adhoc

completed
2026-08-14T23:20:10.591725+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
low
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
12000
duration
1021 s
total steps
652
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 small blocks sit mid-table, left one around 34 cm forward / 23 cm right of the left arm base. Moving the left arm to hover ~12 cm above that block, gripper down.
move_joints
left_j0-0.5940left_j12.3220left_j21.9630left_j3-1.2120left_j40.0000left_j5-0.5940left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0132 left_j5=-0.0147 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0021 right_j5=-0.0143 right_gripper=0.9995 state[joint_eff]: [-0.0205, 0.8821, 5.7778, 2.1807, 0.0708, 0.0855, -0.0757, -0.2256, 1.4017, 6.3521, 2.2589, -0.0317, 0.149, -0.0659] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.594, "left_j1": 2.322, "left_j2": 1.963, "left_j3": -1.212, "left_j4": 0, "left_j5": -0.594, "left_gripper": 1.0}, "note": "Two small blocks sit mid-table, left one around 34 cm forward / 23 cm right of the left arm base. Moving the left arm to hover ~12 cm above that block, gripper down."})
tool
executing move_joints over 37 steps (3.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteWrist cam shows the block right at the jaw gap, well centered. Descending ~6 cm toward the block.
move_joints
left_j12.4280left_j21.8890left_j3-1.0320
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.588 left_j1=2.3203 left_j2=1.9339 left_j3=-1.1927 left_j4=-0.0055 left_j5=-0.5892 left_gripper=0.999 right_j0=0.0025 right_j1=0.004 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0051 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [-0.5402, -12.8205, 8.335, 0.0855, 0.0415, 0.0171, -0.1148, -0.0615, 2.1128, 7.1863, 1.9609, -0.0024, -0.0562, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.428, "left_j2": 1.889, "left_j3": -1.032}, "note": "Wrist cam shows the block right at the jaw gap, well centered. Descending ~6 cm toward the block."})
tool
executing move_joints over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteBlock dropped out of the wrist view below the jaws, meaning it is nearer the base than the fingertips; pulling the radius in ~3 cm at the same height.
move_joints
left_j12.3340left_j21.7050left_j3-0.9420
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5896 left_j1=2.3718 left_j2=1.9156 left_j3=-1.1023 left_j4=0.0116 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [0.0752, -8.4444, 3.535, 1.033, -0.1783, 0.0366, -0.0269, -0.0479, 1.5932, 7.0769, 1.9121, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.334, "left_j2": 1.705, "left_j3": -0.942}, "note": "Block dropped out of the wrist view below the jaws, meaning it is nearer the base than the fingertips; pulling the radius in ~3 cm at the same height."})
tool
executing move_joints over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteStill nothing in the wrist view, which is expected if the block is right at the grasp point; descending ~4 cm to table level to check for contact.
move_joints
left_j12.4290left_j21.6860left_j3-0.8280
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5961 left_j1=2.2791 left_j2=1.7508 left_j3=-0.9604 left_j4=-0.0139 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [0.1573, -8.0752, 1.9897, 0.5788, 0.1832, -0.0171, -0.0122, -0.0205, 1.6205, 6.9812, 1.9853, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.429, "left_j2": 1.686, "left_j3": -0.828}, "note": "Still nothing in the wrist view, which is expected if the block is right at the grasp point; descending ~4 cm to table level to check for contact."})
tool
executing move_joints over 3 steps (0.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteFingertips appear to have reached the table (j1 effort relaxed) with the block right at the jaws; closing to test the 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=-0.6022 left_j1=2.2879 left_j2=1.75 left_j3=-0.9535 left_j4=-0.0307 left_j5=-0.6003 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [0.1573, -1.2103, 0.6632, 1.6386, 0.0757, -0.0317, -0.0122, -0.0889, 1.6205, 7.0222, 1.8926, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips appear to have reached the table (j1 effort relaxed) with the block right at the jaws; closing to test the grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe close came back with ~0.008 residual — I gripped air. Lifting ~10 cm to re-acquire the blue block in the wrist camera.
move_joints
left_j12.2140left_j21.7750left_j3-1.1320left_gripper1.0000
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=2.2776 left_j2=1.7538 left_j3=-0.9592 left_j4=-0.0296 left_j5=-0.6029 left_gripper=0.0085 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [-0.0615, -11.3573, 5.641, 0.5104, -0.0855, 0.0269, 0.6325, -0.0889, 1.8393, 7.2274, 1.9121, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.214, "left_j2": 1.775, "left_j3": -1.132, "left_gripper": 1.0}, "note": "The close came back with ~0.008 residual \u2014 I gripped air. Lifting ~10 cm to re-acquire the blue block in the wrist camera."})
tool
executing move_joints over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteWrist view now shows the pale block sitting just below the jaw gap, i.e. slightly nearer the base than my fingertips; pulling in 2 cm and descending to table level for another grasp attempt.
move_joints
left_j12.3480left_j21.5730left_j3-0.7970
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.601 left_j1=2.2589 left_j2=1.7576 left_j3=-1.1225 left_j4=-0.0322 left_j5=-0.6025 left_gripper=0.9982 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [-0.2803, -15.665, 6.9949, 0.0611, -0.0366, -0.0122, -0.1978, -0.0889, 1.7709, 7.2684, 1.9219, -0.0708, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.348, "left_j2": 1.573, "left_j3": -0.797}, "note": "Wrist view now shows the pale block sitting just below the jaw gap, i.e. slightly nearer the base than my fingertips; pulling in 2 cm and descending to table level for another grasp attempt."})
tool
executing move_joints over 6 steps (0.6s)
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 noteFingertips at table (j1 effort relaxed) with a pale object between the jaws; 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=-0.606 left_j1=2.225 left_j2=1.6444 left_j3=-0.9417 left_j4=-0.0147 left_j5=-0.6048 left_gripper=0.9981 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [0.1573, -1.6889, 0.4991, 1.6142, -0.2076, -0.0366, -0.0317, -0.2256, 1.6205, 7.1043, 1.9512, -0.0708, -0.0269, -0.0171] 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_gripper": 0}, "note": "Fingertips at table (j1 effort relaxed) with a pale object between the jaws; closing to test."})
tool
executing move_joints over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteGrasp confirmed: gripper residual 0.42 (~4 cm block) with high effort. Lifting ~9 cm to carry it toward the red block.
move_joints
left_j12.1460left_j21.6590left_j3-1.0840
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6064 left_j1=2.2105 left_j2=1.6402 left_j3=-0.9386 left_j4=-0.0212 left_j5=-0.6075 left_gripper=0.4227 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [-0.0342, -10.4684, 5.9419, 0.3736, 0.0366, -0.0122, 1.0281, -0.0615, 1.6068, 7.4188, 1.9121, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.146, "left_j2": 1.659, "left_j3": -1.084}, "note": "Grasp confirmed: gripper residual 0.42 (~4 cm block) with high effort. Lifting ~9 cm to carry it toward the red block."})
tool
executing move_joints over 3 steps (0.3s)
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 noteCarrying the block; swinging the base yaw right to line up with the red 'a' block, keeping wrist roll matched to j0.
move_joints
left_j0-0.8080left_j5-0.8080
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6064 left_j1=2.2028 left_j2=1.6402 left_j3=-1.0176 left_j4=-0.0212 left_j5=-0.6071 left_gripper=0.4219 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [-0.0205, -15.9795, 6.9812, 0.2369, -0.0757, -0.0464, 0.9841, -0.1709, 1.7983, 7.2274, 1.8877, -0.0513, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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_j0": -0.808, "left_j5": -0.808}, "note": "Carrying the block; swinging the base yaw right to line up with the red 'a' block, keeping wrist roll matched to j0."})
tool
executing move_joints over 4 steps (0.4s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteExtending the arm outward and forward to reach over the red block, keeping the gripper mostly downward but tilted for extra reach.
move_joints
left_j12.5650left_j22.4140left_j3-1.0490
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7948 left_j1=2.1925 left_j2=1.6398 left_j3=-1.0222 left_j4=-0.0246 left_j5=-0.7471 left_gripper=0.4233 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [1.4017, -10.6735, 5.5453, 0.2418, -0.0464, -0.1587, 0.8376, -0.0889, 1.812, 7.0085, 1.8828, -0.0122, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.565, "left_j2": 2.414, "left_j3": -1.049}, "note": "Extending the arm outward and forward to reach over the red block, keeping the gripper mostly downward but tilted for extra reach."})
tool
executing move_joints over 13 steps (1.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteOverhead shows my carried block just up-left of the red target block; shifting ~6 cm right and 3 cm nearer to hover directly over it.
move_joints
left_j0-0.9140left_j5-0.9140left_j12.6250left_j22.5250left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7959 left_j1=2.5568 left_j2=2.3657 left_j3=-1.0737 left_j4=-0.0143 left_j5=-0.775 left_gripper=0.4262 right_j0=0.0025 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995 state[joint_eff]: [0.0752, -14.3385, 8.7863, 0.9597, -0.1148, 0.2027, 0.5788, -0.0752, 1.4017, 6.9812, 1.8974, -0.0073, -0.0611, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.914, "left_j5": -0.914, "left_j1": 2.625, "left_j2": 2.525, "left_j3": -1.0}, "note": "Overhead shows my carried block just up-left of the red target block; shifting ~6 cm right and 3 cm nearer to hover directly over it."})
tool
executing move_joints over 3 steps (0.3s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe carried block is now just left of the red block by ~4 cm; nudging base yaw further right to center over it.
move_joints
left_j0-0.9900left_j5-0.9900left_j12.7000left_j22.5600left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8646 left_j1=2.6225 left_j2=2.4775 left_j3=-1.0496 left_j4=-0.0216 left_j5=-0.87 left_gripper=0.4285 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [-1.894, -15.1453, 9.1966, 1.1795, 0.0269, -0.022, 0.359, -0.0205, 1.5932, 7.1043, 1.8877, -0.0464, -0.0415, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.99, "left_j5": -0.99, "left_j1": 2.7, "left_j2": 2.56, "left_j3": -1.02}, "note": "The carried block is now just left of the red block by ~4 cm; nudging base yaw further right to center over it."})
tool
executing move_joints over 2 steps (0.2s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteMove undershot as usual; re-issuing slightly beyond to converge over the red block.
move_joints
left_j0-1.0200left_j5-1.0200left_j12.7400left_j22.6000left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9318 left_j1=2.6625 left_j2=2.5362 left_j3=-1.0286 left_j4=-0.0219 left_j5=-0.9531 left_gripper=0.43 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [-3.6855, -13.3949, 7.5692, 0.9597, 0.0122, -0.0269, 0.1441, -0.0068, 1.7436, 7.0085, 1.9219, -0.0708, -0.0269, -0.0171] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.02, "left_j5": -1.02, "left_j1": 2.74, "left_j2": 2.6, "left_j3": -1.02}, "note": "Move undershot as usual; re-issuing slightly beyond to converge over the red block."})
tool
executing move_joints over 2 steps (0.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe red block does not appear in the wrist view, so it is nearer the base than my fingertips; pulling the arm in ~5 cm to bring it into view.
move_joints
left_j12.4170left_j22.1480left_j3-0.9320
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9981 left_j1=2.7281 left_j2=2.5713 left_j3=-1.0317 left_j4=-0.0216 left_j5=-1.0042 left_gripper=0.4313 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9994 state[joint_eff]: [-1.7299, -14.7624, 7.7744, 1.0818, -0.022, -0.1343, 0.1343, -0.0205, 1.6342, 7.241, 1.8681, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.417, "left_j2": 2.148, "left_j3": -0.932}, "note": "The red block does not appear in the wrist view, so it is nearer the base than my fingertips; pulling the arm in ~5 cm to bring it into view."})
tool
executing move_joints over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteOverhead shows the red block well nearer the base than my gripper (~14 cm) and slightly left; swinging yaw right and pulling the radius in to hover over it.
move_joints
left_j0-1.2900left_j5-1.2900left_j12.2480left_j21.8710left_j3-1.0230
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9993 left_j1=2.4928 left_j2=2.1658 left_j3=-0.947 left_j4=-0.0139 left_j5=-1.0176 left_gripper=0.4316 right_j0=0.0025 right_j1=0.0086 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995 state[joint_eff]: [-0.1573, -18.9744, 6.4205, 1.0232, -0.105, 0.1148, 0.0269, -0.0615, 2.0444, 7.0085, 1.8681, -0.0366, -0.0317, -0.0073] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.29, "left_j5": -1.29, "left_j1": 2.248, "left_j2": 1.871, "left_j3": -1.023}, "note": "Overhead shows the red block well nearer the base than my gripper (~14 cm) and slightly left; swinging yaw right and pulling the radius in to hover over it."})
tool
executing move_joints over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteI now believe the red object is the block I am carrying (it tracks the gripper), so I am lifting high and swinging left to get an unobstructed overhead view and find the target block.
move_joints
left_j0-0.5000left_j11.9980left_j22.1900left_j3-1.7620
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1938 left_j1=2.3222 left_j2=1.8923 left_j3=-0.9958 left_j4=-0.0113 left_j5=-1.2213 left_gripper=0.433 right_j0=0.004 right_j1=0.0067 right_j2=0.0135 right_j3=-0.0631 right_j4=-0.0219 right_j5=-0.0158 right_gripper=0.9989 state[joint_eff]: [-7.0906, -16.8821, 6.0786, 0.6862, 0.0562, -0.0513, 0.1245, -0.294, 1.6889, 6.612, 2.0488, 0.1929, -0.0171, -0.0659] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.5, "left_j1": 1.998, "left_j2": 2.19, "left_j3": -1.762}, "note": "I now believe the red object is the block I am carrying (it tracks the gripper), so I am lifting high and swinging left to get an unobstructed overhead view and find the target block."})
tool
executing move_joints over 13 steps (1.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteOverhead now clearly shows the carried grey block in the gripper and the red target block on the table down and to the right; swinging right and pulling in to bring it into the wrist camera view.
move_joints
left_j0-1.0500left_j5-1.0500left_j11.7870left_j21.7020left_j3-1.4860
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5224 left_j1=2.0556 left_j2=2.1551 left_j3=-1.6501 left_j4=-0.0067 left_j5=-1.2274 left_gripper=0.4337 right_j0=0.0017 right_j1=0.0074 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0208 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [0.0615, -13.6684, 8.1162, -0.0122, -0.1245, 0.0366, 0.0611, 0.1299, 1.5658, 7.0632, 1.9902, -0.0806, -0.0904, -0.0171] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.05, "left_j5": -1.05, "left_j1": 1.787, "left_j2": 1.702, "left_j3": -1.486}, "note": "Overhead now clearly shows the carried grey block in the gripper and the red target block on the table down and to the right; swinging right and pulling in to bring it into the wrist camera view."})
tool
executing move_joints over 9 steps (0.9s)
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 noteWrist camera has picked up the red target block at the lower right. Zeroing wrist roll so the image axes align with the arm axes for clean visual servoing.
move_joints
left_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.026 left_j1=1.829 left_j2=1.7222 left_j3=-1.5024 left_j4=-0.0063 left_j5=-1.0798 left_gripper=0.4344 right_j0=0.0017 right_j1=0.0101 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0204 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.2393, -11.2068, 5.4085, 0.3492, -0.0513, 0.0415, 0.0562, 0.0479, 1.3333, 7.0222, 1.8974, -0.0513, -0.022, -0.0171] 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_j5": 0}, "note": "Wrist camera has picked up the red target block at the lower right. Zeroing wrist roll so the image axes align with the arm axes for clean visual servoing."})
tool
executing move_joints over 18 steps (1.8s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteRoll-zero rotated the block out of frame, so restoring roll and swinging yaw 0.15 rad right — this doubles as a scale calibration for the wrist view.
move_joints
left_j5-1.0500left_j0-1.1750
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0252 left_j1=1.8233 left_j2=1.705 left_j3=-1.507 left_j4=-0.0025 left_j5=-0.0887 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0109 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.1573, -7.8564, 7.1179, 0.1734, -0.0562, 0.2613, 0.0024, -0.0752, 1.6068, 7.1043, 1.9512, -0.0024, -0.0513, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": -1.05, "left_j0": -1.175}, "note": "Roll-zero rotated the block out of frame, so restoring roll and swinging yaw 0.15 rad right \u2014 this doubles as a scale calibration for the wrist view."})
tool
executing move_joints over 16 steps (1.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe 0.14 rad yaw nudge moved the scene 56 px, calibrating the wrist view at ~13 px/cm; solving that for the red block's offset gives +0.22 rad yaw and ~5 cm more reach to center it over the jaws.
move_joints
left_j0-0.9450left_j12.0090left_j21.9600left_j3-1.5220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1675 left_j1=1.8233 left_j2=1.705 left_j3=-1.5093 left_j4=-0.0025 left_j5=-0.9756 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0113 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.5675, -8.5538, 5.6, 0.1636, -0.0269, -0.1587, -0.0171, -0.0889, 1.7162, 7.1316, 1.8632, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.945, "left_j1": 2.009, "left_j2": 1.96, "left_j3": -1.522}, "note": "The 0.14 rad yaw nudge moved the scene 56 px, calibrating the wrist view at ~13 px/cm; solving that for the red block's offset gives +0.22 rad yaw and ~5 cm more reach to center it over the jaws."})
tool
executing move_joints over 5 steps (0.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteBlock sits at the lower right of the wrist frame; testing a pure +0.15 rad yaw step to see exactly which way it tracks before committing to a descent.
move_joints
left_j0-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9596 left_j1=2.0048 left_j2=1.9133 left_j3=-1.5204 left_j4=0.0055 left_j5=-0.9943 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0147 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.212, -10.3316, 8.2667, 0.1148, -0.0464, 0.1099, -0.0122, -0.1573, 1.6205, 6.9949, 1.8828, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.81}, "note": "Block sits at the lower right of the wrist frame; testing a pure +0.15 rad yaw step to see exactly which way it tracks before committing to a descent."})
tool
executing move_joints over 3 steps (0.3s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe yaw test gave a clean calibration (~3.8 px/cm, image rotated ~140° by the wrist roll); solving it, the block needs ~13 cm of +y and ~10 cm more reach, which I'm commanding now.
move_joints
left_j0-0.6150left_j12.0700left_j22.0100left_j3-1.5110
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.844 left_j1=2.0121 left_j2=1.9202 left_j3=-1.5185 left_j4=0.0154 left_j5=-0.9947 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0162 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0235 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.1846, -10.5778, 5.053, 0.1685, -0.1294, -0.0317, -0.0122, -0.0752, 1.6752, 7.1316, 1.9365, -0.0073, -0.0562, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.615, "left_j1": 2.07, "left_j2": 2.01, "left_j3": -1.511}, "note": "The yaw test gave a clean calibration (~3.8 px/cm, image rotated ~140\u00b0 by the wrist roll); solving it, the block needs ~13 cm of +y and ~10 cm more reach, which I'm commanding now."})
tool
executing move_joints over 4 steps (0.4s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteLost the block from the wrist view again, so switching to overhead geometry: the red block reads ~7 cm forward and 43 cm right of the left base, near the right arm. Commanding that pose at 20 cm height.
move_joints
left_j0-1.4160left_j5-1.4160left_j12.4040left_j22.4430left_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6361 left_j1=2.0689 left_j2=1.9797 left_j3=-1.5135 left_j4=0.0193 left_j5=-0.9955 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0174 right_j2=0.0124 right_j3=-0.0719 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.9094, -10.6325, 7.9658, 0.1685, -0.0708, -0.0317, -0.0122, 0.0068, 1.5248, 7.1179, 1.917, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.416, "left_j5": -1.416, "left_j1": 2.404, "left_j2": 2.443, "left_j3": -1.61}, "note": "Lost the block from the wrist view again, so switching to overhead geometry: the red block reads ~7 cm forward and 43 cm right of the left base, near the right arm. Commanding that pose at 20 cm height."})
tool
executing move_joints over 13 steps (1.3s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe red block is now nicely centered laterally in the wrist view but high in the frame, i.e. ~beyond the fingertips; extending the reach ~2.5 cm to bring it down toward the grasp point.
move_joints
left_j12.4820left_j22.5440left_j3-1.5620
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3899 left_j1=2.397 left_j2=2.4016 left_j3=-1.6047 left_j4=0.0204 left_j5=-1.383 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0189 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.2393, -12.6427, 7.9111, 0.2076, -0.0366, 0.0122, -0.0171, -0.0205, 1.7983, 7.1179, 1.873, -0.0708, -0.0806, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.482, "left_j2": 2.544, "left_j3": -1.562}, "note": "The red block is now nicely centered laterally in the wrist view but high in the frame, i.e. ~beyond the fingertips; extending the reach ~2.5 cm to bring it down toward the grasp point."})
tool
executing move_joints over 3 steps (0.3s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteBlock barely shifted, so extending further: reaching ~3.5 cm more and descending to ~14 cm to bring the target block toward the jaw position.
move_joints
left_j12.7530left_j22.8630left_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3956 left_j1=2.4702 left_j2=2.5088 left_j3=-1.5917 left_j4=0.0235 left_j5=-1.4033 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0185 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.212, -13.1624, 7.5419, 0.3053, -0.0562, 0.1538, -0.0122, -0.0205, 1.6205, 6.9949, 1.9121, -0.0562, -0.0464, -0.0171] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.753, "left_j2": 2.863, "left_j3": -1.61}, "note": "Block barely shifted, so extending further: reaching ~3.5 cm more and descending to ~14 cm to bring the target block toward the jaw position."})
tool
executing move_joints over 6 steps (0.6s)
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 noteTarget block now visible just left of the jaws in the wrist view; nudging yaw -0.08 rad to shift it toward the jaw centerline.
move_joints
left_j0-1.4690left_j5-1.4690
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3891 left_j1=2.6659 left_j2=2.8296 left_j3=-1.7058 left_j4=0.0235 left_j5=-1.4078 left_gripper=0.4345 right_j0=-0.0433 right_j1=0.0299 right_j2=0.0135 right_j3=-0.0769 right_j4=-0.0231 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.7179, -7.4325, 7.0769, 1.2772, -0.022, 0.0024, -0.0171, 4.4376, 0.8, 7.2, 1.9219, 0.0171, -0.0317, -0.0171] 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": -1.469, "left_j5": -1.469}, "note": "Target block now visible just left of the jaws in the wrist view; nudging yaw -0.08 rad to shift it toward the jaw centerline."})
tool
executing move_joints over 2 steps (0.2s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteLeft j0 stalled with high effort while the right arm got pushed — the two arms are in contact. Swinging the folded right arm away to clear the workspace.
move_joints
right_j0-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3914 left_j1=2.6671 left_j2=2.8349 left_j3=-1.7061 left_j4=0.0235 left_j5=-1.433 left_gripper=0.4345 right_j0=-0.0708 right_j1=0.0349 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-6.5026, -14.2017, 4.8068, 0.3297, -0.0122, -0.1197, -0.0171, 2.0991, 1.3333, 7.241, 1.8584, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": -0.9}, "note": "Left j0 stalled with high effort while the right arm got pushed \u2014 the two arms are in contact. Swinging the folded right arm away to clear the workspace."})
tool
executing move_joints over 14 steps (1.4s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteRight arm is now clear; retrying the yaw nudge to bring the target block onto the jaw centerline.
move_joints
left_j0-1.4700left_j5-1.5000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.3899 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0235 left_j5=-1.4471 left_gripper=0.4345 right_j0=-0.8799 right_j1=0.0368 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.4855, -14.4068, 5.3128, 0.2857, -0.0073, 0.1099, -0.0122, -0.1709, 1.4564, 7.0359, 1.9414, 0.0269, -0.0317, -0.0073] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.47, "left_j5": -1.5}, "note": "Right arm is now clear; retrying the yaw nudge to bring the target block onto the jaw centerline."})
tool
executing move_joints over 2 steps (0.2s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteYaw is undershooting under load; commanding well beyond the goal to force the last ~3 cm of lateral alignment with the target block.
move_joints
left_j0-1.6500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.4097 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0185 left_j5=-1.4673 left_gripper=0.4345 right_j0=-0.8867 right_j1=0.0364 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-3.7538, -14.0376, 5.2171, 0.3541, 0.0611, -0.1392, -0.0122, 0.253, 1.9214, 7.0359, 1.9121, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.65}, "note": "Yaw is undershooting under load; commanding well beyond the goal to force the last ~3 cm of lateral alignment with the target block."})
tool
executing move_joints over 4 steps (0.4s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThat nudge moved the block further from the jaws, so the sign is opposite to my model; reversing yaw to +0.36 rad to drive it toward the jaw gap.
move_joints
left_j0-1.2000left_j5-1.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.5616 left_j1=2.6717 left_j2=2.8292 left_j3=-1.7065 left_j4=-0.0364 left_j5=-1.4895 left_gripper=0.4345 right_j0=-0.8726 right_j1=0.0368 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0296 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-7.4051, -14.1333, 5.5726, 0.2857, 0.7253, 0.0464, -0.0122, -1.1829, 1.8803, 7.1453, 1.8926, 0.022, -0.0269, -0.0073] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.2, "left_j5": -1.2}, "note": "That nudge moved the block further from the jaws, so the sign is opposite to my model; reversing yaw to +0.36 rad to drive it toward the jaw gap."})
tool
executing move_joints over 6 steps (0.6s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteThe red block is now directly under the jaws in the wrist view; descending ~3 cm while watching effort, to bring my carried block just above it.
move_joints
left_j12.6520left_j22.6630left_j3-1.5610
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2098 left_j1=2.6743 left_j2=2.8292 left_j3=-1.7054 left_j4=-0.0338 left_j5=-1.2709 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0307 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-1.0325, -14.3385, 5.2308, 0.2955, -0.0855, 0.1929, -0.0122, -0.0342, 1.2923, 7.0906, 1.9365, -0.0024, -0.0269, -0.0073] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.652, "left_j2": 2.663, "left_j3": -1.561}, "note": "The red block is now directly under the jaws in the wrist view; descending ~3 cm while watching effort, to bring my carried block just above it."})
tool
executing move_joints over 3 steps (0.3s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteTarget block has passed out of the wrist view at the jaw line, as expected when aligned; descending another ~5 cm toward it while watching for contact effort.
move_joints
left_j12.6760left_j22.5060left_j3-1.4010
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2049 left_j1=2.6659 left_j2=2.6846 left_j3=-1.6173 left_j4=-0.0326 left_j5=-1.2572 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0727 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.6906, -15.2547, 6.0923, 0.3004, -0.0464, -0.105, -0.0122, -0.0342, 1.6205, 7.4462, 1.8877, -0.0122, -0.0611, -0.0073] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.676, "left_j2": 2.506, "left_j3": -1.401}, "note": "Target block has passed out of the wrist view at the jaw line, as expected when aligned; descending another ~5 cm toward it while watching for contact effort."})
tool
executing move_joints over 4 steps (0.4s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteOverhead close-up shows the red block still ~4 cm nearer the base than my carried block; pulling the radius in that much at the same height.
move_joints
left_j12.4760left_j22.1180left_j3-1.2130
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2049 left_j1=2.6801 left_j2=2.5183 left_j3=-1.4578 left_j4=-0.033 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0406 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.2393, -14.5299, 6.188, 0.2906, -0.0513, 0.0513, -0.0122, -0.1436, 1.5658, 7.2547, 1.9219, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.476, "left_j2": 2.118, "left_j3": -1.213}, "note": "Overhead close-up shows the red block still ~4 cm nearer the base than my carried block; pulling the radius in that much at the same height."})
tool
executing move_joints over 7 steps (0.7s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteThe right wrist camera shows the red block way out at the table's right edge — effectively beyond the left arm's usable reach. Switching plan: the left arm will set its block down mid-table so the right arm can pick it up and stack it.
move_joints
left_j0-0.8620left_j5-0.8620left_j12.6440left_j22.2730left_j3-1.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.2045 left_j1=2.4996 left_j2=2.1536 left_j3=-1.24 left_j4=-0.0326 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.1162, -15.1316, 4.4376, 0.3297, -0.0562, -0.0366, -0.0122, -0.1709, 1.6752, 7.0496, 1.8828, -0.0415, -0.0806, -0.0171] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.862, "left_j5": -0.862, "left_j1": 2.644, "left_j2": 2.273, "left_j3": -1.2}, "note": "The right wrist camera shows the red block way out at the table's right edge \u2014 effectively beyond the left arm's usable reach. Switching plan: the left arm will set its block down mid-table so the right arm can pick it up and stack it."})
tool
executing move_joints over 7 steps (0.7s)
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 noteDescending the last few cm to set the carried block on the table mid-workspace, so I can then get a clean, unobstructed overhead view of both blocks.
move_joints
left_j12.7200left_j22.3300left_j3-1.1800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8928 left_j1=2.5729 left_j2=2.2829 left_j3=-1.2392 left_j4=-0.0032 left_j5=-0.9546 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [1.2103, -8.5265, 4.8205, 0.7448, -0.3492, 0.3004, -0.0073, -0.0205, 1.6068, 7.2, 1.9365, -0.0415, -0.0562, -0.0073] 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": 2.72, "left_j2": 2.33, "left_j3": -1.18}, "note": "Descending the last few cm to set the carried block on the table mid-workspace, so I can then get a clean, unobstructed overhead view of both blocks."})
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 noteEffort indicates the block has touched down; opening the gripper to release it mid-table.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8776 left_j1=2.6122 left_j2=2.3516 left_j3=-1.2564 left_j4=-0.0196 left_j5=-0.9447 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-1.2513, -5.8598, 3.7949, 1.1306, 0.1685, 0.0024, -0.0073, -0.1436, 1.7709, 7.1179, 1.8632, -0.0269, -0.0611, -0.0073] 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_gripper": 1.0}, "note": "Effort indicates the block has touched down; opening the gripper to release it mid-table."})
tool
executing move_joints over 6 steps (0.6s)
step 270
top_cam
camera top_cam step 270
left_cam
camera left_cam step 270
right_cam
camera right_cam step 270
assistant
agent noteBlock released; parking the left arm by its base and re-centering the right arm so I can survey the table cleanly from the overhead and right wrist cameras.
move_joints
left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000right_j00.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8795 left_j1=2.6102 left_j2=2.3585 left_j3=-1.2602 left_j4=-0.0261 left_j5=-0.9573 left_gripper=0.9955 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.0479, -14.3795, 5.4632, 0.4371, -0.0122, 0.0904, -0.149, -0.0615, 1.7026, 7.2274, 1.8926, -0.0366, -0.0659, -0.0171] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6, "right_j0": 0}, "note": "Block released; parking the left arm by its base and re-centering the right arm so I can survey the table cleanly from the overhead and right wrist cameras."})
tool
executing move_joints over 32 steps (3.2s)
step 302
top_cam
camera top_cam step 302
left_cam
camera left_cam step 302
right_cam
camera right_cam step 302
assistant
agent noteClean overhead now: my blue block sits mid-table and the red block is far right, right next to the right arm's base. Returning the left gripper to the exact pose where I released the blue block to re-grasp it, and swinging the right arm clear again.
move_joints
left_j0-0.8795left_j12.6500left_j22.3585left_j3-1.2602left_j5-0.9573right_j0-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0143 left_j1=0.6224 left_j2=1.2133 left_j3=-0.6491 left_j4=-0.0296 left_j5=-0.9661 left_gripper=0.9967 right_j0=-0.0105 right_j1=0.0471 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.3624, 2.3863, 5.6, 2.3663, 0.0317, 0.0464, 0.105, 0.1846, 1.1556, 7.241, 1.8828, -0.0513, -0.0611, -0.0171] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.8795, "left_j1": 2.65, "left_j2": 2.3585, "left_j3": -1.2602, "left_j5": -0.9573, "right_j0": -0.9}, "note": "Clean overhead now: my blue block sits mid-table and the red block is far right, right next to the right arm's base. Returning the left gripper to the exact pose where I released the blue block to re-grasp it, and swinging the right arm clear again."})
tool
executing move_joints over 33 steps (3.3s)
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 is between the jaws in the overhead close-up; closing to re-grasp it.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8654 left_j1=2.6034 left_j2=2.3455 left_j3=-1.2484 left_j4=-0.0414 left_j5=-0.9691 left_gripper=0.9967 right_j0=-0.8913 right_j1=0.0502 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0345 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.4581, -10.8513, 6.2701, 0.5592, 0.3101, 0.1587, -0.0024, -0.2393, 1.4017, 7.2547, 2.0635, 0.0024, -0.0366, -0.0171] 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 is between the jaws in the overhead close-up; closing to re-grasp it."})
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 noteClosed on air (residual 0.009) — the block is slightly off from where I released it. Opening and lifting ~8 cm to re-locate it in the wrist view.
move_joints
left_gripper1.0000left_j12.5970left_j22.6800left_j3-1.6540
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8703 left_j1=2.608 left_j2=2.3547 left_j3=-1.2472 left_j4=-0.0345 left_j5=-0.9737 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.3624, -14.7897, 5.1761, 0.4078, -0.1587, 0.0073, 0.6667, -0.0615, 1.4974, 7.0496, 1.8779, -0.0513, -0.0464, -0.0073] 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_gripper": 1.0, "left_j1": 2.597, "left_j2": 2.68, "left_j3": -1.654}, "note": "Closed on air (residual 0.009) \u2014 the block is slightly off from where I released it. Opening and lifting ~8 cm to re-locate it in the wrist view."})
tool
executing move_joints over 10 steps (1.0s)
step 355
top_cam
camera top_cam step 355
left_cam
camera left_cam step 355
right_cam
camera right_cam step 355
assistant
agent noteWrist view shows the blue '1' cube just right of and beyond the jaw gap (~1.7 cm off); nudging yaw +0.036 rad and descending back to table level for the grasp.
move_joints
left_j0-0.8350left_j12.6200left_j22.3550left_j3-1.2470
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8711 left_j1=2.6141 left_j2=2.6411 left_j3=-1.5978 left_j4=-0.0326 left_j5=-0.9764 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [-0.253, -15.5282, 7.8017, 0.2515, -0.0708, -0.0317, -0.0904, -0.1573, 1.5385, 7.0496, 1.9023, -0.0415, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.835, "left_j1": 2.62, "left_j2": 2.355, "left_j3": -1.247}, "note": "Wrist view shows the blue '1' cube just right of and beyond the jaw gap (~1.7 cm off); nudging yaw +0.036 rad and descending back to table level for the grasp."})
tool
executing move_joints over 6 steps (0.6s)
step 361
top_cam
camera top_cam step 361
left_cam
camera left_cam step 361
right_cam
camera right_cam step 361
assistant
agent noteDescent undershot; re-issuing slightly beyond to get the fingertips down to table level over the cube.
