8BS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.7962 left_j2=1.5444 left_j3=-1.3331 left_j4=0.017 left_j5=-0.7155 left_gripper=0.0134 right_j0=0.0025 right_j1=0.0265 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.9197, 7.3641, 0.1978, -0.0171, -0.022, 0.2027, -0.0205, 1.6342, 7.0085, 1.8779, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a977e17346183a43c7651444acd16538165490004311546f09ed832bbefa42e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f9790dbc6a4bae1aa156ff71d95190cb2922514167664f486c66c013aeeabd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:891cf6bb4b0ab9d155c444e7e2c617b5b307fb276cd1c547bfaba9c12628beea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a977e1734618
wire blob e0f9790dbc6a
wire blob 891cf6bb4b0a
call 47 attempt 0 · /messages · status 200 · 5.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8286 left_j2=1.0714 left_j3=-0.8753 left_j4=0.0162 left_j5=-0.7074 left_gripper=0.0086 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -7.8838, 6.1333, 0.1197, -0.0415, -0.0171, 0.6667, -0.0068, 1.6479, 7.1453, 1.8877, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8462 left_j2=1.3209 left_j3=-1.0351 left_j4=0.0166 left_j5=-0.7116 left_gripper=0.0113 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.4581, 7.2547, 0.1929, 0.0073, 0.0171, 0.2711, -0.0342, 1.7299, 7.0085, 1.8926, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.7962 left_j2=1.5444 left_j3=-1.3331 left_j4=0.017 left_j5=-0.7155 left_gripper=0.0134 right_j0=0.0025 right_j1=0.0265 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.9197, 7.3641, 0.1978, -0.0171, -0.022, 0.2027, -0.0205, 1.6342, 7.0085, 1.8779, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a977e17346183a43c7651444acd16538165490004311546f09ed832bbefa42e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f9790dbc6a4bae1aa156ff71d95190cb2922514167664f486c66c013aeeabd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:891cf6bb4b0ab9d155c444e7e2c617b5b307fb276cd1c547bfaba9c12628beea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a977e1734618]
[blob e0f9790dbc6a]
[blob 891cf6bb4b0a]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3x8UcsmrLJenBX8GTHaPq",
      "input": {
        "note": "The pure raise proved image-up = height in the top view, so the gripper is roughly above the block; the wrist view says the block is still ~5 cm further out and ~7 cm to the arm's left, which matches the one pose where I did catch it. Moving there with jaws open at 7 cm height.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.57,
          "left_j1": 2.01,
          "left_j2": 1.63,
          "left_j3": -1.19
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C3x8UcsmrLJenBX8GTHaPq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.58 left_j1=2.001 left_j2=1.6047 left_j3=-1.2182 left_j4=0.0196 left_j5=-0.7269 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0288 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -9.7436, 8.0205, 0.2906, -0.0366, 0.0366, -0.1392, -0.1026, 1.388, 7.0085, 1.8681, -0.0513, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b50e8255114300ce9169b9b7e4a56fdb8e5847038c38eff724c4c33b7e59c4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5e8557a3f26fd736f7fe0e73ca7d341af8fe57830fe184bd65f93517836e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bd153d38acbf1e28e475aafd93b1d58b49cfea7962b19f2a0c3a1da0fc02577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b50e8255114
wire blob 4c5e8557a3f2
wire blob 5bd153d38acb
call 48 attempt 0 · /messages · status 200 · 11.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.8462 left_j2=1.3209 left_j3=-1.0351 left_j4=0.0166 left_j5=-0.7116 left_gripper=0.0113 right_j0=0.0025 right_j1=0.0261 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.4581, 7.2547, 0.1929, 0.0073, 0.0171, 0.2711, -0.0342, 1.7299, 7.0085, 1.8926, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.7962 left_j2=1.5444 left_j3=-1.3331 left_j4=0.017 left_j5=-0.7155 left_gripper=0.0134 right_j0=0.0025 right_j1=0.0265 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.9197, 7.3641, 0.1978, -0.0171, -0.022, 0.2027, -0.0205, 1.6342, 7.0085, 1.8779, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.58 left_j1=2.001 left_j2=1.6047 left_j3=-1.2182 left_j4=0.0196 left_j5=-0.7269 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0288 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -9.7436, 8.0205, 0.2906, -0.0366, 0.0366, -0.1392, -0.1026, 1.388, 7.0085, 1.8681, -0.0513, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b50e8255114300ce9169b9b7e4a56fdb8e5847038c38eff724c4c33b7e59c4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5e8557a3f26fd736f7fe0e73ca7d341af8fe57830fe184bd65f93517836e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd153d38acbf1e28e475aafd93b1d58b49cfea7962b19f2a0c3a1da0fc02577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b50e8255114]
[blob 4c5e8557a3f2]
[blob 5bd153d38acb]
{
  "content": [
    {
      "signature": "CAIS9gkKjAEIEBgCKkA9wQZcdXgDHghHMO5VQLvm6KO2cdcuQUH/nDvHMxgz9Gg+oi3LJS+3iqJTEGwpBoyOdJDkASxxs2hnN6kIpyh7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4Ja7+dcWK0EtjWjjGgxbBeJbZMfiBGVqNqsiMOFNmacC0h84eJDOUzHxdUEFeDJtDUviNkwmBHPsRttW0yHVYZ5Ztq5dN4+TUiEBLSqWCEJSQhQnwhT80bEJheKPoBbIYzMq8WbGiO7hRT/js8VuiwxzpDLMgkvZfvh5bv8sn6yba1ZHCa+EKz83LRv4imAsjLhe2eufNVmHDwRzDnGewOJksyLb/4/rbwhtu4BapHgzzSoYOjePlyiQMECpu5jKnSFLnQtGAsfaQWcaygeeN7v43uF+SaGQUdlM8kahOLvWdnWdCX8k8Yk2qJeUXT51BhI3L6OJoezab9c+WbZuYOk1rCkxO7/A61yU2nNDlEM49g/6WMRCgr3qbpfvqlVsOxFDtm9wzkZHUGuBNQrfyeHIOtx9v09NXp/G9BJAPxalGfQCqeEI1gv9ghoULIkRMVs5R0XnsnwdYII2uFnEMvqiTjyo0z5m02334HIFswNUd/29yUC8PWAFFV0IcEhaOcP99yR4PoDEOybtGgJ0kxB2EhWdbBLzamfQFFDLldVjCnX7D+wC1u08DM/oHA0bcbSipq/q/KICp3u+IksHyXVElgkp/3bT0rJz8sCnkuvDNoADcClWuUnN1l3M3VqgWERL6zm+cyp2hK7426QJTl3+LhFZBTd16e34MI23JXbkxRUOjTw8t0CmdJR/DMV4gVk6GriXKHzJqfmMCtyjGyZplmpJgEW7iP+TTLDaG4SDiUhg0k+ctc3ESgWsXwvkWiXsvqMgsTjmslJHG4ySMVDJhA8+IGkqk61rb599iS4lX2p1wKCVaskpGSOPej8fFUvOc+M7zOh9ZdfRJ+U3NevGUxipVsZhiJRCwpLyutiAQs7fjRDhoOORtY46wa9U0L6F0/wAKCJDzWckKhYUqMnKnlNDRQQvwVkg0WJycJY9vyntOxwOhZZILKJg37XRFopdqXvrfJn/VpOHRo7dEsGTZiOuR/vTqPFw+Isq2oq2yKmRiY6Je4KMYosYSInXUVQVtsrpcNaySlHBJRt/lStlmj7xU+qlMNc55JQL8mBEIZTEPuMdLKNAXDtFgJmnvYBrHJ+p2KWy1rgf1Z+t9zJolV7Rs5Eh3MimLU/plO7h1t/4Mi0FByPwEyCHJCG79xCyfv2hZbGqPvHaS3p8ZIWX0qAeyZqBy2P0hHmBYSNWwsvcFtnPBz5/wuVK9fpIYt1FPiMxn1YPJR0pH+/loGJCR8P6LqK6OpJIA0yBgVQ7h+CLv3zZ+zD2bI1WvpODeAAtBcNXpL7nwkZnYKUtix8W1HsPUfTgy3NOB68xpbBoRULAM6jkFkZkxfcRZwlAbdKD+mpvYxmp3NluN348q/SkN+N9+kRhUprgLO1Vs/RzTPjmB4SXmMlqbKstEL0bh/ywgkO4LO7eIlBP5xtt3BnaJHcGV4uCgDRY4CkgSRwjDs18ZWQkkHVY1yypWj+rp8baSy8pKKUX95xfrkbuO6L70qYVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwtyfwgUp9whNx5AVMVPGu",
      "input": {
        "note": "Block is at the bottom centre between the open jaws; descending straight down to the table at this radius.",
        "targets": {
          "left_j1": 2.13,
          "left_j2": 1.52,
          "left_j3": -0.97
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GwtyfwgUp9whNx5AVMVPGu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=2.1254 left_j2=1.5303 left_j3=-1.0458 left_j4=0.0193 left_j5=-0.73 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0292 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -11.7812, 5.4496, 0.3639, -0.0366, 0.0122, 0.0757, -0.0342, 1.5521, 7.2547, 1.873, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d3b32f09506bb769882096e3352b8e164a03e7ee5b6d05f7417301b7ae3e67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46385a27139cd691448d595c4506ab2b6531dd6853d9e45caead04e2d9104797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc86856818962a865c903fe93c85d1df678a87215fbe6857a3448fd948a803de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9d3b32f09506
wire blob 46385a27139c
wire blob cc8685681896
call 49 attempt 0 · /messages · status 200 · 12.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7837 left_j1=1.7962 left_j2=1.5444 left_j3=-1.3331 left_j4=0.017 left_j5=-0.7155 left_gripper=0.0134 right_j0=0.0025 right_j1=0.0265 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.9197, 7.3641, 0.1978, -0.0171, -0.022, 0.2027, -0.0205, 1.6342, 7.0085, 1.8779, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.58 left_j1=2.001 left_j2=1.6047 left_j3=-1.2182 left_j4=0.0196 left_j5=-0.7269 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0288 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -9.7436, 8.0205, 0.2906, -0.0366, 0.0366, -0.1392, -0.1026, 1.388, 7.0085, 1.8681, -0.0513, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=2.1254 left_j2=1.5303 left_j3=-1.0458 left_j4=0.0193 left_j5=-0.73 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0292 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -11.7812, 5.4496, 0.3639, -0.0366, 0.0122, 0.0757, -0.0342, 1.5521, 7.2547, 1.873, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d3b32f09506bb769882096e3352b8e164a03e7ee5b6d05f7417301b7ae3e67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46385a27139cd691448d595c4506ab2b6531dd6853d9e45caead04e2d9104797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc86856818962a865c903fe93c85d1df678a87215fbe6857a3448fd948a803de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9d3b32f09506]
[blob 46385a27139c]
[blob cc8685681896]
{
  "content": [
    {
      "signature": 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WQmTQOZyoEFgZpLIZtlLp+sZCnnm5cEMFU/DsZ9xStY5epfJ6AJWTTw6M7B3RRwump9a9qW/S5mXLrtgTDeYdSWvGDKamgCK6BP8Uz4A67ziNv9WJYpI+LLtktdFK0FTEM3qvMLtAABd4gYt5eoHAblqYGMhBsWuLlILrM17I/rBcma3NQvkOF14wBpurzHmCnZL1GTs1QV9S3CzHokLWjdGVqZP2A3fNNIArfBfWxPTMZoNvQG4GOg51mMZg5ds8KXY3fGcvP93ii33noKyZWeETObbiOk8HSlQGYIbY4Ou4fJu61v2Fs0jhQC9P9TAIyZgSDTJBCCK1oT+hboUmxwx8fe3dO2jZn3tYZJhg2B7m8BiHl2my9/pgb4tUXUcIc0rUwSRqlvbz4vzSq5ZPeVDZXROMlPCPnCU72hqZFkdMviCndVMTctF3TYq/ckKoZVvaYSaeugGNHTc1/XbFEG6H2ZdgRHWwnDuGzLwtTRumCWfCThtrCzYw4zUxlWrA5uaZoTRUwnMUPzYbHGv0QNRygZbYxGJrSnw77WSD84pL2/v5WNl17RbivGsA4MVGp8rXla83EvkiqAzuGYds+iN1zPWMVuXDgMq0NcobsQHHtUfx6Zyyst7yxyvp99LJUqLHpuWgJvfBySKPAbgwOwn02b2qr4FeyxYunkKTTLkzuzO5BE6gwCAvVkMbZvMwvPSqyP7QpRE2umGsyjulwoJILzx1JPGmJIfg/+mEHEZ5XJXYDb3cn90/0M+xUcsRf7qO5YxEWhJH2HEt612vBCF51fkFsbm+iBV1qMJwmVsKWuKojWcKOxVrBPtTO+tLY+M5nlxL+8KnFc9M72w2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0115Kw2V9zF1qfNdk28R4hxZ",
      "input": {
        "note": "With better lighting the top view is clear: the arm bases are at the TOP of the frame, so image-down is radially outward — the blue block is about 10 cm further out than my fingertips (the failed closes have been pushing it outward). Extending to r≈0.44 at 5 cm height.",
        "targets": {
          "left_j0": -0.61,
          "left_j1": 2.43,
          "left_j2": 2.24,
          "left_j3": -1.38
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_0115Kw2V9zF1qfNdk28R4hxZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6033 left_j1=2.4187 left_j2=2.1971 left_j3=-1.3598 left_j4=0.0231 left_j5=-0.7345 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -12.6017, 7.3641, 0.1929, -0.0952, 0.0171, -0.0122, -0.0752, 1.4838, 7.2274, 1.917, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f62ba98312cfd8e33d84683b20111d7a6b7b372e03620f1056c2f5066e58fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8bf68b4de266696bc6ee60f1897fcee68ab89a5ad027a0f65f0005306005fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:279d0d8b9a49151ce58757c0d2dba7164c90815886b8e5d9ae55172df5ef805c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 34f62ba98312
wire blob ca8bf68b4de2
wire blob 279d0d8b9a49
call 50 attempt 0 · /messages · status 200 · 14.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.58 left_j1=2.001 left_j2=1.6047 left_j3=-1.2182 left_j4=0.0196 left_j5=-0.7269 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0288 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -9.7436, 8.0205, 0.2906, -0.0366, 0.0366, -0.1392, -0.1026, 1.388, 7.0085, 1.8681, -0.0513, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=2.1254 left_j2=1.5303 left_j3=-1.0458 left_j4=0.0193 left_j5=-0.73 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0292 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -11.7812, 5.4496, 0.3639, -0.0366, 0.0122, 0.0757, -0.0342, 1.5521, 7.2547, 1.873, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6033 left_j1=2.4187 left_j2=2.1971 left_j3=-1.3598 left_j4=0.0231 left_j5=-0.7345 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -12.6017, 7.3641, 0.1929, -0.0952, 0.0171, -0.0122, -0.0752, 1.4838, 7.2274, 1.917, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f62ba98312cfd8e33d84683b20111d7a6b7b372e03620f1056c2f5066e58fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8bf68b4de266696bc6ee60f1897fcee68ab89a5ad027a0f65f0005306005fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279d0d8b9a49151ce58757c0d2dba7164c90815886b8e5d9ae55172df5ef805c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 34f62ba98312]
[blob ca8bf68b4de2]
[blob 279d0d8b9a49]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HwgHe1cRaG92sDYQY2t2z",
      "input": {
        "note": "Extending moved the gripper image-up, so image-up is radially outward and the block is inward of me again; the wrist camera saw it just ahead at r≈0.34 but nothing at r=0.44, so I'm splitting the difference at r≈0.39, down at table height.",
        "targets": {
          "left_j1": 2.29,
          "left_j2": 1.8,
          "left_j3": -1.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_014HwgHe1cRaG92sDYQY2t2z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6044 left_j1=2.3215 left_j2=1.8339 left_j3=-1.1236 left_j4=0.0311 left_j5=-0.7338 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0322 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -14.2291, 4.547, 0.188, -0.0855, -0.022, -0.0122, -0.0205, 2.0444, 7.1043, 1.8926, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31efcbf79e2a0470a2eb4cda1c8403a8844aac0abaae573a5ee8051ba74e97a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc63e348efff035fe6bfe182ff2a2d98e62da2122f19991251c806d3a8b0518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92420283b56c82c6ad2c9d72834c1764746c2699895b9d43280085cfcd8c3b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 31efcbf79e2a
wire blob 1dc63e348eff
wire blob 92420283b56c
call 51 attempt 0 · /messages · status 200 · 16.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=2.1254 left_j2=1.5303 left_j3=-1.0458 left_j4=0.0193 left_j5=-0.73 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0292 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -11.7812, 5.4496, 0.3639, -0.0366, 0.0122, 0.0757, -0.0342, 1.5521, 7.2547, 1.873, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6033 left_j1=2.4187 left_j2=2.1971 left_j3=-1.3598 left_j4=0.0231 left_j5=-0.7345 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -12.6017, 7.3641, 0.1929, -0.0952, 0.0171, -0.0122, -0.0752, 1.4838, 7.2274, 1.917, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6044 left_j1=2.3215 left_j2=1.8339 left_j3=-1.1236 left_j4=0.0311 left_j5=-0.7338 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0322 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -14.2291, 4.547, 0.188, -0.0855, -0.022, -0.0122, -0.0205, 2.0444, 7.1043, 1.8926, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31efcbf79e2a0470a2eb4cda1c8403a8844aac0abaae573a5ee8051ba74e97a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc63e348efff035fe6bfe182ff2a2d98e62da2122f19991251c806d3a8b0518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92420283b56c82c6ad2c9d72834c1764746c2699895b9d43280085cfcd8c3b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 31efcbf79e2a]
[blob 1dc63e348eff]
[blob 92420283b56c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015g7NykBhYcG6KA6WdNBxXw",
      "input": {
        "note": "I can't resolve the radial gap visually, so I'm doing a probe: closing the jaws and sweeping from r=0.39 inward to r=0.25 along the table at this bearing — if the block lies in that band it will visibly get pushed, pinning down exactly where my fingertips are relative to it.",
        "targets": {
          "left_gripper": 0,
          "left_j1": 1.86,