move_joints
left_j12.6300left_j22.3500left_j3-1.2200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8394 left_j1=2.6232 left_j2=2.3871 left_j3=-1.3319 left_j4=-0.0254 left_j5=-0.9764 left_gripper=0.9954 right_j0=-0.8928 right_j1=0.0509 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.4991, -14.6256, 3.8769, 0.6276, -0.0952, -0.022, 0.0562, -0.1436, 1.5111, 7.0632, 1.8486, -0.0513, -0.0269, -0.0073] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.63, "left_j2": 2.35, "left_j3": -1.22}, "note": "Descent undershot; re-issuing slightly beyond to get the fingertips down to table level over the cube."})
tool
executing move_joints over 2 steps (0.2s)
step 363
top_cam
camera top_cam step 363
left_cam
camera left_cam step 363
right_cam
camera right_cam step 363
assistant
agent noteFingertips at table over the cube; 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=-0.8379 left_j1=2.6228 left_j2=2.3802 left_j3=-1.2808 left_j4=-0.0185 left_j5=-0.9775 left_gripper=0.9954 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.4581, -13.9966, 3.3709, 0.9646, -0.1245, -0.0464, -0.0171, -0.0752, 1.4974, 7.0769, 1.8828, -0.0513, -0.0659, -0.0073] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips at table over the cube; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 373
top_cam
camera top_cam step 373
left_cam
camera left_cam step 373
right_cam
camera right_cam step 373
assistant
agent noteOverhead close-up shows the cube ~3 cm nearer the base than the jaws; opening and pulling the radius in by 3 cm at the same height.
move_joints
left_gripper1.0000left_j12.5070left_j22.1570left_j3-1.2210
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8379 left_j1=2.6225 left_j2=2.3821 left_j3=-1.2766 left_j4=-0.0151 left_j5=-0.989 left_gripper=0.009 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [-0.2256, -14.5436, 5.6821, 0.359, -0.0757, 0.0659, 0.6618, -0.0479, 1.6479, 7.0906, 1.9267, -0.0269, -0.0806, -0.0171] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.507, "left_j2": 2.157, "left_j3": -1.221}, "note": "Overhead close-up shows the cube ~3 cm nearer the base than the jaws; opening and pulling the radius in by 3 cm at the same height."})
tool
executing move_joints over 10 steps (1.0s)
step 383
top_cam
camera top_cam step 383
left_cam
camera left_cam step 383
right_cam
camera right_cam step 383
assistant
agent noteJaws now straddle the cube's position; 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=-0.8375 left_j1=2.5183 left_j2=2.1864 left_j3=-1.2045 left_j4=-0.0135 left_j5=-0.9947 left_gripper=0.9951 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [-0.1162, -14.7077, 3.9179, 0.1783, -0.0562, -0.0171, -0.149, -0.1026, 2.1265, 7.0496, 1.8681, -0.0757, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Jaws now straddle the cube's position; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 393
top_cam
camera top_cam step 393
left_cam
camera left_cam step 393
right_cam
camera right_cam step 393
assistant
agent noteStill missing; the cube reads slightly nearer and to the right of the jaws in the overhead close-up, so shifting 2 cm in and 1 cm right and dropping ~1 cm before trying again.
move_joints
left_gripper1.0000left_j0-0.8580left_j12.4720left_j22.0440left_j3-1.1430
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8379 left_j1=2.5168 left_j2=2.1841 left_j3=-1.1984 left_j4=-0.0082 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.253, -13.7504, 6.0103, 0.2613, -0.0806, -0.0024, 0.6227, -0.0615, 1.5385, 7.2547, 1.9365, -0.0708, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.858, "left_j1": 2.472, "left_j2": 2.044, "left_j3": -1.143}, "note": "Still missing; the cube reads slightly nearer and to the right of the jaws in the overhead close-up, so shifting 2 cm in and 1 cm right and dropping ~1 cm before trying again."})
tool
executing move_joints over 10 steps (1.0s)
step 403
top_cam
camera top_cam step 403
left_cam
camera left_cam step 403
right_cam
camera right_cam step 403
assistant
agent noteCube now tucked under the jaws in the overhead view; 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=-0.8532 left_j1=2.4626 left_j2=2.0808 left_j3=-1.1469 left_j4=-0.0116 left_j5=-0.9955 left_gripper=0.9944 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.7043, -12.6017, 3.412, 0.3443, 0.0024, -0.0171, -0.0708, -0.0479, 1.9761, 7.0632, 1.9365, -0.0024, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube now tucked under the jaws in the overhead view; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 413
top_cam
camera top_cam step 413
left_cam
camera left_cam step 413
right_cam
camera right_cam step 413
assistant
agent noteCube is in the wrist camera's blind zone right at the jaws yet the close still misses, so I suspect the fingertips are a few cm too high; lowering ~3 cm and watching j1 effort for table contact.
move_joints
left_gripper1.0000left_j12.5300left_j22.0190left_j3-1.0600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8532 left_j1=2.4607 left_j2=2.0796 left_j3=-1.1435 left_j4=-0.0086 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [-0.212, -13.4906, 5.8872, 0.315, -0.0611, -0.0171, 0.5885, -0.0342, 1.7709, 7.5009, 1.8926, -0.0269, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 413): [image omitted: streamed camera frame] camera 'left_cam' (step 413): [image omitted: streamed camera frame] camera 'right_cam' (step 413): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.53, "left_j2": 2.019, "left_j3": -1.06}, "note": "Cube is in the wrist camera's blind zone right at the jaws yet the close still misses, so I suspect the fingertips are a few cm too high; lowering ~3 cm and watching j1 effort for table contact."})
tool
executing move_joints over 10 steps (1.0s)
step 423
top_cam
camera top_cam step 423
left_cam
camera left_cam step 423
right_cam
camera right_cam step 423
assistant
agent noteNow at table contact and the cube shows between the jaws at the bottom of the wrist view; 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=-0.8589 left_j1=2.4603 left_j2=2.0743 left_j3=-1.0904 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.9942 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.1436, -8.1436, 1.4838, 0.8034, -0.0024, 0.0171, -0.1929, -0.0615, 1.6479, 7.0632, 1.9316, -0.0317, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 423): [image omitted: streamed camera frame] camera 'left_cam' (step 423): [image omitted: streamed camera frame] camera 'right_cam' (step 423): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Now at table contact and the cube shows between the jaws at the bottom of the wrist view; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 433
top_cam
camera top_cam step 433
left_cam
camera left_cam step 433
right_cam
camera right_cam step 433
assistant
agent noteOverhead shows the cube sitting just outside the right finger rather than between the jaws; shifting ~2 cm toward the arm's right and 1.5 cm nearer, then I'll close again.
move_joints
left_gripper1.0000left_j0-0.9090left_j12.5150left_j21.9910left_j3-1.0470
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8589 left_j1=2.4546 left_j2=2.0747 left_j3=-1.0985 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.0081 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.335, -13.2855, 5.8598, 0.5104, -0.0122, -0.0024, 0.5983, -0.0205, 1.5932, 7.1316, 1.9072, -0.0366, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 433): [image omitted: streamed camera frame] camera 'left_cam' (step 433): [image omitted: streamed camera frame] camera 'right_cam' (step 433): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.909, "left_j1": 2.515, "left_j2": 1.991, "left_j3": -1.047}, "note": "Overhead shows the cube sitting just outside the right finger rather than between the jaws; shifting ~2 cm toward the arm's right and 1.5 cm nearer, then I'll close again."})
tool
executing move_joints over 10 steps (1.0s)
step 443
top_cam
camera top_cam step 443
left_cam
camera left_cam step 443
right_cam
camera right_cam step 443
assistant
agent noteCube visible centered between the open jaws in the wrist view; 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=-0.9028 left_j1=2.4439 left_j2=2.0457 left_j3=-1.0492 left_j4=-0.0372 left_j5=-1.0042 left_gripper=0.9952 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.5675, -8.0068, 1.7026, 0.5788, 0.2857, -0.0317, -0.2271, -0.0205, 1.853, 7.0769, 1.9023, -0.0269, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 443): [image omitted: streamed camera frame] camera 'left_cam' (step 443): [image omitted: streamed camera frame] camera 'right_cam' (step 443): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube visible centered between the open jaws in the wrist view; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 453
top_cam
camera top_cam step 453
left_cam
camera left_cam step 453
right_cam
camera right_cam step 453
assistant
agent noteThe height commands have been undershooting, so the jaws are probably closing above the cube; commanding a firmly lower target (past table level) to force real fingertip contact.
move_joints
left_gripper1.0000left_j12.7500left_j22.1300left_j3-0.9500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9047 left_j1=2.4393 left_j2=2.0464 left_j3=-1.0569 left_j4=-0.0437 left_j5=-1.0039 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.0615, -13.0667, 5.8598, 0.6178, -0.0073, -0.0464, 0.6618, -0.0342, 1.7436, 7.0632, 1.9023, -0.0171, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 453): [image omitted: streamed camera frame] camera 'left_cam' (step 453): [image omitted: streamed camera frame] camera 'right_cam' (step 453): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.75, "left_j2": 2.13, "left_j3": -0.95}, "note": "The height commands have been undershooting, so the jaws are probably closing above the cube; commanding a firmly lower target (past table level) to force real fingertip contact."})
tool
executing move_joints over 10 steps (1.0s)
step 463
top_cam
camera top_cam step 463
left_cam
camera left_cam step 463
right_cam
camera right_cam step 463
assistant
agent noteFingertips are now pressing the table (j1 effort positive), so the jaws are at cube height; 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=-0.9234 left_j1=2.5572 left_j2=2.2139 left_j3=-1.0367 left_j4=-0.0441 left_j5=-1.0233 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.054 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.0349 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [1.3607, 1.2376, -0.4034, 1.5507, 0.0073, 0.1685, -0.232, -0.0889, 1.6479, 7.1043, 2.0537, -0.0024, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 463): [image omitted: streamed camera frame] camera 'left_cam' (step 463): [image omitted: streamed camera frame] camera 'right_cam' (step 463): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips are now pressing the table (j1 effort positive), so the jaws are at cube height; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 473
top_cam
camera top_cam step 473
left_cam
camera left_cam step 473
right_cam
camera right_cam step 473
assistant
agent noteTable contact calibrated my height bias (nominal z≈0.09 = table). The overhead close-up puts the cube ~4.4 cm nearer the base than the fingertips, so pulling in that much before the next close.
move_joints
left_gripper1.0000left_j0-0.9000left_j12.3550left_j21.9290left_j3-0.9740
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9253 left_j1=2.5362 left_j2=2.2211 left_j3=-1.0504 left_j4=-0.0513 left_j5=-1.0298 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0544 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.0615, -12.6701, 5.5043, 0.823, 0.0317, 0.0757, 0.6764, -0.0752, 1.6342, 7.2, 1.9072, -0.0513, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 473): [image omitted: streamed camera frame] camera 'left_cam' (step 473): [image omitted: streamed camera frame] camera 'right_cam' (step 473): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.9, "left_j1": 2.355, "left_j2": 1.929, "left_j3": -0.974}, "note": "Table contact calibrated my height bias (nominal z\u22480.09 = table). The overhead close-up puts the cube ~4.4 cm nearer the base than the fingertips, so pulling in that much before the next close."})
tool
executing move_joints over 10 steps (1.0s)
step 483
top_cam
camera top_cam step 483
left_cam
camera left_cam step 483
right_cam
camera right_cam step 483
assistant
agent noteGripper is at table height with the cube right at the jaw line; 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=-0.9073 left_j1=2.3848 left_j2=1.9549 left_j3=-0.9684 left_j4=-0.0528 left_j5=-1.0332 left_gripper=0.9951 right_j0=-0.8925 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.036 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [0.7179, -15.241, 4.8889, 0.6032, -0.0269, 0.0024, -0.1392, -0.1709, 1.8803, 7.0769, 1.9609, -0.0464, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 483): [image omitted: streamed camera frame] camera 'left_cam' (step 483): [image omitted: streamed camera frame] camera 'right_cam' (step 483): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Gripper is at table height with the cube right at the jaw line; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 493
top_cam
camera top_cam step 493
left_cam
camera left_cam step 493
right_cam
camera right_cam step 493
assistant
agent noteRepeated misses at small corrections suggest my radial estimate is biased; making a decisive 8 cm pull-in toward the base at table height to bracket the cube's true distance.
move_joints
left_gripper1.0000left_j12.1300left_j21.4790left_j3-0.7490
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9058 left_j1=2.3821 left_j2=1.9476 left_j3=-0.968 left_j4=-0.0525 left_j5=-1.0405 left_gripper=0.0086 right_j0=-0.8932 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.4718, -13.0256, 6.7077, 0.6178, -0.0317, 0.0415, 0.6325, -0.1573, 1.5385, 7.2547, 1.9219, -0.0611, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 493): [image omitted: streamed camera frame] camera 'left_cam' (step 493): [image omitted: streamed camera frame] camera 'right_cam' (step 493): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.13, "left_j2": 1.479, "left_j3": -0.749}, "note": "Repeated misses at small corrections suggest my radial estimate is biased; making a decisive 8 cm pull-in toward the base at table height to bracket the cube's true distance."})
tool
executing move_joints over 10 steps (1.0s)
step 503
top_cam
camera top_cam step 503
left_cam
camera left_cam step 503
right_cam
camera right_cam step 503
assistant
agent noteWrist view now shows the cube squarely between the two 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=-0.9081 left_j1=2.1338 left_j2=1.5208 left_j3=-0.7498 left_j4=-0.0566 left_j5=-1.0416 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0368 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.1709, -10.9197, 4.3966, 0.7253, -0.0122, -0.0513, -0.1148, -0.1026, 1.7299, 7.0769, 1.9609, -0.0122, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 503): [image omitted: streamed camera frame] camera 'left_cam' (step 503): [image omitted: streamed camera frame] camera 'right_cam' (step 503): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Wrist view now shows the cube squarely between the two jaws; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 513
top_cam
camera top_cam step 513
left_cam
camera left_cam step 513
right_cam
camera right_cam step 513
assistant
agent noteOverhead shows the cube just off the gripper's lower-right corner; shifting ~1.5 cm to the arm's right and 2 cm nearer for another attempt.
move_joints
left_gripper1.0000left_j0-0.9480left_j12.0860left_j21.4000left_j3-0.6790
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9077 left_j1=2.1254 left_j2=1.5074 left_j3=-0.7471 left_j4=-0.0589 left_j5=-1.0451 left_gripper=0.008 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.0342, -10.6735, 6.8171, 0.6374, -0.0024, 0.0171, 0.5885, -0.1573, 1.5385, 7.0769, 1.956, -0.022, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 513): [image omitted: streamed camera frame] camera 'left_cam' (step 513): [image omitted: streamed camera frame] camera 'right_cam' (step 513): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.948, "left_j1": 2.086, "left_j2": 1.4, "left_j3": -0.679}, "note": "Overhead shows the cube just off the gripper's lower-right corner; shifting ~1.5 cm to the arm's right and 2 cm nearer for another attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 523
top_cam
camera top_cam step 523
left_cam
camera left_cam step 523
right_cam
camera right_cam step 523
assistant
agent noteCube is centered between the jaws at the bottom of the wrist view; 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=-0.9451 left_j1=2.0827 left_j2=1.4338 left_j3=-0.6567 left_j4=-0.0669 left_j5=-1.0451 left_gripper=0.9953 right_j0=-0.8928 right_j1=0.0586 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.4581, -10.6735, 3.4256, 0.5543, 0.022, -0.0659, -0.1636, -0.0615, 2.0718, 7.0769, 1.9756, -0.0317, -0.0757, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 523): [image omitted: streamed camera frame] camera 'left_cam' (step 523): [image omitted: streamed camera frame] camera 'right_cam' (step 523): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube is centered between the jaws at the bottom of the wrist view; closing."})
tool
executing move_joints over 10 steps (1.0s)
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 noteOverhead clearly shows the cube ~3 cm nearer the base than the closed fingertips; pulling in 3 cm more.
move_joints
left_gripper1.0000left_j12.0110left_j21.2690left_j3-0.5580
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9451 left_j1=2.0811 left_j2=1.4319 left_j3=-0.6575 left_j4=-0.0669 left_j5=-1.0477 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0589 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.3624, -10.8786, 5.9145, 0.7888, -0.0611, 0.0122, 0.6374, -0.0615, 1.4838, 7.1043, 1.9414, -0.0513, -0.0757, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). 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": 1.0, "left_j1": 2.011, "left_j2": 1.269, "left_j3": -0.558}, "note": "Overhead clearly shows the cube ~3 cm nearer the base than the closed fingertips; pulling in 3 cm more."})
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 noteCube appears between the open jaws at the bottom of the wrist frame; 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=-0.9451 left_j1=2.006 left_j2=1.3067 left_j3=-0.5297 left_j4=-0.0673 left_j5=-1.0477 left_gripper=0.9945 right_j0=-0.8932 right_j1=0.0616 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.036 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.294, -9.812, 3.2889, 0.6032, -0.0708, -0.0611, -0.2369, -0.0342, 1.8803, 7.0769, 1.9853, -0.0415, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 0}, "note": "Cube appears between the open jaws at the bottom of the wrist frame; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 553
top_cam
camera top_cam step 553
left_cam
camera left_cam step 553
right_cam
camera right_cam step 553
assistant
agent noteI think each close is nudging the cube away, so changing tactic: lifting to ~8 cm above the table directly over the cube's position, to then descend vertically onto it.
move_joints
left_gripper1.0000left_j0-0.9250left_j11.8580left_j21.4540left_j3-1.1670
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9447 left_j1=2.0029 left_j2=1.3018 left_j3=-0.5343 left_j4=-0.0669 left_j5=-1.0485 left_gripper=0.0088 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.0615, -10.0034, 6.1744, 0.9841, -0.0659, -0.0269, 0.6178, -0.1709, 1.4974, 7.1316, 1.8974, -0.0269, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 553): [image omitted: streamed camera frame] camera 'left_cam' (step 553): [image omitted: streamed camera frame] camera 'right_cam' (step 553): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.925, "left_j1": 1.858, "left_j2": 1.454, "left_j3": -1.167}, "note": "I think each close is nudging the cube away, so changing tactic: lifting to ~8 cm above the table directly over the cube's position, to then descend vertically onto it."})
tool
executing move_joints over 11 steps (1.1s)
step 564
top_cam
camera top_cam step 564
left_cam
camera left_cam step 564
right_cam
camera right_cam step 564
assistant
agent noteFrom 8 cm up the wrist camera shows the cube large at the lower right, about 5 cm off; commanding +0.17 rad yaw and 2.5 cm more reach to center it under the jaws.
move_joints
left_j0-0.7600left_j11.9460left_j21.5760left_j3-1.2010
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9318 left_j1=1.8988 left_j2=1.4246 left_j3=-1.0882 left_j4=-0.0669 left_j5=-1.0481 left_gripper=0.9957 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.4308, -11.9453, 7.9795, 0.2027, -0.0317, -0.0366, -0.1099, -0.0889, 1.7162, 7.2957, 1.9219, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 564): [image omitted: streamed camera frame] camera 'left_cam' (step 564): [image omitted: streamed camera frame] camera 'right_cam' (step 564): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.76, "left_j1": 1.946, "left_j2": 1.576, "left_j3": -1.201}, "note": "From 8 cm up the wrist camera shows the cube large at the lower right, about 5 cm off; commanding +0.17 rad yaw and 2.5 cm more reach to center it under the jaws."})
tool
executing move_joints over 3 steps (0.3s)
step 567
top_cam
camera top_cam step 567
left_cam
camera left_cam step 567
right_cam
camera right_cam step 567
assistant
agent noteOverhead (more reliable here) puts the cube ~2 cm right and ~5 cm nearer than the fingertips; repositioning to hover directly above it at 8 cm before descending straight down.
move_joints
left_j0-0.8550left_j11.7510left_j21.3190left_j3-1.1390
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7952 left_j1=1.9408 left_j2=1.5402 left_j3=-1.1748 left_j4=-0.0563 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0624 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989 state[joint_eff]: [-0.3487, -9.2786, 7.159, 0.0024, -0.149, -0.0269, 0.0904, -0.1299, 1.5111, 7.0769, 1.8681, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 567): [image omitted: streamed camera frame] camera 'left_cam' (step 567): [image omitted: streamed camera frame] camera 'right_cam' (step 567): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.855, "left_j1": 1.751, "left_j2": 1.319, "left_j3": -1.139}, "note": "Overhead (more reliable here) puts the cube ~2 cm right and ~5 cm nearer than the fingertips; repositioning to hover directly above it at 8 cm before descending straight down."})
tool
executing move_joints over 4 steps (0.4s)
step 571
top_cam
camera top_cam step 571
left_cam
camera left_cam step 571
right_cam
camera right_cam step 571
assistant
agent noteThe two views disagree on depth, so I'm making a deliberate 4 cm outward move (plus restoring the better yaw) to see which way the cube tracks in the wrist frame.
move_joints
left_j0-0.7950left_j12.0730left_j21.7640left_j3-1.2620
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8547 left_j1=1.8057 left_j2=1.3384 left_j3=-1.1473 left_j4=-0.0547 left_j5=-1.0481 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0635 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.0205, -10.6735, 5.5726, 0.4176, -0.0806, -0.0562, -0.0073, -0.1846, 1.935, 7.2684, 1.9267, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 571): [image omitted: streamed camera frame] camera 'left_cam' (step 571): [image omitted: streamed camera frame] camera 'right_cam' (step 571): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.795, "left_j1": 2.073, "left_j2": 1.764, "left_j3": -1.262}, "note": "The two views disagree on depth, so I'm making a deliberate 4 cm outward move (plus restoring the better yaw) to see which way the cube tracks in the wrist frame."})
tool
executing move_joints over 7 steps (0.7s)
step 578
top_cam
camera top_cam step 578
left_cam
camera left_cam step 578
right_cam
camera right_cam step 578
assistant
agent noteConfirmed: reaching outward slides the cube toward the jaw gap in the wrist view. Extending ~4 cm more to bring it onto the grasp point.
move_joints
left_j12.2240left_j22.0090left_j3-1.3560
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8024 left_j1=2.0556 left_j2=1.7264 left_j3=-1.2488 left_j4=-0.0521 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8928 right_j1=0.0643 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0383 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.3897, -10.0991, 7.0085, 0.149, -0.1148, -0.0366, -0.0122, 0.0752, 1.4701, 7.1453, 1.9267, -0.0513, -0.0562, -0.0073] camera 'top_cam' (step 578): [image omitted: streamed camera frame] camera 'left_cam' (step 578): [image omitted: streamed camera frame] camera 'right_cam' (step 578): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.224, "left_j2": 2.009, "left_j3": -1.356}, "note": "Confirmed: reaching outward slides the cube toward the jaw gap in the wrist view. Extending ~4 cm more to bring it onto the grasp point."})
tool
executing move_joints over 5 steps (0.5s)
step 583
top_cam
camera top_cam step 583
left_cam
camera left_cam step 583
right_cam
camera right_cam step 583
assistant
agent noteCube now sits between the jaw silhouettes in the wrist view; descending vertically ~8 cm to table level before closing.
move_joints
left_j12.4000left_j21.8300left_j3-1.0300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.799 left_j1=2.2158 left_j2=1.9652 left_j3=-1.3396 left_j4=-0.0517 left_j5=-1.0554 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0647 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0387 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.5265, -12.0, 7.6376, 0.1197, -0.0855, 0.022, -0.0073, -0.0342, 1.4974, 7.0769, 1.917, -0.0171, -0.0806, -0.0171] camera 'top_cam' (step 583): [image omitted: streamed camera frame] camera 'left_cam' (step 583): [image omitted: streamed camera frame] camera 'right_cam' (step 583): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4, "left_j2": 1.83, "left_j3": -1.03}, "note": "Cube now sits between the jaw silhouettes in the wrist view; descending vertically ~8 cm to table level before closing."})
tool
executing move_joints over 5 steps (0.5s)
step 588
top_cam
camera top_cam step 588
left_cam
camera left_cam step 588
right_cam
camera right_cam step 588
assistant
agent noteAt table height with the cube last seen between 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=-0.794 left_j1=2.344 left_j2=1.8713 left_j3=-1.1221 left_j4=-0.0444 left_j5=-1.0592 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0677 right_j2=0.0139 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.2667, -8.1299, 2.5778, 0.735, -0.0659, 0.0708, -0.0122, -0.3487, 1.7162, 7.0222, 1.9072, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 588): [image omitted: streamed camera frame] camera 'left_cam' (step 588): [image omitted: streamed camera frame] camera 'right_cam' (step 588): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "At table height with the cube last seen between the jaws; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 598
top_cam
camera top_cam step 598
left_cam
camera left_cam step 598
right_cam
camera right_cam step 598
assistant
agent noteOverhead consistently shows a ~9 cm gap with the cube nearer the base; making that full 9 cm pull-in at table height, then I'll close.
move_joints
left_gripper1.0000left_j0-0.8400left_j12.0520left_j21.3550left_j3-0.8740
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7959 left_j1=2.3432 left_j2=1.8694 left_j3=-1.108 left_j4=-0.0334 left_j5=-1.0664 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0685 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0391 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.1162, -12.6427, 5.8598, 0.1099, -0.1538, 0.0708, 0.5983, -0.1983, 1.4427, 7.1316, 1.8632, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 598): [image omitted: streamed camera frame] camera 'left_cam' (step 598): [image omitted: streamed camera frame] camera 'right_cam' (step 598): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.84, "left_j1": 2.052, "left_j2": 1.355, "left_j3": -0.874}, "note": "Overhead consistently shows a ~9 cm gap with the cube nearer the base; making that full 9 cm pull-in at table height, then I'll close."})
tool
executing move_joints over 10 steps (1.0s)
step 608
top_cam
camera top_cam step 608
left_cam
camera left_cam step 608
right_cam
camera right_cam step 608
assistant
agent noteOverhead now shows only a small offset: cube ~5 cm to the arm's right and 4 cm nearer; applying that correction at table height.
move_joints
left_j0-0.9800left_j11.9620left_j21.2130left_j3-0.8220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8299 left_j1=2.059 left_j2=1.393 left_j3=-0.8726 left_j4=-0.0322 left_j5=-1.0718 left_gripper=0.9955 right_j0=-0.8932 right_j1=0.0723 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-1.0872, -10.0855, 3.8906, 0.1197, -0.0611, 0.0073, -0.1245, -0.0342, 1.7436, 7.1043, 1.9267, -0.0659, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 608): [image omitted: streamed camera frame] camera 'left_cam' (step 608): [image omitted: streamed camera frame] camera 'right_cam' (step 608): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.98, "left_j1": 1.962, "left_j2": 1.213, "left_j3": -0.822}, "note": "Overhead now shows only a small offset: cube ~5 cm to the arm's right and 4 cm nearer; applying that correction at table height."})
tool
executing move_joints over 3 steps (0.3s)
step 611
top_cam
camera top_cam step 611
left_cam
camera left_cam step 611
right_cam
camera right_cam step 611
assistant
agent noteOverhead shows the jaws now straddling the cube; 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=-0.9478 left_j1=1.9697 left_j2=1.2541 left_j3=-0.8131 left_j4=-0.0357 left_j5=-1.0744 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0738 right_j2=0.0132 right_j3=-0.0719 right_j4=-0.0399 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.0342, -8.9231, 3.8769, 0.3053, -0.1392, 0.0317, 0.1099, -0.0889, 1.7983, 7.3778, 1.9414, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 611): [image omitted: streamed camera frame] camera 'left_cam' (step 611): [image omitted: streamed camera frame] camera 'right_cam' (step 611): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Overhead shows the jaws now straddling the cube; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 621
top_cam
camera top_cam step 621
left_cam
camera left_cam step 621
right_cam
camera right_cam step 621
assistant
agent noteCube is just off the right side of the closed jaws; opening and swinging ~3.5 cm to the arm's right to straddle it.
move_joints
left_gripper1.0000left_j0-1.0700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.947 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8135 left_j4=-0.0292 left_j5=-1.0744 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.0615, -8.4581, 6.4889, 0.398, -0.1392, -0.0122, 0.6618, -0.1162, 1.4838, 7.2684, 1.8779, -0.0757, -0.0513, -0.0171] camera 'top_cam' (step 621): [image omitted: streamed camera frame] camera 'left_cam' (step 621): [image omitted: streamed camera frame] camera 'right_cam' (step 621): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -1.07}, "note": "Cube is just off the right side of the closed jaws; opening and swinging ~3.5 cm to the arm's right to straddle it."})
tool
executing move_joints over 10 steps (1.0s)
step 631
top_cam
camera top_cam step 631
left_cam
camera left_cam step 631
right_cam
camera right_cam step 631
assistant
agent noteCube now appears directly beneath the open 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=-1.0603 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0284 left_j5=-1.0798 left_gripper=0.9949 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.5402, -9.4427, 5.7231, 0.4078, -0.0171, 0.0122, -0.1343, -0.0068, 1.5795, 7.0769, 1.917, -0.0659, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 631): [image omitted: streamed camera frame] camera 'left_cam' (step 631): [image omitted: streamed camera frame] camera 'right_cam' (step 631): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Cube now appears directly beneath the open jaws; closing."})
tool
executing move_joints over 10 steps (1.0s)
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 noteCube still sits just right of the jaws; one more 4 cm yaw shift to the arm's right before closing.
move_joints
left_gripper1.0000left_j0-1.1900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0645 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8143 left_j4=-0.0288 left_j5=-1.0821 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [0.3487, -9.4291, 5.6274, 0.3736, -0.0904, 0.0024, 0.6325, -0.0889, 1.5248, 7.0906, 1.9463, -0.0708, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 1.0, "left_j0": -1.19}, "note": "Cube still sits just right of the jaws; one more 4 cm yaw shift to the arm's right before closing."})
tool
executing move_joints over 10 steps (1.0s)
step 651
top_cam
camera top_cam step 651
left_cam
camera left_cam step 651
right_cam
camera right_cam step 651
assistant
agent noteI picked up the left block early, but the target ('right') block turned out to sit at the far right edge of the table, right beside the right arm's base, at the very limit of the left arm's reach. After setting the carried block down mid-table to re-plan, I was unable to re-grasp it: my depth/lateral estimates from the overhead and wrist cameras kept disagreeing and every close nudged the cube a few cm. I ran out of call budget before completing the stack.</reason> <parameter name="hindsight">Concrete lessons from this run: - The first grasp succeeded almost by luck (gripper residual 0.43 ≈ a 4 cm cube, effort ~1.0). NEVER release a good grasp to "re-plan" — I lost ~40 calls trying to re-acquire the same cube. - Height calibration matters and is measurable: on this left arm, planar-FK nominal z ≈ 0.09 m corresponds to actual fingertip/table contact (j1 effort relaxes from ~-13 to ~-8, and goes positive ~+1.2 when pressing). So subtract ~9 cm from the FK z. Commanded descents undershoot badly; command 0.1–0.2 rad past. - The overhead camera is fixed but the arm, when extended under it, fills the frame and makes scale judgement unreliable; worse, the elevated gripper body projects several cm outward from its true fingertip ground point, so the apparent gripper-to-object gap in the top view is systematically wrong. Do not iterate small corrections off it. - The wrist camera at roll ≈ -1.0 rad has its image rotated ~140° relative to the roll-0 convention: +j0 moved the scene down-left, and moving radially OUTWARD moved the scene left-down toward the jaw gap. Calibrate this with one pure j0 nudge and one pure radial nudge before servoing; don't assume the documented axes. - The two arms collide: with the left arm reaching to y ≈ -0.45 m the left j0 stalls with effort ≈ -7 N·m against the folded right arm. Park the idle arm with j0 swung ~0.9 rad away first. - Survey the whole table with both arms parked before planning: I wasted many calls chasing an object I misidentified (my own carried block seen in the overhead) and only later found the real target was near the far right edge, effectively a right-arm job. Plan a handoff or use the near arm from the start.
give_up
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1805 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0288 left_j5=-1.0916 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989 state[joint_eff]: [-0.5675, -9.4291, 5.2581, 0.398, -0.0171, 0.0659, -0.0806, -0.0889, 1.5111, 7.3368, 1.8974, -0.0659, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 651): [image omitted: streamed camera frame] camera 'left_cam' (step 651): [image omitted: streamed camera frame] camera 'right_cam' (step 651): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I picked up the left block early, but the target ('right') block turned out to sit at the far right edge of the table, right beside the right arm's base, at the very limit of the left arm's reach. After setting the carried block down mid-table to re-plan, I was unable to re-grasp it: my depth/lateral estimates from the overhead and wrist cameras kept disagreeing and every close nudged the cube a few cm. I ran out of call budget before completing the stack.</reason>\n<parameter name=\"hindsight\">Concrete lessons from this run:\n- The first grasp succeeded almost by luck (gripper residual 0.43 \u2248 a 4 cm cube, effort ~1.0). NEVER release a good grasp to \"re-plan\" \u2014 I lost ~40 calls trying to re-acquire the same cube.\n- Height calibration matters and is measurable: on this left arm, planar-FK nominal z \u2248 0.09 m corresponds to actual fingertip/table contact (j1 effort relaxes from ~-13 to ~-8, and goes positive ~+1.2 when pressing). So subtract ~9 cm from the FK z. Commanded descents undershoot badly; command 0.1\u20130.2 rad past.\n- The overhead camera is fixed but the arm, when extended under it, fills the frame and makes scale judgement unreliable; worse, the elevated gripper body projects several cm outward from its true fingertip ground point, so the apparent gripper-to-object gap in the top view is systematically wrong. Do not iterate small corrections off it.\n- The wrist camera at roll \u2248 -1.0 rad has its image rotated ~140\u00b0 relative to the roll-0 convention: +j0 moved the scene down-left, and moving radially OUTWARD moved the scene left-down toward the jaw gap. Calibrate this with one pure j0 nudge and one pure radial nudge before servoing; don't assume the documented axes.\n- The two arms collide: with the left arm reaching to y \u2248 -0.45 m the left j0 stalls with effort \u2248 -7 N\u00b7m against the folded right arm. Park the idle arm with j0 swung ~0.9 rad away first.\n- Survey the whole table with both arms parked before planning: I wasted many calls chasing an object I misidentified (my own carried block seen in the overhead) and only later found the real target was near the far right edge, effectively a right-arm job. Plan a handoff or use the near arm from the start."})
tool
give_up: I picked up the left block early, but the target ('right') block turned out to sit at the far right edge of the table, right beside the right arm's base, at the very limit of the left arm's reach. After setting the carried block down mid-table to re-plan, I was unable to re-grasp it: my depth/lateral estimates from the overhead and wrist cameras kept disagreeing and every close nudged the cube a few cm. I ran out of call budget before completing the stack.</reason> <parameter name="hindsight">Concrete lessons from this run: - The first grasp succeeded almost by luck (gripper residual 0.43 ≈ a 4 cm cube, effort ~1.0). NEVER release a good grasp to "re-plan" — I lost ~40 calls trying to re-acquire the same cube. - Height calibration matters and is measurable: on this left arm, planar-FK nominal z ≈ 0.09 m corresponds to actual fingertip/table contact (j1 effort relaxes from ~-13 to ~-8, and goes positive ~+1.2 when pressing). So subtract ~9 cm from the FK z. Commanded descents undershoot badly; command 0.1–0.2 rad past. - The overhead camera is fixed but the arm, when extended under it, fills the frame and makes scale judgement unreliable; worse, the elevated gripper body projects several cm outward from its true fingertip ground point, so the apparent gripper-to-object gap in the top view is systematically wrong. Do not iterate small corrections off it. - The wrist camera at roll ≈ -1.0 rad has its image rotated ~140° relative to the roll-0 convention: +j0 moved the scene down-left, and moving radially OUTWARD moved the scene left-down toward the jaw gap. Calibrate this with one pure j0 nudge and one pure radial nudge before servoing; don't assume the documented axes. - The two arms collide: with the left arm reaching to y ≈ -0.45 m the left j0 stalls with effort ≈ -7 N·m against the folded right arm. Park the idle arm with j0 swung ~0.9 rad away first. - Survey the whole table with both arms parked before planning: I wasted many calls chasing an object I misidentified (my own carried block seen in the overhead) and only later found the real target was near the far right edge, effectively a right-arm job. Plan a handoff or use the near arm from the start.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 7.646 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3
{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0132 left_j5=-0.0147 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0021 right_j5=-0.0143 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, 0.8821, 5.7778, 2.1807, 0.0708, 0.0855, -0.0757, -0.2256, 1.4017, 6.3521, 2.2589, -0.0317, 0.149, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843f198243f84e1b4ea88cb6c8d8de9d805146ec80edc6d0a67215294881b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20a777e1020433c3e2810be3496fd2877532826bb01bf655a8112409da6f624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f61be0ec0796a1946c2e203c6228e274815683ab972d38465c590cf11421193",
        "media_type": "image/png",
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 843f198243f8
wire blob c20a777e1020
wire blob 2f61be0ec079
call 1 attempt 0 · /messages · status null · 11.11 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0132 left_j5=-0.0147 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0021 right_j5=-0.0143 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, 0.8821, 5.7778, 2.1807, 0.0708, 0.0855, -0.0757, -0.2256, 1.4017, 6.3521, 2.2589, -0.0317, 0.149, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843f198243f84e1b4ea88cb6c8d8de9d805146ec80edc6d0a67215294881b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20a777e1020433c3e2810be3496fd2877532826bb01bf655a8112409da6f624",
        "media_type": "image/png",
        "type": "base64"
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    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f61be0ec0796a1946c2e203c6228e274815683ab972d38465c590cf11421193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 843f198243f8]
[blob c20a777e1020]
[blob 2f61be0ec079]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AjBX7BQpUsEGtoaUrK4fci",
      "input": {
        "note": "Two small blocks sit mid-table, left one around 34 cm forward / 23 cm right of the left arm base. Moving the left arm to hover ~12 cm above that block, gripper down.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.594,
          "left_j1": 2.322,
          "left_j2": 1.963,
          "left_j3": -1.212,
          "left_j4": 0,
          "left_j5": -0.594
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 37 steps (3.7s)",
      "tool_use_id": "toolu_01AjBX7BQpUsEGtoaUrK4fci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.588 left_j1=2.3203 left_j2=1.9339 left_j3=-1.1927 left_j4=-0.0055 left_j5=-0.5892 left_gripper=0.999 right_j0=0.0025 right_j1=0.004 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0051 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.5402, -12.8205, 8.335, 0.0855, 0.0415, 0.0171, -0.1148, -0.0615, 2.1128, 7.1863, 1.9609, -0.0024, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ed3a6624f56bca868b3fbe1e9960e73874fa1c6e51d02ebb622609af5264d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d4a9c39bc095167b9e2c0c7fe0d181f5833002c89a911cba958e05dd9a6eae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7edefa9355002b5feb51b11119761b42d32e8a13e18f554e81537f16a9bae86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 47ed3a6624f5
wire blob 75d4a9c39bc0
wire blob d7edefa93550
call 1 attempt 1 · /messages · status 200 · 4.764 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

no new messages

call 2 attempt 0 · /messages · status 200 · 4.43 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0132 left_j5=-0.0147 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0021 right_j5=-0.0143 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, 0.8821, 5.7778, 2.1807, 0.0708, 0.0855, -0.0757, -0.2256, 1.4017, 6.3521, 2.2589, -0.0317, 0.149, -0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.588 left_j1=2.3203 left_j2=1.9339 left_j3=-1.1927 left_j4=-0.0055 left_j5=-0.5892 left_gripper=0.999 right_j0=0.0025 right_j1=0.004 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0051 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.5402, -12.8205, 8.335, 0.0855, 0.0415, 0.0171, -0.1148, -0.0615, 2.1128, 7.1863, 1.9609, -0.0024, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ed3a6624f56bca868b3fbe1e9960e73874fa1c6e51d02ebb622609af5264d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d4a9c39bc095167b9e2c0c7fe0d181f5833002c89a911cba958e05dd9a6eae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7edefa9355002b5feb51b11119761b42d32e8a13e18f554e81537f16a9bae86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 47ed3a6624f5]
[blob 75d4a9c39bc0]
[blob d7edefa93550]
{
  "content": [
    {
      "signature": "CAISxAgKjAEIEBgCKkCG4JlfWDA1oilgO8uDKFqO5nQFwQFyUYo39MHyFyYkX9Dmnf95ntfPE/aTqn7ViP9brNanLL5KkHLywFbLnYLSMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMhgn7FY63GZ6z1B+nGgyc7Jvg1XoKXkTLZWkiMPsBIF9skVCoSOwm175ZXqCLrbElMA2Otl1HRuGbuecuu3MKjyqT98KLbgxx3HWVlSrkBvo8cBPx3AP5Bt5NgXsphPDCp6bckennYWVeUfAGbSZG1DNFA7ZQ89j0ShX6wiyCNc3/qn5PkmLyalpIET/nxTP0ODGj24A3IvHI06dUNgveW3WS0bRfJpVoYk0fvd/svRy/knHTcwSJYLD2ialTfyoEw+gxPDZOi70ehslIG14NQQE3G6FyN+By+CGj6j82URUAmDb9l/wZadckqmVO8M3Bx0yfATt69uTavVs9A5e4bSAtz8QeAAk1mgxgVcZrgYLZmX8quChu/hyD6wsr+EvtwZhSkIEqxdS5ZxpXsNH/u2RUoEeBwXTNIvwGYt9/d5+lOqVKCiNE+n7dgrQQCkGjr+twExJ5xDhXWz4o9F3g0lBbF6LFJWplinYZXNOq7U3Xx0xSO4sO42dfYH6RWYrsUmcWQW0lSbkTz9k4YH6VVC2XvjS2DlQiDdfW/T4WFQvUHM8oUuJSaMR8yjtrOMprBlFlFIol5GKPZprjdeURH14pQNkfRFMmIaGxdse9FFkecekCqtDfXXv5jIk0yDJpRtqb/JMmF+xZh815zdU4xkaSzOXPSLUs33h2sEeA9E25qPllJB347mrQRTLyOtGl2vdwI2RlVknVQ3m/hzNmt+4SNYMLbNA7uaW09eu1yNR3tkRRM8Yv1/7fsf6z8Q60iYZcFPiXYxanz5j+4TgGh4zbTujNrGN3e3Kjl7y1xO6wdSjP1kbLHFyys8vVn38m+oV40apUcaXbMg8S/TSPu5edAllOXqX9IQKoMoTJ3ddKvfC3/B4cUqHtrGJJq8OCTlMOYkoqVc5vat0AHtdIwLGKkWqPHBxW3nD/NHqe7qx3Pk4idANgrS/DZruUpGoSXj+q7BPeOUp++hoU8KUqKufLzjFd5AVZ/qmfGA710XdQ59Uz+KNEGg2/3bgER8nx62uDGeiqkZqjWCWTxNp2Mn4mGHuY2YxV9be04Gq+UiVoFVQozuIJwO8mmKHDxZlTtNcS0WNFXCFSXymdkQjv7t5mn/Lv2zMJGdEAmtnaTwZPv8bOc56XX7tQANmjMRcXv1MBaWqpgBvAL5qQsLW8ry8YJzvz5yeBjzQEuQoNvUPU21e5xYfIECPHli4q0CaMaRcvE3eZ1OP8EFI5S+ZeIUQxnePTTJLowAadaiJ2J3KEMVcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UhnGWwokcYjc8dDsE7Ribt",
      "input": {
        "note": "Wrist cam shows the block right at the jaw gap, well centered. Descending ~6 cm toward the block.",
        "targets": {
          "left_j1": 2.428,
          "left_j2": 1.889,
          "left_j3": -1.032
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UhnGWwokcYjc8dDsE7Ribt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5896 left_j1=2.3718 left_j2=1.9156 left_j3=-1.1023 left_j4=0.0116 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -8.4444, 3.535, 1.033, -0.1783, 0.0366, -0.0269, -0.0479, 1.5932, 7.0769, 1.9121, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6425738495fad31888021fd1d9e795678d67d1f16e7fc5bcd061a74829467b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4e22906707b14388558b7d22b4716ffeffc8f1364e26774da60d84178ebec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47b4ee1d4bb61135e43b256f38ad6b037344bfcf6f2942a26d12ac9bb26bb320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6425738495fa
wire blob 0e4e22906707
wire blob 47b4ee1d4bb6
call 3 attempt 0 · /messages · status 200 · 5.938 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0132 left_j5=-0.0147 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0021 right_j5=-0.0143 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, 0.8821, 5.7778, 2.1807, 0.0708, 0.0855, -0.0757, -0.2256, 1.4017, 6.3521, 2.2589, -0.0317, 0.149, -0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.588 left_j1=2.3203 left_j2=1.9339 left_j3=-1.1927 left_j4=-0.0055 left_j5=-0.5892 left_gripper=0.999 right_j0=0.0025 right_j1=0.004 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0051 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.5402, -12.8205, 8.335, 0.0855, 0.0415, 0.0171, -0.1148, -0.0615, 2.1128, 7.1863, 1.9609, -0.0024, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5896 left_j1=2.3718 left_j2=1.9156 left_j3=-1.1023 left_j4=0.0116 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -8.4444, 3.535, 1.033, -0.1783, 0.0366, -0.0269, -0.0479, 1.5932, 7.0769, 1.9121, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6425738495fad31888021fd1d9e795678d67d1f16e7fc5bcd061a74829467b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4e22906707b14388558b7d22b4716ffeffc8f1364e26774da60d84178ebec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b4ee1d4bb61135e43b256f38ad6b037344bfcf6f2942a26d12ac9bb26bb320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6425738495fa]
[blob 0e4e22906707]
[blob 47b4ee1d4bb6]
{
  "content": [
    {
      "signature": "CAIS5wcKjAEIEBgCKkAFCKpgYpOKhva82vOY87lXkjwhXJhY+ElepF15wp5Erqz06GSJOJ86ct7CbTBw4EIJ/dc4yPG/RGIQPKNhYFpAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMY/19Sl7y8udKaf5SGgwaMIybcknohBMYbUsiMPZzehxR+nNqTQMxB3LsvdPrgGYEzPKlfQnX7I7CL4ns7YiQu/S5X+DioCA3p2/CAiqHBto/lCxa1uPUgHi90BvYB+ePkL52o6LuGQV5BAKvbBvl00AV//N7HN9HRdCCQECR9MmESNk2HsQEAZQ7G1oOMCtPKaeiOf+38+PkEjaEbwPeysXunS09HZ1JX3ZU7oTGRPckWNalvHZ0LHyOkOJMHl/T9eZw1RrYuiAPz48HvQJh4tZPugbdm4heTsaVOr5nRhh+sX9qqd7azRulbFVivF7/oOu4GnSkRfMHWwCJzQCbldsBQaGI05mR4H8bVYEJB2bAizNYoiQsdm1pbi2+7RyzTOKy/ZVVDLwZA4m+G+7/YipJV/GuvaVe8lMrUtFbUIxufnTmFiMa1Y8o/EoHZEim/SJkWJ+BPBMOqGTDKk8hZ1nCogRInD6j2HA1dk0uWD85auDbHG6JWr9Mdn2501sMs36szPhatxHiBFUEAu1RZVzuTKtQbhuUdyoi59tzFQ8mE5S0vH2OD5InAowjpTpgHR5HW91C6Vxy5TuKmhhMKs4Sp4hn38ISs0KeW7JuTeSiBrvowkIRdLOtfOKhP0LLSVddRuswmlT5o2vNbyrLhhOBf3gt8l5b8ki5VeJHp5BnGkkDdM+8GPCh8pTomY+048lLuAJLi06cJziwJED2FggGsVvlZbhq9qxIExBeJX/igObxlxE1a2yqTiNGZ71GmkmIdYDOzMkl7M100EeGOwpkdsOGAjfqgG2sYPRvf0n42vTcSi8x3+uDPZUOBA5jh8Jra6CGSrGho5wHfm4H4bsdBe2kUOAzrB5dkyxOD4FPI5J6uGcFA2A4/tC6/p8epj+bsEQ8jL7smYeqtHGaVsw/f5sUfLR/P7nXfFbTgOtys3jX0hfSXGlSKgfaw1l9ZQM2Ztzq7YzniKN1kdQZ8/Xxn9jKrlaMq+34pvy+ZLr8ZI5UYDu2mYDGwpxad8NApjVXouEpvaMGWlWz0OC0Ks/yIx5xEXtLjVKgmTayjqqbHfA3kIV1ZlPezBsu2U4KZA7NBYp9HHMg18+KZ4vI3xznYiBMYlvqlyrSq3eEFv69PKiBtQ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DonByzx8kmRwuFcKrJQDLs",
      "input": {
        "note": "Block dropped out of the wrist view below the jaws, meaning it is nearer the base than the fingertips; pulling the radius in ~3 cm at the same height.",
        "targets": {
          "left_j1": 2.334,
          "left_j2": 1.705,
          "left_j3": -0.942
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DonByzx8kmRwuFcKrJQDLs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5961 left_j1=2.2791 left_j2=1.7508 left_j3=-0.9604 left_j4=-0.0139 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -8.0752, 1.9897, 0.5788, 0.1832, -0.0171, -0.0122, -0.0205, 1.6205, 6.9812, 1.9853, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5139e8693910570facb71c35ce8d40cbb2743e3a6acdedfd142f95ec8888ab7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6c625670e7f027a4e12a5c3c60f58c2470fb401bb34687a5b282c9d3207f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:329947f9559d77415b407f5340ac69b77efa7f0c37349cb99bd6d13b382d14ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5139e8693910
wire blob 7c6c625670e7
wire blob 329947f9559d
call 4 attempt 0 · /messages · status 200 · 4.311 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.588 left_j1=2.3203 left_j2=1.9339 left_j3=-1.1927 left_j4=-0.0055 left_j5=-0.5892 left_gripper=0.999 right_j0=0.0025 right_j1=0.004 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0051 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.5402, -12.8205, 8.335, 0.0855, 0.0415, 0.0171, -0.1148, -0.0615, 2.1128, 7.1863, 1.9609, -0.0024, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5896 left_j1=2.3718 left_j2=1.9156 left_j3=-1.1023 left_j4=0.0116 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -8.4444, 3.535, 1.033, -0.1783, 0.0366, -0.0269, -0.0479, 1.5932, 7.0769, 1.9121, -0.0269, -0.0708, -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=-0.5961 left_j1=2.2791 left_j2=1.7508 left_j3=-0.9604 left_j4=-0.0139 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -8.0752, 1.9897, 0.5788, 0.1832, -0.0171, -0.0122, -0.0205, 1.6205, 6.9812, 1.9853, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5139e8693910570facb71c35ce8d40cbb2743e3a6acdedfd142f95ec8888ab7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6c625670e7f027a4e12a5c3c60f58c2470fb401bb34687a5b282c9d3207f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:329947f9559d77415b407f5340ac69b77efa7f0c37349cb99bd6d13b382d14ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5139e8693910]
[blob 7c6c625670e7]
[blob 329947f9559d]
{
  "content": [
    {
      "signature": "CAIS5AgKjAEIEBgCKkCuO/FHwCRR3RshmskPhO5FF4Ecqg3c3KKp+uPaGg/95HKyffvO2oOeO9UlNVk2QrU0YuOnLP1YwVUGhZA9Hm9gMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMrN1PAQV2OkWhm6EoGgyNVzMgU/YaPUj2QyQiMAqBuVP8Yire1Vhj6k77EsocBxBKm7XoHTqZRoPYepbE6r7VJZfiSNPdJ1CmfGWDpiqEB7tjbIXRPL3TDO0OuG3bt9k0cxir6GjNnaJzlE6bJkSdf+QO6hVRe3gROjrj/o5TYGfL3ROkyhcmHehLqFkviqavjhBg1ykWzdUEuPpEekpMp/zx0hzomNBzHmnQfJOaTXt0CFcff7K/YSh+zwbP/IwvNIXoYASBXZaHXBnlDwwXOw9/0J588CR8qd/YbcUK8VdqQSWRzC94IruV9JE7pGvmLgBsaPcKfAGRzVNWP0yGfNJfBhpxz/Sv81BdpvpZjzfXDQ4lgrTw9fv2PmMJW0kXzTYgvK/rTHUR7PvYXkJyT5hsKHPbAU0CldYI1N7ZBtG0AFjnGbk3f/mOtr/xJibrxZIpr3Gn435UoCgMvWKO2d10RKjP0XKJiaI3K9yRN6LFYPBUMT7KXkfuWaYqtN1Lbgd/vzzFUq2puxhGsvOx7Qyom92Wqu9RQNNwCpcP5i+vNDiCMIX28kR0q4rOTF5/TQJPMDyO2vKAhoALs3G/PPaRV5XN3fT2YL8vQJ/Ry22q6nLQMmgK2tBwuX2dxF/tFFEa1eDu/6qxIlBloN1KNHK0CWy/SnIg0e2v2+38nJXMfke7lmhgZytzUSfxKhFCD2Z/7644gRhlZx3gTB1JeSzh9+8cBptAZpji1X4sCqFQgLdgORT3uzgSvqDVzdIjIaea0kCaGIE2tWbgGTmppXntA5zbU2DOkmjKTrKTUwEAuGqmyl/9qJHKQtby9ZlhK5NiFUGmMyv1MSC1wywSoV2CiR3ZDmUmaYTR9/Lmv23obzKTRixEoJeIKSgtHQPtXpW4vSmxtLdPmI9L82rwn879YEbM5/yr40Ry4i+L4SePdMDOZOa/4PRIiQTukE53t/9rh8rw2p8fPqRhJaCtPcaJUaZtpm3Y5jZr4W3yEmSkAq7TRWbSRLDjE/0R+YJ6pzFFaJCLheocUp9rLOeYxTEU/cLftrVoEosEu4Q5pVh8WR5y9fBwF6jzTMih8GoV0Fh6C4X4idU8MRkcnXxqzu2mXFg9owKexlzK34ZU6M2Rz7bagxbefwCUYUiU0krvh3SBH4/drI7VToa4JhU2Hk2POMoVZ9uqFTOVSO29KDhMhyRuR5sDZinMCPJmNY+SRk2IQqvxda3KHngdBbKC7nkEN1WrFNo6hxU1pVJJTqg41zq5g0FJNudFV8VnUAOCMPkShmhEf7EITEDmjwVvV1f9xxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wm2g3ppc8UWKmCgZvLWxYp",
      "input": {
        "note": "Still nothing in the wrist view, which is expected if the block is right at the grasp point; descending ~4 cm to table level to check for contact.",
        "targets": {
          "left_j1": 2.429,
          "left_j2": 1.686,
          "left_j3": -0.828
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Wm2g3ppc8UWKmCgZvLWxYp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2879 left_j2=1.75 left_j3=-0.9535 left_j4=-0.0307 left_j5=-0.6003 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.2103, 0.6632, 1.6386, 0.0757, -0.0317, -0.0122, -0.0889, 1.6205, 7.0222, 1.8926, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a1a739a1d4600f4cce85871efa1eaf14aa9c79780f673cce772cc4af8fc85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c5a943e7046737c0d57a9691fd1ed43fe47050ee4975578882e29384f379e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7820d2490cc4681a18ee92bf0b4d924eca2a9b1a94b0b695a019f42dc29c512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9d4a1a739a1d
wire blob 13c5a943e704
wire blob c7820d2490cc
call 5 attempt 0 · /messages · status 200 · 5.731 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5896 left_j1=2.3718 left_j2=1.9156 left_j3=-1.1023 left_j4=0.0116 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -8.4444, 3.535, 1.033, -0.1783, 0.0366, -0.0269, -0.0479, 1.5932, 7.0769, 1.9121, -0.0269, -0.0708, -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=-0.5961 left_j1=2.2791 left_j2=1.7508 left_j3=-0.9604 left_j4=-0.0139 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -8.0752, 1.9897, 0.5788, 0.1832, -0.0171, -0.0122, -0.0205, 1.6205, 6.9812, 1.9853, -0.0757, -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=-0.6022 left_j1=2.2879 left_j2=1.75 left_j3=-0.9535 left_j4=-0.0307 left_j5=-0.6003 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.2103, 0.6632, 1.6386, 0.0757, -0.0317, -0.0122, -0.0889, 1.6205, 7.0222, 1.8926, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a1a739a1d4600f4cce85871efa1eaf14aa9c79780f673cce772cc4af8fc85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c5a943e7046737c0d57a9691fd1ed43fe47050ee4975578882e29384f379e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7820d2490cc4681a18ee92bf0b4d924eca2a9b1a94b0b695a019f42dc29c512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9d4a1a739a1d]
[blob 13c5a943e704]
[blob c7820d2490cc]
{
  "content": [
    {
      "signature": "CAIS4AYKjAEIEBgCKkD8U3NErxe21ZGCXVgn7rAXfFmEUzmcwwyWVS4FZvcjya/9n9V0CDDSg1kAc7w8exW+0s9yUliXth+8QBryUhfRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMer4WJc/9/NtCL1KxGgwJF9ZP1Qk4sedfXb8iMOVVh0zsjCRC/6X7xbKmAVigLzgFMZ6WULjeJ0wWPGZxCc90eDHzQiPo6D4fBRiFdSqABUa5HK6lMjOVTeQkD6JaxDn+PERAYrc/auYrN8JgO8uK2l58vOmIaCtHr2t1B0JxwhyuQp2eKZt9esjNTODpdnjd8UjtjQOup+uk0gcukCvCqm52HZF5f699lHEOMoormdHaoQ+jPhGGnCJ9uJpRvazCTnPGp0MZX9Hlcfii4TDJgIy48VDW61kWcmbIoXDeTRgAy24hDv2Xj6hIia8dNC6YVZpzKWetW3oQBcRS/60J0eoU0I1VWaWARsk/0n7KS83jbinwzDlMXRpfIB4pbzVME4JOIkQfSbBal/xDmrqI5qgNZCiD5wuLBIaQosD9PjCqja5NG0iVaZHigpjyxigrsaD+RjdIERxZvVPfb1O6GGjtER0uhynP245AVzPY1Y+4LmqqxhyuYPQnUFa2Gchb9KVWUUJB19Ee9Ddm5iaghkoXLxjjOt1VMlCvmfpDZtkLjW5+BrGg/QwU47s8KPHeOk1cAFEnxxj2NyKwMComVoREt/kDF2GEaHScdDOPT04PA26X24Y5h+BSCrJeGkdt5y33zOytTcyt2BNI3pYJ22RtPLlUMMbO9Avq05FWAri+zxv0mZqdiLsDbCNSE795V9VIBUAqK3sFFJ0sk32Zut0E3NjFnOBfB7kv2klOnaR5fVhxcbnEYonedF3mQLetrAIecLLOdzCQqraBDzs8wcihkzNl55bTjDHs4ZeZlECMtK2fieTLunJj8am5urowNJbqxj9hGsh70rQcXisu8rvI9chNbi9lbWu7suf4Zz5D7cL3/IO3y7wVlIha/G8jWhojGd0BANxtDNJ38gmoBVguRBO/QT4Vh6LSZhPa9WsrvsJlrvffP3LT9VoVNSAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018eXZukYJUYPkNnEkt9zh7L",
      "input": {
        "note": "Fingertips appear to have reached the table (j1 effort relaxed) with the block right at the jaws; closing to test the 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_018eXZukYJUYPkNnEkt9zh7L",
      "type": "tool_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=2.2776 left_j2=1.7538 left_j3=-0.9592 left_j4=-0.0296 left_j5=-0.6029 left_gripper=0.0085 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -11.3573, 5.641, 0.5104, -0.0855, 0.0269, 0.6325, -0.0889, 1.8393, 7.2274, 1.9121, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14827acc407cf3489a60059b02620deec27dbafa127a747cde7aecc9a4f51324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36c7bf62b6fde35d491dc6872d335d2b18696813650bd3a3f0d132ecafe43c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55cf425f1345bb41c759ccc8080869cb9ad199e5bd4de37eeb80787b12392ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 14827acc407c
wire blob 36c7bf62b6fd
wire blob 55cf425f1345
call 6 attempt 0 · /messages · status 200 · 6.164 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5961 left_j1=2.2791 left_j2=1.7508 left_j3=-0.9604 left_j4=-0.0139 left_j5=-0.5964 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -8.0752, 1.9897, 0.5788, 0.1832, -0.0171, -0.0122, -0.0205, 1.6205, 6.9812, 1.9853, -0.0757, -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=-0.6022 left_j1=2.2879 left_j2=1.75 left_j3=-0.9535 left_j4=-0.0307 left_j5=-0.6003 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.2103, 0.6632, 1.6386, 0.0757, -0.0317, -0.0122, -0.0889, 1.6205, 7.0222, 1.8926, -0.0317, -0.0757, -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=-0.6025 left_j1=2.2776 left_j2=1.7538 left_j3=-0.9592 left_j4=-0.0296 left_j5=-0.6029 left_gripper=0.0085 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -11.3573, 5.641, 0.5104, -0.0855, 0.0269, 0.6325, -0.0889, 1.8393, 7.2274, 1.9121, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14827acc407cf3489a60059b02620deec27dbafa127a747cde7aecc9a4f51324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36c7bf62b6fde35d491dc6872d335d2b18696813650bd3a3f0d132ecafe43c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55cf425f1345bb41c759ccc8080869cb9ad199e5bd4de37eeb80787b12392ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 14827acc407c]
[blob 36c7bf62b6fd]
[blob 55cf425f1345]
{
  "content": [
    {
      "signature": "CAISkwsKjAEIEBgCKkAJ70KRxeO20dZAifnIp06HJoU5uOvIMIs8r3COruaQwxlGAYEWVOxJVc3YSXr7VuYrkCXtlXbGICANUV8XjPIeMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM8fUYU1u8dN0y7PieGgzu1yMnMEfFPlwr/M0iMP48FWybXu2A3cPNx5MuYrK//aUB7SUadRaaLemjILDOmIt7imQ5njZS8ZrFUNPpyyqzCaqsy9WTVJ9cztZ3QrcreAYA3n6R3B08MwpQzshOXl3wBwhmBK60yTOTCmuRN5mn2qi2yXf8u7iSRdTZRvLespnNOUAeo4aWx38Y50tSummvaZHuNYpmc3rSBiYzhb2UC9G5/MurH2+yQ/h3HeFlwXNcNMd6nyMGu2QHTwoDdDjz85df2yZU44AmTplliTJnOiOUdX1BgCWZYNY3K+zoi16XglCjyxU68JzRDXZwMPwJJc/3U/69TM6rJyg/knoW7mdcgkIhSnuRN2BGX8EtECVslm6NmxBEQc9fKPaJVZzPROkwJwEfcY6tp7qOahsEsnRIIPwUKdT1KxgaL/5AtcO72VYc5oNVGABlz5BrRbryhRLiHHuuPhL1GPQlh5OQeyF3uKgN7NSZ0ghlj1gOl4aHTEfJfbTYFZTM7hGSdZpNAjT0kJTyDATm2b0hcMpy3e7TCzFxE3uFu+eLss2k7c9vP5H38CJ9XJ+A7mooz8RIV6nTDiql+nQvcY9oZHX0msIvl0ZXoIxBIQwzUkpA5Y6IopYjIU5jltiNVraBsrB9ToqyeLI3iKbs+2JMrTRxgBYOC7omzWRnEqIzz8q2MT1EhNdZHANPIlIZ3ouKDZXA0F4A2QPlWHTauoF4WXJY2ERSE0fxCA8Dzh6zGvykWktKtp9Bg77GZ44XlhQtHq3aE3lCof6U04F90HQ3RPQk8eg5zdUvvawV7gSfV23XKqjbAH2Sd7jKYZIPAfk3O2xUEnSs4LpNJDzVLUrdQPSyQhO9MyDXr98k82ojFWmmOsjVIP01oJJ2BjdSCZKsOX7XUIk7jjfsMn850LdnWL6I471UeKQYMqseSUeNxA6kCL+FY3mEqMO887dq53PWdsLvsJtNTPX4yVV3vch++F3wfvZ164COeTfoykLO3CjGa5+w5yviPc+uMFtbifxuo/SjE3a6/hG79kDBdj4IFrG3IZiVgkHzEDQCXOabfes8CaE9qRjirppAMh7Yf3JSMlD6pVHiZbwYAua8z64jePklU+c1jYsDh1zXxrRqWdATkyCDU+AMbIt1xvrbaaF6wDgX/BJ/eyZUlzfjS9/7DQeldl/gO7fvXfxB5vV+1iEUoKjNRb0JaLys2DtY+rl0sKSoh92bzEmmXHekW+gAgoqyi6GYwdxA9cq2YhrI1ZtO0gTuEmd/N6UO+4tD6H15Lh7Ay/DvJLfY9yjeFWigdUAVT8qD+nZ8ju3ulUE4u4N3nx6BVZWvWwa5Oa0bLcDdPi8j1Tdsfj0FOT7LxGXq2gdwSMlCEZ8xkgX2cPqIUl4CArJ3GQ8NTbshJbn7YziaVp7cxDphv2+LNwtcW6u1nZlKvODd+9+jA7BO2HlJPwO2PI5GLkEin/VmH4e4dgonfnIPuKR8dinnqgiWpN8Wr/UEzjOdGzlpYKCSp6akmQnQ/OfRywg/yjl9Flh1aeXsAc4gfSGAyErI6ap/aYOD33m8v0Yq1Qf3TUEUicJ12P5w9cffQfE3ssIerfqsb69hWh+Oj8FCsjg0Cb/ynGi2p1R6dAtIxVye/Fwpcp1LiO7SNRv/boVxWDmZLE2M7v1QNmcUkDLG3+H2k5BQAnanNQT5xSyjbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fv7rfYvL7nLM8PEejchyTB",
      "input": {
        "note": "The close came back with ~0.008 residual — I gripped air. Lifting ~10 cm to re-acquire the blue block in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.214,
          "left_j2": 1.775,
          "left_j3": -1.132
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fv7rfYvL7nLM8PEejchyTB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.601 left_j1=2.2589 left_j2=1.7576 left_j3=-1.1225 left_j4=-0.0322 left_j5=-0.6025 left_gripper=0.9982 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -15.665, 6.9949, 0.0611, -0.0366, -0.0122, -0.1978, -0.0889, 1.7709, 7.2684, 1.9219, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1c8c7320f56247b28fc0d6aa26e039db02e9714055abfb2f93ef3a1888b229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605295adf3017a89930c6e886003f63f63e3c4e100f770af4a745293c9ceb1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1068ce893a1e9609b659a2256d695670a147bc949081d54c8898e7752b672ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3c1c8c7320f5
wire blob 605295adf301
wire blob 1068ce893a1e
call 7 attempt 0 · /messages · status 200 · 4.772 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2879 left_j2=1.75 left_j3=-0.9535 left_j4=-0.0307 left_j5=-0.6003 left_gripper=0.9988 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.2103, 0.6632, 1.6386, 0.0757, -0.0317, -0.0122, -0.0889, 1.6205, 7.0222, 1.8926, -0.0317, -0.0757, -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=-0.6025 left_j1=2.2776 left_j2=1.7538 left_j3=-0.9592 left_j4=-0.0296 left_j5=-0.6029 left_gripper=0.0085 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -11.3573, 5.641, 0.5104, -0.0855, 0.0269, 0.6325, -0.0889, 1.8393, 7.2274, 1.9121, -0.0757, -0.0513, -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=-0.601 left_j1=2.2589 left_j2=1.7576 left_j3=-1.1225 left_j4=-0.0322 left_j5=-0.6025 left_gripper=0.9982 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -15.665, 6.9949, 0.0611, -0.0366, -0.0122, -0.1978, -0.0889, 1.7709, 7.2684, 1.9219, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1c8c7320f56247b28fc0d6aa26e039db02e9714055abfb2f93ef3a1888b229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605295adf3017a89930c6e886003f63f63e3c4e100f770af4a745293c9ceb1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1068ce893a1e9609b659a2256d695670a147bc949081d54c8898e7752b672ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3c1c8c7320f5]
[blob 605295adf301]
[blob 1068ce893a1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HUPrNC925WrUwYPb67kZSt",
      "input": {
        "note": "Wrist view now shows the pale block sitting just below the jaw gap, i.e. slightly nearer the base than my fingertips; pulling in 2 cm and descending to table level for another grasp attempt.",
        "targets": {
          "left_j1": 2.348,
          "left_j2": 1.573,
          "left_j3": -0.797
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HUPrNC925WrUwYPb67kZSt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.606 left_j1=2.225 left_j2=1.6444 left_j3=-0.9417 left_j4=-0.0147 left_j5=-0.6048 left_gripper=0.9981 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.6889, 0.4991, 1.6142, -0.2076, -0.0366, -0.0317, -0.2256, 1.6205, 7.1043, 1.9512, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589e2a74d61f6d583d65a2624feb68cd3f645e13db7f48a60adb45eabbd08f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a4749f722b1bbb4396b7619fcd185751b1103364d5a1f450aaa44bcf9c30b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f435f32e4b7233df1894b857d179bfdcb1c26a5d26665c4ed447811a197541e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 589e2a74d61f
wire blob 90a4749f722b
wire blob f435f32e4b72
call 8 attempt 0 · /messages · status 200 · 7.285 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6025 left_j1=2.2776 left_j2=1.7538 left_j3=-0.9592 left_j4=-0.0296 left_j5=-0.6029 left_gripper=0.0085 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0669 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -11.3573, 5.641, 0.5104, -0.0855, 0.0269, 0.6325, -0.0889, 1.8393, 7.2274, 1.9121, -0.0757, -0.0513, -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=-0.601 left_j1=2.2589 left_j2=1.7576 left_j3=-1.1225 left_j4=-0.0322 left_j5=-0.6025 left_gripper=0.9982 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -15.665, 6.9949, 0.0611, -0.0366, -0.0122, -0.1978, -0.0889, 1.7709, 7.2684, 1.9219, -0.0708, -0.0611, -0.0171]\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 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=-0.606 left_j1=2.225 left_j2=1.6444 left_j3=-0.9417 left_j4=-0.0147 left_j5=-0.6048 left_gripper=0.9981 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.6889, 0.4991, 1.6142, -0.2076, -0.0366, -0.0317, -0.2256, 1.6205, 7.1043, 1.9512, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589e2a74d61f6d583d65a2624feb68cd3f645e13db7f48a60adb45eabbd08f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a4749f722b1bbb4396b7619fcd185751b1103364d5a1f450aaa44bcf9c30b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f435f32e4b7233df1894b857d179bfdcb1c26a5d26665c4ed447811a197541e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 589e2a74d61f]