          "left_j2": 1.08,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_015g7NykBhYcG6KA6WdNBxXw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.874 left_j2=1.1183 left_j3=-0.8143 left_j4=0.0418 left_j5=-0.7334 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0368 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4855, 3.9179, 0.4225, -0.105, -0.0122, 0.696, -0.0889, 1.6068, 7.0632, 1.9023, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ef0db205d187bdf64b185ac83ef1fcaf711363e5f9161cbc00dfd771b5a427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df27d6dfcc808147958c570f6c9451c1e976c4b6d8ffa61f75ddf0a7452456f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14497f20c08cf31cedbf2de702e760ea4dc0208da5dea581084fabff42b48e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 08ef0db205d1
wire blob 7df27d6dfcc8
wire blob 14497f20c08c
call 52 attempt 0 · /messages · status 200 · 9.251 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6033 left_j1=2.4187 left_j2=2.1971 left_j3=-1.3598 left_j4=0.0231 left_j5=-0.7345 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0307 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -12.6017, 7.3641, 0.1929, -0.0952, 0.0171, -0.0122, -0.0752, 1.4838, 7.2274, 1.917, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6044 left_j1=2.3215 left_j2=1.8339 left_j3=-1.1236 left_j4=0.0311 left_j5=-0.7338 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0322 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -14.2291, 4.547, 0.188, -0.0855, -0.022, -0.0122, -0.0205, 2.0444, 7.1043, 1.8926, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.874 left_j2=1.1183 left_j3=-0.8143 left_j4=0.0418 left_j5=-0.7334 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0368 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4855, 3.9179, 0.4225, -0.105, -0.0122, 0.696, -0.0889, 1.6068, 7.0632, 1.9023, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ef0db205d187bdf64b185ac83ef1fcaf711363e5f9161cbc00dfd771b5a427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df27d6dfcc808147958c570f6c9451c1e976c4b6d8ffa61f75ddf0a7452456f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14497f20c08cf31cedbf2de702e760ea4dc0208da5dea581084fabff42b48e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 08ef0db205d1]
[blob 7df27d6dfcc8]
[blob 14497f20c08c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VnuGYLKrRz9FaJiFCSuR9r",
      "input": {
        "note": "The inward sweep from r=0.39 to 0.25 never touched the block, and in the top view the block sits very close to the arm's shoulder — I now think repeated failed closes have pushed it to only ~15 cm from the base. Pulling the gripper in to r≈0.15 at 5 cm height to check that.",
        "targets": {
          "left_j1": 1.33,
          "left_j2": 0.82,
          "left_j3": -1.07
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VnuGYLKrRz9FaJiFCSuR9r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.3613 left_j2=0.8352 left_j3=-1.0283 left_j4=0.0422 left_j5=-0.7338 left_gripper=0.0107 right_j0=0.0025 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -4.6291, 5.4222, 0.442, 0.0024, -0.0171, 0.232, -0.1162, 1.5248, 7.0222, 1.917, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e71a281eac5b3daf1d094238f3b46c9c86d0c405d7a0b8ef4d52d41e90e12c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce96ca49f1d1a8f92dd94871560ee4becca0619611677751146170e18d883ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b299632bbe473347af13dd7bf1a315e01c041c7570f0946cd7687699a57f0ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5e71a281eac5
wire blob 2ce96ca49f1d
wire blob b299632bbe47
call 53 attempt 0 · /messages · status 200 · 12.97 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6044 left_j1=2.3215 left_j2=1.8339 left_j3=-1.1236 left_j4=0.0311 left_j5=-0.7338 left_gripper=0.9967 right_j0=0.0025 right_j1=0.0322 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -14.2291, 4.547, 0.188, -0.0855, -0.022, -0.0122, -0.0205, 2.0444, 7.1043, 1.8926, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.874 left_j2=1.1183 left_j3=-0.8143 left_j4=0.0418 left_j5=-0.7334 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0368 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4855, 3.9179, 0.4225, -0.105, -0.0122, 0.696, -0.0889, 1.6068, 7.0632, 1.9023, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.3613 left_j2=0.8352 left_j3=-1.0283 left_j4=0.0422 left_j5=-0.7338 left_gripper=0.0107 right_j0=0.0025 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -4.6291, 5.4222, 0.442, 0.0024, -0.0171, 0.232, -0.1162, 1.5248, 7.0222, 1.917, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e71a281eac5b3daf1d094238f3b46c9c86d0c405d7a0b8ef4d52d41e90e12c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce96ca49f1d1a8f92dd94871560ee4becca0619611677751146170e18d883ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b299632bbe473347af13dd7bf1a315e01c041c7570f0946cd7687699a57f0ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5e71a281eac5]
[blob 2ce96ca49f1d]
[blob b299632bbe47]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAoozCSUrV2QkBtt7wEgUD",
      "input": {
        "note": "Confirmed — the block really is way in near the base: it now fills the right side of the wrist view at r≈0.16. It is ~4.5 cm further out and ~3 cm to the arm's right of the jaws; moving there at the same height.",
        "targets": {
          "left_j0": -0.766,
          "left_j1": 1.56,
          "left_j2": 1.0,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QAoozCSUrV2QkBtt7wEgUD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7479 left_j1=1.5517 left_j2=0.9649 left_j3=-1.0306 left_j4=0.0429 left_j5=-0.7338 left_gripper=0.0129 right_j0=0.0025 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.0103, 7.3915, 0.1685, -0.0171, 0.0024, 0.2076, -0.0752, 1.5111, 7.1043, 1.8584, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b1ccb56739397074844da2f84f58c1803407942a6b0dabef041929f7aa85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71de0e098d5ef0649ed694f063cef78877927959c34fe030d471dd968594e3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ae08ca13155f8d431e488ba41356344aa0dea71e2da8ade510bc5e0ac9b1aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2b1ccb56739
wire blob 71de0e098d5e
wire blob 2ae08ca13155
call 54 attempt 0 · /messages · status 200 · 8.964 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.874 left_j2=1.1183 left_j3=-0.8143 left_j4=0.0418 left_j5=-0.7334 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0368 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4855, 3.9179, 0.4225, -0.105, -0.0122, 0.696, -0.0889, 1.6068, 7.0632, 1.9023, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.3613 left_j2=0.8352 left_j3=-1.0283 left_j4=0.0422 left_j5=-0.7338 left_gripper=0.0107 right_j0=0.0025 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -4.6291, 5.4222, 0.442, 0.0024, -0.0171, 0.232, -0.1162, 1.5248, 7.0222, 1.917, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7479 left_j1=1.5517 left_j2=0.9649 left_j3=-1.0306 left_j4=0.0429 left_j5=-0.7338 left_gripper=0.0129 right_j0=0.0025 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.0103, 7.3915, 0.1685, -0.0171, 0.0024, 0.2076, -0.0752, 1.5111, 7.1043, 1.8584, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b1ccb56739397074844da2f84f58c1803407942a6b0dabef041929f7aa85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71de0e098d5ef0649ed694f063cef78877927959c34fe030d471dd968594e3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae08ca13155f8d431e488ba41356344aa0dea71e2da8ade510bc5e0ac9b1aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2b1ccb56739]
[blob 71de0e098d5e]
[blob 2ae08ca13155]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wmq8rRixZjgHFPMASGkUjT",
      "input": {
        "note": "The last move shifted the block the right way in the wrist view but only a third as far as expected, so I'm repeating twice the same relative correction (7 cm out, 5 cm right) to bring it onto the jaw tip.",
        "targets": {
          "left_j0": -0.95,
          "left_j1": 1.81,
          "left_j2": 1.25,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Wmq8rRixZjgHFPMASGkUjT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.931 left_j1=1.7931 left_j2=1.2106 left_j3=-1.0355 left_j4=0.0456 left_j5=-0.7403 left_gripper=0.0143 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.9795, 7.1043, 0.1294, -0.0659, 0.0024, 0.1294, -0.0205, 1.4974, 7.2137, 1.8779, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dbaf64787e3ee3637241ec71aca22a9b8b49111842d0c96a15b477148790cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4d56bcfc477392862e8d7adfbcb06f6ec6ce4da2366fb5f1a96bd9060241dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cae1994344c5b758ecca6a8e6d7cfa3e76890d5fcdea36d9298bf492861c6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8dbaf64787e3
wire blob 3f4d56bcfc47
wire blob 0cae1994344c
call 55 attempt 0 · /messages · status 200 · 11.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.3613 left_j2=0.8352 left_j3=-1.0283 left_j4=0.0422 left_j5=-0.7338 left_gripper=0.0107 right_j0=0.0025 right_j1=0.0418 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -4.6291, 5.4222, 0.442, 0.0024, -0.0171, 0.232, -0.1162, 1.5248, 7.0222, 1.917, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7479 left_j1=1.5517 left_j2=0.9649 left_j3=-1.0306 left_j4=0.0429 left_j5=-0.7338 left_gripper=0.0129 right_j0=0.0025 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.0103, 7.3915, 0.1685, -0.0171, 0.0024, 0.2076, -0.0752, 1.5111, 7.1043, 1.8584, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.931 left_j1=1.7931 left_j2=1.2106 left_j3=-1.0355 left_j4=0.0456 left_j5=-0.7403 left_gripper=0.0143 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.9795, 7.1043, 0.1294, -0.0659, 0.0024, 0.1294, -0.0205, 1.4974, 7.2137, 1.8779, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dbaf64787e3ee3637241ec71aca22a9b8b49111842d0c96a15b477148790cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4d56bcfc477392862e8d7adfbcb06f6ec6ce4da2366fb5f1a96bd9060241dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cae1994344c5b758ecca6a8e6d7cfa3e76890d5fcdea36d9298bf492861c6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8dbaf64787e3]
[blob 3f4d56bcfc47]
[blob 0cae1994344c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016uTpiTBgwxfMeRPzxL3iqY",
      "input": {
        "note": "Overshot: the block is now just left of the jaw tip in the wrist view. Applying a 40% reverse correction (2.8 cm back in, 2 cm left) and opening the jaws for the grasp.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.835,
          "left_j1": 1.68,
          "left_j2": 1.08,
          "left_j3": -0.96
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_016uTpiTBgwxfMeRPzxL3iqY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8429 left_j1=1.7161 left_j2=1.0897 left_j3=-0.9714 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -10.0444, 5.0256, 0.3443, 0.0024, -0.0269, -0.1441, -0.0889, 1.7299, 7.0359, 1.8779, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dcc457813c3e7b3d3ceb48255b27011fddddc360c394696de4edaa1fee9cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5783bc3cf4cf1bedfdcb274fd0c27a7f1e5baf140bf04efc86d8b0fe940fe0da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f90df6a675da1a8d810c48935b0716c453b4850d4c484b852eb646e5e661476",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6dcc457813c
wire blob 5783bc3cf4cf
wire blob 3f90df6a675d
call 56 attempt 0 · /messages · status 200 · 4.251 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7479 left_j1=1.5517 left_j2=0.9649 left_j3=-1.0306 left_j4=0.0429 left_j5=-0.7338 left_gripper=0.0129 right_j0=0.0025 right_j1=0.0429 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.0103, 7.3915, 0.1685, -0.0171, 0.0024, 0.2076, -0.0752, 1.5111, 7.1043, 1.8584, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.931 left_j1=1.7931 left_j2=1.2106 left_j3=-1.0355 left_j4=0.0456 left_j5=-0.7403 left_gripper=0.0143 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.9795, 7.1043, 0.1294, -0.0659, 0.0024, 0.1294, -0.0205, 1.4974, 7.2137, 1.8779, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8429 left_j1=1.7161 left_j2=1.0897 left_j3=-0.9714 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -10.0444, 5.0256, 0.3443, 0.0024, -0.0269, -0.1441, -0.0889, 1.7299, 7.0359, 1.8779, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dcc457813c3e7b3d3ceb48255b27011fddddc360c394696de4edaa1fee9cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5783bc3cf4cf1bedfdcb274fd0c27a7f1e5baf140bf04efc86d8b0fe940fe0da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f90df6a675da1a8d810c48935b0716c453b4850d4c484b852eb646e5e661476",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6dcc457813c]
[blob 5783bc3cf4cf]
[blob 3f90df6a675d]
{
  "content": [
    {
      "signature": "CAIS7wgKjAEIEBgCKkCO5uK333hofsA+bGmCGCzNLtdMXPMn0iukKnZ226bcdiOYxmyJEFeK6nwg37/8omBb95tDriRnOU1Anb8qK8/pMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMWzBZ7Lc1dPHXQFPOGgxNyS3B1E10drYJk0AiMDXlTfdGuelNGKxhtXud72T+yQhvMjSZ+svw0K2Fe211lY8hJC81OJPGLXF1zf5/JyqPBzKgBFxYNPDWGBUF4EQ2Ro85YkkGJJHbo5gAH3SD4NdIWVElG6Oegrp8af+IQKKqkxwkD+U3gFs5TEdBGIPdi/NGQtmY6mBV3BDb2TzUAkhAwONWsKDFlffKx8h23UuhKd+yiIrxMXLhucY1TloXJjb9IcClb6y1VMO5w9U2lA4N1sVHGTNPsbRm5i1AGl9FZIYT/Km38nhPPUsRqhtAlNmASCz9vCGRsNYa+LMR+bYrN1DX0cfW6vqxWmuWv/BvGyd7o/PE73Umw5AgyPgVURatVmZBNsK8c/rzBLMN6yySE2Iu3Kt9zUT9GQT1UOcxUCVqpzQPkQQDXpgPVHedPu8xHwyeTmCQUELnI3leakB+TBKsrgr/r4ujGkwJ6+lLJXkmr5pxE0nkqybuRh8cTbTtH7sHf7uRahJrlIsl4/MzJ2D17FIAodWNOZFQVaRQNy8xA23hl34I9OBwXwLbQHjvRhr61qNZGCxqijZGRurfOqSJ3IIlHGe8Jzc3ZXDSYWHrdby9RGsc2gx1nvSvx8S3HF1dFmnu0NptckguV6jikj3ePuFVn5A4/DtTAssD3v4LDHRXFeIt8o0ykWBrSC+yxWNJOEa4ASjN+CxnrcTZ8Cw/6KvrWSSAuEtrL8AGy+Ik46CMI75q5hjsr5rC8s5vr7ONWAGdWL4oyggKOSb3etMS5rnBKHuHFK2CupfoE6qwl02hjA+WZNB3nCKgThOJYn8a8wWfKWLn8ig2z+QtzPrBiQYsSFQCclA2eOtuvOWJsmAKl23voKXkuypTdBFU4kjzg9lOpXkrRJTTZMRwOdLbb8h/Y1LK0f4o4jAvLcEiYRuSs83qdJCBcx/TSUKymyWBMPvoN0pMBHoSNlIsg4806VTMGUNEP141GXsVfUHqXliQKkKsXJ4dV6rlgGDFh/mRTTFwi1TlP5kqR9+kuQY7jVsrZ8JRDgubItqrx6kwmxtG6etm7v6sj9FRqAmP2kgqDWu/9VXHhd84cwAnVUa89FRYZZM7XZm+pGJg0FLpfCPH+eN4e5gq4+6buj3CzfFv0ToG61kKIBxii0N0J1qrAQXSdtpW7xEpEhiauhpLhHLjAtX8mEffOoUIHUG0rNTJNO3yyk19h4zUrklAQVf7BNCsfJ0RyuV4f+4QdaT2oP5Qq1SzKikRIIRNnMusIqXZ0GdOma76hjEW4Nn9g9W++qemGRleI2Qc6eyiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJHw6nxMT4SXLS1Sy7Edjy",
      "input": {
        "note": "The block is centred between the open jaws in the wrist view with the fingertips at about its top edge; descending 2.5 cm straight down so the jaws straddle its middle.",
        "targets": {
          "left_j1": 1.78,
          "left_j2": 1.03,
          "left_j3": -0.83
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VJHw6nxMT4SXLS1Sy7Edjy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8406 left_j1=1.7626 left_j2=1.0435 left_j3=-0.8833 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -7.1863, 4.9709, 0.2955, 0.0269, -0.0659, 0.1197, -0.1709, 1.6752, 7.2137, 1.9267, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa9add365ca006309f3f7de6c395b0a2c21a218e8696fe0befa436d4bac5b0a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abbb4e5cc7715144634d8e486d496070266d73d3216aeb0743055b557abcccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1af72b60acfb17e01cdb223fc104671b5d851137de75ed325a0a5599a29433a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fa9add365ca0
wire blob 6abbb4e5cc77
wire blob 1af72b60acfb
call 57 attempt 0 · /messages · status 200 · 7.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.931 left_j1=1.7931 left_j2=1.2106 left_j3=-1.0355 left_j4=0.0456 left_j5=-0.7403 left_gripper=0.0143 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.9795, 7.1043, 0.1294, -0.0659, 0.0024, 0.1294, -0.0205, 1.4974, 7.2137, 1.8779, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8429 left_j1=1.7161 left_j2=1.0897 left_j3=-0.9714 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -10.0444, 5.0256, 0.3443, 0.0024, -0.0269, -0.1441, -0.0889, 1.7299, 7.0359, 1.8779, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8406 left_j1=1.7626 left_j2=1.0435 left_j3=-0.8833 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -7.1863, 4.9709, 0.2955, 0.0269, -0.0659, 0.1197, -0.1709, 1.6752, 7.2137, 1.9267, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa9add365ca006309f3f7de6c395b0a2c21a218e8696fe0befa436d4bac5b0a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abbb4e5cc7715144634d8e486d496070266d73d3216aeb0743055b557abcccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af72b60acfb17e01cdb223fc104671b5d851137de75ed325a0a5599a29433a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fa9add365ca0]