[blob 90a4749f722b]
[blob f435f32e4b72]
{
  "content": [
    {
      "signature": "CAIS5gkKjAEIEBgCKkAkFrT0f+KKo8SbE0BAEeA77jwhyGnAqK8rU7ee3GrCvPGHKikR7NQZ+OGozmvgxtEtyefd9ph4pzod6V4XJROHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4JCLSZP75CQ+XOcPGgwLNsmCIi1ZNQi+0x8iME7AuQxwq66Y1VXsKALfDdQb1fZ/Ld530dqHm/eGaPxORKSWzZncdc1ny0JV5b+YpSqGCKTAR+TpAB5LQZbn49TJkzkDjlbJcaIs6Qk2dPYqM70pM+0KvjvODNeGhk5JcdsI3bGq5fSRSpsuI5AoaRFgYyhl4KJUwEIOQ+ndHzHR4PyiQuBn2yGkMnUHI7qTi268I4hvyf/EC3KjywfGXHXMfMWtkSKIWJr79nuIrsKiq2Y0ZS4YK8EpvDaJK4sYeK82Pm8z//hurc/8JjqJkNEP9A2y7Yr6VMsu8gBrE+T9FNa69PF1955VK28QyguDwpzt/5F/E12hHHSclpgrUcn62zJGAf/IMr4TrMTMooM2o098oh+3HccgU8jhBm9Ts3wc9dUZsk43e35Zig5xwwgRhzHaC6iL9JwYzp6PlJTtzGDK67vi9N09L2e/6o9rWcUWPTlD+dfIrbaBJtl63pCE+mrPPHVEhh1zURXyAFe+r+2crbBzfMpkbMCGwB9VRS2Y9IJ6LL61I3RaGA6oaVo5Uf7t2YVV0Klx4wii8yBnPBcPySEZKaBIKqg+6vFlFo7BlwZd5cBpRnuKlgWN0QqBHu/4zD09vxfkNhbB0QBk6nFUdxHImtJNSUPJM1FogmmOV9xn8kaYA4mv+9iQnUnRF+WR2fCpfTnuY6+P9PmBhpWTFl3XPnG3vca+X6/I1LJWnzgOIhCAuYarQnpovxxdS7490zVNglc1jAAPAefgKdJvd93sop7b8iuQBaWQXxbAPbInyuXuZckazERr7d08UVHqsZx7CE1+cruSXckYmfV4StpfwECmZ8NGLqssCzrlppZuah93YdnWma12L9s/eJpMK5odjLTyvwFKUWGRcZtANNxVIDmFBIdR1IHL+nCmxpHqpKYzAc/ITVAGXQ8Eg5C6ZPWdJ8Td84x/FjN0MtRQ+1+aOjwQXxIaKkIwJYjwLcGAc/Vutm+U0S7avwcUtV0Gas7JfCNqm1KRUf03++lTjTvC4eiYRAq3WCgO88iwYtZHuO426CYSd9ezTNtwtjQAWU+g8kTTGyS7XTmi5bYBqHs4ufot/knLZL/hisRlCaoOofnDGgWXN/qecuSA4Y2qkm4waZ5g1YRVvEjbMSS3IQODzlRSvMoQx4foWpPIat7l7pHdzdQkktSWgdo6qXRoso/dNS9QFW3SxSGGpFgaV/r8yeHthX5fof1356b2/F6T9phi0OH0jPqtyWHYfT0soGgXadSESsi0JxMWq///9YfKi+c55Z++K8hyobltodhx5IUs3Nf+VYSsU5W6+d5DmOj8VhC7DUy/AQz0nWNiIgLnctyaZaPHX746y0O+pZLB5OWGn1uRx/Leq7p3fRp/lscXfn665l5hC9r8+OS9xhsEYk4z8Gype4SFHGTsgILEC676Qdc6XemFXwTFTP9MT/BaZGkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHgJ5Tnr1V57ATp87giqkK",
      "input": {
        "note": "Fingertips at table (j1 effort relaxed) with a pale object between the jaws; 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_01JHgJ5Tnr1V57ATp87giqkK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6064 left_j1=2.2105 left_j2=1.6402 left_j3=-0.9386 left_j4=-0.0212 left_j5=-0.6075 left_gripper=0.4227 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -10.4684, 5.9419, 0.3736, 0.0366, -0.0122, 1.0281, -0.0615, 1.6068, 7.4188, 1.9121, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61f7177dcecf4bbc08add5f9097497589a02bdbcb3af989f05ac688de574950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39af449cb947ff7bb6816734cb72d5070ee6f5b6bef3fc1804503b25dfba5e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0318ec43e2725e20fb09c53118f299a7c050ea77dcb1893423441b13011392b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b61f7177dcec
wire blob f39af449cb94
wire blob e0318ec43e27
call 9 attempt 0 · /messages · status 200 · 9.14 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.601 left_j1=2.2589 left_j2=1.7576 left_j3=-1.1225 left_j4=-0.0322 left_j5=-0.6025 left_gripper=0.9982 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -15.665, 6.9949, 0.0611, -0.0366, -0.0122, -0.1978, -0.0889, 1.7709, 7.2684, 1.9219, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.606 left_j1=2.225 left_j2=1.6444 left_j3=-0.9417 left_j4=-0.0147 left_j5=-0.6048 left_gripper=0.9981 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.6889, 0.4991, 1.6142, -0.2076, -0.0366, -0.0317, -0.2256, 1.6205, 7.1043, 1.9512, -0.0708, -0.0269, -0.0171]",
      "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=-0.6064 left_j1=2.2105 left_j2=1.6402 left_j3=-0.9386 left_j4=-0.0212 left_j5=-0.6075 left_gripper=0.4227 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -10.4684, 5.9419, 0.3736, 0.0366, -0.0122, 1.0281, -0.0615, 1.6068, 7.4188, 1.9121, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61f7177dcecf4bbc08add5f9097497589a02bdbcb3af989f05ac688de574950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39af449cb947ff7bb6816734cb72d5070ee6f5b6bef3fc1804503b25dfba5e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0318ec43e2725e20fb09c53118f299a7c050ea77dcb1893423441b13011392b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b61f7177dcec]
[blob f39af449cb94]
[blob e0318ec43e27]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014jd83xTBJ4bn46wHVQK9nS",
      "input": {
        "note": "Grasp confirmed: gripper residual 0.42 (~4 cm block) with high effort. Lifting ~9 cm to carry it toward the red block.",
        "targets": {
          "left_j1": 2.146,
          "left_j2": 1.659,
          "left_j3": -1.084
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_014jd83xTBJ4bn46wHVQK9nS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6064 left_j1=2.2028 left_j2=1.6402 left_j3=-1.0176 left_j4=-0.0212 left_j5=-0.6071 left_gripper=0.4219 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -15.9795, 6.9812, 0.2369, -0.0757, -0.0464, 0.9841, -0.1709, 1.7983, 7.2274, 1.8877, -0.0513, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6f5f73c8cbc8d385953f5bb367cab795adc8e7dfdde7c74155585c8b833b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55aeea221fc82d1e318de8ae3070f295a4260bed146697159d9dd5ea6a28f37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e17fc5d490fa233b90119a73ea5dba395096c65afe95c8c0e5c6bdb1028aa523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ea6f5f73c8cb
wire blob 55aeea221fc8
wire blob e17fc5d490fa
call 10 attempt 0 · /messages · status 200 · 3.844 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.606 left_j1=2.225 left_j2=1.6444 left_j3=-0.9417 left_j4=-0.0147 left_j5=-0.6048 left_gripper=0.9981 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -1.6889, 0.4991, 1.6142, -0.2076, -0.0366, -0.0317, -0.2256, 1.6205, 7.1043, 1.9512, -0.0708, -0.0269, -0.0171]",
      "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=-0.6064 left_j1=2.2105 left_j2=1.6402 left_j3=-0.9386 left_j4=-0.0212 left_j5=-0.6075 left_gripper=0.4227 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -10.4684, 5.9419, 0.3736, 0.0366, -0.0122, 1.0281, -0.0615, 1.6068, 7.4188, 1.9121, -0.0611, -0.0659, -0.0171]",
      "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=-0.6064 left_j1=2.2028 left_j2=1.6402 left_j3=-1.0176 left_j4=-0.0212 left_j5=-0.6071 left_gripper=0.4219 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -15.9795, 6.9812, 0.2369, -0.0757, -0.0464, 0.9841, -0.1709, 1.7983, 7.2274, 1.8877, -0.0513, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6f5f73c8cbc8d385953f5bb367cab795adc8e7dfdde7c74155585c8b833b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55aeea221fc82d1e318de8ae3070f295a4260bed146697159d9dd5ea6a28f37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e17fc5d490fa233b90119a73ea5dba395096c65afe95c8c0e5c6bdb1028aa523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ea6f5f73c8cb]
[blob 55aeea221fc8]
[blob e17fc5d490fa]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3hFynGux7seuzSiFadXEd",
      "input": {
        "note": "Carrying the block; swinging the base yaw right to line up with the red 'a' block, keeping wrist roll matched to j0.",
        "targets": {
          "left_j0": -0.808,
          "left_j5": -0.808
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U3hFynGux7seuzSiFadXEd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7948 left_j1=2.1925 left_j2=1.6398 left_j3=-1.0222 left_j4=-0.0246 left_j5=-0.7471 left_gripper=0.4233 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [1.4017, -10.6735, 5.5453, 0.2418, -0.0464, -0.1587, 0.8376, -0.0889, 1.812, 7.0085, 1.8828, -0.0122, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0fe501bb6f6ff4821def58b25cb55d6f2ddc9716a3cc4aba9330b44e2818c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28f09a0e96d9f6c15a048a53b6830474f34cc7ea071739fa86bae2878243d8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab81620ccbf9542cd3dc889a5b03f73ce55e79511a1a8abdfe96216c692daf4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9c0fe501bb6f
wire blob 28f09a0e96d9
wire blob ab81620ccbf9
call 11 attempt 0 · /messages · status 200 · 7.372 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6064 left_j1=2.2105 left_j2=1.6402 left_j3=-0.9386 left_j4=-0.0212 left_j5=-0.6075 left_gripper=0.4227 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -10.4684, 5.9419, 0.3736, 0.0366, -0.0122, 1.0281, -0.0615, 1.6068, 7.4188, 1.9121, -0.0611, -0.0659, -0.0171]",
      "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=-0.6064 left_j1=2.2028 left_j2=1.6402 left_j3=-1.0176 left_j4=-0.0212 left_j5=-0.6071 left_gripper=0.4219 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -15.9795, 6.9812, 0.2369, -0.0757, -0.0464, 0.9841, -0.1709, 1.7983, 7.2274, 1.8877, -0.0513, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.7948 left_j1=2.1925 left_j2=1.6398 left_j3=-1.0222 left_j4=-0.0246 left_j5=-0.7471 left_gripper=0.4233 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [1.4017, -10.6735, 5.5453, 0.2418, -0.0464, -0.1587, 0.8376, -0.0889, 1.812, 7.0085, 1.8828, -0.0122, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0fe501bb6f6ff4821def58b25cb55d6f2ddc9716a3cc4aba9330b44e2818c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28f09a0e96d9f6c15a048a53b6830474f34cc7ea071739fa86bae2878243d8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab81620ccbf9542cd3dc889a5b03f73ce55e79511a1a8abdfe96216c692daf4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9c0fe501bb6f]
[blob 28f09a0e96d9]
[blob ab81620ccbf9]
{
  "content": [
    {
      "signature": "CAISjgQKjAEIEBgCKkCxEA5NQ6EhVVwNREYL4XZ+pX7l6sAqCkoLwKQUjnf4GEjEXX+FR5/gm9rOp6MvnYZq+D5G2mgl5ASez+yAbP6/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMWHJ7asqC9KOUjyOTGgwqWZIgnC5eRoDngk4iMIXXajicmC/JoldGWcBgQKhkRluQqjFfghRXl9NxgLptNPiIK2y166ifqzQb/grd4yquAryRzv1XDkDW6Zvw6jbOmHaG45GQVioAKKmExrRv41e06m7iVN15uxWaLZH+uie2jt0gnvh3opNrEU2DlVYzJtDxjg30r10+p2CXYgOEPOiYC1MO30EWnjBdvyQOVuP1chnciQ2d/4Gx36CAuwGXV688KccwbJGNrxekl3clb7WpfumeKFucv337ZB4W6hNqKUnUxPjQiBnmIsf8fd/CWyXwN+Hyd1906ky4y+bYypB6J87LR4SiFjv5y3dARP+n33NhvMiS8lpSKz5FTTZTotLZJuU1zySRxYqAEdsQ9wwcMxto4NvN+PT7CGens5FafYlWNbz6wPXh7DWWVzjTzK6KGAooN/m3KqSklcGoiRrt70Cn/ZOv3oQpRHexm0J25eU/HLseHsgo1vW+pliyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHjJ5ceK8PrBuxgzV1Js8C",
      "input": {
        "note": "Extending the arm outward and forward to reach over the red block, keeping the gripper mostly downward but tilted for extra reach.",
        "targets": {
          "left_j1": 2.565,
          "left_j2": 2.414,
          "left_j3": -1.049
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01BHjJ5ceK8PrBuxgzV1Js8C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.5568 left_j2=2.3657 left_j3=-1.0737 left_j4=-0.0143 left_j5=-0.775 left_gripper=0.4262 right_j0=0.0025 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -14.3385, 8.7863, 0.9597, -0.1148, 0.2027, 0.5788, -0.0752, 1.4017, 6.9812, 1.8974, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25fdf9faf8a7e5f020af56428a54ea8fadd6bc2a4f1aabb0b544e77fa32e2800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d266552b85e2172331cba438d8f905f15e0c9864d7f5898ae191741dc04c189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac84b20c6738fc54117232517fd395b71d011e558a46fba218f439151b1ad228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 25fdf9faf8a7
wire blob 3d266552b85e
wire blob ac84b20c6738
call 12 attempt 0 · /messages · status 200 · 4.727 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6064 left_j1=2.2028 left_j2=1.6402 left_j3=-1.0176 left_j4=-0.0212 left_j5=-0.6071 left_gripper=0.4219 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -15.9795, 6.9812, 0.2369, -0.0757, -0.0464, 0.9841, -0.1709, 1.7983, 7.2274, 1.8877, -0.0513, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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=-0.7948 left_j1=2.1925 left_j2=1.6398 left_j3=-1.0222 left_j4=-0.0246 left_j5=-0.7471 left_gripper=0.4233 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [1.4017, -10.6735, 5.5453, 0.2418, -0.0464, -0.1587, 0.8376, -0.0889, 1.812, 7.0085, 1.8828, -0.0122, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.7959 left_j1=2.5568 left_j2=2.3657 left_j3=-1.0737 left_j4=-0.0143 left_j5=-0.775 left_gripper=0.4262 right_j0=0.0025 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -14.3385, 8.7863, 0.9597, -0.1148, 0.2027, 0.5788, -0.0752, 1.4017, 6.9812, 1.8974, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25fdf9faf8a7e5f020af56428a54ea8fadd6bc2a4f1aabb0b544e77fa32e2800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d266552b85e2172331cba438d8f905f15e0c9864d7f5898ae191741dc04c189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac84b20c6738fc54117232517fd395b71d011e558a46fba218f439151b1ad228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 25fdf9faf8a7]
[blob 3d266552b85e]
[blob ac84b20c6738]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015pYYqoYPpBqVLpEjXmZQxb",
      "input": {
        "note": "Overhead shows my carried block just up-left of the red target block; shifting ~6 cm right and 3 cm nearer to hover directly over it.",
        "targets": {
          "left_j0": -0.914,
          "left_j1": 2.625,
          "left_j2": 2.525,
          "left_j3": -1.0,
          "left_j5": -0.914
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015pYYqoYPpBqVLpEjXmZQxb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8646 left_j1=2.6225 left_j2=2.4775 left_j3=-1.0496 left_j4=-0.0216 left_j5=-0.87 left_gripper=0.4285 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-1.894, -15.1453, 9.1966, 1.1795, 0.0269, -0.022, 0.359, -0.0205, 1.5932, 7.1043, 1.8877, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124e30076d789b15546f9eb967b572b8fe75cfdcf54c3df4443bde27cb552ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb324dc19641f9fb4c814a87845fc2389e24b8e928694abf8cad97946c5f57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c12c2a9de46e6f414b6b80d5c2e826615ca34dbcf752343d94833d889566f0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 124e30076d78
wire blob 6bb324dc1964
wire blob c12c2a9de46e
call 13 attempt 0 · /messages · status 200 · 4.465 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7948 left_j1=2.1925 left_j2=1.6398 left_j3=-1.0222 left_j4=-0.0246 left_j5=-0.7471 left_gripper=0.4233 right_j0=0.0025 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [1.4017, -10.6735, 5.5453, 0.2418, -0.0464, -0.1587, 0.8376, -0.0889, 1.812, 7.0085, 1.8828, -0.0122, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.7959 left_j1=2.5568 left_j2=2.3657 left_j3=-1.0737 left_j4=-0.0143 left_j5=-0.775 left_gripper=0.4262 right_j0=0.0025 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -14.3385, 8.7863, 0.9597, -0.1148, 0.2027, 0.5788, -0.0752, 1.4017, 6.9812, 1.8974, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8646 left_j1=2.6225 left_j2=2.4775 left_j3=-1.0496 left_j4=-0.0216 left_j5=-0.87 left_gripper=0.4285 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-1.894, -15.1453, 9.1966, 1.1795, 0.0269, -0.022, 0.359, -0.0205, 1.5932, 7.1043, 1.8877, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124e30076d789b15546f9eb967b572b8fe75cfdcf54c3df4443bde27cb552ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb324dc19641f9fb4c814a87845fc2389e24b8e928694abf8cad97946c5f57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12c2a9de46e6f414b6b80d5c2e826615ca34dbcf752343d94833d889566f0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 124e30076d78]
[blob 6bb324dc1964]
[blob c12c2a9de46e]
{
  "content": [
    {
      "signature": "CAISyAUKjAEIEBgCKkA0/bWnRAzd3E/xbHpfzoFkqSRWVerD8z7xjSCgZR7TnYCCIZeOavb+CWcgHaHsMSOfazhbrcD+7z7KcfBRHQwKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMli6sR7MQlYG/Ors+Ggz9gwKP2x3aTK8rgNEiMIhxoIzj+HwE6/gm/WqboapTmVT+mXCThFE3cJxaEULckB/QNfaav92hac1BnS8nWiroAz7fXLko7VOXm3Gp3Dpj73vqKF7AeCuS5HyxPW1i8Ej1ZWQAw89CpidAegc1WeYMBjFXQ289KaeGbQf+eCsstvfuTzeOF81vct9SuPsBUU+/KrAal9P/Ql3f/YOYgEHUW1vuuCkKooFot2HcOmUDNmw0fXcqYwjfB8IPeZgPia5Hg00R9JH/X8xZ+eb0TP4nk/joFu1iauhjl+BcVTuGkXAtCL8MuGvbpCV7PdCzP540rRc2YVWLbQVQ5ipbe3DYopTu9VAB8HvU9uajTJuRtaW+gCyNTBetgYNJnlIRDwIaHb0ivazGji/h+SQB1i+vMupJo3LmwHCDtTtXpj3S60d7PRESt67Y/qw1jDqd3LodC/t2I3ltV8ONQ0FDR2PRkP4nNZ8K6P9/Gmt6bjeX7HgAA0R7ZeMuD69xWeXFUKRmbs8vEraUp6R7ZDZ46AAv4DJc9zkgiHBQf5Xez1KXbDI4I4lvIedBmrLnScBdiIQJE6ll+SS0SPpPP17+2tiY2kzVNVmyTCCcBfvedltl3eVupRkOmAUDGyms3HMZnwpCkjCmGJbhg4pqpX1FMdosgm5xxJ6nCDijpy2T/hBBcxc4C+9VKQR26QlSteCbSU0gKaLDM28Sd4fMsbGCNNgbgGpTIU7QHvEVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q77tLpAC6tb4jsdNdAij4i",
      "input": {
        "note": "The carried block is now just left of the red block by ~4 cm; nudging base yaw further right to center over it.",
        "targets": {
          "left_j0": -0.99,
          "left_j1": 2.7,
          "left_j2": 2.56,
          "left_j3": -1.02,
          "left_j5": -0.99
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q77tLpAC6tb4jsdNdAij4i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9318 left_j1=2.6625 left_j2=2.5362 left_j3=-1.0286 left_j4=-0.0219 left_j5=-0.9531 left_gripper=0.43 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-3.6855, -13.3949, 7.5692, 0.9597, 0.0122, -0.0269, 0.1441, -0.0068, 1.7436, 7.0085, 1.9219, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7df960136157d59907c280413bd68f9d634d7bdce16a9b3f01bae331c0a1dc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56cfa28417590c741c1e9485fd37678fa013aef05f8499d4c466563389bcae8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02b5a71303c02486fa2bc57e6a851215bf7cde15be56c9e4f152725e92a18c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a7df96013615
wire blob 56cfa2841759
wire blob 02b5a71303c0
call 14 attempt 0 · /messages · status 200 · 6.478 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.5568 left_j2=2.3657 left_j3=-1.0737 left_j4=-0.0143 left_j5=-0.775 left_gripper=0.4262 right_j0=0.0025 right_j1=0.0071 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0154 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -14.3385, 8.7863, 0.9597, -0.1148, 0.2027, 0.5788, -0.0752, 1.4017, 6.9812, 1.8974, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8646 left_j1=2.6225 left_j2=2.4775 left_j3=-1.0496 left_j4=-0.0216 left_j5=-0.87 left_gripper=0.4285 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-1.894, -15.1453, 9.1966, 1.1795, 0.0269, -0.022, 0.359, -0.0205, 1.5932, 7.1043, 1.8877, -0.0464, -0.0415, -0.0171]",
      "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=-0.9318 left_j1=2.6625 left_j2=2.5362 left_j3=-1.0286 left_j4=-0.0219 left_j5=-0.9531 left_gripper=0.43 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-3.6855, -13.3949, 7.5692, 0.9597, 0.0122, -0.0269, 0.1441, -0.0068, 1.7436, 7.0085, 1.9219, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7df960136157d59907c280413bd68f9d634d7bdce16a9b3f01bae331c0a1dc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56cfa28417590c741c1e9485fd37678fa013aef05f8499d4c466563389bcae8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b5a71303c02486fa2bc57e6a851215bf7cde15be56c9e4f152725e92a18c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a7df96013615]
[blob 56cfa2841759]
[blob 02b5a71303c0]
{
  "content": [
    {
      "signature": "CAIS1wMKjAEIEBgCKkB8LjAXk51Z65KiPdhT2J0U1TN2+F62m3LQmsFJo8M9psSjIZnhSyEXMIgM2YUJlNriwPLvFPamJ67McUMNq9tCMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGFFetvW8NLRFU0kDGgyjQBU4Axi0r00XtWMiMCHSJDn2AC8bTyeL1/L2LcvrGRqyxfaGuqcgWmPtBClRekjTTGVu6rDXz4jYIjfV7yr3AQpch7554uHIMMgSxk+y+U9mQYvfDWTGgsbDuSQroBPFM20/LmktvYPgvJSsub3hqJJOi9Rhxzw8gaNbSB6dH7JMy6CXC8G/qlNQ0qgjALhnR6wOSPkPKnQH9zfePsF0lWX7gJkIUUiqH1qiWfQ09HQ+mpgQZEMz6z2c7H1S1yeHrhpC3NGea8SZey1nu2yBnx7U//V1OL1lhSOhKZLI17lgXun3z/Pk+uq97BI/0+CWetV0JJTYhlc6HDakLH14V0T+ch+lAIb2eHBKQjlOSoLYplFTAK3CekBFbBwYwVPITcNMqno+IyKHyi1LsXaEAMLnTOajpmMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GXyfMWVFcgZft2pLYykHP8",
      "input": {
        "note": "Move undershot as usual; re-issuing slightly beyond to converge over the red block.",
        "targets": {
          "left_j0": -1.02,
          "left_j1": 2.74,
          "left_j2": 2.6,
          "left_j3": -1.02,
          "left_j5": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GXyfMWVFcgZft2pLYykHP8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9981 left_j1=2.7281 left_j2=2.5713 left_j3=-1.0317 left_j4=-0.0216 left_j5=-1.0042 left_gripper=0.4313 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-1.7299, -14.7624, 7.7744, 1.0818, -0.022, -0.1343, 0.1343, -0.0205, 1.6342, 7.241, 1.8681, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33851355411424319fcb4c0ac31a91e57d718184f1c73ebadefab64ef950e554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f25459c58aa73064f98c33e2bf928ec8ddb955b791cde59b06516fa6c430258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fe3d315204398f2530af6bf8bcaf3f21a5fa627634100487bf2a429d8fea1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 338513554114
wire blob 8f25459c58aa
wire blob 0fe3d3152043
call 15 attempt 0 · /messages · status 200 · 10.4 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8646 left_j1=2.6225 left_j2=2.4775 left_j3=-1.0496 left_j4=-0.0216 left_j5=-0.87 left_gripper=0.4285 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-1.894, -15.1453, 9.1966, 1.1795, 0.0269, -0.022, 0.359, -0.0205, 1.5932, 7.1043, 1.8877, -0.0464, -0.0415, -0.0171]",
      "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=-0.9318 left_j1=2.6625 left_j2=2.5362 left_j3=-1.0286 left_j4=-0.0219 left_j5=-0.9531 left_gripper=0.43 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-3.6855, -13.3949, 7.5692, 0.9597, 0.0122, -0.0269, 0.1441, -0.0068, 1.7436, 7.0085, 1.9219, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9981 left_j1=2.7281 left_j2=2.5713 left_j3=-1.0317 left_j4=-0.0216 left_j5=-1.0042 left_gripper=0.4313 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-1.7299, -14.7624, 7.7744, 1.0818, -0.022, -0.1343, 0.1343, -0.0205, 1.6342, 7.241, 1.8681, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33851355411424319fcb4c0ac31a91e57d718184f1c73ebadefab64ef950e554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f25459c58aa73064f98c33e2bf928ec8ddb955b791cde59b06516fa6c430258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe3d315204398f2530af6bf8bcaf3f21a5fa627634100487bf2a429d8fea1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 338513554114]
[blob 8f25459c58aa]
[blob 0fe3d3152043]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xPx6VnLDVRcFAh2K25Qh8",
      "input": {
        "note": "The red block does not appear in the wrist view, so it is nearer the base than my fingertips; pulling the arm in ~5 cm to bring it into view.",
        "targets": {
          "left_j1": 2.417,
          "left_j2": 2.148,
          "left_j3": -0.932
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_015xPx6VnLDVRcFAh2K25Qh8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9993 left_j1=2.4928 left_j2=2.1658 left_j3=-0.947 left_j4=-0.0139 left_j5=-1.0176 left_gripper=0.4316 right_j0=0.0025 right_j1=0.0086 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -18.9744, 6.4205, 1.0232, -0.105, 0.1148, 0.0269, -0.0615, 2.0444, 7.0085, 1.8681, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ad750c33e688c61e241fd0e5eac1e15ee3e7d7176a7b420c20c371f454e83cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61715fa4c56f7f84b5d663b46ff0ba7e7a69937744973879581cd5e7241cacfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94dcb8b955d5d27f0d0d725f9a8865bb00b76cd5f2ae39ed4cc6ccdb67aedad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4ad750c33e68
wire blob 61715fa4c56f
wire blob 94dcb8b955d5
call 16 attempt 0 · /messages · status 200 · 7.511 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9318 left_j1=2.6625 left_j2=2.5362 left_j3=-1.0286 left_j4=-0.0219 left_j5=-0.9531 left_gripper=0.43 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-3.6855, -13.3949, 7.5692, 0.9597, 0.0122, -0.0269, 0.1441, -0.0068, 1.7436, 7.0085, 1.9219, -0.0708, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9981 left_j1=2.7281 left_j2=2.5713 left_j3=-1.0317 left_j4=-0.0216 left_j5=-1.0042 left_gripper=0.4313 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-1.7299, -14.7624, 7.7744, 1.0818, -0.022, -0.1343, 0.1343, -0.0205, 1.6342, 7.241, 1.8681, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9993 left_j1=2.4928 left_j2=2.1658 left_j3=-0.947 left_j4=-0.0139 left_j5=-1.0176 left_gripper=0.4316 right_j0=0.0025 right_j1=0.0086 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -18.9744, 6.4205, 1.0232, -0.105, 0.1148, 0.0269, -0.0615, 2.0444, 7.0085, 1.8681, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ad750c33e688c61e241fd0e5eac1e15ee3e7d7176a7b420c20c371f454e83cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61715fa4c56f7f84b5d663b46ff0ba7e7a69937744973879581cd5e7241cacfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94dcb8b955d5d27f0d0d725f9a8865bb00b76cd5f2ae39ed4cc6ccdb67aedad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4ad750c33e68]
[blob 61715fa4c56f]
[blob 94dcb8b955d5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UTAJj9MKRJSLrpUHygxTBk",
      "input": {
        "note": "Overhead shows the red block well nearer the base than my gripper (~14 cm) and slightly left; swinging yaw right and pulling the radius in to hover over it.",
        "targets": {
          "left_j0": -1.29,
          "left_j1": 2.248,
          "left_j2": 1.871,
          "left_j3": -1.023,
          "left_j5": -1.29
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UTAJj9MKRJSLrpUHygxTBk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1938 left_j1=2.3222 left_j2=1.8923 left_j3=-0.9958 left_j4=-0.0113 left_j5=-1.2213 left_gripper=0.433 right_j0=0.004 right_j1=0.0067 right_j2=0.0135 right_j3=-0.0631 right_j4=-0.0219 right_j5=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-7.0906, -16.8821, 6.0786, 0.6862, 0.0562, -0.0513, 0.1245, -0.294, 1.6889, 6.612, 2.0488, 0.1929, -0.0171, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e0e2fbfdd8ec82948e15e77d813a17347e6cdafc123eb616993862f65d50f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2921ac8f19a9c334516dc3d7c3caea3ba1057962e23bafe4878436091460224d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de8780b9a241d3b15cb2e84fdd05c2d1510d4d6eebf285733a06256eecd7deb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a1e0e2fbfdd8
wire blob 2921ac8f19a9
wire blob de8780b9a241
call 17 attempt 0 · /messages · status 200 · 11.32 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9981 left_j1=2.7281 left_j2=2.5713 left_j3=-1.0317 left_j4=-0.0216 left_j5=-1.0042 left_gripper=0.4313 right_j0=0.0025 right_j1=0.0074 right_j2=0.0078 right_j3=-0.0677 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-1.7299, -14.7624, 7.7744, 1.0818, -0.022, -0.1343, 0.1343, -0.0205, 1.6342, 7.241, 1.8681, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9993 left_j1=2.4928 left_j2=2.1658 left_j3=-0.947 left_j4=-0.0139 left_j5=-1.0176 left_gripper=0.4316 right_j0=0.0025 right_j1=0.0086 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -18.9744, 6.4205, 1.0232, -0.105, 0.1148, 0.0269, -0.0615, 2.0444, 7.0085, 1.8681, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1938 left_j1=2.3222 left_j2=1.8923 left_j3=-0.9958 left_j4=-0.0113 left_j5=-1.2213 left_gripper=0.433 right_j0=0.004 right_j1=0.0067 right_j2=0.0135 right_j3=-0.0631 right_j4=-0.0219 right_j5=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-7.0906, -16.8821, 6.0786, 0.6862, 0.0562, -0.0513, 0.1245, -0.294, 1.6889, 6.612, 2.0488, 0.1929, -0.0171, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e0e2fbfdd8ec82948e15e77d813a17347e6cdafc123eb616993862f65d50f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2921ac8f19a9c334516dc3d7c3caea3ba1057962e23bafe4878436091460224d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de8780b9a241d3b15cb2e84fdd05c2d1510d4d6eebf285733a06256eecd7deb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a1e0e2fbfdd8]
[blob 2921ac8f19a9]
[blob de8780b9a241]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vxyZFMxPXS2xoyQ4aikKp",
      "input": {
        "note": "I now believe the red object is the block I am carrying (it tracks the gripper), so I am lifting high and swinging left to get an unobstructed overhead view and find the target block.",
        "targets": {
          "left_j0": -0.5,
          "left_j1": 1.998,
          "left_j2": 2.19,
          "left_j3": -1.762
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_017vxyZFMxPXS2xoyQ4aikKp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5224 left_j1=2.0556 left_j2=2.1551 left_j3=-1.6501 left_j4=-0.0067 left_j5=-1.2274 left_gripper=0.4337 right_j0=0.0017 right_j1=0.0074 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0208 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.6684, 8.1162, -0.0122, -0.1245, 0.0366, 0.0611, 0.1299, 1.5658, 7.0632, 1.9902, -0.0806, -0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:553265cc2e7cec35c02a490f0c745d0c6b289fe16a95e02f97de1585a2b3bf65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8059c8329b4e26af07026a3caed540d6558eec34398dab531450d8bc2fd78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15e31bac881c4db14d1dbfb0633606f86d8be1f0afc2bdf224bc2ebc6a6c0bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 553265cc2e7c
wire blob cc8059c8329b
wire blob 15e31bac881c
call 18 attempt 0 · /messages · status 200 · 5.17 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9993 left_j1=2.4928 left_j2=2.1658 left_j3=-0.947 left_j4=-0.0139 left_j5=-1.0176 left_gripper=0.4316 right_j0=0.0025 right_j1=0.0086 right_j2=0.0078 right_j3=-0.0681 right_j4=-0.0055 right_j5=-0.0151 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -18.9744, 6.4205, 1.0232, -0.105, 0.1148, 0.0269, -0.0615, 2.0444, 7.0085, 1.8681, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1938 left_j1=2.3222 left_j2=1.8923 left_j3=-0.9958 left_j4=-0.0113 left_j5=-1.2213 left_gripper=0.433 right_j0=0.004 right_j1=0.0067 right_j2=0.0135 right_j3=-0.0631 right_j4=-0.0219 right_j5=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-7.0906, -16.8821, 6.0786, 0.6862, 0.0562, -0.0513, 0.1245, -0.294, 1.6889, 6.612, 2.0488, 0.1929, -0.0171, -0.0659]",
      "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=-0.5224 left_j1=2.0556 left_j2=2.1551 left_j3=-1.6501 left_j4=-0.0067 left_j5=-1.2274 left_gripper=0.4337 right_j0=0.0017 right_j1=0.0074 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0208 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.6684, 8.1162, -0.0122, -0.1245, 0.0366, 0.0611, 0.1299, 1.5658, 7.0632, 1.9902, -0.0806, -0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:553265cc2e7cec35c02a490f0c745d0c6b289fe16a95e02f97de1585a2b3bf65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8059c8329b4e26af07026a3caed540d6558eec34398dab531450d8bc2fd78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e31bac881c4db14d1dbfb0633606f86d8be1f0afc2bdf224bc2ebc6a6c0bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 553265cc2e7c]
[blob cc8059c8329b]
[blob 15e31bac881c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014p56jUTACMF9gDyq1t4wS7",
      "input": {
        "note": "Overhead now clearly shows the carried grey block in the gripper and the red target block on the table down and to the right; swinging right and pulling in to bring it into the wrist camera view.",
        "targets": {
          "left_j0": -1.05,
          "left_j1": 1.787,
          "left_j2": 1.702,
          "left_j3": -1.486,
          "left_j5": -1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_014p56jUTACMF9gDyq1t4wS7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.026 left_j1=1.829 left_j2=1.7222 left_j3=-1.5024 left_j4=-0.0063 left_j5=-1.0798 left_gripper=0.4344 right_j0=0.0017 right_j1=0.0101 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0204 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.4085, 0.3492, -0.0513, 0.0415, 0.0562, 0.0479, 1.3333, 7.0222, 1.8974, -0.0513, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bbc6489b841e05af225172d5333d113e158f0aca96782ca4d5faeef09887d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56b0fe9084a9be1725e71d40164de63ae4dd8881d31123173ea4142c83d5b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31a0588314ed1dc91b29cf386749cae0cc3edc29f6963c0b6c7e955b0ee9f0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1bbc6489b841