[blob 6abbb4e5cc77]
[blob 1af72b60acfb]
{
  "content": [
    {
      "signature": "CAISxQIKjAEIEBgCKkBzmUnx0mIOIKG3nCutEFbyyuvOaSnouODANXkGy8I9IV2n80WsTbTDyDMgBlBJk4y/YlRzTp1ix7UpHoPo4hBLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTG9Kuvgk+cG+9h0/GgxOivEyVejmP8p4MN8iMOOc+6a9xA06oXYvBVn1FSaFJ+OcRClge3NAxVim94yLLkq1qzrZf1fRQpyz/mGy/ypmneQ421S0BWwC6GholeBkDc8JJ2UrlWIYIgNSBAW8D6VaPiGnB/iCUGAxbKmZUlyT6tnWggSZSemrlQdj1/s1P8twB+ulxLHw6REZlSp+yIF8NkAPvRWNiIgVfjCD1uJNPWQ+BG7FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wq3rrvstrfJ8yZcp42PSBR",
      "input": {
        "note": "Block dead-centre in the jaw gap at the correct height; closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wq3rrvstrfJ8yZcp42PSBR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.841 left_j1=1.784 left_j2=1.0286 left_j3=-0.8783 left_j4=0.0448 left_j5=-0.7414 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9641, 6.3658, 0.0855, -0.0073, -0.0024, 0.6618, -0.0068, 1.5658, 7.0769, 1.8974, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e180178bf9856ac3fc246d97489fc55d621687f2faf2da163699c67188c6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd923804c92ad35227d31d2b9180734531fcbd74a4b1be714eec504af6061f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c7781eccc5dd83090e8a76dbd1b6bb3968de1f58a54d25699c191f20c6f0fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 04e180178bf9
wire blob 1bd923804c92
wire blob 8c7781eccc5d
call 58 attempt 0 · /messages · status 200 · 3.469 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8429 left_j1=1.7161 left_j2=1.0897 left_j3=-0.9714 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -10.0444, 5.0256, 0.3443, 0.0024, -0.0269, -0.1441, -0.0889, 1.7299, 7.0359, 1.8779, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8406 left_j1=1.7626 left_j2=1.0435 left_j3=-0.8833 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -7.1863, 4.9709, 0.2955, 0.0269, -0.0659, 0.1197, -0.1709, 1.6752, 7.2137, 1.9267, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.841 left_j1=1.784 left_j2=1.0286 left_j3=-0.8783 left_j4=0.0448 left_j5=-0.7414 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9641, 6.3658, 0.0855, -0.0073, -0.0024, 0.6618, -0.0068, 1.5658, 7.0769, 1.8974, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e180178bf9856ac3fc246d97489fc55d621687f2faf2da163699c67188c6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd923804c92ad35227d31d2b9180734531fcbd74a4b1be714eec504af6061f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7781eccc5dd83090e8a76dbd1b6bb3968de1f58a54d25699c191f20c6f0fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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[blob 04e180178bf9]
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    {
      "signature": "CAISxhAKjAEIEBgCKkD7qAdbhn33X8/E8PEy7bK1CGm3NrYCvHnpR+0RdWOpmoCvDRnkSrjgUVnP4KteLXQgLYogSR+pwt70vS991XZUMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMN3qEG81/WMQvTYgYGgwXYecVnG7b3iz1NEsiMETfxuPftZk/hL8orBsWv482nXKxR29shr3PDFH3Q+IS12JL7/Be2XUyrbmJzrT/0irmDhSiJqis61gZFAW7WtPvfRKIwhA4frvZTQlbbQhPKvE7ojP1o+tydVKiM7N4m6sTb9/ICqxTAQjicluGRmmg7wg6Mh63kgvGHIVXXoxq5fMGvOmU7LkSOZM8TxX+ZVED4p7KrsYfpmMqDVacKus84AAbnI7epHubb4A8PNIbqt0XlIgzNvNQTOvERD65CjVPTTxHPsf9IfQ+LG/MVIUk1S41HVtp/t2QRhln7Vre6rfz7nevgSDAFTE2wNMkfNNdnuhenOz7kDIVJ9VXhUdj14ZFHmX/nUUJiIibzLMID8HV/MnRC/GbPusthQIR+LLh3ivLGrEw2ayTYGX+yITBDyMy8GYzMAxCEZmaybLZnE8hK4HfnvNsnHINgAPOl/FI0Qub1wSrx2cUo86uFfpMaJrzoFT+52I1m+qYqzLZBcmFA4RshmWeRtDcx711g6ykqbqIqhWwnJVgmfyamv0BqtNjmcNIvhFscz5p40YLZXcwJSx2Brlp0ILfUpC1XNsgavrz1RkNz95Oi/AuUUp6Gg1chdwOnjn5vG2xJU+uFwAYvQibO/mPRzAAIf7FpBiG5hXwpmMrTwnKKoT0Nxf6cyQFnh0hvfOr0ZSnMGsfGe1yCuclBsicf7tJrSjd859CYi8L9VEv6diJ4kvmitRgX7sFGuDHNZGD7uCjo4Jl/pQtClkav7CTQwa6d1qAxtv5/KocvytZeSy7shxTQ1uBjJSanYj73pYZgUE6Jvb29c/t8Tfg6dbMCP/xS29KzfFlG6P0UfRDb3UnTB6sclRMR24CdfeXxadr3TQ4XY0mgcrzAyb9E3nkAGasovva9y1TfrpGsmNL9jtYrH5MECbJZ/tj9IFczrfVbvxYfnzw3M0Ron52dwJhQ+nf5fmQVF5ty8T/esy8LI+FcU1jc4rP0fPhhlAwmRBeRIUV51cYJBFZUCEY+CkJJHJR5O92kdc7WkACpO5MefEHXIJoDdQwFBE5WQaZpgAqEVa+jTQc/O4ltqQ3iQ2DDGj7LKT5zlRs71/DMtRHY453E93eqmxPVyd+sIAex42WmQVX8iwgef9PvPGRu+442dpK/BU5P3QdwYG+HQJvRWOCffPNcG822P1cthATcl28z24pdZFonW+FRzu7g+5VQIrfTr3mEug5XEOARtfLxsuHw/kO2/igcl7VLf8DYAI8f0gQgwG0BocTZGzQmevgCyTVpj5Oo5wMvC9pUNZyd9zdZ6zsBYGfR7nKEtJmdmNhXCv9SvvWwAOdKoj2MDGB23DZLdFU0EZ2pD39zpqFKmqNKJdT9Ykit7mVGx/dLku1MVqzE+ZrhiVF1EnPZgpwKF2KJ5ogf3gXg6Wl/sSJ4exT+bqNA/f7/atjUUmj9WOC2HcxGN6cuFkt4tLOcsF43t6l/HkXZeXzcugylBNwxiuveN/uY27tsSSzcUMeItu1CiLoBq2Rd6FIVuhr2ftuoWuW6Hew9k0LCF4i9a1S5YLZPH1wjoCtfjllPqexCInofyk3FnuFnVJJ+hYUlFS069KfrDt34G2+KmpJ9u+ABNyC1lhOTXrH20HEbHL3X4OD0/JvDZ1LrZieHq9T4PpZR6tN4gyliFqcntzadz66yINFzrHVs1pU16glrqS9R3n7HGSlIaMh//9Hkzzdnn4SG0rjaQfeA2j3GtlhUS2nga9ySIkgxyKwax5MdfdbCNuyK7FWVJVJPq1Y1tg4OEU/9IDAD6RLJGb9NjEjjtSiLAJAYXxx+dWpJN5QjYwWC/kXuSy+YwhoEgoXQzcuEt0uYg/+S0nk4buR1cctqZzPLKSQwO5EADMhVQLChZNdoGkAxNmXQZJHlpmvaBgI+yKzEHcrMShx88vfTxn5KZrq2nhS4MEa++Jv3vSk5izuxe2cXvENT/6GdyT0SY65O/ysOlhzIKJtcjsO85+yzV2LpvceQV8TtxSwg8cZFr1AIDpke7azeLYNfpujyfZDKvyxuMQ1Ue2ONmlTDHwojGfga/vJbvqSSqhegJ//pjapZY9UsLPeBm1XJbQN407Bhohy359ybtqzN/lPIFLagAq8mKzajkenlbSnIoA9zRHFV8+SdbuNIUPUPNGPFnb3r6KrF7bzZKalDsMTqqvPhembf8SLp9P6mcTAqxT8oIkFRE+tcxskduVaREtei49J9JOsk5wfINfktExD4FwmEWICSdHcwmsUSmot0etaevxm6YtDdIML1f2OWoHQlnhFoeEbWN5P5/uyWmwG3t2q7/52t2nw3BqnZ0vh84XfO6bsuF6PGMcJbujKCv4gKhDNHTMSoHVwEUeUbjQ8AoKwx8SK71U8rPC6kz/Fy2dXPO8L2IJPj8T5/HzyrfybvAoHkz3DS59gxE3FM1zUO4LpVVoE72wWf3KVgcpPu/fC3FZ3iPnSCO/Oi2rsl3qwH7CZ6Sm55OiZ+VTvDPhz9d8yvYXiDOl2njSLj7HscylkcCpviKEgX6hYbzOxEe2HM0q05ejFWuAY6l5p1hLbRm4UlhCco+HwUKpjfG/s2FUodn+aqvMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KDdMxNmcs5PwHyein3w8Dh",
      "input": {
        "note": "Missed by roughly a centimetre — the block now shows just right of the closed jaw tip. Reopening and nudging ~1.2 cm to the arm's right to line the jaw gap up on it.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.89
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KDdMxNmcs5PwHyein3w8Dh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8833 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0448 left_j5=-0.7422 left_gripper=0.995 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -7.6376, 4.9983, 0.1783, -0.0024, -0.0513, -0.0904, -0.1709, 1.7162, 7.0769, 1.9316, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27adb3bb6f712fd3311925ee65cd411b901475d09be7265cfe4f151437b8e4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f078387e3c40676715fc5bf20591720dac3c156a8901b8782a1b84f022045e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 452):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb1c3e8e6c28c64f9f633d3465885edcd2eb4d94d3ec352aa3a1b7942961228f",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
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wire blob 27adb3bb6f71
wire blob c3f078387e3c
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call 59 attempt 0 · /messages · status 200 · 7.288 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8406 left_j1=1.7626 left_j2=1.0435 left_j3=-0.8833 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -7.1863, 4.9709, 0.2955, 0.0269, -0.0659, 0.1197, -0.1709, 1.6752, 7.2137, 1.9267, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.841 left_j1=1.784 left_j2=1.0286 left_j3=-0.8783 left_j4=0.0448 left_j5=-0.7414 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9641, 6.3658, 0.0855, -0.0073, -0.0024, 0.6618, -0.0068, 1.5658, 7.0769, 1.8974, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8833 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0448 left_j5=-0.7422 left_gripper=0.995 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -7.6376, 4.9983, 0.1783, -0.0024, -0.0513, -0.0904, -0.1709, 1.7162, 7.0769, 1.9316, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27adb3bb6f712fd3311925ee65cd411b901475d09be7265cfe4f151437b8e4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f078387e3c40676715fc5bf20591720dac3c156a8901b8782a1b84f022045e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1c3e8e6c28c64f9f633d3465885edcd2eb4d94d3ec352aa3a1b7942961228f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 27adb3bb6f71]
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  "content": [
    {
      "signature": "CAISkwMKjAEIEBgCKkD//+mmNmK9r80HBzRvUEQqMs42hAx4+glHgw65Dykp7v8Wa2KCKqDWRIlXEB3V1yEkYMyhWejRGfwIe+dcBtCNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjmALhPAAGeSi1AXYGgwhEh7KCnUAQMsCYCYiMJXvEfo4jXIQMykY2wEe+M+dvjxQjjhGgt3K2JjJs7RghAkfg6Dr3jS9MN4UPOUNOyqzAav3Gt5EUtlmS8ZqGKBFk9jTllvgDuflfqvLLM9AlPDB7rWgsANdMEfrQ6pKI5pqUywmFQYcyR+lO9J/qUgk8qfvU5ta9I/+iJGFnYvESKfDvy411GdNpp4elvV1pYAEm0GEebYqs8ctDWM9F9Olb8nWMLCyn5n66ZvWWBZCLBiVE4KJBETIj5Pe67/sxOTPGftmuXTV1fWMZj9uMDla86R55TVroXW7528K8B7gfHOa5cr8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Af9Ek19Zp6M8Kk7boD2mm",
      "input": {
        "note": "After the nudge the block is centred in the jaw gap again; closing.",
        "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_019Af9Ek19Zp6M8Kk7boD2mm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -7.5145, 5.1761, 0.1587, 0.0024, -0.0659, 0.6667, -0.0615, 1.5521, 7.0769, 1.9121, -0.0757, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e6db8f33f76c56d73ef46b6f4844cd35931d90c72b9dbd9d8ff71a6cb35699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68d383bcad82b719f1e75a96ab3ab05398bc90db329782031f4fd202d508597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ecd781ecd29b3863d416fd42328bf8591c16e5f5d82a145ad0329123c891b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e5e6db8f33f7
wire blob f68d383bcad8
wire blob 6ecd781ecd29
call 60 attempt 0 · /messages · status 200 · 4.725 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.841 left_j1=1.784 left_j2=1.0286 left_j3=-0.8783 left_j4=0.0448 left_j5=-0.7414 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9641, 6.3658, 0.0855, -0.0073, -0.0024, 0.6618, -0.0068, 1.5658, 7.0769, 1.8974, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8833 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0448 left_j5=-0.7422 left_gripper=0.995 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -7.6376, 4.9983, 0.1783, -0.0024, -0.0513, -0.0904, -0.1709, 1.7162, 7.0769, 1.9316, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -7.5145, 5.1761, 0.1587, 0.0024, -0.0659, 0.6667, -0.0615, 1.5521, 7.0769, 1.9121, -0.0757, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e6db8f33f76c56d73ef46b6f4844cd35931d90c72b9dbd9d8ff71a6cb35699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68d383bcad82b719f1e75a96ab3ab05398bc90db329782031f4fd202d508597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecd781ecd29b3863d416fd42328bf8591c16e5f5d82a145ad0329123c891b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e5e6db8f33f7]
[blob f68d383bcad8]
[blob 6ecd781ecd29]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MrbvivE8qdVq2oiW5pEqwh",
      "input": {
        "note": "Two centred closes came up empty, which means what I see at the bottom of the wrist frame is actually just beyond the fingertips; reopening and creeping 1.5 cm further out so the block sits exactly in the jaw plane.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.83,
          "left_j2": 1.09,
          "left_j3": -0.84
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MrbvivE8qdVq2oiW5pEqwh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.816 left_j2=1.0664 left_j3=-0.8669 left_j4=0.0448 left_j5=-0.7521 left_gripper=0.9956 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -6.7077, 7.1726, 0.4567, -0.022, 0.0952, -0.1441, -0.0752, 1.5385, 7.0496, 1.9072, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b719da88c46398699210e74b6199f82f975ee0be5fe2257abd18863bde42454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef51876058242a8047cb63d8a7da4bc3ca94aaae2f4ebaf6dd693af6e4f171d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b17ebd1004552e467d0fcedc7c103948d810b865957a87145ddd591399a9239d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4b719da88c46
wire blob 7ef518760582
wire blob b17ebd100455
call 61 attempt 0 · /messages · status 200 · 7.769 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8833 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0448 left_j5=-0.7422 left_gripper=0.995 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -7.6376, 4.9983, 0.1783, -0.0024, -0.0513, -0.0904, -0.1709, 1.7162, 7.0769, 1.9316, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -7.5145, 5.1761, 0.1587, 0.0024, -0.0659, 0.6667, -0.0615, 1.5521, 7.0769, 1.9121, -0.0757, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.816 left_j2=1.0664 left_j3=-0.8669 left_j4=0.0448 left_j5=-0.7521 left_gripper=0.9956 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -6.7077, 7.1726, 0.4567, -0.022, 0.0952, -0.1441, -0.0752, 1.5385, 7.0496, 1.9072, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b719da88c46398699210e74b6199f82f975ee0be5fe2257abd18863bde42454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef51876058242a8047cb63d8a7da4bc3ca94aaae2f4ebaf6dd693af6e4f171d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17ebd1004552e467d0fcedc7c103948d810b865957a87145ddd591399a9239d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4b719da88c46]
[blob 7ef518760582]
[blob b17ebd100455]
{
  "content": [
    {
      "signature": "CAIS+gIKjAEIEBgCKkDQx3SunjbXBK4hcSlhO6lbkKQ3lcgcs98GqSF/Bndx1yvOME2DbT7hGj9yny0W0pp1VAuuSstsQi8wNggQI7WiMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMs8eixLaPhX/nLGVFGgyba3NlJdT8LFT+NPQiMKz7SAb9MFDLxZqYg90TTzVDmJBekk0Dg5/4xpfcU2fAOUxLpp9pmql8Z8bcMMFH6SqaAa9Vk46oBGnoI5yzrB/y0Hkj8wk1+pMHkeWOfbY/IIDZG2mL+BY98IQjCqne6Hs0mura5/pyeJoPMI0twHSGQiR6/H6WVgAORgl/MM2/EON0N7aAHYbWaFjnujkjGdn2MtNd7LtXHHdmechB0v121AXSm2nUGtlesCY0yVBhQ8A0GIgwwu0mWUKZ0LprpU9/yjkwNT0uf66IHnsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GQxfCpHZ2MDf5MVp7AYPQ7",
      "input": {
        "note": "The block is now only a sliver at the very bottom edge between the jaws — i.e. right in the jaw plane; closing.",
        "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_01GQxfCpHZ2MDf5MVp7AYPQ7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.8164 left_j2=1.0687 left_j3=-0.8677 left_j4=0.0456 left_j5=-0.7574 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -7.9795, 4.8889, 0.2222, -0.0024, 0.0317, 0.6862, -0.0205, 1.5385, 7.0906, 1.9023, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a079d861e2977305ef2ae93f5d4eff581a650bb027b7eb5a58573c39999ce81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:782e6711fbda94b7ce71f7ae9a8ac3fe4cd98b523e633dfe20ea322deab7b7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dc7c383e5c4668063a056bf1513a183a3874cb45459c31a87bdc0255e4fa0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8a079d861e29
wire blob 782e6711fbda
wire blob 8dc7c383e5c4
call 62 attempt 0 · /messages · status 200 · 4.169 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.784 left_j2=1.0283 left_j3=-0.878 left_j4=0.0452 left_j5=-0.7418 left_gripper=0.0083 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -7.5145, 5.1761, 0.1587, 0.0024, -0.0659, 0.6667, -0.0615, 1.5521, 7.0769, 1.9121, -0.0757, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.816 left_j2=1.0664 left_j3=-0.8669 left_j4=0.0448 left_j5=-0.7521 left_gripper=0.9956 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -6.7077, 7.1726, 0.4567, -0.022, 0.0952, -0.1441, -0.0752, 1.5385, 7.0496, 1.9072, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.8164 left_j2=1.0687 left_j3=-0.8677 left_j4=0.0456 left_j5=-0.7574 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -7.9795, 4.8889, 0.2222, -0.0024, 0.0317, 0.6862, -0.0205, 1.5385, 7.0906, 1.9023, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a079d861e2977305ef2ae93f5d4eff581a650bb027b7eb5a58573c39999ce81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:782e6711fbda94b7ce71f7ae9a8ac3fe4cd98b523e633dfe20ea322deab7b7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dc7c383e5c4668063a056bf1513a183a3874cb45459c31a87bdc0255e4fa0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8a079d861e29]