wire blob f56b0fe9084a
wire blob 31a0588314ed
call 19 attempt 0 · /messages · status 200 · 4.35 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1938 left_j1=2.3222 left_j2=1.8923 left_j3=-0.9958 left_j4=-0.0113 left_j5=-1.2213 left_gripper=0.433 right_j0=0.004 right_j1=0.0067 right_j2=0.0135 right_j3=-0.0631 right_j4=-0.0219 right_j5=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-7.0906, -16.8821, 6.0786, 0.6862, 0.0562, -0.0513, 0.1245, -0.294, 1.6889, 6.612, 2.0488, 0.1929, -0.0171, -0.0659]",
      "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=-0.5224 left_j1=2.0556 left_j2=2.1551 left_j3=-1.6501 left_j4=-0.0067 left_j5=-1.2274 left_gripper=0.4337 right_j0=0.0017 right_j1=0.0074 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0208 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.6684, 8.1162, -0.0122, -0.1245, 0.0366, 0.0611, 0.1299, 1.5658, 7.0632, 1.9902, -0.0806, -0.0904, -0.0171]",
      "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=-1.026 left_j1=1.829 left_j2=1.7222 left_j3=-1.5024 left_j4=-0.0063 left_j5=-1.0798 left_gripper=0.4344 right_j0=0.0017 right_j1=0.0101 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0204 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.4085, 0.3492, -0.0513, 0.0415, 0.0562, 0.0479, 1.3333, 7.0222, 1.8974, -0.0513, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bbc6489b841e05af225172d5333d113e158f0aca96782ca4d5faeef09887d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56b0fe9084a9be1725e71d40164de63ae4dd8881d31123173ea4142c83d5b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31a0588314ed1dc91b29cf386749cae0cc3edc29f6963c0b6c7e955b0ee9f0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1bbc6489b841]
[blob f56b0fe9084a]
[blob 31a0588314ed]
{
  "content": [
    {
      "signature": "CAISsQkKjAEIEBgCKkDeIHrnX83Qnd3oHxgYfEdLqlM5pi3hNB1fToJYAPBwCyZ7cpS+y5q8ShgvtNLhP+2GLJLM81Bis3Soaxmc0iMtMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9j+ekS64rfn0ww/eGgxZZaVh7HKQngT9zKAiMJrp6spnWXmdN9GOVObqD45EH78NqlFKa6YlQHmCFFh6iMxo84wSPXiFcxOdP5WkWyrRBwRq3OEU0qPJSENzcbv0Kt4ltQB141tWF4QUOL2Ts6k45CbY8p+4WZN46b/urpODlmLC5Rre3z5/Y65UiKRuCF35g8gLqWShRB2Yo+KErUOj0R+aiGc9bJUZoKm3O9p9QiqbM0h7FBT6HVESjydU690enFe54+oHrpPAU+MI7z8+mCzlFGfIJllxw+aYGOwNlW+TOhBDkPUxZIFnBUmKCsPNciZ8gOJFvs4mO3YMns5RNtMQwD3Uprfccice3x06VzGUwthccAdlNTmbljQR4j2la+MFtAATK1EQnzgYjegFj7WkTBlRpCE2wTpbhTEvemrbnLSvbdsXc7IMzJLQOw1L8I/Vl1ghlGSc3QOsmMBZdA/eXQ1AXb0xG/i0IT9S+smoN8gURCdlKl/Qhx3xJLU8j5Djk8i5qPIFpzGbNIvdnmXtCrGwL4QKJAB/qL1v2qHJ2/RBwI0MGsAWBTeuqCUJ7fG5o4lukhii+YxXtSHYjSJDZunuWKf6f9hoZjPuW5JIincgkO84Yp3+gpbDr47czT5xAAzC5Lekl2bN65X0MMxuf09Tg9ibf+sk2CZgZJdGseCyHT1xGPNXBJt2UL8VlxkQ5v/kMsVRmtONaYE6/ZwpYprWOnMouzgAby9FKWGkOKI/Nqvq2jGgS01inEQBa8FXxswitGEsMq+whRpgVKady9H1Kw1fHx0qRXpiSChZcAzGOtgR3ayLMhWV/NYMs2JeqlQh8G17PnOTZvHTh3sCkM8tyWAXQAMTdDkbMNRWtvogEqX0W42TZpMQPDdGdWACXfgbeL8LkWyHdHu1jkkDzaAXkKHfTXgTj1zwwXiTHo8KOgkYzDUIpg0/M1sykcpKYZ49O6K5BGjjjt2A3B2Wta7i//CMAygx0RgJvUIPl84DxIYU2vQxDzj+q9ophZR/0pjjGqkzfEwq7pSUa9tbW+/Lbhw/xbbGKnFMR8O9ivYWFAmyYzcxBqMGsR3QwJkcxSQ683x3Ua4nDH9xkYiFO8TA05RTieTMuF+u4mR5Sv9DrW5htj1Hum1kdd6iweGeo5M57iRJsVgmRRwRLwuYUWIXkVEa0rnWUMy2Qa1NdW5zN2SMFt1NtuyVdbUySPy1TM3S4zM0AiQZbmtPTeD9jhNP415a4ZsDbfFd9uEjw+yNRZLxFUkObncuqRJwDyAhn/GxUOUBJ0L2wmxNnPfALUgG9nNFRni9uiXlARk2sZZHrgN3uj9WPwfaIUgA33Sjs8ztOE3je3mc1ZjTMM8771Y1PRxcjsrXnGh83kLFRLZQDtRiqfxXIU/3NSAcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcNhEL3ZDbbRjcBUqQenaQ",
      "input": {
        "note": "Wrist camera has picked up the red target block at the lower right. Zeroing wrist roll so the image axes align with the arm axes for clean visual servoing.",
        "targets": {
          "left_j5": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 18 steps (1.8s)",
      "tool_use_id": "toolu_01TcNhEL3ZDbbRjcBUqQenaQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0252 left_j1=1.8233 left_j2=1.705 left_j3=-1.507 left_j4=-0.0025 left_j5=-0.0887 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0109 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.8564, 7.1179, 0.1734, -0.0562, 0.2613, 0.0024, -0.0752, 1.6068, 7.1043, 1.9512, -0.0024, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36297e84c68eb01ea475294d428fbe94f81dd65ab34aa7a5a471222be89c538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1036cda6f472b01b83e94c36dcc1b7e6ff7db0c3cee100d5ab4612b001d667a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51e16b90198cafdd254999a6e4b1b44453b6ee79edb8eb8bc016c7d7d5416a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e36297e84c68
wire blob 1036cda6f472
wire blob 51e16b90198c
call 20 attempt 0 · /messages · status 200 · 12.45 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5224 left_j1=2.0556 left_j2=2.1551 left_j3=-1.6501 left_j4=-0.0067 left_j5=-1.2274 left_gripper=0.4337 right_j0=0.0017 right_j1=0.0074 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0208 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.6684, 8.1162, -0.0122, -0.1245, 0.0366, 0.0611, 0.1299, 1.5658, 7.0632, 1.9902, -0.0806, -0.0904, -0.0171]",
      "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=-1.026 left_j1=1.829 left_j2=1.7222 left_j3=-1.5024 left_j4=-0.0063 left_j5=-1.0798 left_gripper=0.4344 right_j0=0.0017 right_j1=0.0101 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0204 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.4085, 0.3492, -0.0513, 0.0415, 0.0562, 0.0479, 1.3333, 7.0222, 1.8974, -0.0513, -0.022, -0.0171]",
      "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=-1.0252 left_j1=1.8233 left_j2=1.705 left_j3=-1.507 left_j4=-0.0025 left_j5=-0.0887 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0109 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.8564, 7.1179, 0.1734, -0.0562, 0.2613, 0.0024, -0.0752, 1.6068, 7.1043, 1.9512, -0.0024, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36297e84c68eb01ea475294d428fbe94f81dd65ab34aa7a5a471222be89c538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1036cda6f472b01b83e94c36dcc1b7e6ff7db0c3cee100d5ab4612b001d667a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51e16b90198cafdd254999a6e4b1b44453b6ee79edb8eb8bc016c7d7d5416a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e36297e84c68]
[blob 1036cda6f472]
[blob 51e16b90198c]
{
  "content": [
    {
      "signature": "CAIShAcKjAEIEBgCKkA/sIQSuaQaOuKncbdRbeZSWiaOt8SzPGH531iykzL9FKCI1zlVpwUHL2e6KKmJoPCYu7aY+vLEcHzLnXO8/FUnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJn45Opx0kbA8l5aFGgwLKqH+XEiR4RoCqaAiMIt/Gh55QV9pO84jx2Gy3js3okLCgeN7EfNdGorROz3tP4yDqscmFXwDBQtJwYVUnSqkBRx2ZA/YAByDrdB8jBNzoby/bagacEvdpLluP/paykAfPLuhWE1ihXDErMRNIfplYIZ1PcvMafS7J3Rp5DmIIXOOZ1cNpsIObFj0KJ6y8wX+fXqE6XwlSkSe5U8eHJnMyjC9751um8J9N/VcnU1rxmrvjz9a/SH7n3pmZcXIDXdEd12mSe+80e6/p2dZY79ywKA1NUvCpIYo5Q4WF6TWoQGlKFbG5Kz4OjmE7f6uwsLDXPvFLJ0B1vgJxL1baTdNjaTK9ij4gBEB/QvAix3rAerESGl01oCeg4ptYqYe1xhUdCj2Wr863yJKOSdDnOaqtwHvdKtTsjWdMTmT2KAWHXMLETFEj1LktlNGPBJauMj5GjKCBLnW5wrRsk8wGWpwEJ2vHcbpE1YScJGJVaRq3b6TBKNh8U9r2RoDRYvHoXz3TYMeZ+s+Xd8Hb1LgLY5MOg5Xu6owvkmIjQX3z8dwdZQRFzDV5+A911S1at+ry+B38w+Trgp/0qVW0OgDJeQTrGOKTrWLBaOloTr8RXaKiqqu+3lF22Eh9yevRcKRZumCgEEqxiOf7M/4Oa7mCTH7Qbg2h/xLj4JBmhH+XfX2+KqgFnb4KGuylaRjGr+9w5kbJlVYJ8GdMGPd6SJ1BnfdBKHqUoMLxugLr46nUjZRo/d82CVET/Hy0iCw/L6ShLujAPIuPpWF5cOwGsrgJvgX5XM5zlV9pQ0cpeC6M4ySSWudJdeOXNueNU8i62fo9NMXrTk+TlqnPTipEVpdUKQJOcFrSuS2KQHpRLMOK41nRHrm90piju0S5Y6eMnohBJgFbE9aMJn/umKKnP52fLgp+bYjP0h9cKJ06MuhqhWmvShO0lKr29mErLtCV8tUeIe+AWU5LsDG4f2EGhNsr7wPvekiO0oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162ScxtEbpRDhTPEWhLybKZ",
      "input": {
        "note": "Roll-zero rotated the block out of frame, so restoring roll and swinging yaw 0.15 rad right — this doubles as a scale calibration for the wrist view.",
        "targets": {
          "left_j0": -1.175,
          "left_j5": -1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_0162ScxtEbpRDhTPEWhLybKZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1675 left_j1=1.8233 left_j2=1.705 left_j3=-1.5093 left_j4=-0.0025 left_j5=-0.9756 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0113 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.5538, 5.6, 0.1636, -0.0269, -0.1587, -0.0171, -0.0889, 1.7162, 7.1316, 1.8632, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3f8ad89b8fe07b734e134439769481c4c20483c31e6b56f731a12d578f2e115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cfa8e34440482d0b8f9239b1c1b4c7f79b7f1c539cb2bc3af4aef02b41ac52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe2cb26a2b8f732a4411c8d7a3b6c89e6769c405ad87ea0977522d3b0dbc2e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d3f8ad89b8fe
wire blob c6cfa8e34440
wire blob fe2cb26a2b8f
call 21 attempt 0 · /messages · status 200 · 10.67 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.026 left_j1=1.829 left_j2=1.7222 left_j3=-1.5024 left_j4=-0.0063 left_j5=-1.0798 left_gripper=0.4344 right_j0=0.0017 right_j1=0.0101 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0204 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.4085, 0.3492, -0.0513, 0.0415, 0.0562, 0.0479, 1.3333, 7.0222, 1.8974, -0.0513, -0.022, -0.0171]",
      "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=-1.0252 left_j1=1.8233 left_j2=1.705 left_j3=-1.507 left_j4=-0.0025 left_j5=-0.0887 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0109 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.8564, 7.1179, 0.1734, -0.0562, 0.2613, 0.0024, -0.0752, 1.6068, 7.1043, 1.9512, -0.0024, -0.0513, -0.0171]",
      "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=-1.1675 left_j1=1.8233 left_j2=1.705 left_j3=-1.5093 left_j4=-0.0025 left_j5=-0.9756 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0113 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.5538, 5.6, 0.1636, -0.0269, -0.1587, -0.0171, -0.0889, 1.7162, 7.1316, 1.8632, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3f8ad89b8fe07b734e134439769481c4c20483c31e6b56f731a12d578f2e115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cfa8e34440482d0b8f9239b1c1b4c7f79b7f1c539cb2bc3af4aef02b41ac52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2cb26a2b8f732a4411c8d7a3b6c89e6769c405ad87ea0977522d3b0dbc2e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d3f8ad89b8fe]
[blob c6cfa8e34440]
[blob fe2cb26a2b8f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RuSszuw8W9cpTATF97Yy28",
      "input": {
        "note": "The 0.14 rad yaw nudge moved the scene 56 px, calibrating the wrist view at ~13 px/cm; solving that for the red block's offset gives +0.22 rad yaw and ~5 cm more reach to center it over the jaws.",
        "targets": {
          "left_j0": -0.945,
          "left_j1": 2.009,
          "left_j2": 1.96,
          "left_j3": -1.522
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RuSszuw8W9cpTATF97Yy28",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9596 left_j1=2.0048 left_j2=1.9133 left_j3=-1.5204 left_j4=0.0055 left_j5=-0.9943 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0147 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.3316, 8.2667, 0.1148, -0.0464, 0.1099, -0.0122, -0.1573, 1.6205, 6.9949, 1.8828, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e35d76533797789bd8ff4466adce19ea53246a3c8ae36370c4b18bf93da50f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d001ecd54dd0ca7ba21249b5445c35ff87aebfc29bbfc1f42708086fe52fa19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4625b3aafa05e18388cb440e1131979114c05e546c132bc5e33cd8b02085a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 79e35d765337
wire blob 7d001ecd54dd
wire blob e4625b3aafa0
call 22 attempt 0 · /messages · status 200 · 13.98 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0252 left_j1=1.8233 left_j2=1.705 left_j3=-1.507 left_j4=-0.0025 left_j5=-0.0887 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0109 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.8564, 7.1179, 0.1734, -0.0562, 0.2613, 0.0024, -0.0752, 1.6068, 7.1043, 1.9512, -0.0024, -0.0513, -0.0171]",
      "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=-1.1675 left_j1=1.8233 left_j2=1.705 left_j3=-1.5093 left_j4=-0.0025 left_j5=-0.9756 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0113 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.5538, 5.6, 0.1636, -0.0269, -0.1587, -0.0171, -0.0889, 1.7162, 7.1316, 1.8632, -0.022, -0.0366, -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=-0.9596 left_j1=2.0048 left_j2=1.9133 left_j3=-1.5204 left_j4=0.0055 left_j5=-0.9943 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0147 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.3316, 8.2667, 0.1148, -0.0464, 0.1099, -0.0122, -0.1573, 1.6205, 6.9949, 1.8828, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e35d76533797789bd8ff4466adce19ea53246a3c8ae36370c4b18bf93da50f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d001ecd54dd0ca7ba21249b5445c35ff87aebfc29bbfc1f42708086fe52fa19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4625b3aafa05e18388cb440e1131979114c05e546c132bc5e33cd8b02085a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 79e35d765337]
[blob 7d001ecd54dd]
[blob e4625b3aafa0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018TueRYecJx5EtqqpbpzEoL",
      "input": {
        "note": "Block sits at the lower right of the wrist frame; testing a pure +0.15 rad yaw step to see exactly which way it tracks before committing to a descent.",
        "targets": {
          "left_j0": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018TueRYecJx5EtqqpbpzEoL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.844 left_j1=2.0121 left_j2=1.9202 left_j3=-1.5185 left_j4=0.0154 left_j5=-0.9947 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0162 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0235 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -10.5778, 5.053, 0.1685, -0.1294, -0.0317, -0.0122, -0.0752, 1.6752, 7.1316, 1.9365, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c33b24ed2321e11dea312346abd6dc5abb87f0bdc0dcedebef2928159d313ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac64c79add4fb1f051644fb6363e71526c17d1e9fd9a49c25af4c34ff2261cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b50595a00ddfc4121f6956556b609df639dd9d9e61830c45bd779dbc2033bed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1c33b24ed232
wire blob cac64c79add4
wire blob b50595a00ddf
call 23 attempt 0 · /messages · status 200 · 8.699 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1675 left_j1=1.8233 left_j2=1.705 left_j3=-1.5093 left_j4=-0.0025 left_j5=-0.9756 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0113 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0208 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.5538, 5.6, 0.1636, -0.0269, -0.1587, -0.0171, -0.0889, 1.7162, 7.1316, 1.8632, -0.022, -0.0366, -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=-0.9596 left_j1=2.0048 left_j2=1.9133 left_j3=-1.5204 left_j4=0.0055 left_j5=-0.9943 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0147 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.3316, 8.2667, 0.1148, -0.0464, 0.1099, -0.0122, -0.1573, 1.6205, 6.9949, 1.8828, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.844 left_j1=2.0121 left_j2=1.9202 left_j3=-1.5185 left_j4=0.0154 left_j5=-0.9947 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0162 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0235 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -10.5778, 5.053, 0.1685, -0.1294, -0.0317, -0.0122, -0.0752, 1.6752, 7.1316, 1.9365, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c33b24ed2321e11dea312346abd6dc5abb87f0bdc0dcedebef2928159d313ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac64c79add4fb1f051644fb6363e71526c17d1e9fd9a49c25af4c34ff2261cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50595a00ddfc4121f6956556b609df639dd9d9e61830c45bd779dbc2033bed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1c33b24ed232]
[blob cac64c79add4]
[blob b50595a00ddf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HnJWqiiDwvN684vVAt9aUC",
      "input": {
        "note": "The yaw test gave a clean calibration (~3.8 px/cm, image rotated ~140° by the wrist roll); solving it, the block needs ~13 cm of +y and ~10 cm more reach, which I'm commanding now.",
        "targets": {
          "left_j0": -0.615,
          "left_j1": 2.07,
          "left_j2": 2.01,
          "left_j3": -1.511
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HnJWqiiDwvN684vVAt9aUC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6361 left_j1=2.0689 left_j2=1.9797 left_j3=-1.5135 left_j4=0.0193 left_j5=-0.9955 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0174 right_j2=0.0124 right_j3=-0.0719 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -10.6325, 7.9658, 0.1685, -0.0708, -0.0317, -0.0122, 0.0068, 1.5248, 7.1179, 1.917, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00fd7af8eccad657627e43740220888c38647a0edec37b3b9d00583cc0103f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71c5d999a7283fc3a9cb3b412de2b2765ab4306792b8aea304252f6c84253a9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2cfc0eea17405b696b9b02c673708351d54f34245a443449d72b70520a26037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 00fd7af8ecca
wire blob 71c5d999a728
wire blob b2cfc0eea174
call 24 attempt 0 · /messages · status 200 · 8.586 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9596 left_j1=2.0048 left_j2=1.9133 left_j3=-1.5204 left_j4=0.0055 left_j5=-0.9943 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0147 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.3316, 8.2667, 0.1148, -0.0464, 0.1099, -0.0122, -0.1573, 1.6205, 6.9949, 1.8828, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.844 left_j1=2.0121 left_j2=1.9202 left_j3=-1.5185 left_j4=0.0154 left_j5=-0.9947 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0162 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0235 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -10.5778, 5.053, 0.1685, -0.1294, -0.0317, -0.0122, -0.0752, 1.6752, 7.1316, 1.9365, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6361 left_j1=2.0689 left_j2=1.9797 left_j3=-1.5135 left_j4=0.0193 left_j5=-0.9955 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0174 right_j2=0.0124 right_j3=-0.0719 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -10.6325, 7.9658, 0.1685, -0.0708, -0.0317, -0.0122, 0.0068, 1.5248, 7.1179, 1.917, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00fd7af8eccad657627e43740220888c38647a0edec37b3b9d00583cc0103f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71c5d999a7283fc3a9cb3b412de2b2765ab4306792b8aea304252f6c84253a9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2cfc0eea17405b696b9b02c673708351d54f34245a443449d72b70520a26037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 00fd7af8ecca]
[blob 71c5d999a728]
[blob b2cfc0eea174]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017gXwf8LjkQNRSE1sWoeGso",
      "input": {
        "note": "Lost the block from the wrist view again, so switching to overhead geometry: the red block reads ~7 cm forward and 43 cm right of the left base, near the right arm. Commanding that pose at 20 cm height.",
        "targets": {
          "left_j0": -1.416,
          "left_j1": 2.404,
          "left_j2": 2.443,
          "left_j3": -1.61,
          "left_j5": -1.416
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_017gXwf8LjkQNRSE1sWoeGso",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3899 left_j1=2.397 left_j2=2.4016 left_j3=-1.6047 left_j4=0.0204 left_j5=-1.383 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0189 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -12.6427, 7.9111, 0.2076, -0.0366, 0.0122, -0.0171, -0.0205, 1.7983, 7.1179, 1.873, -0.0708, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b9af25ae6b50c9bb6e7c460808a08eb823db8406251bbfa9aa955d71075d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ff55ea9a83712c0978bac29b1c1be38a8e8a0099d85e2ac47f13360cad8f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1ed159b7a6b96db953b2d6bf554684c893958a9a88692196587f72abeb9b481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 33b9af25ae6b
wire blob e2ff55ea9a83
wire blob c1ed159b7a6b
call 25 attempt 0 · /messages · status 200 · 8.317 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.844 left_j1=2.0121 left_j2=1.9202 left_j3=-1.5185 left_j4=0.0154 left_j5=-0.9947 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0162 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0235 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -10.5778, 5.053, 0.1685, -0.1294, -0.0317, -0.0122, -0.0752, 1.6752, 7.1316, 1.9365, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6361 left_j1=2.0689 left_j2=1.9797 left_j3=-1.5135 left_j4=0.0193 left_j5=-0.9955 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0174 right_j2=0.0124 right_j3=-0.0719 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -10.6325, 7.9658, 0.1685, -0.0708, -0.0317, -0.0122, 0.0068, 1.5248, 7.1179, 1.917, -0.0562, -0.0269, -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=-1.3899 left_j1=2.397 left_j2=2.4016 left_j3=-1.6047 left_j4=0.0204 left_j5=-1.383 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0189 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -12.6427, 7.9111, 0.2076, -0.0366, 0.0122, -0.0171, -0.0205, 1.7983, 7.1179, 1.873, -0.0708, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b9af25ae6b50c9bb6e7c460808a08eb823db8406251bbfa9aa955d71075d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ff55ea9a83712c0978bac29b1c1be38a8e8a0099d85e2ac47f13360cad8f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ed159b7a6b96db953b2d6bf554684c893958a9a88692196587f72abeb9b481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 33b9af25ae6b]
[blob e2ff55ea9a83]
[blob c1ed159b7a6b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MEHY5r3NgftPy8frnZwKNe",
      "input": {
        "note": "The red block is now nicely centered laterally in the wrist view but high in the frame, i.e. ~beyond the fingertips; extending the reach ~2.5 cm to bring it down toward the grasp point.",
        "targets": {
          "left_j1": 2.482,
          "left_j2": 2.544,
          "left_j3": -1.562
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MEHY5r3NgftPy8frnZwKNe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3956 left_j1=2.4702 left_j2=2.5088 left_j3=-1.5917 left_j4=0.0235 left_j5=-1.4033 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0185 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -13.1624, 7.5419, 0.3053, -0.0562, 0.1538, -0.0122, -0.0205, 1.6205, 6.9949, 1.9121, -0.0562, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20be226765fa2b53b62f820098e7fc77ca8fbc74534a8f86440ca297e4197e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad3e08fc8afa4e93890c0d22032e23f21626de727eef6c572451d4bd002f375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56eaabbf488e52d2c83de5fb50d9873412fc7aba81ca89608583c9ff53421d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e20be226765f
wire blob 5ad3e08fc8af
wire blob 56eaabbf488e
call 26 attempt 0 · /messages · status 200 · 5.615 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6361 left_j1=2.0689 left_j2=1.9797 left_j3=-1.5135 left_j4=0.0193 left_j5=-0.9955 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0174 right_j2=0.0124 right_j3=-0.0719 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -10.6325, 7.9658, 0.1685, -0.0708, -0.0317, -0.0122, 0.0068, 1.5248, 7.1179, 1.917, -0.0562, -0.0269, -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=-1.3899 left_j1=2.397 left_j2=2.4016 left_j3=-1.6047 left_j4=0.0204 left_j5=-1.383 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0189 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -12.6427, 7.9111, 0.2076, -0.0366, 0.0122, -0.0171, -0.0205, 1.7983, 7.1179, 1.873, -0.0708, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3956 left_j1=2.4702 left_j2=2.5088 left_j3=-1.5917 left_j4=0.0235 left_j5=-1.4033 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0185 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -13.1624, 7.5419, 0.3053, -0.0562, 0.1538, -0.0122, -0.0205, 1.6205, 6.9949, 1.9121, -0.0562, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20be226765fa2b53b62f820098e7fc77ca8fbc74534a8f86440ca297e4197e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad3e08fc8afa4e93890c0d22032e23f21626de727eef6c572451d4bd002f375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56eaabbf488e52d2c83de5fb50d9873412fc7aba81ca89608583c9ff53421d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e20be226765f]
[blob 5ad3e08fc8af]
[blob 56eaabbf488e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012SqkNjvdLsyrmYDeV4PaQ6",
      "input": {
        "note": "Block barely shifted, so extending further: reaching ~3.5 cm more and descending to ~14 cm to bring the target block toward the jaw position.",
        "targets": {
          "left_j1": 2.753,
          "left_j2": 2.863,
          "left_j3": -1.61
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_012SqkNjvdLsyrmYDeV4PaQ6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3891 left_j1=2.6659 left_j2=2.8296 left_j3=-1.7058 left_j4=0.0235 left_j5=-1.4078 left_gripper=0.4345 right_j0=-0.0433 right_j1=0.0299 right_j2=0.0135 right_j3=-0.0769 right_j4=-0.0231 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -7.4325, 7.0769, 1.2772, -0.022, 0.0024, -0.0171, 4.4376, 0.8, 7.2, 1.9219, 0.0171, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21509237ad230b5afcf6910f5cf31dae6067c7b1f97469fdc4f66f1ee7e9bdae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262f732f8dad9c92fee0535613ffb81a8ce40f6dba3efc633dd694b045551aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5bb4e334abf270c70fc9f22056b19d52056211b963967e49c25057a95c86346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 21509237ad23
wire blob 262f732f8dad
wire blob b5bb4e334abf
call 27 attempt 0 · /messages · status 200 · 5.892 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3899 left_j1=2.397 left_j2=2.4016 left_j3=-1.6047 left_j4=0.0204 left_j5=-1.383 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0189 right_j2=0.0124 right_j3=-0.0727 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -12.6427, 7.9111, 0.2076, -0.0366, 0.0122, -0.0171, -0.0205, 1.7983, 7.1179, 1.873, -0.0708, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3956 left_j1=2.4702 left_j2=2.5088 left_j3=-1.5917 left_j4=0.0235 left_j5=-1.4033 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0185 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -13.1624, 7.5419, 0.3053, -0.0562, 0.1538, -0.0122, -0.0205, 1.6205, 6.9949, 1.9121, -0.0562, -0.0464, -0.0171]",
      "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=-1.3891 left_j1=2.6659 left_j2=2.8296 left_j3=-1.7058 left_j4=0.0235 left_j5=-1.4078 left_gripper=0.4345 right_j0=-0.0433 right_j1=0.0299 right_j2=0.0135 right_j3=-0.0769 right_j4=-0.0231 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -7.4325, 7.0769, 1.2772, -0.022, 0.0024, -0.0171, 4.4376, 0.8, 7.2, 1.9219, 0.0171, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21509237ad230b5afcf6910f5cf31dae6067c7b1f97469fdc4f66f1ee7e9bdae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262f732f8dad9c92fee0535613ffb81a8ce40f6dba3efc633dd694b045551aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bb4e334abf270c70fc9f22056b19d52056211b963967e49c25057a95c86346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 21509237ad23]
[blob 262f732f8dad]
[blob b5bb4e334abf]
{
  "content": [
    {
      "signature": "CAISsQoKjAEIEBgCKkBFkmIh7YjTQlb8KTcP0oQbqMwlHgnEBl8P5rLV039fkp1cJLAWoss8X/cUrC4UqGREzgUh6BVbrfUmiBHZTvANMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjvzPpfAmrKNGgjiIGgx3GdWO39Iz5NXrrJ8iMGodrNzBg0h0nKunWZLn9P6FLwi72nMyVhuw6e9n8Bg1nsmx6au1sqoz9CURMCs/9irRCL33LpdWhuD53yP2BJ8cu7qllk+ElKgyWPEeyiP6lJINDGfDMIYfAARZm6IgMPJ8oFXQaV5223qE5z9h4KYwIBSGuVMwLblFYEpseLayGkNs65Qls/auh8w7hn9Y2hXB5Ksv1zWyfA6YSvAY2dEgNM212vwDrNQlt4s2i6/3LurLnhFPOhaWH0x8pO9U8FvPr63qeJkJUfuvlRNIJmHST3qCpfBCBeGrzwRBylZ66gYpCLEj7z7FxFG0AiTi9sN5iOhcppCKPCtrGfl5bzIdViGjYKYmHoh8PDmBqRY6qqOzUMU6i9NL700gu+82uWi9r/A5x/bGQQSsHkvwupqU00mabNgj2k2v9E4MYL4EAp4BRMBWzMTbHtyQvggXh9QlCnceY2okQI+gqj7WOk9me8s80Ah+ndBW1Q2yiy2kukGhKuiwJ34pKNRL0TwD06oOxYww1qw+awJjV0NJquqln6bsCFx7moQgDgafSfFoNllc5a3MrF9KYrcM11NwT+GVqFomi8ZcMuZiA7PQH3noswd/oGfU0wAVvSnFy6cSl3o5RP2EuzXKh1baiYVmb/ceda7BSMNvGN0bwyQIvJHwKX/rqy3h0peHGVB7I69S83fs+6tuO/bUoq58hBY556qgoZEB/a/ldips4Ar0EZDDV9oArBZCiDHcmrWljV6GFgvF7PnVkiGEDcQ2cuDoBnTm7mGV8TZDv+JQpmSRE6euEkec3lubsfKMWePXwsq/J8Skj5TZVp6s9GCQHVWRrbxQxH0kYNAf+E8Pmx4FgZfKZYqEuZD3oJKuNe2EfuJLUNYyvb6brLxNqGJT/ZZvXPp6jdHl8vc6d/O1ycc0aZ4liKrI9Hur6bOu7N3raN5q/sgFBbF81kl/VptmHJupzl0faWAG4m+d9rwqnMuftD/nuVGXEzi2taUMm7S3qBmlIAUldVZrD0R3Okii6ib7ZIburPBToa2qte7QJIZ9rxt+h2llBfokD3AjGd6Q8S0XVR6EmJHcNiVYozKdz7luUYVS3PqAkU1ykbiWX0U1WAUz5g3b5WKdyjRc/ASEE2ED9WMn5yQX/+CYBpyfJfyUHhhXB68gc3gziUsSBphb9UhXguDg/bsOtXg3hj/qKJoJ4D37bWltBnKVBABoPG5gf6VgOPOVfpCGppOT3mv/T9Fj1AjeAV86/uBaSGexrYo8R4Od4lGdSk1JWs50QI6kvyCr9N1yTDWZ26TBm4Dk2lC3z0Uba8ly032bYmJKj2TBjrHtLgwXJPV18d+dWQrbP1m6Blx8BK9ve1NiFs1q4mjq+VhviD+p+tCUmamKbj1MqJi9NIRM2nrq9ViPkxT98BxgpgxYaDjQHlLMRIN/OKasRwQL+XsNMEI+YYDqQ5PO3kFh5zwXcUdOkVjXJ9aXdmyU4E1zIlWifIW8Ublf0UfXBVqRhb4lRlQ0Bgg7WQXuDNG00tvDAuhs+cPSHBfSG3ZNBREYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D4RuG7Z4CJXFDuFt8KZNkg",
      "input": {
        "note": "Target block now visible just left of the jaws in the wrist view; nudging yaw -0.08 rad to shift it toward the jaw centerline.",
        "targets": {
          "left_j0": -1.469,
          "left_j5": -1.469
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01D4RuG7Z4CJXFDuFt8KZNkg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3914 left_j1=2.6671 left_j2=2.8349 left_j3=-1.7061 left_j4=0.0235 left_j5=-1.433 left_gripper=0.4345 right_j0=-0.0708 right_j1=0.0349 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-6.5026, -14.2017, 4.8068, 0.3297, -0.0122, -0.1197, -0.0171, 2.0991, 1.3333, 7.241, 1.8584, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2041c0bc94d30bef8111bb2c20d0571718f12504974f611f4235f8b30e5476f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1aa1b62a352ef4c97e1c43ce14ba3007bed1b5333ecfc71502c5ac1881f7e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce26d8499d85ab8a41c33684d1e27283b02550024b19a445d6c5b5210d28fcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2041c0bc94d3
wire blob e1aa1b62a352
wire blob ce26d8499d85
call 28 attempt 0 · /messages · status 200 · 3.753 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3956 left_j1=2.4702 left_j2=2.5088 left_j3=-1.5917 left_j4=0.0235 left_j5=-1.4033 left_gripper=0.4345 right_j0=0.0017 right_j1=0.0185 right_j2=0.0124 right_j3=-0.0723 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.212, -13.1624, 7.5419, 0.3053, -0.0562, 0.1538, -0.0122, -0.0205, 1.6205, 6.9949, 1.9121, -0.0562, -0.0464, -0.0171]",
      "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=-1.3891 left_j1=2.6659 left_j2=2.8296 left_j3=-1.7058 left_j4=0.0235 left_j5=-1.4078 left_gripper=0.4345 right_j0=-0.0433 right_j1=0.0299 right_j2=0.0135 right_j3=-0.0769 right_j4=-0.0231 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -7.4325, 7.0769, 1.2772, -0.022, 0.0024, -0.0171, 4.4376, 0.8, 7.2, 1.9219, 0.0171, -0.0317, -0.0171]",
      "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=-1.3914 left_j1=2.6671 left_j2=2.8349 left_j3=-1.7061 left_j4=0.0235 left_j5=-1.433 left_gripper=0.4345 right_j0=-0.0708 right_j1=0.0349 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-6.5026, -14.2017, 4.8068, 0.3297, -0.0122, -0.1197, -0.0171, 2.0991, 1.3333, 7.241, 1.8584, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2041c0bc94d30bef8111bb2c20d0571718f12504974f611f4235f8b30e5476f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1aa1b62a352ef4c97e1c43ce14ba3007bed1b5333ecfc71502c5ac1881f7e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce26d8499d85ab8a41c33684d1e27283b02550024b19a445d6c5b5210d28fcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2041c0bc94d3]
[blob e1aa1b62a352]
[blob ce26d8499d85]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxvsgQyLamBnJsfiDwTMGx",
      "input": {
        "note": "Left j0 stalled with high effort while the right arm got pushed — the two arms are in contact. Swinging the folded right arm away to clear the workspace.",
        "targets": {
          "right_j0": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DxvsgQyLamBnJsfiDwTMGx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3899 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0235 left_j5=-1.4471 left_gripper=0.4345 right_j0=-0.8799 right_j1=0.0368 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -14.4068, 5.3128, 0.2857, -0.0073, 0.1099, -0.0122, -0.1709, 1.4564, 7.0359, 1.9414, 0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d93c97b9cfeb2356150de0d47ee08f272f7c7755a850a692330dbc650d0e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06126ad4c156563e60eb33dbb1fd310436669ea7e798bfd0faf6ea8be8947ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b4aff7b98ec11d4c1c68a648c55866fd8e70176cf8b3d6373957067ad48e3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 44d93c97b9cf
wire blob b06126ad4c15
wire blob 3b4aff7b98ec
call 29 attempt 0 · /messages · status 200 · 8.73 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3891 left_j1=2.6659 left_j2=2.8296 left_j3=-1.7058 left_j4=0.0235 left_j5=-1.4078 left_gripper=0.4345 right_j0=-0.0433 right_j1=0.0299 right_j2=0.0135 right_j3=-0.0769 right_j4=-0.0231 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -7.4325, 7.0769, 1.2772, -0.022, 0.0024, -0.0171, 4.4376, 0.8, 7.2, 1.9219, 0.0171, -0.0317, -0.0171]",
      "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=-1.3914 left_j1=2.6671 left_j2=2.8349 left_j3=-1.7061 left_j4=0.0235 left_j5=-1.433 left_gripper=0.4345 right_j0=-0.0708 right_j1=0.0349 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-6.5026, -14.2017, 4.8068, 0.3297, -0.0122, -0.1197, -0.0171, 2.0991, 1.3333, 7.241, 1.8584, -0.0366, -0.0611, -0.0171]",
      "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=-1.3899 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0235 left_j5=-1.4471 left_gripper=0.4345 right_j0=-0.8799 right_j1=0.0368 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -14.4068, 5.3128, 0.2857, -0.0073, 0.1099, -0.0122, -0.1709, 1.4564, 7.0359, 1.9414, 0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d93c97b9cfeb2356150de0d47ee08f272f7c7755a850a692330dbc650d0e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06126ad4c156563e60eb33dbb1fd310436669ea7e798bfd0faf6ea8be8947ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b4aff7b98ec11d4c1c68a648c55866fd8e70176cf8b3d6373957067ad48e3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 44d93c97b9cf]
[blob b06126ad4c15]
[blob 3b4aff7b98ec]
{
  "content": [
    {
      "signature": "CAIS1AMKjAEIEBgCKkBg/pV51ikVsDvHzSZWoD8TrSIzEHZVQRUf6i1ax0zMY/M1B64EWULVPIg2Wpc3Dj14Yb3hcV89xNo7Ht9KV/ikMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/JSEhXFLK+1j8Y6BGgz1uh7XRPP/JL2TtkoiMENFBfjqEsvb1yLyI5GRyg+zk1bmQUiHZLgjAnr/BIMAFiZ4qd28H40TGW7Oc+lqgSr0AZ6TyjC3IxBupXFiscaW1MyseQEvXKYkD7mRxAZqupQvQmuuknucLZcjAKTBj6pSBu1TyaVox//C/HC0rfnNS/op8JBrumMlM5Uxq4g67udlpHtrtXKzAWCSmWPKUMrHP2SbURYXzDw8jlIN/89cuUJ5g44OSpLuwrOj6xdSuGVi8MQ78Ivk7J6kUJaoHblnaj5VAQejiDcqvQbSQdf4KNb3uXaGmmb+cI1EipsGGHi1Q0YtM3gF+cRSq5lhw6n127Pbk9kC7DNkCFG+LTbdx6w0Sh8Ve1LYw6hLQEfgMZJd/BzvGUf+teIByjtKbnVNP63QoA4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CcWP12CUr2Yow73ifE4PQn",
      "input": {
        "note": "Right arm is now clear; retrying the yaw nudge to bring the target block onto the jaw centerline.",
        "targets": {
          "left_j0": -1.47,
          "left_j5": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CcWP12CUr2Yow73ifE4PQn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4097 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0185 left_j5=-1.4673 left_gripper=0.4345 right_j0=-0.8867 right_j1=0.0364 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-3.7538, -14.0376, 5.2171, 0.3541, 0.0611, -0.1392, -0.0122, 0.253, 1.9214, 7.0359, 1.9121, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7c198e1d00689c32743e12703c7c9281dd60b7ea28a462cccdf6be283a5b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ee569f4fd016ec25dc3fca383632d786ed5ea43e1a34a0de282b7c384226d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8067891de8fc0fe5cbf0e1a0b7ced4de57bcd8ec83b46c9eb5a014ebff992b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6c7c198e1d00
wire blob 78ee569f4fd0
wire blob ff8067891de8
call 30 attempt 0 · /messages · status 200 · 8.391 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3914 left_j1=2.6671 left_j2=2.8349 left_j3=-1.7061 left_j4=0.0235 left_j5=-1.433 left_gripper=0.4345 right_j0=-0.0708 right_j1=0.0349 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0238 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-6.5026, -14.2017, 4.8068, 0.3297, -0.0122, -0.1197, -0.0171, 2.0991, 1.3333, 7.241, 1.8584, -0.0366, -0.0611, -0.0171]",
      "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=-1.3899 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0235 left_j5=-1.4471 left_gripper=0.4345 right_j0=-0.8799 right_j1=0.0368 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -14.4068, 5.3128, 0.2857, -0.0073, 0.1099, -0.0122, -0.1709, 1.4564, 7.0359, 1.9414, 0.0269, -0.0317, -0.0073]",
      "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=-1.4097 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0185 left_j5=-1.4673 left_gripper=0.4345 right_j0=-0.8867 right_j1=0.0364 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-3.7538, -14.0376, 5.2171, 0.3541, 0.0611, -0.1392, -0.0122, 0.253, 1.9214, 7.0359, 1.9121, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7c198e1d00689c32743e12703c7c9281dd60b7ea28a462cccdf6be283a5b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ee569f4fd016ec25dc3fca383632d786ed5ea43e1a34a0de282b7c384226d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8067891de8fc0fe5cbf0e1a0b7ced4de57bcd8ec83b46c9eb5a014ebff992b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6c7c198e1d00]
[blob 78ee569f4fd0]
[blob ff8067891de8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGHeVeUWrQCCJZEApGsSKK",
      "input": {
        "note": "Yaw is undershooting under load; commanding well beyond the goal to force the last ~3 cm of lateral alignment with the target block.",
        "targets": {
          "left_j0": -1.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JGHeVeUWrQCCJZEApGsSKK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.5616 left_j1=2.6717 left_j2=2.8292 left_j3=-1.7065 left_j4=-0.0364 left_j5=-1.4895 left_gripper=0.4345 right_j0=-0.8726 right_j1=0.0368 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0296 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-7.4051, -14.1333, 5.5726, 0.2857, 0.7253, 0.0464, -0.0122, -1.1829, 1.8803, 7.1453, 1.8926, 0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9912fa885ded79ca3cfa4bcc1fdbbcb419c43bc6df52ba1a326d492f4b595e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d0e6c9897607b0d23cf9df4c532d520bc583089ab5d61cf3306ef5a675cfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d600f54e5c40a3c903106e04d81f65efed30ea0b4e17de8e2cbc1d1bea659f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3c9912fa885d
wire blob 34d0e6c98976
wire blob 4d600f54e5c4
call 31 attempt 0 · /messages · status 200 · 7.499 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.3899 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0235 left_j5=-1.4471 left_gripper=0.4345 right_j0=-0.8799 right_j1=0.0368 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -14.4068, 5.3128, 0.2857, -0.0073, 0.1099, -0.0122, -0.1709, 1.4564, 7.0359, 1.9414, 0.0269, -0.0317, -0.0073]",
      "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=-1.4097 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0185 left_j5=-1.4673 left_gripper=0.4345 right_j0=-0.8867 right_j1=0.0364 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-3.7538, -14.0376, 5.2171, 0.3541, 0.0611, -0.1392, -0.0122, 0.253, 1.9214, 7.0359, 1.9121, -0.0171, -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=-1.5616 left_j1=2.6717 left_j2=2.8292 left_j3=-1.7065 left_j4=-0.0364 left_j5=-1.4895 left_gripper=0.4345 right_j0=-0.8726 right_j1=0.0368 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0296 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-7.4051, -14.1333, 5.5726, 0.2857, 0.7253, 0.0464, -0.0122, -1.1829, 1.8803, 7.1453, 1.8926, 0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9912fa885ded79ca3cfa4bcc1fdbbcb419c43bc6df52ba1a326d492f4b595e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d0e6c9897607b0d23cf9df4c532d520bc583089ab5d61cf3306ef5a675cfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d600f54e5c40a3c903106e04d81f65efed30ea0b4e17de8e2cbc1d1bea659f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3c9912fa885d]
[blob 34d0e6c98976]
[blob 4d600f54e5c4]
{
  "content": [
    {
      "signature": "CAIS1woKjAEIEBgCKkDcD9Tzr3N3dpA8mg0kpVp7vb4h2tL+nsBLk39x0IZa+zlAghrf69o1fq9ZUu7w0C/vOspHXzSvucfSOMB04kKEMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMeKxAuxDHPIOZAn5FGgwixvo7k1/0W9iNEVoiMKfmauCgcYAfRUOwNkdtn3Topv4UCuvR89SU/tFLEt9Nu5qv3kM4w/6lfNjPERcSsyr3CDCNA5cgrFecmONIN+pYZ0PYIV4ti/Y4+94vQ+EbmL5vtoVjifHRj8yLihCCBkyYHrzRSf69Om5O58oAsj48ycwRL7Q8yuMDtM9+BHUWvVSP5CqtoSkX5O/8kTBUeYnuCLxBOAqH3WxuKh+/YiIdIoO1//9sYF92/ccrfovP+Q8eXiHoPJJz33tCZyqB5l49wpKcqJUwBj8whsddKp3lf+A6WwIULodx6I6XsXlfDZb44kd1FKX5x9FhICr/hNcmgTcZakK7+dNxW94NIdwSMRliSOkHBcQ0JAoaJc8co8ajqVQGD5IQPWJW3YBJT0/RqvXmG2Qst18M3prxb7RDAkhdTBnKShHhcJ2u1gDsrN+pZmTiuvowMZpVT5QGRNR3ePNs6HXks1C+kT9wrACNJk7XjMFIHVvPdRIccxrpa4igx3vqN6tvaBZlkNE0n/1tV6opK33oCj1Keu2ifFIC7apLU9bqbkLkrrwRAfOB1/xkj3J8AJySeXMTjGRte2gyhak1bxazhiPV5n5txmkBB0RLudgCaMNQiHEzty6jsqWfrj4Bt/nQsj+4U1/6Te1NwS6b1vYoCMto+STgH0tqsx5XYCGtS0hIsp13g9sbPr93ZJS4yCRkKW2h17pcJPGD1AxC1jO5aAV6TxYaECZPcRnpFcKua1jkaSzY6ybesMBcNKobg2QZhWTIKmYSKQvnwOZjF3S7gZsBmkXly36zBS9uKcrbDL8xyIHwgttqU8dzdzeqEslJ9Iaze/AqrnYpnkjmK6c671Xj5/Ut4d1uKqI4d8sNPNKt3UYdjqMxB1XOLftRNL/We7VVwJZbirrU+jyxuRCBT+SPxwbyALveRcfigNbqCoxG8PHB3P3xk4IWLzzc2Nob9I6RHi5trIQLsWfqpmwMGwA+llDih4rNXmP9xpZV5S0wL82AWOBBmsVlqXnworvEQDSADXjP0YYmAbkTsZg5atXWXBklb9MSrHIgSrbUW2THAmvYnhby8/G1osg9iWGJReI3Iyit+fEsc566LWyPmfh2vROJbDFW2A7+QAhYag2LIwAjueYshMHXyy87QG56WaV3QfAGdCeHKF61VkXmzLwi5clCE9y+LGpqEJv91poEH5dT7sX6uIJnk49nW1aCHYOeR2EoPXbrx7qy/wx995PdKigYSpXSsC3L79Nuz3D8i/2rEVlKfyaqp8XQt8wflD9LPAr9pSMjbyHuCU5XcdNA/T3faFeQBGj9EKkUROP4Axuvek4jCZ2RyKg93jxEX0OU0jBQG5V2C7tJIqThVXGcfR8BaEYFDCGbkAOsm1S7956cpLkesTjeqR131rRUxP+Y9k0VyNvkleHHxdMgooYMcUoOOkodTY+nr8MOAx8OirHvfFPjXeS4Fu+qRc+ZEWuViox/+KjHMXBXmJdvCIl11eLD5LG62PPRvJFalNDZxIac7c3eA8slKDmKRrkO+HDPVVYkrvKzy4Ryl2NdPK8zXRiiPYLgJebV3ujvjb6sQgC9XgiCM8DmGRFhzWjZVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmWWhboHUPyacYBVEPkv1U",
      "input": {
        "note": "That nudge moved the block further from the jaws, so the sign is opposite to my model; reversing yaw to +0.36 rad to drive it toward the jaw gap.",
        "targets": {
          "left_j0": -1.2,
          "left_j5": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DmWWhboHUPyacYBVEPkv1U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2098 left_j1=2.6743 left_j2=2.8292 left_j3=-1.7054 left_j4=-0.0338 left_j5=-1.2709 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0307 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0325, -14.3385, 5.2308, 0.2955, -0.0855, 0.1929, -0.0122, -0.0342, 1.2923, 7.0906, 1.9365, -0.0024, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9059051f39e179bf0ee14d21c6924899f26231c7672872ecad6d03b7efff899b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17db02605656b836ed5f3147bced66c482d386689efc4a795207a85e1e7a4128",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e063f509f99f00fe4b12650292fef8e74030e28f73688c1e9a5cd6b53c766f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9059051f39e1
wire blob 17db02605656
wire blob e063f509f99f
call 32 attempt 0 · /messages · status 200 · 6.755 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.4097 left_j1=2.6717 left_j2=2.8338 left_j3=-1.7054 left_j4=0.0185 left_j5=-1.4673 left_gripper=0.4345 right_j0=-0.8867 right_j1=0.0364 right_j2=0.0135 right_j3=-0.0731 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-3.7538, -14.0376, 5.2171, 0.3541, 0.0611, -0.1392, -0.0122, 0.253, 1.9214, 7.0359, 1.9121, -0.0171, -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=-1.5616 left_j1=2.6717 left_j2=2.8292 left_j3=-1.7065 left_j4=-0.0364 left_j5=-1.4895 left_gripper=0.4345 right_j0=-0.8726 right_j1=0.0368 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0296 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-7.4051, -14.1333, 5.5726, 0.2857, 0.7253, 0.0464, -0.0122, -1.1829, 1.8803, 7.1453, 1.8926, 0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2098 left_j1=2.6743 left_j2=2.8292 left_j3=-1.7054 left_j4=-0.0338 left_j5=-1.2709 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0307 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0325, -14.3385, 5.2308, 0.2955, -0.0855, 0.1929, -0.0122, -0.0342, 1.2923, 7.0906, 1.9365, -0.0024, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9059051f39e179bf0ee14d21c6924899f26231c7672872ecad6d03b7efff899b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17db02605656b836ed5f3147bced66c482d386689efc4a795207a85e1e7a4128",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e063f509f99f00fe4b12650292fef8e74030e28f73688c1e9a5cd6b53c766f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9059051f39e1]
[blob 17db02605656]
[blob e063f509f99f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019UXWKmrP61GCcBhedBjUpC",
      "input": {
        "note": "The red block is now directly under the jaws in the wrist view; descending ~3 cm while watching effort, to bring my carried block just above it.",
        "targets": {
          "left_j1": 2.652,
          "left_j2": 2.663,
          "left_j3": -1.561
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_019UXWKmrP61GCcBhedBjUpC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6659 left_j2=2.6846 left_j3=-1.6173 left_j4=-0.0326 left_j5=-1.2572 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0727 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -15.2547, 6.0923, 0.3004, -0.0464, -0.105, -0.0122, -0.0342, 1.6205, 7.4462, 1.8877, -0.0122, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d62e7a9280928a8b263eacf0ba3af78239ace7d2a7ba65e2e3ec581d622af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6207b6753463efa5fd15519af042138f1a9181a610515726065181140d24fd3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ce1c5bd6c1e86fd4324de43d67bf0f0fe754c93153202e2cba318e1da3c95e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f3d62e7a9280
wire blob 6207b6753463
wire blob 7ce1c5bd6c1e
call 33 attempt 0 · /messages · status 200 · 6.254 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.5616 left_j1=2.6717 left_j2=2.8292 left_j3=-1.7065 left_j4=-0.0364 left_j5=-1.4895 left_gripper=0.4345 right_j0=-0.8726 right_j1=0.0368 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0296 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-7.4051, -14.1333, 5.5726, 0.2857, 0.7253, 0.0464, -0.0122, -1.1829, 1.8803, 7.1453, 1.8926, 0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2098 left_j1=2.6743 left_j2=2.8292 left_j3=-1.7054 left_j4=-0.0338 left_j5=-1.2709 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0307 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0325, -14.3385, 5.2308, 0.2955, -0.0855, 0.1929, -0.0122, -0.0342, 1.2923, 7.0906, 1.9365, -0.0024, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6659 left_j2=2.6846 left_j3=-1.6173 left_j4=-0.0326 left_j5=-1.2572 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0727 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -15.2547, 6.0923, 0.3004, -0.0464, -0.105, -0.0122, -0.0342, 1.6205, 7.4462, 1.8877, -0.0122, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d62e7a9280928a8b263eacf0ba3af78239ace7d2a7ba65e2e3ec581d622af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6207b6753463efa5fd15519af042138f1a9181a610515726065181140d24fd3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce1c5bd6c1e86fd4324de43d67bf0f0fe754c93153202e2cba318e1da3c95e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f3d62e7a9280]
[blob 6207b6753463]
[blob 7ce1c5bd6c1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XgsTVKAmc9722cRWNX9ZC1",
      "input": {
        "note": "Target block has passed out of the wrist view at the jaw line, as expected when aligned; descending another ~5 cm toward it while watching for contact effort.",
        "targets": {
          "left_j1": 2.676,
          "left_j2": 2.506,
          "left_j3": -1.401
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XgsTVKAmc9722cRWNX9ZC1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6801 left_j2=2.5183 left_j3=-1.4578 left_j4=-0.033 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0406 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -14.5299, 6.188, 0.2906, -0.0513, 0.0513, -0.0122, -0.1436, 1.5658, 7.2547, 1.9219, -0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751e8af63686bd699528e6ab19584f602e2fe6ee69e8b615ef47e11e63472e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd789e8ba7994dfea5074fe1ded27963d075dcedb8131097f23525584abaebc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b5b9415c57710fee136adccf5f1ef4180f15313f03aa25f39067ba7666a88d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 751e8af63686
wire blob cd789e8ba799
wire blob 2b5b9415c577
call 34 attempt 0 · /messages · status 200 · 9.856 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2098 left_j1=2.6743 left_j2=2.8292 left_j3=-1.7054 left_j4=-0.0338 left_j5=-1.2709 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0307 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0325, -14.3385, 5.2308, 0.2955, -0.0855, 0.1929, -0.0122, -0.0342, 1.2923, 7.0906, 1.9365, -0.0024, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6659 left_j2=2.6846 left_j3=-1.6173 left_j4=-0.0326 left_j5=-1.2572 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0727 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -15.2547, 6.0923, 0.3004, -0.0464, -0.105, -0.0122, -0.0342, 1.6205, 7.4462, 1.8877, -0.0122, -0.0611, -0.0073]",
      "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=-1.2049 left_j1=2.6801 left_j2=2.5183 left_j3=-1.4578 left_j4=-0.033 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0406 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -14.5299, 6.188, 0.2906, -0.0513, 0.0513, -0.0122, -0.1436, 1.5658, 7.2547, 1.9219, -0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751e8af63686bd699528e6ab19584f602e2fe6ee69e8b615ef47e11e63472e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd789e8ba7994dfea5074fe1ded27963d075dcedb8131097f23525584abaebc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b5b9415c57710fee136adccf5f1ef4180f15313f03aa25f39067ba7666a88d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 751e8af63686]
[blob cd789e8ba799]
[blob 2b5b9415c577]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y9p1RCLqXqHbNQQDDDL5Uh",
      "input": {
        "note": "Overhead close-up shows the red block still ~4 cm nearer the base than my carried block; pulling the radius in that much at the same height.",
        "targets": {
          "left_j1": 2.476,
          "left_j2": 2.118,
          "left_j3": -1.213
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Y9p1RCLqXqHbNQQDDDL5Uh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=2.4996 left_j2=2.1536 left_j3=-1.24 left_j4=-0.0326 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -15.1316, 4.4376, 0.3297, -0.0562, -0.0366, -0.0122, -0.1709, 1.6752, 7.0496, 1.8828, -0.0415, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0db5472524c07be1c43b3bb7bfa06dc51e78605d71df319b12bae3fb053bc16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1dbf52806c0101518fac1b1573e327f5836c7235f89749c30f479a1e06172c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cea486ecbdd2977e9e7998661e22dee348da6224881f102d8a1f5b8df4abdb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e0db5472524c
wire blob cc1dbf52806c
wire blob cea486ecbdd2
call 35 attempt 0 · /messages · status 200 · 6.748 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6659 left_j2=2.6846 left_j3=-1.6173 left_j4=-0.0326 left_j5=-1.2572 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0402 right_j2=0.0128 right_j3=-0.0727 right_j4=-0.0315 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -15.2547, 6.0923, 0.3004, -0.0464, -0.105, -0.0122, -0.0342, 1.6205, 7.4462, 1.8877, -0.0122, -0.0611, -0.0073]",
      "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=-1.2049 left_j1=2.6801 left_j2=2.5183 left_j3=-1.4578 left_j4=-0.033 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0406 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -14.5299, 6.188, 0.2906, -0.0513, 0.0513, -0.0122, -0.1436, 1.5658, 7.2547, 1.9219, -0.0171, -0.0513, -0.0171]",
      "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=-1.2045 left_j1=2.4996 left_j2=2.1536 left_j3=-1.24 left_j4=-0.0326 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -15.1316, 4.4376, 0.3297, -0.0562, -0.0366, -0.0122, -0.1709, 1.6752, 7.0496, 1.8828, -0.0415, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0db5472524c07be1c43b3bb7bfa06dc51e78605d71df319b12bae3fb053bc16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1dbf52806c0101518fac1b1573e327f5836c7235f89749c30f479a1e06172c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea486ecbdd2977e9e7998661e22dee348da6224881f102d8a1f5b8df4abdb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e0db5472524c]
[blob cc1dbf52806c]
[blob cea486ecbdd2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016sLaEaTsN3bHb4xe55xBX8",
      "input": {
        "note": "The right wrist camera shows the red block way out at the table's right edge — effectively beyond the left arm's usable reach. Switching plan: the left arm will set its block down mid-table so the right arm can pick it up and stack it.",
        "targets": {
          "left_j0": -0.862,
          "left_j1": 2.644,
          "left_j2": 2.273,
          "left_j3": -1.2,
          "left_j5": -0.862
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_016sLaEaTsN3bHb4xe55xBX8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8928 left_j1=2.5729 left_j2=2.2829 left_j3=-1.2392 left_j4=-0.0032 left_j5=-0.9546 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.2103, -8.5265, 4.8205, 0.7448, -0.3492, 0.3004, -0.0073, -0.0205, 1.6068, 7.2, 1.9365, -0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6699fef09d067065e002e159d4e22f526945d25c669fd9a13fe3c06e9ce0d573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9740f193d86d5030a43d19dbb5087d2c6023c24a61f2513adeaf50df8878a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b972a445985f03e1b5f92f43c7c9c1a4f5837b5802a568fd614a5b3da313faa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6699fef09d06
wire blob 4e9740f193d8
wire blob b972a445985f
call 36 attempt 0 · /messages · status 200 · 4.436 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2049 left_j1=2.6801 left_j2=2.5183 left_j3=-1.4578 left_j4=-0.033 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0406 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -14.5299, 6.188, 0.2906, -0.0513, 0.0513, -0.0122, -0.1436, 1.5658, 7.2547, 1.9219, -0.0171, -0.0513, -0.0171]",
      "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=-1.2045 left_j1=2.4996 left_j2=2.1536 left_j3=-1.24 left_j4=-0.0326 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -15.1316, 4.4376, 0.3297, -0.0562, -0.0366, -0.0122, -0.1709, 1.6752, 7.0496, 1.8828, -0.0415, -0.0806, -0.0171]",
      "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=-0.8928 left_j1=2.5729 left_j2=2.2829 left_j3=-1.2392 left_j4=-0.0032 left_j5=-0.9546 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.2103, -8.5265, 4.8205, 0.7448, -0.3492, 0.3004, -0.0073, -0.0205, 1.6068, 7.2, 1.9365, -0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6699fef09d067065e002e159d4e22f526945d25c669fd9a13fe3c06e9ce0d573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9740f193d86d5030a43d19dbb5087d2c6023c24a61f2513adeaf50df8878a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b972a445985f03e1b5f92f43c7c9c1a4f5837b5802a568fd614a5b3da313faa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6699fef09d06]
[blob 4e9740f193d8]
[blob b972a445985f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9Mnz8NmUK6U5VfcYeL9ga",
      "input": {
        "note": "Descending the last few cm to set the carried block on the table mid-workspace, so I can then get a clean, unobstructed overhead view of both blocks.",
        "targets": {
          "left_j1": 2.72,
          "left_j2": 2.33,
          "left_j3": -1.18
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K9Mnz8NmUK6U5VfcYeL9ga",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8776 left_j1=2.6122 left_j2=2.3516 left_j3=-1.2564 left_j4=-0.0196 left_j5=-0.9447 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.2513, -5.8598, 3.7949, 1.1306, 0.1685, 0.0024, -0.0073, -0.1436, 1.7709, 7.1179, 1.8632, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed32a1c893a4298016806f29231832b726da0531deb3481fcc5f0d18e5b49450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192ae620002cb38678e7e72b452a12d97ba8b7609c0b4b98e0f6d6d30c7e4e5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0bfdcdf07134666b0ec35556c0d27d700a989d6345a61ee8ab16c38e74eca97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ed32a1c893a4
wire blob 192ae620002c
wire blob f0bfdcdf0713
call 37 attempt 0 · /messages · status 200 · 5.581 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=2.4996 left_j2=2.1536 left_j3=-1.24 left_j4=-0.0326 left_j5=-1.264 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -15.1316, 4.4376, 0.3297, -0.0562, -0.0366, -0.0122, -0.1709, 1.6752, 7.0496, 1.8828, -0.0415, -0.0806, -0.0171]",
      "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=-0.8928 left_j1=2.5729 left_j2=2.2829 left_j3=-1.2392 left_j4=-0.0032 left_j5=-0.9546 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.2103, -8.5265, 4.8205, 0.7448, -0.3492, 0.3004, -0.0073, -0.0205, 1.6068, 7.2, 1.9365, -0.0415, -0.0562, -0.0073]",
      "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=-0.8776 left_j1=2.6122 left_j2=2.3516 left_j3=-1.2564 left_j4=-0.0196 left_j5=-0.9447 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.2513, -5.8598, 3.7949, 1.1306, 0.1685, 0.0024, -0.0073, -0.1436, 1.7709, 7.1179, 1.8632, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed32a1c893a4298016806f29231832b726da0531deb3481fcc5f0d18e5b49450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192ae620002cb38678e7e72b452a12d97ba8b7609c0b4b98e0f6d6d30c7e4e5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0bfdcdf07134666b0ec35556c0d27d700a989d6345a61ee8ab16c38e74eca97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ed32a1c893a4]
[blob 192ae620002c]
[blob f0bfdcdf0713]
{
  "content": [
    {
      "signature": "CAISkgMKjAEIEBgCKkAczEFFTdNR3ZCQC461ho9CpEe2OdkiWZDMEUd5DenZ+LoU8AAeaVpPAMgOzURSEG4s57JW1FxNXSSklnBAi5Z/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMYytoP7HKSfeEsICdGgxYyJO4+cscq2zAp6giMOb4kgKSxIZF48eEpYijKXIBeQO4e0MgNB4f8wAKtH4JkT5sK/N357GVhP0Bz7sqPCqyAY9xyqVWvnqyW2fjeNxwEbx3s1aPcqhfzM3YU9ibePbCWWW2dKP9Ol7oq7d2ncJ0nuPPyCjTJL7POk4lh6RP3X2ALzSEu6WB9t0aDdH8qxT6jcoA1d2FSABwvm2QM6JiFFngPDsbdCS4VsxDeKfw9hEHuzG5YhtmPkfKz1BQZH0CqHumcElKievN8ASbg2lF5wOkJkcXpZwPfDC8iHLBcj3j7MPVu7dPpul/sxOK8PUq550YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wKbhTZ7Hrsn1zhczpzJiv",
      "input": {
        "note": "Effort indicates the block has touched down; opening the gripper to release it mid-table.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_017wKbhTZ7Hrsn1zhczpzJiv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8795 left_j1=2.6102 left_j2=2.3585 left_j3=-1.2602 left_j4=-0.0261 left_j5=-0.9573 left_gripper=0.9955 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -14.3795, 5.4632, 0.4371, -0.0122, 0.0904, -0.149, -0.0615, 1.7026, 7.2274, 1.8926, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf81850afffffb5a05e295e3e1a89d145cd7599a93ab47412db6c4473b9f695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0e845eed868f2fe40d543768637add7f85c4e11c9fcd6c205f43655465f3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75b85da2cb64a1c16804d1558192e4233dba4f933b70f5c5e87a5f2243425f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cbf81850afff
wire blob 3d0e845eed86
wire blob 75b85da2cb64
call 38 attempt 0 · /messages · status 200 · 14.99 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8928 left_j1=2.5729 left_j2=2.2829 left_j3=-1.2392 left_j4=-0.0032 left_j5=-0.9546 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.2103, -8.5265, 4.8205, 0.7448, -0.3492, 0.3004, -0.0073, -0.0205, 1.6068, 7.2, 1.9365, -0.0415, -0.0562, -0.0073]",
      "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=-0.8776 left_j1=2.6122 left_j2=2.3516 left_j3=-1.2564 left_j4=-0.0196 left_j5=-0.9447 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.2513, -5.8598, 3.7949, 1.1306, 0.1685, 0.0024, -0.0073, -0.1436, 1.7709, 7.1179, 1.8632, -0.0269, -0.0611, -0.0073]",
      "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=-0.8795 left_j1=2.6102 left_j2=2.3585 left_j3=-1.2602 left_j4=-0.0261 left_j5=-0.9573 left_gripper=0.9955 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -14.3795, 5.4632, 0.4371, -0.0122, 0.0904, -0.149, -0.0615, 1.7026, 7.2274, 1.8926, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf81850afffffb5a05e295e3e1a89d145cd7599a93ab47412db6c4473b9f695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0e845eed868f2fe40d543768637add7f85c4e11c9fcd6c205f43655465f3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b85da2cb64a1c16804d1558192e4233dba4f933b70f5c5e87a5f2243425f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cbf81850afff]
[blob 3d0e845eed86]
[blob 75b85da2cb64]
{
  "content": [
    {
      "signature": "CAIS1AYKjAEIEBgCKkDddKQo7GPkUL0uEhXUTG0R3lv7l+r6P6TJmRA7KxHxBwMJou/qOW0/rj5H+fFtMKytfsarvBXv2YriXe+/1BdNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMbCD3ZhMCDUgmV/0wGgyXdtg30PWScMqrYGIiMPC158hIYd5cNTG60gP/OUCTqM6CqoT7DiuPcQqFwUCk5mxXaFk1rPZirv+J9Ng9WCr0BClfuUp0jTdjlGhOCwBTbl39EYH9RmtyzX7daPtNJArAfCvmp8TbK240mADDTrYfcDq9+vuWpZpqx7uUuC7epiUf1zvbXED601upZcMHkXhea52rtOlh6xjqEkMB6l4wcZz91s1SiolJ8/SoVTKTJKarEhIzHngsyZez+6bRcz6/58FGi37Mt7XHkpRNA6VaLT3KPFaHAUtyrccY2rE6V9qpdhIV5QEa9ZIituQ+y8piSYlMB18/xFoEyapEcyZ5FldBq5vr2sc+l6301HAIQLu6AoMMpu/Sqi/yPlwnJ1Ehq3mq2I5b2tJmOFspH1J6p6a2R4NN4U/LiKQ7TWtlYE1to7qQgAGUTKpcwRd/bP5ZFhCGi8cNjyk24p7BQfl8c86cGHRXt7qthCMfAZ7d2iVvM4vUEW7L5FH5WUcXuRGESTT3DJuUxxLL+yUs2Lw+ZE6uqUbR55ziAEf27cE2nnPrxJ/aq+IvyqfVkr+L+DMlcdPO49nEiu6CBeNAK8lKJIgQf2L2oKyuFrCdvgSQza3zdnFhlesfv/seFNfqWM2Xhyd5DbWu+ICLwGB0ejsURuw84sfSaB4pFYpelXoqQueQTDi7EfoJNnWXVRnC3ilQuhPc5N6SkLc3g4sGZ1F6fHztbb2plB0Y0KYaEEEX8xu18ZQAx7qzcKMRp1F4czLVp1K6GAYo9dkhl+2kRH3oaC6tpJNyU6oCxDxTpv9XGaqriJWK+svT5HVfGmnxAWW6Ra44/HhCSwWZdJ9QcKl9+vHLhRMXwWzO2Mj2UoNuDXjijszLgNmlw7ax7vIL6AaFoyXkNsHRnqDytwmM2t/NpgiqSTcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012DmVLunFxBvP7iWGqDQhkX",
      "input": {
        "note": "Block released; parking the left arm by its base and re-centering the right arm so I can survey the table cleanly from the overhead and right wrist cameras.",
        "targets": {
          "left_j0": 0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6,
          "right_j0": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 32 steps (3.2s)",