[blob 782e6711fbda]
[blob 8dc7c383e5c4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013k9Zo8kUWTvnCYFg7VuPrN",
      "input": {
        "note": "Now that the light is good I can see the blue object is lying flat and is thin, so my jaws have been closing above it; reopening and descending to true table contact before the next close.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.89,
          "left_j2": 1.07,
          "left_j3": -0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_013k9Zo8kUWTvnCYFg7VuPrN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8864 left_j1=1.845 left_j2=1.0752 left_j3=-0.8154 left_j4=0.0456 left_j5=-0.7715 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -4.3145, 4.8342, 0.9499, 0.0122, 0.149, -0.149, -0.0615, 1.5385, 7.0496, 1.9072, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce36ff9c844c2a5be4a066e35abed6fc292dc42206645c7f9fa0376731a8c3dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac164206137f7978a4fdcd22c5fba4e762b5889c35661aaad07c7033f71fdb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b7227dbcfcfafc288b4f1c17c20c8f9a51a2fee601bdbcdc2817b1941034cae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ce36ff9c844c
wire blob ac164206137f
wire blob 5b7227dbcfcf
call 63 attempt 0 · /messages · status 200 · 10.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.816 left_j2=1.0664 left_j3=-0.8669 left_j4=0.0448 left_j5=-0.7521 left_gripper=0.9956 right_j0=0.0025 right_j1=0.0441 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -6.7077, 7.1726, 0.4567, -0.022, 0.0952, -0.1441, -0.0752, 1.5385, 7.0496, 1.9072, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.8164 left_j2=1.0687 left_j3=-0.8677 left_j4=0.0456 left_j5=-0.7574 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -7.9795, 4.8889, 0.2222, -0.0024, 0.0317, 0.6862, -0.0205, 1.5385, 7.0906, 1.9023, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8864 left_j1=1.845 left_j2=1.0752 left_j3=-0.8154 left_j4=0.0456 left_j5=-0.7715 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -4.3145, 4.8342, 0.9499, 0.0122, 0.149, -0.149, -0.0615, 1.5385, 7.0496, 1.9072, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce36ff9c844c2a5be4a066e35abed6fc292dc42206645c7f9fa0376731a8c3dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac164206137f7978a4fdcd22c5fba4e762b5889c35661aaad07c7033f71fdb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b7227dbcfcfafc288b4f1c17c20c8f9a51a2fee601bdbcdc2817b1941034cae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ce36ff9c844c]
[blob ac164206137f]
[blob 5b7227dbcfcf]
{
  "content": [
    {
      "signature": "CAISkAQKjAEIEBgCKkB5n7GwRXFV7pVKHWnYsVtP979E0yEqclo3hTRYFMJv32B+6U/CCoK716y3cp8KO1+WlQJSz+eXxTjGcjmUkrvOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDrrnGUGqPTfDRYbRGgwOZgUqKxU6uQhcaqUiMP6sKXuMC0MSRQv1qKVSzSSET8YB93KegowctZ535i4cNPe4So3kFoDjHKZUfhGSgSqwAk3+Gp1GvqQmHSBiA3lXL5qqoVBxAytzhaNyMJkvOK//ZeUEvroQ58HbMEBQSTd8zFK5b929TE8mOIponkrds4FwPrgx3iVBSgI6x37fo5fms/zYUb9i/GKQcldj5tG9WW5GiMvQLGh8sqvwf+QkZqRnKfEcjhmCBmezaJNf/uKikqZWvshpTaEYzdNkN40Db+yhG4PgJr46RJBErlkwmwdtZ4GNeOVGF89dkrNYOOm0jOOkvOfBRQBn550nUx5ltAbQp4lQH5TR8CTgDyUuD4W196TvatO4XfTAGpIq6nDUrZG/2H7ml5CILulxqGoYqXzMP5rAZzpY1ZA+5x4Tnt6vsz88f8iPAbFKQ4m+h+YwlYt+NB3LBUtXvJKb3pKtW6H0w3+8XCK3GPxLOuFow/IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016aHoowv5nwcUU5s49yu7xv",
      "input": {
        "note": "Fingertips are confirmed on the table (j1 stalled, wrist effort up). Closing at table level so even a thin, flat block gets caught.",
        "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_016aHoowv5nwcUU5s49yu7xv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.886 left_j1=1.8458 left_j2=1.0782 left_j3=-0.8223 left_j4=0.0532 left_j5=-0.7769 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.1299, 4.7795, 0.2955, -0.0757, 0.022, 0.6716, -0.3487, 1.5385, 7.0496, 1.8926, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b5aac9879c6947d138950925eff0aeb2d7c810e800db8e10158aeaf7dab6c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad29e875d305c010b0f106f5ecabb05c56e17b5def70267ac042aa1bf22808ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ffa6382a8405ef28e7aa484f249253791b35997cc5a661c25734bf500cb083e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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wire blob ad29e875d305
wire blob 3ffa6382a840
call 64 attempt 0 · /messages · status 200 · 7.375 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8852 left_j1=1.8164 left_j2=1.0687 left_j3=-0.8677 left_j4=0.0456 left_j5=-0.7574 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -7.9795, 4.8889, 0.2222, -0.0024, 0.0317, 0.6862, -0.0205, 1.5385, 7.0906, 1.9023, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8864 left_j1=1.845 left_j2=1.0752 left_j3=-0.8154 left_j4=0.0456 left_j5=-0.7715 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -4.3145, 4.8342, 0.9499, 0.0122, 0.149, -0.149, -0.0615, 1.5385, 7.0496, 1.9072, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.886 left_j1=1.8458 left_j2=1.0782 left_j3=-0.8223 left_j4=0.0532 left_j5=-0.7769 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.1299, 4.7795, 0.2955, -0.0757, 0.022, 0.6716, -0.3487, 1.5385, 7.0496, 1.8926, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b5aac9879c6947d138950925eff0aeb2d7c810e800db8e10158aeaf7dab6c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad29e875d305c010b0f106f5ecabb05c56e17b5def70267ac042aa1bf22808ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ffa6382a8405ef28e7aa484f249253791b35997cc5a661c25734bf500cb083e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 93b5aac9879c]
[blob ad29e875d305]
[blob 3ffa6382a840]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQeosu2Ns8XcoB7pEtqM4V",
      "input": {
        "note": "In this bright top frame I can finally locate everything: both arm bases sit at the bottom corners, and relative to the left base the blue tile is ~19 cm to the arm's right and only ~20 cm out — well right of where I have been probing. Swinging to that bearing at 1 cm height.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -1.26,
          "left_j1": 1.68,
          "left_j2": 0.88,
          "left_j3": -0.77
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QQeosu2Ns8XcoB7pEtqM4V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2442 left_j1=1.7008 left_j2=0.8974 left_j3=-0.7788 left_j4=0.0422 left_j5=-0.7788 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0479 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.8154, 4.3419, 0.3883, 0.0952, -0.0171, -0.1392, -0.1983, 1.7162, 7.0359, 1.8632, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 512):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c83f3bd7ed627872234bc484e427271c5e1c6012c1366f5b86ca9ffa55ca7c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 512):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2db41c3151ad3b5f8cc70e9bac5ab11422fab9926d61e9bc43b1c34e256a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 512):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3eb46da61a778c82d4eeb0019677c599517ce0717a68e8cdc489eacc452474d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c83f3bd7ed62
wire blob 1c2db41c3151
wire blob 3eb46da61a77
call 65 attempt 0 · /messages · status 200 · 6.205 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8864 left_j1=1.845 left_j2=1.0752 left_j3=-0.8154 left_j4=0.0456 left_j5=-0.7715 left_gripper=0.9952 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -4.3145, 4.8342, 0.9499, 0.0122, 0.149, -0.149, -0.0615, 1.5385, 7.0496, 1.9072, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.886 left_j1=1.8458 left_j2=1.0782 left_j3=-0.8223 left_j4=0.0532 left_j5=-0.7769 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.1299, 4.7795, 0.2955, -0.0757, 0.022, 0.6716, -0.3487, 1.5385, 7.0496, 1.8926, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2442 left_j1=1.7008 left_j2=0.8974 left_j3=-0.7788 left_j4=0.0422 left_j5=-0.7788 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0479 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.8154, 4.3419, 0.3883, 0.0952, -0.0171, -0.1392, -0.1983, 1.7162, 7.0359, 1.8632, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 512):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c83f3bd7ed627872234bc484e427271c5e1c6012c1366f5b86ca9ffa55ca7c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 512):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2db41c3151ad3b5f8cc70e9bac5ab11422fab9926d61e9bc43b1c34e256a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 512):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb46da61a778c82d4eeb0019677c599517ce0717a68e8cdc489eacc452474d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c83f3bd7ed62]
[blob 1c2db41c3151]
[blob 3eb46da61a77]
{
  "content": [
    {
      "signature": "CAISwQcKjAEIEBgCKkCEgi7SeRhb7e4QBbu9RLQfYfPP/rvGERteAFaPDwfHVU2MxYbwOc1aDIDp82NVccWchmXmZVHPxXBFbOu+EprPMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMD+27wkCQ/cQ0QS+vGgyjpKbPj4XGtXuu5wgiMDKm+OEEvTmwddz/hx3L7l+j7PrAs4fRhZjkKLKqbtFumeqOD/ooeJyBPCQWZIudwCrhBT9kUvpQtdb2Eb2lfWS01kMPE+cU6StYrhq59Q9ZaTshpVki256cal7c8luAzvyNGP2Dw4wO4JtY7bSmZJDyI6Cp2ERVZB8R56PZCaYqLwa5eF34lWTPhePvCsfOctU5Jm9DwUjU1WFlY3SqZh4A2BTy2lHqG/7c/KfH9/09dgKnoYB4HrvA7zkCq8g2BlckRjV5yRu5Wbi8qe94B3K7ndIvIQWm7EqlnAKVrrT/6i+kxKpFoUKdNDukWjBwLJAQVn0s4vy0FpkN5VQUZ4uQ9znZ0BEcdSHyx03HiachMKZvVg9KWcTxeqkWRLyzME4BzKWv3NvxnCtkX+l5yykFqk5csYrxOe9v0GMdvSWDpE2CHOfYpDkM4e4YFvIO1m6V8ARKmuiWG5/nCEweIP01gbxrIbUTD6B6cjbWZGzuNcO4mpNwedeniMcaOEo9u+aiNi865sWlyQNjp2MiGppsP57xMp5D8HPMZ1ia2KSFzlaxzy/oEKID5Jms8n7Ot422Hqi7LSIwtetI1cfQokvDb3JSdE0A381jVQoeWRdD3TdtW238mvny5qP9KTqYIoq+3Z4UQruOm/b6/jak8xLSkL6KNzTmW8AYBztxEJak4z6WkacVyxCEahZgBcpyKA/V3MqpsaeAnjJhN8uvJsGLWW9D9fInv8Vvv1PmY6EYgWFi6B0KYhHKQ9zB7hDURhBnhundRYTpCdVHLptYlVbh3DftnqgF5hrG6YmYIDgNePx9XqgIUbs6WzC99Bt0iOhS98tL/iH1tQ2+9Q2AvIelaWwPpI2whLot7yOI4+Rhb+L9T71z8QuNIwM4qkMD6BII0gPEeaiqWN1IUwv9voZAIw6nIsJzd3hS5fjgZWC1a/N8GK9Y8KxTXsleagjqhpMtKdb+aRnQWGYy/C2iDa1nCeXsF6E/vwaqOsvLdDRtMrV0pEtQ7RL7ySTQ9RvrURJRuD6UaxTLbBs6cbQmvsToTTecGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018HVrJLhdqRxg4XUQw6S6sE",
      "input": {
        "note": "Excellent — the blue tile now sits large and centred between the two jaws in the wrist view. Dropping the last ~1.5 cm onto the floor surface before closing.",
        "targets": {
          "left_j1": 1.76,
          "left_j2": 0.86,
          "left_j3": -0.69
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018HVrJLhdqRxg4XUQw6S6sE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2541 left_j1=1.7027 left_j2=0.8917 left_j3=-0.7761 left_j4=0.0425 left_j5=-0.7815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0479 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.8821, -1.7026, 2.8513, 1.0867, 0.0073, 0.022, 0.1392, -0.0205, 1.5658, 7.1863, 1.9219, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b091ba969939886a1efea71be5de722a98f175088188fe764cc6e5efb36aa073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c189966106b9b70e2d056bdc7be7459c214d978fec3ea241eace4d1519d596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e6942f57c721631aeae95f475f2ab47eadfe663790c4a0c1c163c8f805e562f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b091ba969939
wire blob 79c189966106
wire blob 6e6942f57c72
call 66 attempt 0 · /messages · status 200 · 8.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.886 left_j1=1.8458 left_j2=1.0782 left_j3=-0.8223 left_j4=0.0532 left_j5=-0.7769 left_gripper=0.009 right_j0=0.0025 right_j1=0.0441 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -8.1299, 4.7795, 0.2955, -0.0757, 0.022, 0.6716, -0.3487, 1.5385, 7.0496, 1.8926, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2442 left_j1=1.7008 left_j2=0.8974 left_j3=-0.7788 left_j4=0.0422 left_j5=-0.7788 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0479 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.8154, 4.3419, 0.3883, 0.0952, -0.0171, -0.1392, -0.1983, 1.7162, 7.0359, 1.8632, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2541 left_j1=1.7027 left_j2=0.8917 left_j3=-0.7761 left_j4=0.0425 left_j5=-0.7815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0479 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.8821, -1.7026, 2.8513, 1.0867, 0.0073, 0.022, 0.1392, -0.0205, 1.5658, 7.1863, 1.9219, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b091ba969939886a1efea71be5de722a98f175088188fe764cc6e5efb36aa073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c189966106b9b70e2d056bdc7be7459c214d978fec3ea241eace4d1519d596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6942f57c721631aeae95f475f2ab47eadfe663790c4a0c1c163c8f805e562f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b091ba969939]
[blob 79c189966106]
[blob 6e6942f57c72]
{
  "content": [
    {
      "signature": "CAISyQMKjAEIEBgCKkBmHYH/InM7y9qJForKtEbWt/0bNndbK8Cs3SGp3VznFJR1NOnvHJ5Bj36yJTa1KCXCgDIBiAX96DY/yUmge8pqMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMdu5BCjmrBy1PEuKdGgzaDujAEp2k/Rsza+4iMCqsgz+e5VMSht6isIKTltb1Pf9VSA3tdMvea7FECLLuBkBtqkMG6VTgVYjIcqVfcCrpASqpwPX1MfrF2J6iF8FIPDwlwBvZ7IZmABQdq9cRYLhWh4p4BYDNK54GlUT0gJC4yxDj+q+QJ/ok/h74XN7T0Acyl2DTsHW0v53F8/GXFaM+V4dPOV47kKpXxX1ENrbRAouPRwKYmLC2yl2yRg/HAPBm0RTBkVC1feh7r2DmnBkFlKWN2aWj99eDis1D3VF2/FTv2xQRa8f+mcUyeOQla52BBG7heXJa82i3w2g0l4oDlzVxEX7q1WOpOFKEy9Baz+1QJVcChwYgCsw/tTCdee74dLN7kNrc6DVyBQoXOB9NkHvOyb6k+ZrjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fen93NgrjE8mMggrabxyy",
      "input": {
        "note": "Fingertips are on the floor (j1 stalled, wrist effort up) with the tile right in the jaw gap; closing.",
        "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_019fen93NgrjE8mMggrabxyy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2411 left_j1=1.6997 left_j2=0.9031 left_j3=-0.7261 left_j4=-0.0147 left_j5=-0.7856 left_gripper=0.0094 right_j0=0.0025 right_j1=0.0486 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -6.6803, 4.4923, -0.1001, 0.5983, 0.0464, 0.7155, -0.0752, 1.8256, 7.0496, 1.8974, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 524):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb602cda5e985c1af85cf1be30c8b2685a143279a0b9d31df56a14c83c3971b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 524):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f3302ebfd065a4318cef16ba23377602d12c443c58877d69a1f35cabd7a0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 524):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48a9f3eba1428252f6934873d0b3c863cc173e3a7148219fad30efe3bd44ae22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4fb602cda5e9
wire blob 73f3302ebfd0
wire blob 48a9f3eba142
call 67 attempt 0 · /messages · status 200 · 12.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2442 left_j1=1.7008 left_j2=0.8974 left_j3=-0.7788 left_j4=0.0422 left_j5=-0.7788 left_gripper=0.9951 right_j0=0.0025 right_j1=0.0479 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.8154, 4.3419, 0.3883, 0.0952, -0.0171, -0.1392, -0.1983, 1.7162, 7.0359, 1.8632, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2541 left_j1=1.7027 left_j2=0.8917 left_j3=-0.7761 left_j4=0.0425 left_j5=-0.7815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0479 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.8821, -1.7026, 2.8513, 1.0867, 0.0073, 0.022, 0.1392, -0.0205, 1.5658, 7.1863, 1.9219, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2411 left_j1=1.6997 left_j2=0.9031 left_j3=-0.7261 left_j4=-0.0147 left_j5=-0.7856 left_gripper=0.0094 right_j0=0.0025 right_j1=0.0486 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -6.6803, 4.4923, -0.1001, 0.5983, 0.0464, 0.7155, -0.0752, 1.8256, 7.0496, 1.8974, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 524):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb602cda5e985c1af85cf1be30c8b2685a143279a0b9d31df56a14c83c3971b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 524):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f3302ebfd065a4318cef16ba23377602d12c443c58877d69a1f35cabd7a0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 524):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a9f3eba1428252f6934873d0b3c863cc173e3a7148219fad30efe3bd44ae22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4fb602cda5e9]