      "tool_use_id": "toolu_012DmVLunFxBvP7iWGqDQhkX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0143 left_j1=0.6224 left_j2=1.2133 left_j3=-0.6491 left_j4=-0.0296 left_j5=-0.9661 left_gripper=0.9967 right_j0=-0.0105 right_j1=0.0471 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, 2.3863, 5.6, 2.3663, 0.0317, 0.0464, 0.105, 0.1846, 1.1556, 7.241, 1.8828, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af7c2648576e283d2802265b93ef0169559628dbdcf2f73eb68a6f97c8d60f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9929b4f1a56839ff230843f738069e06afb2156e30ad3e7177c7f64fb5409cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54e6d3d4a9bf8aad9719ed892b76e67838d79c665819ffe4a5e02fcee52f433e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af7c2648576e
wire blob 9929b4f1a568
wire blob 54e6d3d4a9bf
call 39 attempt 0 · /messages · status 200 · 6.348 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8776 left_j1=2.6122 left_j2=2.3516 left_j3=-1.2564 left_j4=-0.0196 left_j5=-0.9447 left_gripper=0.4345 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.2513, -5.8598, 3.7949, 1.1306, 0.1685, 0.0024, -0.0073, -0.1436, 1.7709, 7.1179, 1.8632, -0.0269, -0.0611, -0.0073]",
      "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=-0.8795 left_j1=2.6102 left_j2=2.3585 left_j3=-1.2602 left_j4=-0.0261 left_j5=-0.9573 left_gripper=0.9955 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -14.3795, 5.4632, 0.4371, -0.0122, 0.0904, -0.149, -0.0615, 1.7026, 7.2274, 1.8926, -0.0366, -0.0659, -0.0171]",
      "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=-0.0143 left_j1=0.6224 left_j2=1.2133 left_j3=-0.6491 left_j4=-0.0296 left_j5=-0.9661 left_gripper=0.9967 right_j0=-0.0105 right_j1=0.0471 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, 2.3863, 5.6, 2.3663, 0.0317, 0.0464, 0.105, 0.1846, 1.1556, 7.241, 1.8828, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af7c2648576e283d2802265b93ef0169559628dbdcf2f73eb68a6f97c8d60f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9929b4f1a56839ff230843f738069e06afb2156e30ad3e7177c7f64fb5409cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e6d3d4a9bf8aad9719ed892b76e67838d79c665819ffe4a5e02fcee52f433e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af7c2648576e]
[blob 9929b4f1a568]
[blob 54e6d3d4a9bf]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SyBeY4pmao1euLqZ4rgKwY",
      "input": {
        "note": "Clean overhead now: my blue block sits mid-table and the red block is far right, right next to the right arm's base. Returning the left gripper to the exact pose where I released the blue block to re-grasp it, and swinging the right arm clear again.",
        "targets": {
          "left_j0": -0.8795,
          "left_j1": 2.65,
          "left_j2": 2.3585,
          "left_j3": -1.2602,
          "left_j5": -0.9573,
          "right_j0": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_01SyBeY4pmao1euLqZ4rgKwY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8654 left_j1=2.6034 left_j2=2.3455 left_j3=-1.2484 left_j4=-0.0414 left_j5=-0.9691 left_gripper=0.9967 right_j0=-0.8913 right_j1=0.0502 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0345 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.8513, 6.2701, 0.5592, 0.3101, 0.1587, -0.0024, -0.2393, 1.4017, 7.2547, 2.0635, 0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3fb8f5f21461104edffaa125d85d23f8c5e733a27fde80935c7f9c82f35cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd6501175376b81292e299b06d6c262709af19f39eb6baef8dcdd9998ecdedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:649d39361d57659fae4888e78f55120b95786ce67e6df74b1d18b41766c143a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cc3fb8f5f214
wire blob 0fd650117537
wire blob 649d39361d57
call 40 attempt 0 · /messages · status 200 · 8.361 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8795 left_j1=2.6102 left_j2=2.3585 left_j3=-1.2602 left_j4=-0.0261 left_j5=-0.9573 left_gripper=0.9955 right_j0=-0.8734 right_j1=0.0414 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -14.3795, 5.4632, 0.4371, -0.0122, 0.0904, -0.149, -0.0615, 1.7026, 7.2274, 1.8926, -0.0366, -0.0659, -0.0171]",
      "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=-0.0143 left_j1=0.6224 left_j2=1.2133 left_j3=-0.6491 left_j4=-0.0296 left_j5=-0.9661 left_gripper=0.9967 right_j0=-0.0105 right_j1=0.0471 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, 2.3863, 5.6, 2.3663, 0.0317, 0.0464, 0.105, 0.1846, 1.1556, 7.241, 1.8828, -0.0513, -0.0611, -0.0171]",
      "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=-0.8654 left_j1=2.6034 left_j2=2.3455 left_j3=-1.2484 left_j4=-0.0414 left_j5=-0.9691 left_gripper=0.9967 right_j0=-0.8913 right_j1=0.0502 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0345 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.8513, 6.2701, 0.5592, 0.3101, 0.1587, -0.0024, -0.2393, 1.4017, 7.2547, 2.0635, 0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3fb8f5f21461104edffaa125d85d23f8c5e733a27fde80935c7f9c82f35cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd6501175376b81292e299b06d6c262709af19f39eb6baef8dcdd9998ecdedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649d39361d57659fae4888e78f55120b95786ce67e6df74b1d18b41766c143a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cc3fb8f5f214]
[blob 0fd650117537]
[blob 649d39361d57]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018LpsedLyaGYeNBKcR4zQra",
      "input": {
        "note": "The blue block is between the jaws in the overhead close-up; closing to re-grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018LpsedLyaGYeNBKcR4zQra",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8703 left_j1=2.608 left_j2=2.3547 left_j3=-1.2472 left_j4=-0.0345 left_j5=-0.9737 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -14.7897, 5.1761, 0.4078, -0.1587, 0.0073, 0.6667, -0.0615, 1.4974, 7.0496, 1.8779, -0.0513, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a5f116d28ea3a5ea47b0f5f1dae3194c91d55a58fc8a49bb715859e228a610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b0c8cc697da450ce6e5ad92454c3b707992f23d22ee5a4a32cb7d8dbe74ef8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03434aaa95b030547bc444137d6dae242e9a52dbc34a67b222fb211095be647e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 78a5f116d28e
wire blob 0b0c8cc697da
wire blob 03434aaa95b0
call 41 attempt 0 · /messages · status 200 · 5.951 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0143 left_j1=0.6224 left_j2=1.2133 left_j3=-0.6491 left_j4=-0.0296 left_j5=-0.9661 left_gripper=0.9967 right_j0=-0.0105 right_j1=0.0471 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0319 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, 2.3863, 5.6, 2.3663, 0.0317, 0.0464, 0.105, 0.1846, 1.1556, 7.241, 1.8828, -0.0513, -0.0611, -0.0171]",
      "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=-0.8654 left_j1=2.6034 left_j2=2.3455 left_j3=-1.2484 left_j4=-0.0414 left_j5=-0.9691 left_gripper=0.9967 right_j0=-0.8913 right_j1=0.0502 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0345 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.8513, 6.2701, 0.5592, 0.3101, 0.1587, -0.0024, -0.2393, 1.4017, 7.2547, 2.0635, 0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8703 left_j1=2.608 left_j2=2.3547 left_j3=-1.2472 left_j4=-0.0345 left_j5=-0.9737 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -14.7897, 5.1761, 0.4078, -0.1587, 0.0073, 0.6667, -0.0615, 1.4974, 7.0496, 1.8779, -0.0513, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a5f116d28ea3a5ea47b0f5f1dae3194c91d55a58fc8a49bb715859e228a610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b0c8cc697da450ce6e5ad92454c3b707992f23d22ee5a4a32cb7d8dbe74ef8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03434aaa95b030547bc444137d6dae242e9a52dbc34a67b222fb211095be647e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 78a5f116d28e]
[blob 0b0c8cc697da]
[blob 03434aaa95b0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BQXKt2eYyGKgaXNK84QaJR",
      "input": {
        "note": "Closed on air (residual 0.009) — the block is slightly off from where I released it. Opening and lifting ~8 cm to re-locate it in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.597,
          "left_j2": 2.68,
          "left_j3": -1.654
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BQXKt2eYyGKgaXNK84QaJR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8711 left_j1=2.6141 left_j2=2.6411 left_j3=-1.5978 left_j4=-0.0326 left_j5=-0.9764 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -15.5282, 7.8017, 0.2515, -0.0708, -0.0317, -0.0904, -0.1573, 1.5385, 7.0496, 1.9023, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a594b04b532fa5b0ef4414de3e6f081b9d88bb1af7736892c59d6b2e1ad047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163c868aceec8f087688a50e1340689497ab371605cadece1a02779e67638ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5344a244ca30484ae019c7e8c579e6ebd7d909c73424bcb71dea679d5c76005a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 07a594b04b53
wire blob 163c868aceec
wire blob 5344a244ca30
call 42 attempt 0 · /messages · status 200 · 3.98 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8654 left_j1=2.6034 left_j2=2.3455 left_j3=-1.2484 left_j4=-0.0414 left_j5=-0.9691 left_gripper=0.9967 right_j0=-0.8913 right_j1=0.0502 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0345 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.8513, 6.2701, 0.5592, 0.3101, 0.1587, -0.0024, -0.2393, 1.4017, 7.2547, 2.0635, 0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8703 left_j1=2.608 left_j2=2.3547 left_j3=-1.2472 left_j4=-0.0345 left_j5=-0.9737 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -14.7897, 5.1761, 0.4078, -0.1587, 0.0073, 0.6667, -0.0615, 1.4974, 7.0496, 1.8779, -0.0513, -0.0464, -0.0073]",
      "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=-0.8711 left_j1=2.6141 left_j2=2.6411 left_j3=-1.5978 left_j4=-0.0326 left_j5=-0.9764 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -15.5282, 7.8017, 0.2515, -0.0708, -0.0317, -0.0904, -0.1573, 1.5385, 7.0496, 1.9023, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a594b04b532fa5b0ef4414de3e6f081b9d88bb1af7736892c59d6b2e1ad047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163c868aceec8f087688a50e1340689497ab371605cadece1a02779e67638ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5344a244ca30484ae019c7e8c579e6ebd7d909c73424bcb71dea679d5c76005a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 07a594b04b53]
[blob 163c868aceec]
[blob 5344a244ca30]
{
  "content": [
    {
      "signature": "CAIS0goKjAEIEBgCKkDAFcfaJ8CxFj17va6tdBxbprAE+Gwn5UapW5U81SZeWSaOc+WcGGTu5ozSOKfNOMQaAofEJsH56jbois41mwx+MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGmUBtejM2CfzbL0IGgzV/L36rJkGrSb9uxYiMA4QLIAjbbW8WqeTVWWKYV0xwIU+8IL9lCewipdyokDqN8gcMOSbgztFUqShaYoMFCryCM6o1+ElZc/Nf8kcYWAMu1p3GZVL1g1KfXOorHiHBkMVmWSXKrqJ3eo1pWcxkoTh16jbWS4aopQaJGDmAWY6BKX1F3b8hmVPUZ8NBjZjn80pipJXDU8/Yfd3DXBM7AvZWJ4Xw69lkCuv4z+A2jKFs7d4R6k4t2vlvZs43uWTkfpkt+xHwNbAS/ljhcK6mFEhkorCceqelC5BMVplSdOjJmkuxh5Gs6xu7Bnlt4ok/ux4Dee9m+6+SxhwL0ZjR0UGK0dFYBnaUd3WFu6oNfqAOaPGty6/9qCp0v948b9RqYLdYfHNtJahyvVs1JUO+wGFjW86Vc2oytmWyuuCWKKoumeIUDatozqo2/aY7/ouHlZGBXJ5QNx648efRtujrFjBnCbFePUscPFp+N8gbyIc1eRcrEtE/UhUZ0Ze5bSPDLvF3iyisZ0PA2xwRQSZ/6thE5JWol4ncOAd4DhYHYmvuLRXhFzGSp8780KVBh/xQ7z2NaldlUuXrYpDrcK5hILeolPAPYEjDVC/yXEttK44K6KFnO1BJ3ROk1Af9pRZirDQjA6oKgYaklib3PJPErUHehjY3BMpIS9YXDSRidCW8Vh0mOHl8T1+0OqPxYnE+r0AvIU+LsPPZL4Bijo3zj+hEjtiJtCBAIju2/P4b1xyWIJWV2fTF7UkYzA7bycZ/HJirQfbjRykHMRnis6tdTO9K+KyrMqcx9lH1oZBLCSOz4EUaiycTbscJfIDZshAU33UgTFtcZdsrZB7xZ2FPZLlG8gY/UxnRHfq1w6hZqfxR6MlTfzrLHqsnl0FuOCvEO6Q4QLtarHSInYGizn2QmHbr2TLAzEMH1tsLLCr3CDMrqjdZ5LiiuXKlVAZVuxOobrj8u90/RkG161O2fRpJtWs8rR1nUj9PEcg+I9loKSg6NkmznqvSoM6D+sTTpVKTKQY2NDrkhA8bjK3vCGNQLm3gog6haDQvkQBa2CGjgMOWW3vTDK18N6VuVpNEySaNWXNH3jqcDwNJ16aCSdjeEdwLv1em3g5BeW1CFaN7qN7APo8UNcweobUxn8BnhRVEqJFtC671V3MM0fprn45bChKArn6+uz8x/cdZCLOiFAyZBp1Y1T6mE5pcHx37zhYsMMCsv3v5PmeSGISpOS8O9wFvlUZwVLQfDdyQ810tw9647vlBiYlCOrsFVM8lWHw/YtLtWiCLxF/TyOk/WUAfPIv5FC8gMTdFV75vuzT2tjptPMtc/ZGS+dixsK2qFj9SdRiyccprvR1LIP4h7/m8JnAQodnfnHuxoARmGVdVlDL1dH3N+JzMNhw3PfcFT80C9OxuQeOP/+JOvwxZf8/maMRIC8lURDHluEVOR/eWkhYAdrm+SUWVhtiViz/vTg8oipg5Z74BVTVIMvFHvXhJ47DoJpxCzyL1sY0RRuZEgp2wX9EgCe+UcnhQo8RdRf4um2RTgOqkROBpZ6ADr368nNSNFhTEO0ZsdXN5lAtrFcRr16bovOt/J5JCkEo6EYgYgmMkJwYAQ==",
      "thinking": "",
      "type": "thinking"
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      "caller": {
        "type": "direct"
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      "id": "toolu_01Gm9xwi4Rppr4MNAacTkPWy",
      "input": {
        "note": "Wrist view shows the blue '1' cube just right of and beyond the jaw gap (~1.7 cm off); nudging yaw +0.036 rad and descending back to table level for the grasp.",
        "targets": {
          "left_j0": -0.835,
          "left_j1": 2.62,
          "left_j2": 2.355,
          "left_j3": -1.247
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Gm9xwi4Rppr4MNAacTkPWy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8394 left_j1=2.6232 left_j2=2.3871 left_j3=-1.3319 left_j4=-0.0254 left_j5=-0.9764 left_gripper=0.9954 right_j0=-0.8928 right_j1=0.0509 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -14.6256, 3.8769, 0.6276, -0.0952, -0.022, 0.0562, -0.1436, 1.5111, 7.0632, 1.8486, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97553cb8375b60fbaa29865974c6dbcbda54a9d4845e600c7ff9071fc679490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4256563b2b16d55ed2fe597554320e6784b00e37a02db94bdfca6f62aae265e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afa9633e11131052a80221972f0f4327a2daf3b49166fda98bbc8cd5abb88706",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
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wire blob e97553cb8375
wire blob 4256563b2b16
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call 43 attempt 0 · /messages · status 200 · 3.775 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8703 left_j1=2.608 left_j2=2.3547 left_j3=-1.2472 left_j4=-0.0345 left_j5=-0.9737 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -14.7897, 5.1761, 0.4078, -0.1587, 0.0073, 0.6667, -0.0615, 1.4974, 7.0496, 1.8779, -0.0513, -0.0464, -0.0073]",
      "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=-0.8711 left_j1=2.6141 left_j2=2.6411 left_j3=-1.5978 left_j4=-0.0326 left_j5=-0.9764 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -15.5282, 7.8017, 0.2515, -0.0708, -0.0317, -0.0904, -0.1573, 1.5385, 7.0496, 1.9023, -0.0415, -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 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=-0.8394 left_j1=2.6232 left_j2=2.3871 left_j3=-1.3319 left_j4=-0.0254 left_j5=-0.9764 left_gripper=0.9954 right_j0=-0.8928 right_j1=0.0509 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -14.6256, 3.8769, 0.6276, -0.0952, -0.022, 0.0562, -0.1436, 1.5111, 7.0632, 1.8486, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97553cb8375b60fbaa29865974c6dbcbda54a9d4845e600c7ff9071fc679490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4256563b2b16d55ed2fe597554320e6784b00e37a02db94bdfca6f62aae265e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa9633e11131052a80221972f0f4327a2daf3b49166fda98bbc8cd5abb88706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e97553cb8375]
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{
  "content": [
    {
      "signature": "CAISugMKjAEIEBgCKkD1NVIgAhz7qXMzNd1VGK+qSoDUYeXbcD214zvjy765SY49Qnij3Yhk6JulO2Rzd0WAM/CKL1Pr5Nz4wvFjOezBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMV3jnVKIVaH0hki0+GgybcG7e1HMSFfhzakoiMO8N4oaQHJmuXoQoNAz/r6+6EcIPq7W908yXssmExTnrJWdIYCEJpLfQauCeDgfzNyraAULUhmM3g/T3+oaizBUzAlUObLazSfbwqK66f2tMH3Pe9fittSJ5i2SdweyLQ63E2gSGxYn87JO1RmmO2s2S+jqhdSeo32mdUFYJxiToeiui85Dwr/hyYilSJf+v6gmbpqHNNIRJmzP31gistCK6/sVhXskXFSrZY7i4tefVA2dSe8tAg24AaZSlOQW8r2ED0YkDbtx+DUlN5uslHK9FFId6v0wLbKcH97NeTUlrF9DZeBOUcWxnbeVjGnkV0Xf2Nwfdie7XSE2jRkFM0HFRJa5+zFLBBaRmhMxMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015phW2EvbQsqbP4MJgAJQZk",
      "input": {
        "note": "Descent undershot; re-issuing slightly beyond to get the fingertips down to table level over the cube.",
        "targets": {
          "left_j1": 2.63,
          "left_j2": 2.35,
          "left_j3": -1.22
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015phW2EvbQsqbP4MJgAJQZk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6228 left_j2=2.3802 left_j3=-1.2808 left_j4=-0.0185 left_j5=-0.9775 left_gripper=0.9954 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -13.9966, 3.3709, 0.9646, -0.1245, -0.0464, -0.0171, -0.0752, 1.4974, 7.0769, 1.8828, -0.0513, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c483eb5e41e1670a0be8769ec57887dbd1687abbb7ab7a7f1ac50a5bd34f825c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d656cadf5c610718f44cc6932d87e657067390f1d9d1e85d9dfed7d52403d0",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:28c1deda7d598d413edb5bb8ba2bb2774f121af3889e638c7aa98478d6c21d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c483eb5e41e1
wire blob 95d656cadf5c
wire blob 28c1deda7d59
call 44 attempt 0 · /messages · status 200 · 8.878 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8711 left_j1=2.6141 left_j2=2.6411 left_j3=-1.5978 left_j4=-0.0326 left_j5=-0.9764 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.0505 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -15.5282, 7.8017, 0.2515, -0.0708, -0.0317, -0.0904, -0.1573, 1.5385, 7.0496, 1.9023, -0.0415, -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 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=-0.8394 left_j1=2.6232 left_j2=2.3871 left_j3=-1.3319 left_j4=-0.0254 left_j5=-0.9764 left_gripper=0.9954 right_j0=-0.8928 right_j1=0.0509 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -14.6256, 3.8769, 0.6276, -0.0952, -0.022, 0.0562, -0.1436, 1.5111, 7.0632, 1.8486, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6228 left_j2=2.3802 left_j3=-1.2808 left_j4=-0.0185 left_j5=-0.9775 left_gripper=0.9954 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -13.9966, 3.3709, 0.9646, -0.1245, -0.0464, -0.0171, -0.0752, 1.4974, 7.0769, 1.8828, -0.0513, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c483eb5e41e1670a0be8769ec57887dbd1687abbb7ab7a7f1ac50a5bd34f825c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d656cadf5c610718f44cc6932d87e657067390f1d9d1e85d9dfed7d52403d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c1deda7d598d413edb5bb8ba2bb2774f121af3889e638c7aa98478d6c21d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c483eb5e41e1]
[blob 95d656cadf5c]
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      "signature": "CAISiQIKjAEIEBgCKkA0cxfoXFO4ICH2vI+SIRbvHF9g3HEx+ZpwzowpbFXyNuEwq36NK1Pb00GYQ8+SGbaWdpngzyzTa38Hmi15YPYUMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlszSOpe6cePTyBxkGgxOyvEVlwL8CkJfm2QiMHqGU6LoC0OyQOArWwvQOO6OPNNNanwDqfehzRK1a+BnemxNg2cA9XVLi2owa31uvCoqMvTrENan9XeFmAkdjMBldWvLJke4ulGIKWmMSw8D8s46uxpW9E6eywctGAE=",
      "thinking": "",
      "type": "thinking"
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    {
      "caller": {
        "type": "direct"
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      "id": "toolu_01YAUszwWKceT3bamRNtY6NG",
      "input": {
        "note": "Fingertips at table over the cube; 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_01YAUszwWKceT3bamRNtY6NG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6225 left_j2=2.3821 left_j3=-1.2766 left_j4=-0.0151 left_j5=-0.989 left_gripper=0.009 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -14.5436, 5.6821, 0.359, -0.0757, 0.0659, 0.6618, -0.0479, 1.6479, 7.0906, 1.9267, -0.0269, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920bd18b1db1c036133e6e3066dc8f9a0dd4fb0b5a55f7c10db432e86afd5bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ed64dbfa6e565d49d611d25b888ea431a0cbceb168aac5ca9bce4df3706021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a17267b50ce0ee9576fdbf5468d11c53cfeb96eecea23eb744d85d45afe2ccd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 920bd18b1db1
wire blob e1ed64dbfa6e
wire blob a17267b50ce0
call 45 attempt 0 · /messages · status 200 · 3.746 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8394 left_j1=2.6232 left_j2=2.3871 left_j3=-1.3319 left_j4=-0.0254 left_j5=-0.9764 left_gripper=0.9954 right_j0=-0.8928 right_j1=0.0509 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -14.6256, 3.8769, 0.6276, -0.0952, -0.022, 0.0562, -0.1436, 1.5111, 7.0632, 1.8486, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6228 left_j2=2.3802 left_j3=-1.2808 left_j4=-0.0185 left_j5=-0.9775 left_gripper=0.9954 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -13.9966, 3.3709, 0.9646, -0.1245, -0.0464, -0.0171, -0.0752, 1.4974, 7.0769, 1.8828, -0.0513, -0.0659, -0.0073]",
      "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=-0.8379 left_j1=2.6225 left_j2=2.3821 left_j3=-1.2766 left_j4=-0.0151 left_j5=-0.989 left_gripper=0.009 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -14.5436, 5.6821, 0.359, -0.0757, 0.0659, 0.6618, -0.0479, 1.6479, 7.0906, 1.9267, -0.0269, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920bd18b1db1c036133e6e3066dc8f9a0dd4fb0b5a55f7c10db432e86afd5bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ed64dbfa6e565d49d611d25b888ea431a0cbceb168aac5ca9bce4df3706021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a17267b50ce0ee9576fdbf5468d11c53cfeb96eecea23eb744d85d45afe2ccd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 920bd18b1db1]
[blob e1ed64dbfa6e]
[blob a17267b50ce0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xj4NE6sT8y2AZvFJXcGKKm",
      "input": {
        "note": "Overhead close-up shows the cube ~3 cm nearer the base than the jaws; opening and pulling the radius in by 3 cm at the same height.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.507,
          "left_j2": 2.157,
          "left_j3": -1.221
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Xj4NE6sT8y2AZvFJXcGKKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8375 left_j1=2.5183 left_j2=2.1864 left_j3=-1.2045 left_j4=-0.0135 left_j5=-0.9947 left_gripper=0.9951 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -14.7077, 3.9179, 0.1783, -0.0562, -0.0171, -0.149, -0.1026, 2.1265, 7.0496, 1.8681, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1cd3abda792bfb7bee379f614ff3cb9e94e793e6ba1c3b16aa88213ffe0b689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f888b098697c764b6a8c45dd06f9b858edca48bf423ac4f28d155f1fbbc4c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00adba94f91a5c44e5fdc6ee6986a3f1bafcced380fc9de2bb14d84292f6ad75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c1cd3abda792
wire blob 1f888b098697
wire blob 00adba94f91a
call 46 attempt 0 · /messages · status 200 · 10.56 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6228 left_j2=2.3802 left_j3=-1.2808 left_j4=-0.0185 left_j5=-0.9775 left_gripper=0.9954 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -13.9966, 3.3709, 0.9646, -0.1245, -0.0464, -0.0171, -0.0752, 1.4974, 7.0769, 1.8828, -0.0513, -0.0659, -0.0073]",
      "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=-0.8379 left_j1=2.6225 left_j2=2.3821 left_j3=-1.2766 left_j4=-0.0151 left_j5=-0.989 left_gripper=0.009 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -14.5436, 5.6821, 0.359, -0.0757, 0.0659, 0.6618, -0.0479, 1.6479, 7.0906, 1.9267, -0.0269, -0.0806, -0.0171]",
      "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=-0.8375 left_j1=2.5183 left_j2=2.1864 left_j3=-1.2045 left_j4=-0.0135 left_j5=-0.9947 left_gripper=0.9951 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -14.7077, 3.9179, 0.1783, -0.0562, -0.0171, -0.149, -0.1026, 2.1265, 7.0496, 1.8681, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1cd3abda792bfb7bee379f614ff3cb9e94e793e6ba1c3b16aa88213ffe0b689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f888b098697c764b6a8c45dd06f9b858edca48bf423ac4f28d155f1fbbc4c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00adba94f91a5c44e5fdc6ee6986a3f1bafcced380fc9de2bb14d84292f6ad75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c1cd3abda792]
[blob 1f888b098697]
[blob 00adba94f91a]
{
  "content": [
    {
      "signature": "CAIS2wMKjAEIEBgCKkDYM7Ax1DLRUx9daWd7DaknXd6R2ZFs80UtLxvizjj4rRdjxIfHidgbqacGrpggbuj8WCMD7S4pDCbOKPpskThXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMHvw7gdKU25FyFpupGgxZf6xBVd44pR/qTwMiMITpdPcwBHHyCIYFiV7OQtC92eQr1TPKhmczTqzCinedCgLIBkn8mbqLDef033LJ3Cr7AcUo6oPtxTGx9Us7vYW5Zm9INjNL01vzYUXpMT0lrP3aLzZ9+aMpw8gJVtYFnYMS6fctFqf1QXbMQFbrZPGUOyZKR1Kj93cQTIfl5FV7xPyuwXPnsemIUcyxvYGRO98XHj7K7QV7lAC2TxHc1aInqeAhczf3SzpMoE5KDghpIVoQyQBlwttZGZSKBOv9OB3nMfAmpwI/IMNE+7imRBYXFEh33og47/n+okYAhzBYmJ+5w/wyWnIyCwLzwUEkvYTal3JBEqBvqhwtNbpcAsSbYEdZdewtIcf77pWRXPL4su6y/XcGbTi2kCNPngkljg2lameTdNFDhNoiwuxTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GghDCBDsoJjrDoyk9SN9ZT",
      "input": {
        "note": "Jaws now straddle the cube's position; 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_01GghDCBDsoJjrDoyk9SN9ZT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.5168 left_j2=2.1841 left_j3=-1.1984 left_j4=-0.0082 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -13.7504, 6.0103, 0.2613, -0.0806, -0.0024, 0.6227, -0.0615, 1.5385, 7.2547, 1.9365, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53cc82a420c1330c90714b85500fd853a2d72297f7962536e18171607d7ecc8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7cbf01bbcb1e7dafb5f91595011e90463ea2c1e5467b4599f3b0bfe4c17a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9194b857f65fbd204cb8108c3e702e03ace4790e652b802f10fd9f3fa94e118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 53cc82a420c1
wire blob ae7cbf01bbcb
wire blob f9194b857f65
call 47 attempt 0 · /messages · status 200 · 3.52 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.6225 left_j2=2.3821 left_j3=-1.2766 left_j4=-0.0151 left_j5=-0.989 left_gripper=0.009 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -14.5436, 5.6821, 0.359, -0.0757, 0.0659, 0.6618, -0.0479, 1.6479, 7.0906, 1.9267, -0.0269, -0.0806, -0.0171]",
      "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=-0.8375 left_j1=2.5183 left_j2=2.1864 left_j3=-1.2045 left_j4=-0.0135 left_j5=-0.9947 left_gripper=0.9951 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -14.7077, 3.9179, 0.1783, -0.0562, -0.0171, -0.149, -0.1026, 2.1265, 7.0496, 1.8681, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8379 left_j1=2.5168 left_j2=2.1841 left_j3=-1.1984 left_j4=-0.0082 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -13.7504, 6.0103, 0.2613, -0.0806, -0.0024, 0.6227, -0.0615, 1.5385, 7.2547, 1.9365, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53cc82a420c1330c90714b85500fd853a2d72297f7962536e18171607d7ecc8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7cbf01bbcb1e7dafb5f91595011e90463ea2c1e5467b4599f3b0bfe4c17a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9194b857f65fbd204cb8108c3e702e03ace4790e652b802f10fd9f3fa94e118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 53cc82a420c1]
[blob ae7cbf01bbcb]
[blob f9194b857f65]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Q9eDFxyStu9UE7RyofUkQ",
      "input": {
        "note": "Still missing; the cube reads slightly nearer and to the right of the jaws in the overhead close-up, so shifting 2 cm in and 1 cm right and dropping ~1 cm before trying again.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.858,
          "left_j1": 2.472,
          "left_j2": 2.044,
          "left_j3": -1.143
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012Q9eDFxyStu9UE7RyofUkQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=2.4626 left_j2=2.0808 left_j3=-1.1469 left_j4=-0.0116 left_j5=-0.9955 left_gripper=0.9944 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -12.6017, 3.412, 0.3443, 0.0024, -0.0171, -0.0708, -0.0479, 1.9761, 7.0632, 1.9365, -0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b76e7fe978cb47858e4740e6413fe8e33a81b3a4de239284b2ce38ca83d2d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db248ade101ec5e44ff306439bd65f56d862017f43b003270911dd1118e845d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:496a88391a74b47a73db4ad2b52fd1bf04cba5992db3137468e197eca597257d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4b76e7fe978c
wire blob 1db248ade101
wire blob 496a88391a74
call 48 attempt 0 · /messages · status 200 · 7.833 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8375 left_j1=2.5183 left_j2=2.1864 left_j3=-1.2045 left_j4=-0.0135 left_j5=-0.9947 left_gripper=0.9951 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -14.7077, 3.9179, 0.1783, -0.0562, -0.0171, -0.149, -0.1026, 2.1265, 7.0496, 1.8681, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.5168 left_j2=2.1841 left_j3=-1.1984 left_j4=-0.0082 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -13.7504, 6.0103, 0.2613, -0.0806, -0.0024, 0.6227, -0.0615, 1.5385, 7.2547, 1.9365, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=2.4626 left_j2=2.0808 left_j3=-1.1469 left_j4=-0.0116 left_j5=-0.9955 left_gripper=0.9944 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -12.6017, 3.412, 0.3443, 0.0024, -0.0171, -0.0708, -0.0479, 1.9761, 7.0632, 1.9365, -0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b76e7fe978cb47858e4740e6413fe8e33a81b3a4de239284b2ce38ca83d2d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db248ade101ec5e44ff306439bd65f56d862017f43b003270911dd1118e845d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496a88391a74b47a73db4ad2b52fd1bf04cba5992db3137468e197eca597257d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4b76e7fe978c]
[blob 1db248ade101]
[blob 496a88391a74]
{
  "content": [
    {
      "signature": "CAIS1AIKjAEIEBgCKkCETt6ldeNN1IZk1bu9nMVutv5Kv1z/yDBiu/klusN64qXJcPW2/ipajo9Ev0/bbtonKdeNbAyDj4YAIl4LuP2tMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTGDxd4Ku5oZ/IvTQGgxTX7MSA8EQdZUfg9EiMDNAA/JGEHgTVHBmhGTHG9xcy+E5gLTiYiMhR1q3+0MPpQRzBwlYV7XQaE1RXzQI4Sp1oWjYSSVvOxrC01YF4N5cnKRlDFnGr/g37H5ZNLkdFOeTcoawgrJbeh72oZW8Ng5IKiTdSMJ9moxy/vb/0/WG5pnNpDK9zDtGlKibNV6MShKTeHqyOupZh4Vm2KtaZp0Yf/F/mDRI4yEXrfKeqvSqupO2PoLZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PFp1WYAc9GHPDtZgCyurd",
      "input": {
        "note": "Cube now tucked under the jaws in the overhead view; 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_019PFp1WYAc9GHPDtZgCyurd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=2.4607 left_j2=2.0796 left_j3=-1.1435 left_j4=-0.0086 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -13.4906, 5.8872, 0.315, -0.0611, -0.0171, 0.5885, -0.0342, 1.7709, 7.5009, 1.8926, -0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8df971e41f0de48278dffac3f9d300c75837770364fe4fb292b5a623c50b753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3f742a96e9282b68f36d2b3bf3fd66352db23e6dc0d3471399e18843f865b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fc20bb27ffc82a34854ac8409bc851a00dc4528ed1728ec82ea78e396421a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8df971e41f0
wire blob 9a3f742a96e9
wire blob 4fc20bb27ffc
call 49 attempt 0 · /messages · status 200 · 4.674 s
model
claude-opus-5
effort
low
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=-0.8379 left_j1=2.5168 left_j2=2.1841 left_j3=-1.1984 left_j4=-0.0082 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -13.7504, 6.0103, 0.2613, -0.0806, -0.0024, 0.6227, -0.0615, 1.5385, 7.2547, 1.9365, -0.0708, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8532 left_j1=2.4626 left_j2=2.0808 left_j3=-1.1469 left_j4=-0.0116 left_j5=-0.9955 left_gripper=0.9944 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -12.6017, 3.412, 0.3443, 0.0024, -0.0171, -0.0708, -0.0479, 1.9761, 7.0632, 1.9365, -0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8532 left_j1=2.4607 left_j2=2.0796 left_j3=-1.1435 left_j4=-0.0086 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -13.4906, 5.8872, 0.315, -0.0611, -0.0171, 0.5885, -0.0342, 1.7709, 7.5009, 1.8926, -0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8df971e41f0de48278dffac3f9d300c75837770364fe4fb292b5a623c50b753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3f742a96e9282b68f36d2b3bf3fd66352db23e6dc0d3471399e18843f865b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc20bb27ffc82a34854ac8409bc851a00dc4528ed1728ec82ea78e396421a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8df971e41f0]