[blob 73f3302ebfd0]
[blob 48a9f3eba142]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PUCTQVaKPd4hwqAkQLKRWA",
      "input": {
        "note": "Empty again and the tile has been pushed out of view; lifting to ~11 cm to re-find it in both the wrist and top views.",
        "targets": {
          "left_j1": 1.64,
          "left_j2": 1.32,
          "left_j3": -1.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PUCTQVaKPd4hwqAkQLKRWA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.24 left_j1=1.6691 left_j2=1.2842 left_j3=-1.1877 left_j4=-0.0101 left_j5=-0.7937 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0486 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -9.347, 7.4872, 0.1734, -0.0708, 0.0659, 0.2027, -0.0068, 1.5385, 7.0359, 1.8926, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fefb1585a237fd2fbe0d709f670577289f9b178e9c31581d9f049c819ceb111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3853143756883a7b30fc7236d10fb88ae7208b87f384735bbe9d4bdebdb1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 533):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa8eb7b590604e09cdcebe1a8d11e2b5597dfe857110c530338beb8389537b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9fefb1585a23
wire blob dc3853143756
wire blob aa8eb7b59060
call 68 attempt 0 · /messages · status 200 · 7.574 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2541 left_j1=1.7027 left_j2=0.8917 left_j3=-0.7761 left_j4=0.0425 left_j5=-0.7815 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0479 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.8821, -1.7026, 2.8513, 1.0867, 0.0073, 0.022, 0.1392, -0.0205, 1.5658, 7.1863, 1.9219, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2411 left_j1=1.6997 left_j2=0.9031 left_j3=-0.7261 left_j4=-0.0147 left_j5=-0.7856 left_gripper=0.0094 right_j0=0.0025 right_j1=0.0486 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -6.6803, 4.4923, -0.1001, 0.5983, 0.0464, 0.7155, -0.0752, 1.8256, 7.0496, 1.8974, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.24 left_j1=1.6691 left_j2=1.2842 left_j3=-1.1877 left_j4=-0.0101 left_j5=-0.7937 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0486 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -9.347, 7.4872, 0.1734, -0.0708, 0.0659, 0.2027, -0.0068, 1.5385, 7.0359, 1.8926, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fefb1585a237fd2fbe0d709f670577289f9b178e9c31581d9f049c819ceb111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3853143756883a7b30fc7236d10fb88ae7208b87f384735bbe9d4bdebdb1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8eb7b590604e09cdcebe1a8d11e2b5597dfe857110c530338beb8389537b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9fefb1585a23]
[blob dc3853143756]
[blob aa8eb7b59060]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Q3DykRW2UgiKTcgDi1Tc9",
      "input": {
        "note": "The blue cube is right at my fingertips in the wrist view (it is a cube, not a tile), sitting ~2 cm left and 1.5 cm beyond the jaw gap; opening and moving there, descending to mid-cube height.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -1.118,
          "left_j1": 1.88,
          "left_j2": 1.2,
          "left_j3": -0.89
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_016Q3DykRW2UgiKTcgDi1Tc9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1248 left_j1=1.8671 left_j2=1.2053 left_j3=-0.9394 left_j4=-0.0071 left_j5=-0.8017 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0494 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3214, -7.7744, 5.1761, 0.4225, -0.0415, 0.0366, -0.1343, -0.0752, 1.5111, 7.0769, 1.8974, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e22155dc1563f32644de036dd3926b01bd5dfd577b8058bc4513078355ada46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edba35c80ecb702db6aa109d74f4c037a123501f1e086524c05a738770a7c3a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 543):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cba53acb3959536a3e94c17eaf50d2c44767150e82ee542a17114bbc47471b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5e22155dc156
wire blob edba35c80ecb
wire blob 0cba53acb395
call 69 attempt 0 · /messages · status 200 · 13.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2411 left_j1=1.6997 left_j2=0.9031 left_j3=-0.7261 left_j4=-0.0147 left_j5=-0.7856 left_gripper=0.0094 right_j0=0.0025 right_j1=0.0486 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -6.6803, 4.4923, -0.1001, 0.5983, 0.0464, 0.7155, -0.0752, 1.8256, 7.0496, 1.8974, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.24 left_j1=1.6691 left_j2=1.2842 left_j3=-1.1877 left_j4=-0.0101 left_j5=-0.7937 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0486 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -9.347, 7.4872, 0.1734, -0.0708, 0.0659, 0.2027, -0.0068, 1.5385, 7.0359, 1.8926, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1248 left_j1=1.8671 left_j2=1.2053 left_j3=-0.9394 left_j4=-0.0071 left_j5=-0.8017 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0494 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3214, -7.7744, 5.1761, 0.4225, -0.0415, 0.0366, -0.1343, -0.0752, 1.5111, 7.0769, 1.8974, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e22155dc1563f32644de036dd3926b01bd5dfd577b8058bc4513078355ada46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edba35c80ecb702db6aa109d74f4c037a123501f1e086524c05a738770a7c3a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cba53acb3959536a3e94c17eaf50d2c44767150e82ee542a17114bbc47471b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5e22155dc156]
[blob edba35c80ecb]
[blob 0cba53acb395]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HqMvpDmLbMGSRnACaJZ9Bh",
      "input": {
        "note": "The cube has slipped just under the bottom edge of the wrist frame again — my recurring failure mode is stopping ~2 cm short, so I'm extending 2 cm further out while descending to floor contact.",
        "targets": {
          "left_j1": 2.0,
          "left_j2": 1.24,
          "left_j3": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HqMvpDmLbMGSRnACaJZ9Bh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1206 left_j1=1.9553 left_j2=1.2373 left_j3=-0.8776 left_j4=0.0063 left_j5=-0.8124 left_gripper=0.996 right_j0=0.0025 right_j1=0.0502 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.9145, 4.8752, 0.4567, -0.105, 0.0708, 0.0562, -0.0752, 1.9761, 7.2274, 1.8974, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d4a26d52d1cc9a99a726ea17d1fe4f948601d963909f9dabcb639406ab63a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482c9b6707f1bef4dfef95cb07da541ee8733226871775caffb091aff1b9ab68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 546):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d17fa478354691771edbb77be736c646d4deab13dc3c29c1d45fe6baa63b813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f4d4a26d52d1
wire blob 482c9b6707f1
wire blob d17fa4783546
call 70 attempt 0 · /messages · status 200 · 11.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.24 left_j1=1.6691 left_j2=1.2842 left_j3=-1.1877 left_j4=-0.0101 left_j5=-0.7937 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0486 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -9.347, 7.4872, 0.1734, -0.0708, 0.0659, 0.2027, -0.0068, 1.5385, 7.0359, 1.8926, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1248 left_j1=1.8671 left_j2=1.2053 left_j3=-0.9394 left_j4=-0.0071 left_j5=-0.8017 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0494 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3214, -7.7744, 5.1761, 0.4225, -0.0415, 0.0366, -0.1343, -0.0752, 1.5111, 7.0769, 1.8974, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1206 left_j1=1.9553 left_j2=1.2373 left_j3=-0.8776 left_j4=0.0063 left_j5=-0.8124 left_gripper=0.996 right_j0=0.0025 right_j1=0.0502 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.9145, 4.8752, 0.4567, -0.105, 0.0708, 0.0562, -0.0752, 1.9761, 7.2274, 1.8974, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d4a26d52d1cc9a99a726ea17d1fe4f948601d963909f9dabcb639406ab63a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482c9b6707f1bef4dfef95cb07da541ee8733226871775caffb091aff1b9ab68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d17fa478354691771edbb77be736c646d4deab13dc3c29c1d45fe6baa63b813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f4d4a26d52d1]
[blob 482c9b6707f1]
[blob d17fa4783546]
{
  "content": [
    {
      "signature": 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nYLBZhrlU5AgbcvVSR5XeMKCd7PkQsAOc9S+V1/eMhg72GK1kUIOS+U80N5pdOwxYc/2+LE0XwaYfglSh/et/dz9kB0nkyEFTaJSc1mIhsCvOctkxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vh8FMZTGvbXw1WnMYDSqhL",
      "input": {
        "note": "Switching to a physical probe: closing the jaws and going to r=0.30 at floor level on the bearing where the cube looked closest, so I can then sweep inward and see exactly when the cube gets pushed.",
        "targets": {
          "left_gripper": 0,
          "left_j0": -1.24,
          "left_j1": 2.02,
          "left_j2": 1.31,
          "left_j3": -0.86
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Vh8FMZTGvbXw1WnMYDSqhL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2301 left_j1=1.9957 left_j2=1.2953 left_j3=-0.8837 left_j4=0.0154 left_j5=-0.8268 left_gripper=0.0087 right_j0=0.0025 right_j1=0.0505 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -7.2957, 6.5846, 0.4811, -0.0952, 0.1538, 0.6716, -0.0615, 1.4974, 7.2137, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 556):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71ce7748748a119f38228018b042860443c21583474c3894b2d26a505da213b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 556):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:529353415252c5b12f4df883c6ed115764aa152f186f3dd92df2b98af704c996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 556):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e163f6e33e646cb6b7c8d3272361e61b2998da16f694e5814c2711e72a37a4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c71ce7748748
wire blob 529353415252
wire blob e163f6e33e64
call 71 attempt 0 · /messages · status 200 · 8.386 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1248 left_j1=1.8671 left_j2=1.2053 left_j3=-0.9394 left_j4=-0.0071 left_j5=-0.8017 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0494 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3214, -7.7744, 5.1761, 0.4225, -0.0415, 0.0366, -0.1343, -0.0752, 1.5111, 7.0769, 1.8974, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1206 left_j1=1.9553 left_j2=1.2373 left_j3=-0.8776 left_j4=0.0063 left_j5=-0.8124 left_gripper=0.996 right_j0=0.0025 right_j1=0.0502 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.9145, 4.8752, 0.4567, -0.105, 0.0708, 0.0562, -0.0752, 1.9761, 7.2274, 1.8974, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2301 left_j1=1.9957 left_j2=1.2953 left_j3=-0.8837 left_j4=0.0154 left_j5=-0.8268 left_gripper=0.0087 right_j0=0.0025 right_j1=0.0505 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -7.2957, 6.5846, 0.4811, -0.0952, 0.1538, 0.6716, -0.0615, 1.4974, 7.2137, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 556):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71ce7748748a119f38228018b042860443c21583474c3894b2d26a505da213b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 556):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:529353415252c5b12f4df883c6ed115764aa152f186f3dd92df2b98af704c996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 556):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e163f6e33e646cb6b7c8d3272361e61b2998da16f694e5814c2711e72a37a4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c71ce7748748]
[blob 529353415252]
[blob e163f6e33e64]
{
  "content": [
    {
      "signature": 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9TahCvDOoXmNGBOHTg4AkIHpwIzuZlKV5oGGTW/PU/eMcmC/mS4hWrWgQ3L/MtA7nd00WU142R96cXvk27SKem+cb0ZAd2406hRUowRFX7gIoeHkNeQfmJISDwpCKYanbPq38uzke/IjOR7dZq3DLHFnoWiq3pNUjomHdhayNI0gmIq1Sv6cTMubMcth28S+HXuUj37DCVaYWiDkPTFU4ct7B5qnSu21GE5RVqHltc8Y92gu1yrOW4Zr1xM4/nj3FJrDqxm9HDMogmKrOBDG695sJ8APcD9KgNE8JYIaUJkv3cUfRoQhqKn3Mw/8hCdCTt2rZGIx69Yj/fAvATc8Nr7+1WMqS7iug5ceDNChx+kV/eGUYP54RI4x+94limY80TUau7cAHbPN72qkcMwng78oFyLbpN3aukbeapU5nZ1uKuK0/rrrPXcTqPQ8F8sSzSI1OgtHOPXnZ/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAxTWRG6kxcdnPNMwagjt5",
      "input": {
        "note": "Returning to the one stance where the cube sat large and centred between the jaws (r≈0.20 at floor level) with the jaws open, to retry with a gentler partial close this time.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.76,
          "left_j2": 0.86,
          "left_j3": -0.69
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QAxTWRG6kxcdnPNMwagjt5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2339 left_j1=1.7206 left_j2=0.9245 left_j3=-0.6746 left_j4=0.0109 left_j5=-0.8272 left_gripper=0.995 right_j0=0.0025 right_j1=0.0521 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -3.0974, 1.2786, 0.0806, 0.0659, -0.0122, -0.2125, -0.0889, 1.9624, 7.0906, 1.9219, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:015d262562b72c0163a88a07949012b59676bd44a03f501d57f87760995e24ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c639dda32f76b2a4dedbf52a47aa46c04644de1b1e6636a3bc006f5b0f7c91bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 566):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f318e9cf6b9b798a68715c682ba3aff0df3dd5a78a64933059f98337e51784a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 015d262562b7
wire blob c639dda32f76
wire blob 7f318e9cf6b9
call 72 attempt 0 · /messages · status 200 · 7.772 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1206 left_j1=1.9553 left_j2=1.2373 left_j3=-0.8776 left_j4=0.0063 left_j5=-0.8124 left_gripper=0.996 right_j0=0.0025 right_j1=0.0502 right_j2=0.0082 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.9145, 4.8752, 0.4567, -0.105, 0.0708, 0.0562, -0.0752, 1.9761, 7.2274, 1.8974, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2301 left_j1=1.9957 left_j2=1.2953 left_j3=-0.8837 left_j4=0.0154 left_j5=-0.8268 left_gripper=0.0087 right_j0=0.0025 right_j1=0.0505 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -7.2957, 6.5846, 0.4811, -0.0952, 0.1538, 0.6716, -0.0615, 1.4974, 7.2137, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2339 left_j1=1.7206 left_j2=0.9245 left_j3=-0.6746 left_j4=0.0109 left_j5=-0.8272 left_gripper=0.995 right_j0=0.0025 right_j1=0.0521 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -3.0974, 1.2786, 0.0806, 0.0659, -0.0122, -0.2125, -0.0889, 1.9624, 7.0906, 1.9219, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:015d262562b72c0163a88a07949012b59676bd44a03f501d57f87760995e24ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c639dda32f76b2a4dedbf52a47aa46c04644de1b1e6636a3bc006f5b0f7c91bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f318e9cf6b9b798a68715c682ba3aff0df3dd5a78a64933059f98337e51784a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 015d262562b7]
[blob c639dda32f76]
[blob 7f318e9cf6b9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013vdDJAhkzxhMiod17utwci",
      "input": {
        "note": "Nothing in the jaw view here; the top frame puts the cube down-left of the gripper, so I'm moving ~4 cm to the arm's left and 2 cm inward at floor level to re-acquire it in the wrist camera.",
        "targets": {
          "left_j0": -1.05,
          "left_j1": 1.68,
          "left_j2": 0.78,
          "left_j3": -0.68
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_013vdDJAhkzxhMiod17utwci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0798 left_j1=1.6478 left_j2=0.8406 left_j3=-0.6651 left_j4=0.0097 left_j5=-0.8284 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0525 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -2.6735, 1.9214, 0.5201, 0.0366, -0.0317, 0.0757, -0.0615, 1.5248, 7.2, 1.8779, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 569):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafb0591fb3ee6ca50a8fec26de45e0e948dcd16f7c535493267fd8cd638afa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 569):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9304e0e87012ea88a02912c391d4cc3d969d75740860969eea1f493c035bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 569):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efbc83cb620596eac32dbf37bd7f092aa9e63288f7cf65ad7da9c8ca396856e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob aafb0591fb3e
wire blob 5d9304e0e870
wire blob efbc83cb6205
call 73 attempt 0 · /messages · status 200 · 6.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2301 left_j1=1.9957 left_j2=1.2953 left_j3=-0.8837 left_j4=0.0154 left_j5=-0.8268 left_gripper=0.0087 right_j0=0.0025 right_j1=0.0505 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -7.2957, 6.5846, 0.4811, -0.0952, 0.1538, 0.6716, -0.0615, 1.4974, 7.2137, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2339 left_j1=1.7206 left_j2=0.9245 left_j3=-0.6746 left_j4=0.0109 left_j5=-0.8272 left_gripper=0.995 right_j0=0.0025 right_j1=0.0521 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -3.0974, 1.2786, 0.0806, 0.0659, -0.0122, -0.2125, -0.0889, 1.9624, 7.0906, 1.9219, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0798 left_j1=1.6478 left_j2=0.8406 left_j3=-0.6651 left_j4=0.0097 left_j5=-0.8284 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0525 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -2.6735, 1.9214, 0.5201, 0.0366, -0.0317, 0.0757, -0.0615, 1.5248, 7.2, 1.8779, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 569):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafb0591fb3ee6ca50a8fec26de45e0e948dcd16f7c535493267fd8cd638afa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 569):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9304e0e87012ea88a02912c391d4cc3d969d75740860969eea1f493c035bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 569):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbc83cb620596eac32dbf37bd7f092aa9e63288f7cf65ad7da9c8ca396856e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob 5d9304e0e870]
[blob efbc83cb6205]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2EPfD2LFwpwmewFP3qirj",
      "input": {
        "note": "Starting a systematic radial series of gentle closes along this bearing; first attempt at r=0.18, closing only to 0.25 (about 2.4 cm gap) so the fingers pinch rather than swat the cube.",
        "targets": {
          "left_gripper": 0.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Q2EPfD2LFwpwmewFP3qirj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.6371 left_j2=0.8314 left_j3=-0.6716 left_j4=0.0006 left_j5=-0.8314 left_gripper=0.2551 right_j0=0.0025 right_j1=0.0525 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -5.559, 5.9009, 0.569, 0.0464, 0.0122, 0.1832, -0.0205, 1.7299, 7.2274, 1.8632, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a90b94eb3955e3384fd8641110a59e49665035b5a3baf42d26cfd0b5934e765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827d42caccadcc1428c9bd320a807e2fd55cd75e1ede8c962067cab528f28099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 577):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f3db6ad3fcb309812f95283118a0f3a99fe90728ad0cf6be4f18eaa787516cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0a90b94eb395
wire blob 827d42caccad
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call 74 attempt 0 · /messages · status 200 · 6.757 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2339 left_j1=1.7206 left_j2=0.9245 left_j3=-0.6746 left_j4=0.0109 left_j5=-0.8272 left_gripper=0.995 right_j0=0.0025 right_j1=0.0521 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -3.0974, 1.2786, 0.0806, 0.0659, -0.0122, -0.2125, -0.0889, 1.9624, 7.0906, 1.9219, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0798 left_j1=1.6478 left_j2=0.8406 left_j3=-0.6651 left_j4=0.0097 left_j5=-0.8284 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0525 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -2.6735, 1.9214, 0.5201, 0.0366, -0.0317, 0.0757, -0.0615, 1.5248, 7.2, 1.8779, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.6371 left_j2=0.8314 left_j3=-0.6716 left_j4=0.0006 left_j5=-0.8314 left_gripper=0.2551 right_j0=0.0025 right_j1=0.0525 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -5.559, 5.9009, 0.569, 0.0464, 0.0122, 0.1832, -0.0205, 1.7299, 7.2274, 1.8632, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a90b94eb3955e3384fd8641110a59e49665035b5a3baf42d26cfd0b5934e765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827d42caccadcc1428c9bd320a807e2fd55cd75e1ede8c962067cab528f28099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f3db6ad3fcb309812f95283118a0f3a99fe90728ad0cf6be4f18eaa787516cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0a90b94eb395]
[blob 827d42caccad]
[blob 2f3db6ad3fcb]
{
  "content": [
    {
      "signature": "CAISvQkKjAEIEBgCKkALCyE7YPhSDQ88rCDkjrk2uNf39vgckX0zwLVD2Z8i9PpN0gQMNSOJa5NwTJPXDgJe8XQgS/TH3VPTqtu9cu37MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/7GdJkSJIrcESfIxGgx746IgsnI7KDeesnkiMAVoJ9BXaqzFvy8GzYSv6mn3ih017akbkK0XLM+YbLYp0ivAS5gBSDG6damGYF1alyrdB9g3bto7uW7Smx6AuaJaBJH1HVyH4Pqfjf9IH/CWf5HXh9JjtL7LwEpx2k7wlu+IjXm1ip7fhzz6PzsRL0fBUD8MAn/Huk6w5TqraN9rT0/Abg2lOWHdl25uaVcPj5Y6yd4sJOFYVLMLAgn3NWh6aVjVTx+nzkZ0aajkA80Vvrlnt4l4KyQMEPWaQyx235JV1VUOzH0uQrbiKNEMInrcrIi0PP/agzWQ5hfNzcEjHH1v/3pHeOH/auxzNwjMBGvJlkxHH5AYpn4ImVwa5F9BHJC1KXboLoLrQsIFKLoHGKjmplVKGVNX762gAhgJCcewx/1TLUgDlUUwyenbu4NEFOdMf6m3jsbj93IznIm/oSsNKfzv5ReHaVlLxtSQ4GqLl/MEt2oJJ4C4hp6nO2HRt1LeBdQEiMxuOH31tuc2/FObD8BXi+AdWIcmmK4WReqONZzGDls6aBABObi4Zq137hqpsTPEOxdzCb2htdCIfHbOlQxK2n793iIdc2fvq27P50++K5VZpejkTuOD1GqKQ78aLR18c3rOTv5D46zfwxrB9Qlv2Ym3vOTghNAVCC04KXb9WKhAjUGAOX5mFmTr/FKpP84C/+jBUYXlYf+rguUzkcfEQhIlVdvbSwQVsIRxqtAZMNAwHt9URuFIQDEpGRmrYbtnI5gRQXVYeO3kqx0nOWWO9LNXavgLdX2HAooDOfyW0awcFCe23aK+BPrwEKE251zzyDneq/S5mGNXkgOMNy4nTm6BroGgb9MdK0lWJdDPhLbwu5Vmzdtv4aoU85YYG4A0HOgMVM6A/rmZJTJORGGWT3mJOVdTUr6jzer8aXZQUmMCyEe0jC66e7wPvrOmhaN5z0sPtFn1nXiA3k7+iELsHZXKxrO0Kmv4k2zuAN00Ulu6+Wy5J1f+0P+OxQ5ayARGiwSvKAySWCcgfLpJ0z10SaXVovN5J3u5XHhPtlZ6gVeRrziZAzUiHt14CIQT5D1tX30otQJa9zMmlnLX8RKUsLc8mbCeaQdetztnp3KVYVAwvPwVtRsDYWleAWctU82PwsOKe0Rh39iSye+9dr5raj4ABFES4ppTDUegMgBL9AzzsrbVwvn130hvrU522+GVxmD5xf1PLdRYUntR3F+FmV5Fhz9joHrBuJu5Is7796a17x8pgIvE7pd/nfS7ZT3zNSJe6+Ok1gL/iCIKZUu3X0h3hVZUJq/bbQnKmsyX7erYFRxAGjn0oXJCQLg9lylxmgqQaj8N6ADk26P+h4RRUt5y5Bsc+fuw7DosKW6h+brMs2DWEL6tZiPtc92j2NafXIkU1W/XNrjvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MRcEBanYqWJtdKsU2TWEu",
      "input": {
        "note": "In the top frame the cube sits almost directly beside the arm's base, so I'm swinging further right to j0=-1.45 at the same small radius, jaws open, to see it in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -1.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_018MRcEBanYqWJtdKsU2TWEu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3918 left_j1=1.6363 left_j2=0.8314 left_j3=-0.6678 left_j4=-0.1211 left_j5=-0.8383 left_gripper=0.9942 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-4.3829, -6.2974, 5.6, 0.3297, 1.4432, 0.3394, -0.2271, -0.0068, 1.853, 7.0906, 1.8926, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 585):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd8aa6158c21442e0f7117500221e8aa005bb43b7c0c2a942441cfb5d4eb962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 585):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94fa29ed5c6cad27b6e4c955433acd45fc1dea7be58de195f840ed0a64a7e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 585):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a22525b841717f568452fbefa41fbade010a89cb77e394e98559d41a69bf0c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3bd8aa6158c2
wire blob a94fa29ed5c6
wire blob a22525b84171
call 75 attempt 0 · /messages · status 200 · 7.052 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0798 left_j1=1.6478 left_j2=0.8406 left_j3=-0.6651 left_j4=0.0097 left_j5=-0.8284 left_gripper=0.9959 right_j0=0.0025 right_j1=0.0525 right_j2=0.0078 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -2.6735, 1.9214, 0.5201, 0.0366, -0.0317, 0.0757, -0.0615, 1.5248, 7.2, 1.8779, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.6371 left_j2=0.8314 left_j3=-0.6716 left_j4=0.0006 left_j5=-0.8314 left_gripper=0.2551 right_j0=0.0025 right_j1=0.0525 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -5.559, 5.9009, 0.569, 0.0464, 0.0122, 0.1832, -0.0205, 1.7299, 7.2274, 1.8632, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3918 left_j1=1.6363 left_j2=0.8314 left_j3=-0.6678 left_j4=-0.1211 left_j5=-0.8383 left_gripper=0.9942 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-4.3829, -6.2974, 5.6, 0.3297, 1.4432, 0.3394, -0.2271, -0.0068, 1.853, 7.0906, 1.8926, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 585):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd8aa6158c21442e0f7117500221e8aa005bb43b7c0c2a942441cfb5d4eb962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 585):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94fa29ed5c6cad27b6e4c955433acd45fc1dea7be58de195f840ed0a64a7e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 585):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22525b841717f568452fbefa41fbade010a89cb77e394e98559d41a69bf0c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3bd8aa6158c2]
[blob a94fa29ed5c6]
[blob a22525b84171]
{
  "content": [
    {
      "signature": "CAIS9AUKjAEIEBgCKkA5U4PfYtlGfxsnFnxqfjba1X6KH1t0i8jzaiBeeaB7ktFB5MYate959nMsXUg+jteFsgimkZYqDRwp/4fr2dCEMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTat9B/qEnwIQSHfsGgwAUfA54wdfZ2QGVt4iMNTayGkPhts23WXjl4fXNG5PqZvA/TwpH/lEjyISGJRti6jxhmrB3wTaCMdfQC0r2iqUBNxU/TS0SFGo/GeJIlbHTix4qjlMXyPz9ZZ8yTVS1IdZdsPB0QIcXEZK4TUHftHuYLYp8mff21Z6Ew2Xq0Ilm8MSR1Iv9u5CsW6w5+oKc0rMfTMkoUiXHkvmh6uNWECXm41FX0uewkOihNPhELMZHY83lPfv2z+giKq8qj3dGq8wm21EPq39zW2M3Zb4kBOlRDRZe6t15nSE5lNdd0XSLXm1fQJFw1c7IGTQJ2iOIZLLuFTwYiR5McDKTbMYJKEQYQ16by5P+jdJ6ZwJE6+D5xuhWWe5b6+jdySS5IjgbIP+PwaBGdENbevnBJXDYuYK1RCh49VcqHmyvjMrjA6aoBbKxStBsMir9vFk+ZdxtN0twu+Xx5FnJ7qFO+R8ArZizficey2h8ciqS/XUbcQNV0zbs28oGoicqIVHHs+77BPtjNjAThf91li14vziPSOoUt3tchFF+NeOoLdtiLMpOlK0gchX5AvqfLPlyg2Sa9wadHEcUYkaV/qBDMqzCwTV6Kg7LbuDS7DO2OsI1+RxNX/zEXnB47NhF+LiZDzP9W5APavHKE7SBteYlkrYx7OvizrMuKlRc3Ca0NgjGsR3NzxRttKSt3Tad+rQBtdR+kx8takVXnJHShsmfcc+awA8MCXmhZXvTr78QuNlndrrfjuhl6dieaBUAtzL7ASwnS1FjRGAN2OsPQNGLOn5MUu9GO6Zo8EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FsSUkA81z14RX8UZ6n1nLH",
      "input": {
        "note": "The swing brought the cube right into the jaw gap (and j0 stalled with load, suggesting I nudged it); closing gently to 0.2 to pinch it.",
        "targets": {
          "left_gripper": 0.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FsSUkA81z14RX8UZ6n1nLH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3766 left_j1=1.636 left_j2=0.8379 left_j3=-0.6624 left_j4=-0.2214 left_j5=-0.8314 left_gripper=0.2065 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.4427, -6.2564, 4.8889, 0.3932, 0.8327, -0.0757, 0.2466, -0.0752, 1.9077, 7.0906, 1.9072, -0.0562, -0.0122, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8576c7f20085ac1e7b80831d1977f2831babb90ea5acf1455c90fce1550f8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a8e7e27205526383fb7cb619e6f9368cad7aa66104f7042b5777d7c5f2858cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 593):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:878022c483236f40809e38863de1a7943c4eda214c8ac2403872f001a9bea97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8576c7f2008
wire blob 5a8e7e272055
wire blob 878022c48323
call 76 attempt 0 · /messages · status 200 · 13.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.6371 left_j2=0.8314 left_j3=-0.6716 left_j4=0.0006 left_j5=-0.8314 left_gripper=0.2551 right_j0=0.0025 right_j1=0.0525 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -5.559, 5.9009, 0.569, 0.0464, 0.0122, 0.1832, -0.0205, 1.7299, 7.2274, 1.8632, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3918 left_j1=1.6363 left_j2=0.8314 left_j3=-0.6678 left_j4=-0.1211 left_j5=-0.8383 left_gripper=0.9942 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-4.3829, -6.2974, 5.6, 0.3297, 1.4432, 0.3394, -0.2271, -0.0068, 1.853, 7.0906, 1.8926, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3766 left_j1=1.636 left_j2=0.8379 left_j3=-0.6624 left_j4=-0.2214 left_j5=-0.8314 left_gripper=0.2065 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.4427, -6.2564, 4.8889, 0.3932, 0.8327, -0.0757, 0.2466, -0.0752, 1.9077, 7.0906, 1.9072, -0.0562, -0.0122, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8576c7f20085ac1e7b80831d1977f2831babb90ea5acf1455c90fce1550f8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a8e7e27205526383fb7cb619e6f9368cad7aa66104f7042b5777d7c5f2858cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878022c483236f40809e38863de1a7943c4eda214c8ac2403872f001a9bea97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8576c7f2008]
[blob 5a8e7e272055]
[blob 878022c48323]
{
  "content": [
    {
      "signature": "CAISggsKjAEIEBgCKkBvG3g2rSYX1VBGV/BfAhufMrvHJte9O1MMLpjba1W4jUzNoiOrtSjw+QNe6mVb7iE9wJDKJyQ2/jb6LkZ/rnVXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMb1uro4P88O/rdgNRGgwgMw9WG1O0buDDdVAiME7aocdq0/1/CqCCxLzLDLi1Xstm5x147M3+S41HA/VVBAzCPHeQUNvkAdo9To+8yyqiCZ1VaFCdT+rEHlobwJ4p3ldIGYTtYhMnBb5jwBI2rWarf7JR0PJikjdQrjNj0puswotj6bro32JdPDowjvxNdraz/kic846De4+CoNUnx0o5HNsHo9WoT25EDtqrPZi3Zgy0Nq1ihAFij8WkKqWvp5przqhJOqg0A9tt9Ac76PDv3JWj7e9n4b7jvsIjQCKEXb057wDaEPFrLdrpbunJOiNUdF8zp8hWdkIPlCW/eDBPX336Ac5McvCAtKa25m0L85N5X9L2y84Xyt4KS/J5Y9vuNhzgfopIq7WDDKq6XTXL1fWTCjlO/czGVCQalR5T/R5JJhvvuVkOySfeZE4//T3Ml6uVSVP3ga8sJFhvJ5ZKcI8y6lpuvq3sR8Rs58TVSRe0KKWRL+vbH5ENfi4jyEhVZlwRUsvjqRd0m04VKz8rpAudDyK5tVJApzwx/dNkL7rWw+2YvGlzrgW8VfG1p8az+ORjPCGjkFA70uJ6mUqmlyTJRKKVTmOox45uwG1TohArdI8Ju2G9D4n9wC1SU6JwagqAwvOMfN1Tq5vIoAG7ZlXaKHlIzN+q2TH2NrstTmMNcyLf4ph8QEz0E0KbwkKenTvuh46vgrH2PGYdIxDcWH1xfQ5dSby1UAHLCjkzqWn+NhRwVtsW5sQZifHWq+kSWJ9dWs12z9X1s2qV3reMgxo6Di1MBI4NPzdUkdoxNngRF2uMMv3kvgCC5P6aLCw0Rsktp5lEJTk8ruiZV79Y1l2bK5d85UV2YBgNHy4YRj4hmcjUDXQp4vx8mh81X8Mvuv2C7268+h6H+fH2tO5opoEL5vTixiSC/K2OYhjuVFrVylJjoUiE1rgLR6oqa9e9679IDd0gFAGJuDE0/xEHLX2ig2vufs0SXtlkF1K1SYvp4pc7j4L54ac8qjByDnFwrFkKdPl1/K9yP8gIjH4VsBnQJ8yDgrvQ5WMqe/XFXXXtDscUr3PI5nDS3libg7ct4flKfZW6f8QxGnvfa2udDvY44eB8Xv9CRznDsKKJ1LRrGQ/i6yV6CuZTR4siIh016JWyCjK7HtWYKcIuFqPccBBMolWMqkySYYIuYtc76On9zBhYdQiItvrjsPSWn7M95mNCrFpvsoACB0+KPV6KLGxPK6gEjFpm70qeARqsBZGlzydbOb1BVFfGJGNu5YtrYVxrLqPAKJ4YxF6cT7vl/YC3s16Qogp3hOvGk1RpHBkVKS7XDKD/7ArhZyUGM796AwUbgxgJ1f4v4p2i7ew2KLzgpmguHxT9u5t8O6tybMQpMeeIn7WGW3/Ze760EMF98zQRxCX49wyFS7YkLRfg7dVVZS03XqepN7p2W/fZqF4I0BqGDxj+/kwB++RL/EnePlWBUgHjicn3RgNkbwo8GIrcuS8+rGS0eWF2i9Tbm6pSE4DY8MmE/IKN+/VoXfbsnILFXocBybJ5xm+PAzVRobtXXRe5p2NbNwt8sKqxe1gqi3XdGzD04V1i5EE+XxJF4Reh8zsdVt+EmI1UrIhJdH9bEKqu3loA017qV1rw9H2yZLu2GOB8AtBDhMO04+4ZanPtfhJoAAipw7ASC/6i52wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RY4ubLTBEQRNhGLMXiEYyK",
      "input": {
        "note": "The gentle close reached its commanded gap with no object, but the cube is visible right below the jaw tips; straightening the wrist yaw and extending ~2 cm outward with jaws wide so the cube falls inside the jaw span.",
        "targets": {
          "left_gripper": 1,
          "left_j1": 1.74,
          "left_j2": 0.86,
          "left_j3": -0.69,
          "left_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RY4ubLTBEQRNhGLMXiEYyK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3682 left_j1=1.6886 left_j2=0.8795 left_j3=-0.6762 left_j4=-0.0902 left_j5=-0.8387 left_gripper=0.995 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0462, -2.4684, 3.8359, 0.3101, 0.652, 0.022, -0.1685, -0.0889, 1.9624, 7.0769, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a7073c7b34ec29a95eea50426d35af0114b8ae6ba5c427dfdd17cebea765159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4d060298ba1d06b2e39f454fe179b593972891dd19aa4f99ab79823656feda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 601):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd271a6ce203ea8977962cc67553b950f9dd7bf9754078d37aa768f066d72535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2a7073c7b34e
wire blob 8c4d060298ba
wire blob fd271a6ce203
call 77 attempt 0 · /messages · status 200 · 5.515 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3918 left_j1=1.6363 left_j2=0.8314 left_j3=-0.6678 left_j4=-0.1211 left_j5=-0.8383 left_gripper=0.9942 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-4.3829, -6.2974, 5.6, 0.3297, 1.4432, 0.3394, -0.2271, -0.0068, 1.853, 7.0906, 1.8926, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3766 left_j1=1.636 left_j2=0.8379 left_j3=-0.6624 left_j4=-0.2214 left_j5=-0.8314 left_gripper=0.2065 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.4427, -6.2564, 4.8889, 0.3932, 0.8327, -0.0757, 0.2466, -0.0752, 1.9077, 7.0906, 1.9072, -0.0562, -0.0122, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3682 left_j1=1.6886 left_j2=0.8795 left_j3=-0.6762 left_j4=-0.0902 left_j5=-0.8387 left_gripper=0.995 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0462, -2.4684, 3.8359, 0.3101, 0.652, 0.022, -0.1685, -0.0889, 1.9624, 7.0769, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a7073c7b34ec29a95eea50426d35af0114b8ae6ba5c427dfdd17cebea765159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4d060298ba1d06b2e39f454fe179b593972891dd19aa4f99ab79823656feda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd271a6ce203ea8977962cc67553b950f9dd7bf9754078d37aa768f066d72535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2a7073c7b34e]
[blob 8c4d060298ba]
[blob fd271a6ce203]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YWGRw3t7o72tf9Aj2YTz9",
      "input": {
        "note": "New read on the geometry: the cube sits slightly BELOW the finger line in the wrist image, i.e. ~1.5 cm nearer than the jaw plane, which is why the fingers keep brushing it. Retracting 1.5 cm so it lines up exactly with the jaws.",
        "targets": {
          "left_j1": 1.687,
          "left_j2": 0.798,
          "left_j3": -0.682
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018YWGRw3t7o72tf9Aj2YTz9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3674 left_j1=1.6691 left_j2=0.8524 left_j3=-0.6506 left_j4=-0.0952 left_j5=-0.831 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -4.3419, 2.0308, -0.0904, 0.0659, -0.105, 0.149, -0.1709, 1.7846, 7.1453, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 603):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d29f372f7a87bb0850cc8fc1a4216e89e5a5b251483d45e59d7fea08460ea50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 603):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ecf84f6e404166f81df2b91bacb4c5eed592c67066bf4cdda87975061cf88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 603):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f879388b1236ef74df25642d48abc65c754af05481ade20b5dfe87a13cabc0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3d29f372f7a8
wire blob a3ecf84f6e40
wire blob f879388b1236
call 78 attempt 0 · /messages · status 200 · 5.598 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3766 left_j1=1.636 left_j2=0.8379 left_j3=-0.6624 left_j4=-0.2214 left_j5=-0.8314 left_gripper=0.2065 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.4427, -6.2564, 4.8889, 0.3932, 0.8327, -0.0757, 0.2466, -0.0752, 1.9077, 7.0906, 1.9072, -0.0562, -0.0122, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3682 left_j1=1.6886 left_j2=0.8795 left_j3=-0.6762 left_j4=-0.0902 left_j5=-0.8387 left_gripper=0.995 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0462, -2.4684, 3.8359, 0.3101, 0.652, 0.022, -0.1685, -0.0889, 1.9624, 7.0769, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3674 left_j1=1.6691 left_j2=0.8524 left_j3=-0.6506 left_j4=-0.0952 left_j5=-0.831 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -4.3419, 2.0308, -0.0904, 0.0659, -0.105, 0.149, -0.1709, 1.7846, 7.1453, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 603):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d29f372f7a87bb0850cc8fc1a4216e89e5a5b251483d45e59d7fea08460ea50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 603):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ecf84f6e404166f81df2b91bacb4c5eed592c67066bf4cdda87975061cf88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 603):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f879388b1236ef74df25642d48abc65c754af05481ade20b5dfe87a13cabc0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3d29f372f7a8]
[blob a3ecf84f6e40]
[blob f879388b1236]
{
  "content": [
    {
      "signature": "CAISuAYKjAEIEBgCKkAuWPaWNpgwPbGROtuZRJ/8ltj+GIO67VsNg8YjVw7Eyuvf28LrqemWmcQcmZnNkgRMKj0V1Unk/xINz6yzG14VMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDOIuOg93HYp+i42cGgy1wMnwe40m4XjUH+8iMNOArHFqO/Vt1cFI7MSBGcTXU7ZPgEPBhB35u9iWZL9B/6lFczmFENbVrdBRJDYN7yrYBDdeLrMxtGx4tONI0G3qO0pU6BVP47AxLV1OA41v2SwPTJXn9rnf9vRHDcrnT63cgZRgY3GgHPit3jENFvct4yVIMjS2ENNTyofpXC0ksB9YAujoX2PP95+N91dHTFVIoX8e3xkXmQDDuM4Ga2RfeWtbMFDS3JVWrRx1sqJkO/r87xl2lkt9ZiR9jPwr8wmK55YGR4VavBt6evhZGol9kVMt1VXrAER+RtvAZiO6UikvtBAdUMLMfwwL3/zMklgnn8wlcBrEi1HMjllq6Rb2PdeFX/dmEwpCqGM13TIXiGmInc9O8/I3QkFN+fvPtB+Rd49pjF+y9iqnWS6j1aVaArUbw0EQsHLPuLqiWYR2i1fkL1v5QTDgX6cwT5b4KqID0sYjOMS7keCTCEgEYgcYccjvRkUCPKn+dJD9FPYlhtMHW98u8m/jo+zhoajjBJJ8bF3plPxG7S6MZwjkMD5OEkU+GfzTx629TQTF276CqzHUx+kqLGScF0wkMJfRO+8OU/98vNEkeqbAABWimHxX3CJtdx4V3AfOz+7AmXCQ2z/RO/ZDJcW0NCdtUsMzW5MDNL/jWtqHJg9oCnVOe97Vtxt5cTzMtxVhFIdfUeqWLnlGVFNCqUzod8SuQzNFKfcxZBo9dDZrNBj25N/EI0xzupZgUx2lfggRdkUoDNT8YQbZuwvASn5fnxZIRrlBBE7PtxAHWcvPtslHyKjQzhibuoB4ACTlGwq6p+K9gjPFbsA9U9ze+j9Xoy8SwVTxtxzq9U6aTT0tZw2dbF8+kDJzjgpzNb1xqgyDeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QF698Ct7BBVrwvHasLJnw1",
      "input": {
        "note": "Cube is between the jaws at the bottom of the wrist frame and the fingertips are on the floor; doing a full close.",
        "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_01QF698Ct7BBVrwvHasLJnw1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3548 left_j1=1.6585 left_j2=0.8616 left_j3=-0.6342 left_j4=-0.1646 left_j5=-0.8314 left_gripper=0.0093 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -5.7368, 4.9983, 0.3785, 0.6227, -0.0122, 0.7155, -0.0342, 1.7299, 7.1316, 1.8828, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e805fd505652fc94015caef38838f9551b01fd5e1bb5cde618b1e89f41b81fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6787617e1dc172a7a5a6699e8d2edccc4d3b5e5621604d1ff5916bd1ab2eabf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 613):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46c3da9ba844c162136e1f43edcfe8d4c84ad5f1e3d5611eb7f5aeaec756a2e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2e805fd50565
wire blob 6787617e1dc1
wire blob 46c3da9ba844
call 79 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3682 left_j1=1.6886 left_j2=0.8795 left_j3=-0.6762 left_j4=-0.0902 left_j5=-0.8387 left_gripper=0.995 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.0462, -2.4684, 3.8359, 0.3101, 0.652, 0.022, -0.1685, -0.0889, 1.9624, 7.0769, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3674 left_j1=1.6691 left_j2=0.8524 left_j3=-0.6506 left_j4=-0.0952 left_j5=-0.831 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -4.3419, 2.0308, -0.0904, 0.0659, -0.105, 0.149, -0.1709, 1.7846, 7.1453, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3548 left_j1=1.6585 left_j2=0.8616 left_j3=-0.6342 left_j4=-0.1646 left_j5=-0.8314 left_gripper=0.0093 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -5.7368, 4.9983, 0.3785, 0.6227, -0.0122, 0.7155, -0.0342, 1.7299, 7.1316, 1.8828, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e805fd505652fc94015caef38838f9551b01fd5e1bb5cde618b1e89f41b81fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6787617e1dc172a7a5a6699e8d2edccc4d3b5e5621604d1ff5916bd1ab2eabf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c3da9ba844c162136e1f43edcfe8d4c84ad5f1e3d5611eb7f5aeaec756a2e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2e805fd50565]
[blob 6787617e1dc1]
[blob 46c3da9ba844]
{
  "content": [
    {
      "signature": "CAIS0QYKjAEIEBgCKkBLF4dQAF+gShMRYuG2qa9PRIuHhBqX2vBZg4ds7vuuKnbanAMOh/kCDx4fl0u++Spo7dJ5IgnPu2XXvW9+DxmDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmoMlobJpNW2A2Wy6GgxJQKIbO5HtOOH5b4AiMJ8CJMPdid5DfXre+aZHukFXEK1JfnK0SIsGILBn/CIPT/gNLrouXxXFWtFEJZA4BCrxBErBoPHJxhbvmGunWTS91Ix2ostWFki2x92TU/cSUsQ9CfW3+1CRu6jXn14p3X6ZFv0vZ12uH6yjmmTNG0Zvrhev7YRfqAgrshf4MkRgSg/P4jASW16Ckiea6HPzFMEuhvqJT3guRranMqsexSX65KTBGgkbe6bVaB7bEby54qbgIv/x8kaqUnOOgYyg/HQheU8cVHgIlZ9fmqcyHybNpjrMSd4A9hJDk2FCBNnF6WApplkjwYoOtZ4jVYLPz9FtVxsiwwO6LN21lRQTTyjcfFTQj9t+cv7aoK988Q0TVkcZwQhi9xEzwbdJrbXwJZTGzC77v3i3jG8pvs1jy9RtU9m5ZOZLoZCA/Ad99gEr7P8b8J6h74gmDYUeegLl9nj96TALYtBXrDT5eZOtaX7z0rlTFVRM2esKIrn+WSMiwKz/B8lRaM6XRTIRdaqOFUg8/IYlT2lSaaUQ4ti6WEZ0d1JOO6oLUsIlxHDzow9IfcsvW0nF2OzrYHz5i6AIyb5GSFFi2j9AkVEQG6+RfE/1CfED/u8CJei97a7AJcmOnN8H6ARkQZ//Q+fwx60DoXNxc9SAfMnRW/AJXHb6iHwoXZrQpQH84Nd8KreCwSjHcu5g04LhRidHvCGFksb7WU1qPdUk9wjQcoenE/VtpueW7n2jFJVdPuulJ2U1YPHbTr0+A5vT7C/+liR80ner0J5aM0NK2wH9qvire3o0uxwQp8IfL+AneVgh92kKLnMLq3DrauK7Xv+NVrJDL7EW5yWvM774OU9AbjiU+QFTjSMTf0E7AZMFcXB2hCMgN+Qo7IaXJcnjciPhfFw2DbvC8Dx3dCYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Q5557qL9pEWT4Vjq2wnn9",
      "input": {
        "note": "Another empty close and the cube is out of view again; pulling the arm up and back so the overhead camera can show me where the cube actually ended up.",
        "targets": {
          "left_j0": -1.0,
          "left_j1": 0.9,
          "left_j2": 1.3,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_014Q5557qL9pEWT4Vjq2wnn9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0119 left_j1=0.9291 left_j2=1.2621 left_j3=-0.7971 left_j4=-0.1646 left_j5=-0.8391 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -1.1419, 8.335, 1.8877, -0.0757, 0.0269, 0.2125, -0.1846, 1.5795, 7.1453, 1.8974, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b428a52391ad7495e90623c1da6c329e44e0b889755df3545606e2638f57fe77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641997be50a20219643ac8ebdb00c38125071299a66bc1635d2a1b70e6a40d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 626):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b14039d54322c78a56a8bca4a5297cfbf863abdddd5e70ea5b3d285b63340afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b428a52391ad
wire blob 641997be50a2
wire blob b14039d54322
call 80 attempt 0 · /messages · status 200 · 13.4 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3674 left_j1=1.6691 left_j2=0.8524 left_j3=-0.6506 left_j4=-0.0952 left_j5=-0.831 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -4.3419, 2.0308, -0.0904, 0.0659, -0.105, 0.149, -0.1709, 1.7846, 7.1453, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3548 left_j1=1.6585 left_j2=0.8616 left_j3=-0.6342 left_j4=-0.1646 left_j5=-0.8314 left_gripper=0.0093 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -5.7368, 4.9983, 0.3785, 0.6227, -0.0122, 0.7155, -0.0342, 1.7299, 7.1316, 1.8828, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0119 left_j1=0.9291 left_j2=1.2621 left_j3=-0.7971 left_j4=-0.1646 left_j5=-0.8391 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -1.1419, 8.335, 1.8877, -0.0757, 0.0269, 0.2125, -0.1846, 1.5795, 7.1453, 1.8974, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b428a52391ad7495e90623c1da6c329e44e0b889755df3545606e2638f57fe77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641997be50a20219643ac8ebdb00c38125071299a66bc1635d2a1b70e6a40d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14039d54322c78a56a8bca4a5297cfbf863abdddd5e70ea5b3d285b63340afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b428a52391ad]
[blob 641997be50a2]
[blob b14039d54322]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFAcc6RooiQyd9WFDvnfPe",
      "input": {
        "note": "With the arm out of the way the top view shows the blue block at the near edge, about 23 cm to the right of the left base and only ~3 cm forward — i.e. ~4 cm further out than my last stance. Going there with jaws open at floor level.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -1.44,
          "left_j1": 1.83,
          "left_j2": 0.98,
          "left_j3": -0.73
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01RFAcc6RooiQyd9WFDvnfPe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4239 left_j1=1.7855 left_j2=1.0058 left_j3=-0.7258 left_j4=-0.1726 left_j5=-0.8467 left_gripper=0.9961 right_j0=0.0025 right_j1=0.0563 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -4.3966, 3.6171, 0.0073, 0.0317, 0.2222, -0.149, -0.1846, 1.6068, 7.2274, 1.7753, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:473f83758f1e8de468ef7a31e3f2774bb464b89a5aaf61c0bea606cf5373c97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbf7701f04448ac9ccfcd736354d456b455dc5f54e0583ea0b07aa8a7066857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 641):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72ae67d2926f6ffa7486c49abefb8c82162b5d379b24fe988da5142871421cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 473f83758f1e
wire blob 6dbf7701f044
wire blob 72ae67d2926f
call 81 attempt 0 · /messages · status 200 · 4.888 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3548 left_j1=1.6585 left_j2=0.8616 left_j3=-0.6342 left_j4=-0.1646 left_j5=-0.8314 left_gripper=0.0093 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -5.7368, 4.9983, 0.3785, 0.6227, -0.0122, 0.7155, -0.0342, 1.7299, 7.1316, 1.8828, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0119 left_j1=0.9291 left_j2=1.2621 left_j3=-0.7971 left_j4=-0.1646 left_j5=-0.8391 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -1.1419, 8.335, 1.8877, -0.0757, 0.0269, 0.2125, -0.1846, 1.5795, 7.1453, 1.8974, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4239 left_j1=1.7855 left_j2=1.0058 left_j3=-0.7258 left_j4=-0.1726 left_j5=-0.8467 left_gripper=0.9961 right_j0=0.0025 right_j1=0.0563 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -4.3966, 3.6171, 0.0073, 0.0317, 0.2222, -0.149, -0.1846, 1.6068, 7.2274, 1.7753, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:473f83758f1e8de468ef7a31e3f2774bb464b89a5aaf61c0bea606cf5373c97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbf7701f04448ac9ccfcd736354d456b455dc5f54e0583ea0b07aa8a7066857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ae67d2926f6ffa7486c49abefb8c82162b5d379b24fe988da5142871421cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 473f83758f1e]
[blob 6dbf7701f044]
[blob 72ae67d2926f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PnYAyki6nT1oeVoCV1BUgN",
      "input": {
        "note": "The cube shows at the lower-left corner of the jaw view; correcting ~4 cm to the arm's left and 4 cm inward at floor height.",
        "targets": {
          "left_j0": -1.21,
          "left_j1": 1.72,
          "left_j2": 0.83,
          "left_j3": -0.68
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PnYAyki6nT1oeVoCV1BUgN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2324 left_j1=1.6962 left_j2=0.8822 left_j3=-0.6434 left_j4=-0.1413 left_j5=-0.8501 left_gripper=0.9967 right_j0=0.0025 right_j1=0.057 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.9043, 2.2359, 0.0317, -0.4029, -0.0024, 0.0611, -0.2393, 1.4701, 7.0769, 1.8974, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a56d8eaadd48888e0836b9f25af4f0bcfbb13e6967ee68f80130f0474124a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0c336dd1bdc0eb12258597dbbe7637e59e6b0d2967025adc377b56313d92f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3274399d5ca0c7553edb60426be0eb7e5522e485d7b31db3a6dda27affd628c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7a56d8eaadd4
wire blob 6a0c336dd1bd
wire blob 3274399d5ca0
call 82 attempt 0 · /messages · status 200 · 6.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 238 changed as sent

message 241 changed as sent

message 244 changed as sent

message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0119 left_j1=0.9291 left_j2=1.2621 left_j3=-0.7971 left_j4=-0.1646 left_j5=-0.8391 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0555 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -1.1419, 8.335, 1.8877, -0.0757, 0.0269, 0.2125, -0.1846, 1.5795, 7.1453, 1.8974, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4239 left_j1=1.7855 left_j2=1.0058 left_j3=-0.7258 left_j4=-0.1726 left_j5=-0.8467 left_gripper=0.9961 right_j0=0.0025 right_j1=0.0563 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -4.3966, 3.6171, 0.0073, 0.0317, 0.2222, -0.149, -0.1846, 1.6068, 7.2274, 1.7753, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2324 left_j1=1.6962 left_j2=0.8822 left_j3=-0.6434 left_j4=-0.1413 left_j5=-0.8501 left_gripper=0.9967 right_j0=0.0025 right_j1=0.057 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.9043, 2.2359, 0.0317, -0.4029, -0.0024, 0.0611, -0.2393, 1.4701, 7.0769, 1.8974, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a56d8eaadd48888e0836b9f25af4f0bcfbb13e6967ee68f80130f0474124a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0c336dd1bdc0eb12258597dbbe7637e59e6b0d2967025adc377b56313d92f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3274399d5ca0c7553edb60426be0eb7e5522e485d7b31db3a6dda27affd628c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7a56d8eaadd4]
[blob 6a0c336dd1bd]
[blob 3274399d5ca0]
{
  "content": [
    {
      "signature": "CAIS/AQKjAEIEBgCKkC3VaydvSTMcuKTcj1piwxh6HiDUL5Gss5nX9yxshAYNb3bMeF3x17+RbL0Fur11MS0mPauHkImFTd7pJ3jhYC7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+3vB3N9NLAglrUaZGgzZ+802gz0mjRvwXJMiMDqkuL9ZJEnXzpbg0ZB8I4l372FsZVG9lFeCA/nYx98KBAIV8VtHTwfr2YO/hGHOLSqcA5C8maQ84j0rj54SvrKiMfapSu+BRCSKJNWKa198m28I/0YDOB8Leb2IxIMhclebn6jLxqXIsE16qSOIxM4C7n7gYvQ/yHwS+531wBPOcAAiP8Jg05PYBhG3uTHlTc6xzYrUjBsoFGhVFAJciUKkVBui0QcArq5BfKlw06ujdH1VG6k9J4aqFu9aDcT8W3AISdurrLG/TP+LcDOhw6BzGTt3HJ7Bq6S3oqNwXnSSioF4IZGqZp7wFcfqhqMt5EBu9kB60zUZVbPI04zw8x2LyI9lamJc3LPs+v2AChgAfU4bxuZnoBiDsrJw2kxVE+v0tumZan7QRoYzTbLhikh4LEs+zmJ8EhMy7G29TlOvXxqq9G2x1Lv6pFzjeg0ExTF26UyTqZ9tYS2/53BXw/ZYS6Iv3dhI/DH7azFx9qfSJW9RHQANgAkMpEdI2lSsdw7dCyTs6Kb+0HPnrfFJKVLd5XdSeze8AN4LFZEGXeCneX8XX4dayAfbMQkRpohFilNj2UL3wp+F/zeQqlCTKDxfChHN2uyolI/yaAMOBXsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ByfuTZLYFDxkAXAdwf2EbA",
      "input": {
        "note": "The cube is just under the frame edge at this stance (a sign it is at or inside the jaw plane); closing to test.",
        "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_01ByfuTZLYFDxkAXAdwf2EbA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2327 left_j1=1.6867 left_j2=0.8742 left_j3=-0.6399 left_j4=-0.141 left_j5=-0.8566 left_gripper=0.0089 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -5.9556, 5.9966, 0.5153, -0.1343, 0.0415, 0.6813, -0.0889, 1.4974, 7.2957, 1.917, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb14a1d88a610ffcc17b6dbaa4ad8a89aef9740188188e0a2854669095751089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a432dc159d8d1a1bc36502f406f3fa85d3ac4177dacd9185ada40a165547949c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d51aebe3b9622b0fc6f1a4997301efc9834dfe27cba992b61a315f57124b783d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cb14a1d88a61
wire blob a432dc159d8d
wire blob d51aebe3b962
call 83 attempt 0 · /messages · status 200 · 7.967 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 241 changed as sent

message 244 changed as sent

message 247 changed as sent

message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4239 left_j1=1.7855 left_j2=1.0058 left_j3=-0.7258 left_j4=-0.1726 left_j5=-0.8467 left_gripper=0.9961 right_j0=0.0025 right_j1=0.0563 right_j2=0.0082 right_j3=-0.0654 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -4.3966, 3.6171, 0.0073, 0.0317, 0.2222, -0.149, -0.1846, 1.6068, 7.2274, 1.7753, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2324 left_j1=1.6962 left_j2=0.8822 left_j3=-0.6434 left_j4=-0.1413 left_j5=-0.8501 left_gripper=0.9967 right_j0=0.0025 right_j1=0.057 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.9043, 2.2359, 0.0317, -0.4029, -0.0024, 0.0611, -0.2393, 1.4701, 7.0769, 1.8974, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2327 left_j1=1.6867 left_j2=0.8742 left_j3=-0.6399 left_j4=-0.141 left_j5=-0.8566 left_gripper=0.0089 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -5.9556, 5.9966, 0.5153, -0.1343, 0.0415, 0.6813, -0.0889, 1.4974, 7.2957, 1.917, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb14a1d88a610ffcc17b6dbaa4ad8a89aef9740188188e0a2854669095751089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a432dc159d8d1a1bc36502f406f3fa85d3ac4177dacd9185ada40a165547949c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d51aebe3b9622b0fc6f1a4997301efc9834dfe27cba992b61a315f57124b783d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cb14a1d88a61]
[blob a432dc159d8d]
[blob d51aebe3b962]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FXdLAUbREKyb6MhhWJjKSJ",
      "input": {
        "note": "Retracting the arm clear of the near edge one more time so the overhead can show me exactly where the blue cube has ended up after that last nudge.",
        "targets": {
          "left_j0": -0.8,
          "left_j1": 0.9,
          "left_j2": 1.3,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01FXdLAUbREKyb6MhhWJjKSJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8143 left_j1=0.9314 left_j2=1.2606 left_j3=-0.7952 left_j4=-0.1413 left_j5=-0.865 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.294, -1.1692, 8.5402, 1.8291, -0.0269, 0.022, 0.2466, -0.212, 1.8256, 7.1453, 1.9121, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57e9171ec6e6eca720fdddb3965a5bc1b47a6d0b0f0dcaa02568e223f43b485c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cda677bbdfe7091f1c1d0a050d6d39932b51aacc15b5f7545d3c7e40f197e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c92618628d2c848a5f2a1fbf044a1f688da3ce1269d0111f2b95004c2fc8a836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 84 attempt 0 · /messages · status 200 · 6.177 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 244 changed as sent

message 247 changed as sent

message 250 changed as sent

message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2324 left_j1=1.6962 left_j2=0.8822 left_j3=-0.6434 left_j4=-0.1413 left_j5=-0.8501 left_gripper=0.9967 right_j0=0.0025 right_j1=0.057 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0059 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.9043, 2.2359, 0.0317, -0.4029, -0.0024, 0.0611, -0.2393, 1.4701, 7.0769, 1.8974, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2327 left_j1=1.6867 left_j2=0.8742 left_j3=-0.6399 left_j4=-0.141 left_j5=-0.8566 left_gripper=0.0089 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -5.9556, 5.9966, 0.5153, -0.1343, 0.0415, 0.6813, -0.0889, 1.4974, 7.2957, 1.917, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8143 left_j1=0.9314 left_j2=1.2606 left_j3=-0.7952 left_j4=-0.1413 left_j5=-0.865 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.294, -1.1692, 8.5402, 1.8291, -0.0269, 0.022, 0.2466, -0.212, 1.8256, 7.1453, 1.9121, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57e9171ec6e6eca720fdddb3965a5bc1b47a6d0b0f0dcaa02568e223f43b485c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cda677bbdfe7091f1c1d0a050d6d39932b51aacc15b5f7545d3c7e40f197e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c92618628d2c848a5f2a1fbf044a1f688da3ce1269d0111f2b95004c2fc8a836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 57e9171ec6e6]
[blob 0cda677bbdfe]
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hc8gCZdb4jm81VVYDqRVyD",
      "input": {
        "note": "The cube is visible again at the near edge, about 16 cm to the right of the base and barely forward of it; swinging almost fully right (j0=-1.52) at r≈0.17, jaws open at floor level for one more attempt.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -1.52,
          "left_j1": 1.64,
          "left_j2": 0.74,
          "left_j3": -0.67
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Hc8gCZdb4jm81VVYDqRVyD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4673 left_j1=1.5944 left_j2=0.7872 left_j3=-0.646 left_j4=-0.2451 left_j5=-0.8757 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0582 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-4.041, -2.7419, 1.8393, -0.2076, 1.5897, 0.3297, -0.1978, -0.1709, 1.6342, 7.2684, 1.8486, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 680):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41627448f668ea3e7fd90605cc1d4bf07fb419bb823d5fcf47d397f834096cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 680):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:382bc15ff0218aa6a2984d834e6fc18252113591270cfbb0350249e288db5d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 680):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5b61940423c6bc58767c61215a6a82cd3754f97c4ac4c6b8c91d3c96c48d911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 41627448f668
wire blob 382bc15ff021
wire blob e5b61940423c
call 85 attempt 0 · /messages · status 200 · 4.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 247 changed as sent

message 250 changed as sent

message 253 changed as sent

message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2327 left_j1=1.6867 left_j2=0.8742 left_j3=-0.6399 left_j4=-0.141 left_j5=-0.8566 left_gripper=0.0089 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -5.9556, 5.9966, 0.5153, -0.1343, 0.0415, 0.6813, -0.0889, 1.4974, 7.2957, 1.917, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8143 left_j1=0.9314 left_j2=1.2606 left_j3=-0.7952 left_j4=-0.1413 left_j5=-0.865 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.294, -1.1692, 8.5402, 1.8291, -0.0269, 0.022, 0.2466, -0.212, 1.8256, 7.1453, 1.9121, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4673 left_j1=1.5944 left_j2=0.7872 left_j3=-0.646 left_j4=-0.2451 left_j5=-0.8757 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0582 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-4.041, -2.7419, 1.8393, -0.2076, 1.5897, 0.3297, -0.1978, -0.1709, 1.6342, 7.2684, 1.8486, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 680):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41627448f668ea3e7fd90605cc1d4bf07fb419bb823d5fcf47d397f834096cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 680):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:382bc15ff0218aa6a2984d834e6fc18252113591270cfbb0350249e288db5d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 680):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b61940423c6bc58767c61215a6a82cd3754f97c4ac4c6b8c91d3c96c48d911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 41627448f668]
[blob 382bc15ff021]
[blob e5b61940423c]
{
  "content": [
    {
      "signature": "CAISqgoKjAEIEBgCKkAJLbEkEzl5EtzmRyAeFz04d3Unku0YyrEZF3ckkNyC3Wt58swVij9HAGNfkXTOM4NlXMYic36Jo5CDIrL/a5xMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMej3bhKyo8FBZjfjLGgxZs+OnH6K2PTN8lGoiME/gS8NDMuYxy+wLvbKONszij4nDEY4fBsBJopxwUP6Mq4yzzpJixnYcZHvpd1BpWirKCMvYCH2IYHd0/EZVtiYD7lTjNQsjvyOXFoJUxvpYoe1ZTIFiNem2FK9mdWZRDzpxV8mnXGAEppcBfXDnA59QlAtq39MXXzwkbAETFLhGVLxNIomulQoIog5bFboy/j+D39mG+JvX8HVqHlsA6VXn+zPin6REYo5ZtEEA0HwJK49nXno1TKDJSOGG4JIxQqjLidc2+Bfzp50yZJxELsEGeNxIUw0WuIu9aveIXWAktkbP33inX+X2sXqd4uft0GBm57JEWt7TfPmCj3VhQmtdwxZombc21jbyLsFYkoJSIWvi7w2d6z9iW9Gatgw93dpst37odVxjDkg/mYu/x/llfWdrpX6VR76HDMkQOTYESiGv9N3AVnd3fpbvGIBeifJH191QJQtKxTp0EsovXNbyIGybi+BcsdPHy1FOC6/6PSOuE1zJuvqL+p0LcD8rfI/CzpH19piYMoEJsA3zv67g6cN5bTmwsk4Im9I1pnI8mnCe9cEVl3snF3OH1fhIYCjDd2+L5UaBCUaYhr5hAtiTpIIBOJoKFvXBPD+44QKq5MmezFGCyGxncsr+/Ue006gVu4tOgerpLbVix+BO/zoGUMTf4U2GJdGjMuNN2SJaQ0ZDluAvVJ2e42VV6ZHombem6EJvNLr3lNw/58J/CqFXL4YLFV2vNFsokWeswZ8QA6gjgM6MVafZ/XuT1smd8WByl/VXZ194TFrozAW3zItee6oiOIpyMp9oGJXmny27Rj1Sfq3DPe4HhUnUAUF04KemzEPHKLy+akX2rmpvcLq7qsdzUgq8IjdojBtTjjiRHvYQFm3SzDsde8mP3MsFtnwbwRWi47nDcUFuDUe1JjA52YdQklDqZsLJ8AK5G1nyGR2pAU2aYo3V7IX7vwgZ6FxMUVGUX62Ntel2EAST0euyyAX1p//71hkVFRkCEOuYEmkekcVGv31ujG1f2MxxUFeXMvUX0xd1klH4FA0CRc4hr1QRrkfFTzmPvzcIVp3++8v/CQdNgJSuXthk6Hj6mmoIp9CXf69xWt6Xd3XKtYEu1Am9CP8UxFsLI+zVldhyw23MYnhN+CmrxoMy+m2GgU8Ww6RAFtEX657CF0DYNtyLH6ttE+fOimbccGTkhqKWp2k95bWKELtYJEZppY817qstcEKX5pL1YAZEppcNvbwgDMX51F2Iu0hX2ZnqokF3um/76rkcHNlXhGXFMzpTUJKkAA9CuMMGu8LpCcnEQRzS84JxuzEuRYQtik7WYT4s2bNmJvVPzepQBLD0DVbADWuSUgjEMZjJz/1sp+gU1EGsuW190GkEYcyd4TEkVXHMPkRT37O3aIp87C2sqxIkxXw+bH0wKlRkUF0iy1lYhGavsSqwyr7erLTP1MLnaH+EZDOrxBn6PUyvVPDdbnSvLOx2EHal1UBQ5uC1jKYCGPphtEzAyIndzn5nkoPD+oDZvSYhsbY3D7AHVFyX+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GX19axVYL29EitjFt5ojGi",
      "input": {
        "note": "The yaw stalled against something (high j0/j4 effort) and the cube shows at the lower-left of the jaw gap; easing back to j0=-1.40 to relieve the contact and centre the cube between the jaws.",
        "targets": {
          "left_j0": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GX19axVYL29EitjFt5ojGi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4281 left_j1=1.6028 left_j2=0.7788 left_j3=-0.617 left_j4=-0.2687 left_j5=-0.8902 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0589 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.5162, 5.9556, 0.2711, 0.0073, 0.0952, 0.1197, -0.0752, 1.4701, 7.0906, 1.9072, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 682):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9563b9b775ab50cc8bb8c123d4aaa40edad819665f3edac55e3846cd320056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 682):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d6058dd5bf36948030190d621c095492f0984fa080250b50bf11cbbacda3682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 682):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21de5f232fb99d18104c93bb2638e7b2baa556ea0f3f99839693cc1026473429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1d9563b9b775
wire blob 1d6058dd5bf3
wire blob 21de5f232fb9
call 86 attempt 0 · /messages · status 200 · 9.804 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 250 changed as sent

message 253 changed as sent

message 256 changed as sent

message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8143 left_j1=0.9314 left_j2=1.2606 left_j3=-0.7952 left_j4=-0.1413 left_j5=-0.865 left_gripper=0.0115 right_j0=0.0025 right_j1=0.0574 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.294, -1.1692, 8.5402, 1.8291, -0.0269, 0.022, 0.2466, -0.212, 1.8256, 7.1453, 1.9121, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4673 left_j1=1.5944 left_j2=0.7872 left_j3=-0.646 left_j4=-0.2451 left_j5=-0.8757 left_gripper=0.9953 right_j0=0.0025 right_j1=0.0582 right_j2=0.0082 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-4.041, -2.7419, 1.8393, -0.2076, 1.5897, 0.3297, -0.1978, -0.1709, 1.6342, 7.2684, 1.8486, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4281 left_j1=1.6028 left_j2=0.7788 left_j3=-0.617 left_j4=-0.2687 left_j5=-0.8902 left_gripper=0.9966 right_j0=0.0025 right_j1=0.0589 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0181 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.5162, 5.9556, 0.2711, 0.0073, 0.0952, 0.1197, -0.0752, 1.4701, 7.0906, 1.9072, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 682):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9563b9b775ab50cc8bb8c123d4aaa40edad819665f3edac55e3846cd320056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 682):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d6058dd5bf36948030190d621c095492f0984fa080250b50bf11cbbacda3682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 682):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21de5f232fb99d18104c93bb2638e7b2baa556ea0f3f99839693cc1026473429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlgMKjAEIEBgCKkBFs0bCR0Y48XmbjQ3OMpIdtxviQoe61YA+D5ZhRxEBsvqYNTOYlW0lrKnMiCf7uF/FmR5oCb2r/XFf9Cl/lOH6MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMQ1g/ZPFttATAoBXSGgwyXtNhnKXdJXzbo2YiMEPL1v9/7R4puwMY6B3sLXNd1VYIaZ4OUWIPpAVwMXttHvVHQutjaK/gn93NCjN/NCq2Ae8bgI7ADzsm9jfcoMczo7nukTrffnBmr33BMHrfrToE8LymRNroJYKOFIHytdSDPaIyqTXyPpKcWXubfZFci9LH3fVnz460IzeM9AFvH9vlorzkq1gUtBTGym+vLQzjXCw+VChCbHzB7lUbUJtCk11w7RPHvHV6s1MOKovfzxVjQL8HLjjwaqlXyA9/th6n9nCLISMCUdCW4ZOGKyFGTOVp91JWyRCm3csC0aJcq+k3nMNp98JDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RgP4kReB5rwsGHojb5zt1a",
      "input": {
        "note": "Cube sliver is centred at the bottom edge between the jaws with the fingertips at floor level; closing.",
        "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_01RgP4kReB5rwsGHojb5zt1a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4158 left_j1=1.6028 left_j2=0.7807 left_j3=-0.6071 left_j4=-0.3454 left_j5=-0.8906 left_gripper=0.009 right_j0=0.0025 right_j1=0.0589 right_j2=0.0082 right_j3=-0.0685 right_j4=-0.0055 right_j5=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-1.265, -6.106, 5.1624, 0.3053, 0.5397, -0.0122, 0.696, -0.2393, 1.7162, 7.2957, 1.8877, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fed2cb26ff3266c4a1dbee07c30bd6616895c5ce01f52f603a449263e9aa35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 692):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f2f62294500c7eebfc46521bf4273c8a479aeea43338d575f2b7bdbf3b0e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 692):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b8cc2ed81a28a513802aa965bf3595fb177fd899333ecb8f791c75074d3deab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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