[blob 9a3f742a96e9]
[blob 4fc20bb27ffc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WeYwR2msiDBFdmhDhvhcMX",
      "input": {
        "note": "Cube is in the wrist camera's blind zone right at the jaws yet the close still misses, so I suspect the fingertips are a few cm too high; lowering ~3 cm and watching j1 effort for table contact.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.53,
          "left_j2": 2.019,
          "left_j3": -1.06
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WeYwR2msiDBFdmhDhvhcMX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8589 left_j1=2.4603 left_j2=2.0743 left_j3=-1.0904 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.9942 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -8.1436, 1.4838, 0.8034, -0.0024, 0.0171, -0.1929, -0.0615, 1.6479, 7.0632, 1.9316, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e149bf41906e55f3903771e91173caf64d026c4fbe4dcf20c911f18619d582a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d5a83273e12d190693aaafaeeb3aa76bb5420f7911fdebd2a73e17982a85d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dccf762d5d9f4f1c6cde02fa90a38c74750aefff3c99da8d852107612691edfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e149bf41906e
wire blob a4d5a83273e1
wire blob dccf762d5d9f
call 50 attempt 0 · /messages · status 200 · 7.405 s
model
claude-opus-5
effort
low
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=-0.8532 left_j1=2.4626 left_j2=2.0808 left_j3=-1.1469 left_j4=-0.0116 left_j5=-0.9955 left_gripper=0.9944 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -12.6017, 3.412, 0.3443, 0.0024, -0.0171, -0.0708, -0.0479, 1.9761, 7.0632, 1.9365, -0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.8532 left_j1=2.4607 left_j2=2.0796 left_j3=-1.1435 left_j4=-0.0086 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -13.4906, 5.8872, 0.315, -0.0611, -0.0171, 0.5885, -0.0342, 1.7709, 7.5009, 1.8926, -0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8589 left_j1=2.4603 left_j2=2.0743 left_j3=-1.0904 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.9942 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -8.1436, 1.4838, 0.8034, -0.0024, 0.0171, -0.1929, -0.0615, 1.6479, 7.0632, 1.9316, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e149bf41906e55f3903771e91173caf64d026c4fbe4dcf20c911f18619d582a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d5a83273e12d190693aaafaeeb3aa76bb5420f7911fdebd2a73e17982a85d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccf762d5d9f4f1c6cde02fa90a38c74750aefff3c99da8d852107612691edfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e149bf41906e]
[blob a4d5a83273e1]
[blob dccf762d5d9f]
{
  "content": [
    {
      "signature": "CAIS7gMKjAEIEBgCKkB6xO+vnHqIkS2gzDQAh1WqIvBexxO+fYxgY7hEwT4Vqn9heZEm0qkjgNjQoeQWByHNAgxa8VA/OVPdkEUB/Ga4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNFyT8FB6emjw/eWfGgyB1R9BIQQt94boabEiMHhCsJfQV90L1ktxzp1MCzRJVsCHzKgPveprI/MhdEkpRsjlwplLkDDDPehdJfxpACqOAmrd3KGy1prLqzuyxe9sSzcEVp4i5UHbh4YvOBIBhUrwaEYkjatFVutCm+gjx9gzjfB1EKzB+Lj4J2+JyRCNvHFmx02zDlKWKSwh36ubK4oY/YYU4et0ptEekHQVBqqhPP8oO6mzwv1xW67B2dsRKUFN9o/2an0XhFgp3DeKFXfauH7H4r7sZaa1gu+oQMQDmxDo9tCEG6UG2PRbgMQx9vNaBeLTcJX6w9s4X/7L8DTMCyojdnKgmSWS7YIDUii6zsYo+1844cLBtaioQTMprBZMw0a0kvkVP0zpMYrB/hl0LcHJXgbWEDJKoGmGjabzZVySd4FvaoXRfK55/GszQD9xujC49/5D+x3yoxrykRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013nSExm2LJyCprh73ypcPYG",
      "input": {
        "note": "Now at table contact and the cube shows between the jaws at the bottom of the wrist view; 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_013nSExm2LJyCprh73ypcPYG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8589 left_j1=2.4546 left_j2=2.0747 left_j3=-1.0985 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.0081 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.2855, 5.8598, 0.5104, -0.0122, -0.0024, 0.5983, -0.0205, 1.5932, 7.1316, 1.9072, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e50f5573ea6b0cc1327cb7909b9a73baac438fc93f7dd005bb70b554089a522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6220c9039bfd7975770389069532d72d96fa24387b2a08b8e41b619cc2e5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34bb135726c88c7d2703b324e3c3e0ab3c5651a64c1326fe144e25a7ad3234a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7e50f5573ea6
wire blob 2e6220c9039b
wire blob 34bb135726c8
call 51 attempt 0 · /messages · status 200 · 3.703 s
model
claude-opus-5
effort
low
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=-0.8532 left_j1=2.4607 left_j2=2.0796 left_j3=-1.1435 left_j4=-0.0086 left_j5=-0.9955 left_gripper=0.0092 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -13.4906, 5.8872, 0.315, -0.0611, -0.0171, 0.5885, -0.0342, 1.7709, 7.5009, 1.8926, -0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.8589 left_j1=2.4603 left_j2=2.0743 left_j3=-1.0904 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.9942 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -8.1436, 1.4838, 0.8034, -0.0024, 0.0171, -0.1929, -0.0615, 1.6479, 7.0632, 1.9316, -0.0317, -0.0806, -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 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=-0.8589 left_j1=2.4546 left_j2=2.0747 left_j3=-1.0985 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.0081 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.2855, 5.8598, 0.5104, -0.0122, -0.0024, 0.5983, -0.0205, 1.5932, 7.1316, 1.9072, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e50f5573ea6b0cc1327cb7909b9a73baac438fc93f7dd005bb70b554089a522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6220c9039bfd7975770389069532d72d96fa24387b2a08b8e41b619cc2e5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34bb135726c88c7d2703b324e3c3e0ab3c5651a64c1326fe144e25a7ad3234a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7e50f5573ea6]
[blob 2e6220c9039b]
[blob 34bb135726c8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0165uQoxwn4X2Laztp3BPNDY",
      "input": {
        "note": "Overhead shows the cube sitting just outside the right finger rather than between the jaws; shifting ~2 cm toward the arm's right and 1.5 cm nearer, then I'll close again.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.909,
          "left_j1": 2.515,
          "left_j2": 1.991,
          "left_j3": -1.047
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0165uQoxwn4X2Laztp3BPNDY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9028 left_j1=2.4439 left_j2=2.0457 left_j3=-1.0492 left_j4=-0.0372 left_j5=-1.0042 left_gripper=0.9952 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.0068, 1.7026, 0.5788, 0.2857, -0.0317, -0.2271, -0.0205, 1.853, 7.0769, 1.9023, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46171486cbb065a81eec4698a9ef97a2611c783fa4e1ef249904a3099378bb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c42c4d993929a643ce1d1bec6a6885fd43101c11eac8d77605e1431224e9280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebbb44d7b19c1faf7a0d6975cd1e6cb5658c4b18224dbb08982df6580d5ea86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 46171486cbb0
wire blob 0c42c4d99392
wire blob ebbb44d7b19c
call 52 attempt 0 · /messages · status 200 · 7.663 s
model
claude-opus-5
effort
low
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=-0.8589 left_j1=2.4603 left_j2=2.0743 left_j3=-1.0904 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.9942 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -8.1436, 1.4838, 0.8034, -0.0024, 0.0171, -0.1929, -0.0615, 1.6479, 7.0632, 1.9316, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.8589 left_j1=2.4546 left_j2=2.0747 left_j3=-1.0985 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.0081 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.2855, 5.8598, 0.5104, -0.0122, -0.0024, 0.5983, -0.0205, 1.5932, 7.1316, 1.9072, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9028 left_j1=2.4439 left_j2=2.0457 left_j3=-1.0492 left_j4=-0.0372 left_j5=-1.0042 left_gripper=0.9952 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.0068, 1.7026, 0.5788, 0.2857, -0.0317, -0.2271, -0.0205, 1.853, 7.0769, 1.9023, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46171486cbb065a81eec4698a9ef97a2611c783fa4e1ef249904a3099378bb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c42c4d993929a643ce1d1bec6a6885fd43101c11eac8d77605e1431224e9280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebbb44d7b19c1faf7a0d6975cd1e6cb5658c4b18224dbb08982df6580d5ea86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 46171486cbb0]
[blob 0c42c4d99392]
[blob ebbb44d7b19c]
{
  "content": [
    {
      "signature": "CAISvQMKjAEIEBgCKkBxDCsobZimHwwxZ7On3NbHx5zteRJrjuErEQFoHwcHGFgL7VpXUYLyAV/iuniSwvhVEIRtxHN3USF4r64xLRxIMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMMkGI76nTkpswVyIGgw5Sd6OkzoH6lVXVzsiMLavLpn4VDoAdn+gM04WbJNngWxLxXfHGW3lDvzAYpYujTLq9csNk+owRtlKmUrs5irdAedr/r53n6doikxM5yuto/+yijDv9uS/Bz8ZSnX+gUziRiV12qeFL3gieSG4SZNmQBc50iJJj8g4P1bK5XyAFIS6145Vzc+8QblQkrmjjaLSXwUaJwjvvUcAs99eviIitWB5Y5zaY1Ag/uTIkZWVolW68H4ZMoKpjAub2jbQ/DqInyw9foa1hp8A3XHIbQZhIT32aHAYW+iOoVB2pjrr6h8Pm26cbA7WqjmIkX9nMLCYFkRepuIcJtBy0hOQe1+ymC/7DB/57nTqSsTh/jE5JertUeZyBdEtufEVyvAYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Amt98V67q9VQgDmp8jU6hX",
      "input": {
        "note": "Cube visible centered between the open jaws in the wrist view; 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_01Amt98V67q9VQgDmp8jU6hX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9047 left_j1=2.4393 left_j2=2.0464 left_j3=-1.0569 left_j4=-0.0437 left_j5=-1.0039 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.0667, 5.8598, 0.6178, -0.0073, -0.0464, 0.6618, -0.0342, 1.7436, 7.0632, 1.9023, -0.0171, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aeed8f76c82da219f487dbc6b88a71a8adb706c33a1791aeb19f153ee002a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cefebcfc667861432a6620f68a31f4e6894934f8eebe641aa6a1fdfed10de483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b3bfac910c6958ef3a1156316850eb4bcf7ee4a2f2489c402340f7bc69ef487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5aeed8f76c82
wire blob cefebcfc6678
wire blob 9b3bfac910c6
call 53 attempt 0 · /messages · status 200 · 4.442 s
model
claude-opus-5
effort
low
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=-0.8589 left_j1=2.4546 left_j2=2.0747 left_j3=-1.0985 left_j4=-0.0101 left_j5=-1.0031 left_gripper=0.0081 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.2855, 5.8598, 0.5104, -0.0122, -0.0024, 0.5983, -0.0205, 1.5932, 7.1316, 1.9072, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9028 left_j1=2.4439 left_j2=2.0457 left_j3=-1.0492 left_j4=-0.0372 left_j5=-1.0042 left_gripper=0.9952 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.0068, 1.7026, 0.5788, 0.2857, -0.0317, -0.2271, -0.0205, 1.853, 7.0769, 1.9023, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9047 left_j1=2.4393 left_j2=2.0464 left_j3=-1.0569 left_j4=-0.0437 left_j5=-1.0039 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.0667, 5.8598, 0.6178, -0.0073, -0.0464, 0.6618, -0.0342, 1.7436, 7.0632, 1.9023, -0.0171, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aeed8f76c82da219f487dbc6b88a71a8adb706c33a1791aeb19f153ee002a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cefebcfc667861432a6620f68a31f4e6894934f8eebe641aa6a1fdfed10de483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3bfac910c6958ef3a1156316850eb4bcf7ee4a2f2489c402340f7bc69ef487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5aeed8f76c82]
[blob cefebcfc6678]
[blob 9b3bfac910c6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FUtswQ9Fov8Eopc6jKT8V3",
      "input": {
        "note": "The height commands have been undershooting, so the jaws are probably closing above the cube; commanding a firmly lower target (past table level) to force real fingertip contact.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.75,
          "left_j2": 2.13,
          "left_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FUtswQ9Fov8Eopc6jKT8V3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.5572 left_j2=2.2139 left_j3=-1.0367 left_j4=-0.0441 left_j5=-1.0233 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.054 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.0349 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.3607, 1.2376, -0.4034, 1.5507, 0.0073, 0.1685, -0.232, -0.0889, 1.6479, 7.1043, 2.0537, -0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 463):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a9478d103b34b23c848c297a77f51b2bc34fdc3a33e1137858c808c180737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 463):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20fea82f616b4de639bbe80942862e7f1b3cb53aa1f1a66c31cf729f3260c6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 463):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2e067374334d3e369a53488db6c7353f9855d8eeff2916462f28fcd866a9953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e92a9478d103
wire blob 20fea82f616b
wire blob a2e067374334
call 54 attempt 0 · /messages · status 200 · 8.028 s
model
claude-opus-5
effort
low
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=-0.9028 left_j1=2.4439 left_j2=2.0457 left_j3=-1.0492 left_j4=-0.0372 left_j5=-1.0042 left_gripper=0.9952 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -8.0068, 1.7026, 0.5788, 0.2857, -0.0317, -0.2271, -0.0205, 1.853, 7.0769, 1.9023, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9047 left_j1=2.4393 left_j2=2.0464 left_j3=-1.0569 left_j4=-0.0437 left_j5=-1.0039 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.0667, 5.8598, 0.6178, -0.0073, -0.0464, 0.6618, -0.0342, 1.7436, 7.0632, 1.9023, -0.0171, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.5572 left_j2=2.2139 left_j3=-1.0367 left_j4=-0.0441 left_j5=-1.0233 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.054 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.0349 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.3607, 1.2376, -0.4034, 1.5507, 0.0073, 0.1685, -0.232, -0.0889, 1.6479, 7.1043, 2.0537, -0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 463):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a9478d103b34b23c848c297a77f51b2bc34fdc3a33e1137858c808c180737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 463):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20fea82f616b4de639bbe80942862e7f1b3cb53aa1f1a66c31cf729f3260c6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 463):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2e067374334d3e369a53488db6c7353f9855d8eeff2916462f28fcd866a9953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e92a9478d103]
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[blob a2e067374334]
{
  "content": [
    {
      "signature": "CAIS2wQKjAEIEBgCKkBOXyFbRAouwpp2rqGErXWPYLla1q8C0YDmSu5hqVpjdVDdd0jC4DtdnSyxQnM89/ocYNiGClH0ynUFdn3mhc4uMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMSEzjHdSuYn5DHZJbGgx23OXyUjTXlaks5HMiMCSA9w25Bhuj3YZAxejEvVHQ5RJeUv+Uzozc9Cx7Ppni5we82+TB2zUNgF9L1oGZoCr7Alqt/PpF8nxrFHLaYHkzvO73Rjtu4Vuq1JKygPZlwxigl1f1y2NhmMmDKZ90SQU7/dKo2HGn6c+3p0Yl+KRTAOaepUTVnPFSWqWuQVaoUhu4Unms4pOu5vgBXZBfVRE503uOVoajJbnqYWgSF46zFJrvp8LqsKWj2AOFfJJUOvH2ZjLacKoUxzOWMQaW6TVdVR7iAZbIh43nakUTsuYRq7VgZ/cUfJjwcXi7X/wCL1iE2beUpw46dVx8NLgDnoFfkQEVS+lO01O2qo6tP7d1d4mgBY1GHCTfKyh0g5H1Mn3rsrTzUugRHuDSdgXHI/tgqQDtPtGTu7DNN/Uf/1P/jrguHIijK1V0lWMP2XukDvvFAK1bKzS9gKyF3Vw9UsF3dXsGpRyEvtBoWLreOzi7FLpjj/OthWPsY2fLydKpeVJCp3WBscUctlLWki4o32WdVF/j5Yn0MxZRgpZlXk3VsLawfwNV2Msh6/guPKDfBe/XS/5FE99nDtefr+AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017xcZ8xKZA8wHoyPEiM3QkA",
      "input": {
        "note": "Fingertips are now pressing the table (j1 effort positive), so the jaws are at cube height; 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_017xcZ8xKZA8wHoyPEiM3QkA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9253 left_j1=2.5362 left_j2=2.2211 left_j3=-1.0504 left_j4=-0.0513 left_j5=-1.0298 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0544 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -12.6701, 5.5043, 0.823, 0.0317, 0.0757, 0.6764, -0.0752, 1.6342, 7.2, 1.9072, -0.0513, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea5f31bb9584d0bac6f8e1c2556b9a4706c9b384ec39fd01718319d47d23bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3f22de2468963eaab3c26ef52df4514dc34af2a49ec410a7934737219b9cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43af1880484c6033272f9debe885878c3a4cd4355df9cb05fdf6672fd9d26b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dea5f31bb958
wire blob 4a3f22de2468
wire blob 43af1880484c
call 55 attempt 0 · /messages · status 200 · 4.747 s
model
claude-opus-5
effort
low
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=-0.9047 left_j1=2.4393 left_j2=2.0464 left_j3=-1.0569 left_j4=-0.0437 left_j5=-1.0039 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0517 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -13.0667, 5.8598, 0.6178, -0.0073, -0.0464, 0.6618, -0.0342, 1.7436, 7.0632, 1.9023, -0.0171, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9234 left_j1=2.5572 left_j2=2.2139 left_j3=-1.0367 left_j4=-0.0441 left_j5=-1.0233 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.054 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.0349 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.3607, 1.2376, -0.4034, 1.5507, 0.0073, 0.1685, -0.232, -0.0889, 1.6479, 7.1043, 2.0537, -0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9253 left_j1=2.5362 left_j2=2.2211 left_j3=-1.0504 left_j4=-0.0513 left_j5=-1.0298 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0544 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -12.6701, 5.5043, 0.823, 0.0317, 0.0757, 0.6764, -0.0752, 1.6342, 7.2, 1.9072, -0.0513, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea5f31bb9584d0bac6f8e1c2556b9a4706c9b384ec39fd01718319d47d23bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3f22de2468963eaab3c26ef52df4514dc34af2a49ec410a7934737219b9cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43af1880484c6033272f9debe885878c3a4cd4355df9cb05fdf6672fd9d26b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dea5f31bb958]
[blob 4a3f22de2468]
[blob 43af1880484c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VNmwsYdyp4SH5V9FMk6Dgi",
      "input": {
        "note": "Table contact calibrated my height bias (nominal z≈0.09 = table). The overhead close-up puts the cube ~4.4 cm nearer the base than the fingertips, so pulling in that much before the next close.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.9,
          "left_j1": 2.355,
          "left_j2": 1.929,
          "left_j3": -0.974
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VNmwsYdyp4SH5V9FMk6Dgi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9073 left_j1=2.3848 left_j2=1.9549 left_j3=-0.9684 left_j4=-0.0528 left_j5=-1.0332 left_gripper=0.9951 right_j0=-0.8925 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.036 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.7179, -15.241, 4.8889, 0.6032, -0.0269, 0.0024, -0.1392, -0.1709, 1.8803, 7.0769, 1.9609, -0.0464, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 483):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74a1f7ae646bca726078a57a834412cc3f1fbd02b4c5d2709b8cac9651f1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 483):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70a366200ce004fa89ddfee12ca73127f0ea59b368e7d268cf4f543404580a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 483):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6987055d6030db26bcb4519885fed697e749e401ec3ac7879c7e0f65083a643a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2b74a1f7ae64
wire blob e70a366200ce
wire blob 6987055d6030
call 56 attempt 0 · /messages · status 200 · 10.1 s
model
claude-opus-5
effort
low
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=-0.9234 left_j1=2.5572 left_j2=2.2139 left_j3=-1.0367 left_j4=-0.0441 left_j5=-1.0233 left_gripper=0.9946 right_j0=-0.8932 right_j1=0.054 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.0349 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [1.3607, 1.2376, -0.4034, 1.5507, 0.0073, 0.1685, -0.232, -0.0889, 1.6479, 7.1043, 2.0537, -0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9253 left_j1=2.5362 left_j2=2.2211 left_j3=-1.0504 left_j4=-0.0513 left_j5=-1.0298 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0544 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -12.6701, 5.5043, 0.823, 0.0317, 0.0757, 0.6764, -0.0752, 1.6342, 7.2, 1.9072, -0.0513, -0.0562, -0.0171]\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 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=-0.9073 left_j1=2.3848 left_j2=1.9549 left_j3=-0.9684 left_j4=-0.0528 left_j5=-1.0332 left_gripper=0.9951 right_j0=-0.8925 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.036 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.7179, -15.241, 4.8889, 0.6032, -0.0269, 0.0024, -0.1392, -0.1709, 1.8803, 7.0769, 1.9609, -0.0464, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 483):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74a1f7ae646bca726078a57a834412cc3f1fbd02b4c5d2709b8cac9651f1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 483):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70a366200ce004fa89ddfee12ca73127f0ea59b368e7d268cf4f543404580a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 483):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6987055d6030db26bcb4519885fed697e749e401ec3ac7879c7e0f65083a643a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2b74a1f7ae64]
[blob e70a366200ce]
[blob 6987055d6030]
{
  "content": [
    {
      "signature": "CAISxwYKjAEIEBgCKkD/uLDp0PnyNcyJtvyHNP5jcWC72rYli0OYOFrzd+GAouE15AZshpSlmxBo8pYOZtB/GjdiTToPH6AgMjHgXpKAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNOuzlr1lMp8E+2MDGgxHzIqPTZ+0yF7GJ7AiMOSmYt/f270fGrBwJEYLA28rOS/ZAL5kYQJeC6AQq8PD10xYTLlxVxazZVLgX2eDmSrnBA3Lvw1Yj8V/7YVvpNku3R+/MVc52l24I/VMWrH4vd4nLZiZ6fSChnx5+dMMOmAtrlviruYc/NE9i4g9ZE9ocFsQkswX8bivuB1NIcqWDw5LbMovxPSp4DT29phORxgM0c0vyYsY9Wgti7XgxZSXOArDMeYV9suV+0Dla24VWO300o6CkSluvFZ/UfSw1Sqtamom5qbNTgVuTMWihMUQZn9IR1/Zjdy73QMNzcqVrC13qrNunVXXinnzAO784FQgLc1nNVvSiyL0n8SMnlcwC3TKXSC/NMeuIagEv7uv6ImB14ZwJGkJv7jRacIwtpNXURtL4Wh8OqqO2fmg4sb+kmVBWgcx0ClxlzCixpHLXNz9NDWLhKQX5M0D+tfITZB/XZHS74D+paG+OSBFbK0LwpUoGsuIAtC8eglZxMEUQbgNUW0Grbr8ohO9t0bSAUawvS1W5obIHYkIrMGC+aTjpDCiOsAXEXHUJccKvgtoczS9gAoM+pdnXzliMK2F+PLaziR7oFrxD4Ryzvcdo8upK5CBQ7/cSgP/h0eqrBQs/kzKUMkfGH7CL/tICAdAfTsPHkN91mM4CT9MBGnY2VoI1EVOYvxxpzvVAM41QVjP2NTJryOveo9yvgTH7mhcx6XINsRJhhLoVaRJlZWVUq9/B6m0CIWa0v1kcKfas6osfN6Lsvv/aN4RHkx88YzKupL79l8g8YDMhWm+MB75nPs2TLhy/56e4RvnyUVORFqWbtQXVL8dSkTsn/o88lHF2MReFRdyNt7y2L6jK1K6N3PygE3kN4uQEoRMSvUxO3tajUZHlu+klTCfKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WrUbYW2viHG1LPHg9yKK1L",
      "input": {
        "note": "Gripper is at table height with the cube right at the jaw line; 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_01WrUbYW2viHG1LPHg9yKK1L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9058 left_j1=2.3821 left_j2=1.9476 left_j3=-0.968 left_j4=-0.0525 left_j5=-1.0405 left_gripper=0.0086 right_j0=-0.8932 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -13.0256, 6.7077, 0.6178, -0.0317, 0.0415, 0.6325, -0.1573, 1.5385, 7.2547, 1.9219, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da29a613c5f8cb61f9dd197e5448ddc33a18bea909cf0ac6b2519df5f6e53653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7acc71df207ed2027213ab8821edb63cadbc9de3336781c8ce8e37142b14b2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa902ddf2dfcda5a786c57000c4a180dbb8fe448d9878c6f91f16f6ca677122a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob da29a613c5f8
wire blob 7acc71df207e
wire blob fa902ddf2dfc
call 57 attempt 0 · /messages · status 200 · 4.347 s
model
claude-opus-5
effort
low
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=-0.9253 left_j1=2.5362 left_j2=2.2211 left_j3=-1.0504 left_j4=-0.0513 left_j5=-1.0298 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0544 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -12.6701, 5.5043, 0.823, 0.0317, 0.0757, 0.6764, -0.0752, 1.6342, 7.2, 1.9072, -0.0513, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.9073 left_j1=2.3848 left_j2=1.9549 left_j3=-0.9684 left_j4=-0.0528 left_j5=-1.0332 left_gripper=0.9951 right_j0=-0.8925 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.036 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.7179, -15.241, 4.8889, 0.6032, -0.0269, 0.0024, -0.1392, -0.1709, 1.8803, 7.0769, 1.9609, -0.0464, -0.0659, -0.0171]\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 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=-0.9058 left_j1=2.3821 left_j2=1.9476 left_j3=-0.968 left_j4=-0.0525 left_j5=-1.0405 left_gripper=0.0086 right_j0=-0.8932 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -13.0256, 6.7077, 0.6178, -0.0317, 0.0415, 0.6325, -0.1573, 1.5385, 7.2547, 1.9219, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da29a613c5f8cb61f9dd197e5448ddc33a18bea909cf0ac6b2519df5f6e53653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7acc71df207ed2027213ab8821edb63cadbc9de3336781c8ce8e37142b14b2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
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      "type": "image"
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  "role": "user"
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[blob da29a613c5f8]
[blob 7acc71df207e]
[blob fa902ddf2dfc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JrwWHLUZrSirgbB1qnR1xA",
      "input": {
        "note": "Repeated misses at small corrections suggest my radial estimate is biased; making a decisive 8 cm pull-in toward the base at table height to bracket the cube's true distance.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.13,
          "left_j2": 1.479,
          "left_j3": -0.749
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JrwWHLUZrSirgbB1qnR1xA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9081 left_j1=2.1338 left_j2=1.5208 left_j3=-0.7498 left_j4=-0.0566 left_j5=-1.0416 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0368 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -10.9197, 4.3966, 0.7253, -0.0122, -0.0513, -0.1148, -0.1026, 1.7299, 7.0769, 1.9609, -0.0122, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d451c22a153a22bd7e1902ec61681052a926788ede45ef37a9d2cbf2c03fbf77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f04df971d27c39ce82e5d6f4f350c9eb9dd243fa827abbe095232f1adb0bb7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 503):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf18c8c3de975d3a195a9afd685813f0bfc2d3712e3d8d195d3ab4c5daa83e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d451c22a153a
wire blob 2f04df971d27
wire blob bf18c8c3de97
call 58 attempt 0 · /messages · status 200 · 6.677 s
model
claude-opus-5
effort
low
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=-0.9073 left_j1=2.3848 left_j2=1.9549 left_j3=-0.9684 left_j4=-0.0528 left_j5=-1.0332 left_gripper=0.9951 right_j0=-0.8925 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.036 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [0.7179, -15.241, 4.8889, 0.6032, -0.0269, 0.0024, -0.1392, -0.1709, 1.8803, 7.0769, 1.9609, -0.0464, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.9058 left_j1=2.3821 left_j2=1.9476 left_j3=-0.968 left_j4=-0.0525 left_j5=-1.0405 left_gripper=0.0086 right_j0=-0.8932 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -13.0256, 6.7077, 0.6178, -0.0317, 0.0415, 0.6325, -0.1573, 1.5385, 7.2547, 1.9219, -0.0611, -0.0562, -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 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=-0.9081 left_j1=2.1338 left_j2=1.5208 left_j3=-0.7498 left_j4=-0.0566 left_j5=-1.0416 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0368 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -10.9197, 4.3966, 0.7253, -0.0122, -0.0513, -0.1148, -0.1026, 1.7299, 7.0769, 1.9609, -0.0122, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d451c22a153a22bd7e1902ec61681052a926788ede45ef37a9d2cbf2c03fbf77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f04df971d27c39ce82e5d6f4f350c9eb9dd243fa827abbe095232f1adb0bb7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf18c8c3de975d3a195a9afd685813f0bfc2d3712e3d8d195d3ab4c5daa83e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d451c22a153a]
[blob 2f04df971d27]
[blob bf18c8c3de97]
{
  "content": [
    {
      "signature": "CAISrQMKjAEIEBgCKkCpyEUuVhcofvUMNHdh1SwDDk6fiR21PpFTbULZijNf7Y4Td+xHTac9Y/tmrR/Vmtc17VH+4VRpF3Bl6RgF6itAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMAQ1wT7McUOUrnFuRGgzRoZUTGwA8AprXBE4iMNABO2iVOVO81TRyGza82aAQf70l9Q9NqTm6oetExoQZjOYmkJiW543k4BPnFdjdAirNAarhaGPjcC/uerTsOX4bE9tCjafG8gM0bs/gW56HvwM9kWURnQDM22dE5VdbIHQYjf9k8mZReUV6CtC5Z8WohuIXbcKnuxxW46aosGfPxGQKZmEpj4DMvFvGGJ8wQLpuwC3MY5oVlpw11vEQEfn8d0M4Oxq16Ehy54YoF+D/8F6o8QMBMaMeoeX0BYlkcSHVWRq38qoNakjHgDELTt+uFGLmbC68e2KZ7goZka5GVMd7ZbrUbOMr/eFOollHUc7QDHRHNp+I3qaRH32wpKsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KpsPSBvbmTGa36JqGpTnNG",
      "input": {
        "note": "Wrist view now shows the cube squarely between the two 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_01KpsPSBvbmTGa36JqGpTnNG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9077 left_j1=2.1254 left_j2=1.5074 left_j3=-0.7471 left_j4=-0.0589 left_j5=-1.0451 left_gripper=0.008 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -10.6735, 6.8171, 0.6374, -0.0024, 0.0171, 0.5885, -0.1573, 1.5385, 7.0769, 1.956, -0.022, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bcc5ba7f6342d5a89f98d47a9a64861f0cfc1ec81560d5ed95e2eedf23a5f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d341d3af0e51a6e154f27356b48a5139e39d0d13225dd0d2d0bb81764fca494c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 513):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb94b3d0bdec6e28bbce478cdb8a4c9ec2da87b35b5f82a327892e6880bc1413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4bcc5ba7f634
wire blob d341d3af0e51
wire blob cb94b3d0bdec
call 59 attempt 0 · /messages · status 200 · 3.59 s
model
claude-opus-5
effort
low
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=-0.9058 left_j1=2.3821 left_j2=1.9476 left_j3=-0.968 left_j4=-0.0525 left_j5=-1.0405 left_gripper=0.0086 right_j0=-0.8932 right_j1=0.0563 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -13.0256, 6.7077, 0.6178, -0.0317, 0.0415, 0.6325, -0.1573, 1.5385, 7.2547, 1.9219, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.9081 left_j1=2.1338 left_j2=1.5208 left_j3=-0.7498 left_j4=-0.0566 left_j5=-1.0416 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0368 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -10.9197, 4.3966, 0.7253, -0.0122, -0.0513, -0.1148, -0.1026, 1.7299, 7.0769, 1.9609, -0.0122, -0.0024, -0.0171]\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 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=-0.9077 left_j1=2.1254 left_j2=1.5074 left_j3=-0.7471 left_j4=-0.0589 left_j5=-1.0451 left_gripper=0.008 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -10.6735, 6.8171, 0.6374, -0.0024, 0.0171, 0.5885, -0.1573, 1.5385, 7.0769, 1.956, -0.022, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bcc5ba7f6342d5a89f98d47a9a64861f0cfc1ec81560d5ed95e2eedf23a5f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d341d3af0e51a6e154f27356b48a5139e39d0d13225dd0d2d0bb81764fca494c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb94b3d0bdec6e28bbce478cdb8a4c9ec2da87b35b5f82a327892e6880bc1413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4bcc5ba7f634]
[blob d341d3af0e51]
[blob cb94b3d0bdec]
{
  "content": [
    {
      "signature": "CAIS/woKjAEIEBgCKkACyTt4VQtJPGZa4JUghOnpFyURh8S22ZmhWSGHsrzphQmBHwWZ9Pl5cjMKB6ypjgKBSSZ2py/9Rx08lTA1T2u3MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMgbszgEUTD3TGXSDOGgwRZd5gqVyAPKg8NxQiMCVSbrCPb8FkLKTJy4ZafwqHEDOahlHfj/7vo3Z5VA9IrWxiKOLZnv8jImYjD2sRbSqfCfPQr/CyVDyzW1lOBSKmdseQTRS4WrXujd9GhJJUtj+10ZGBHbgBtVVZbPnh+DKrO8jNZUP6UFM7mPmf9t9S79/yO/vHLavUsowM54m23Hj1BLdZttTWTkoK57a8fRy1x8fTsXgkfan4nUjtg01cIzk0x/vEpg/jXcSi6jwEDlhs9konQUE9ZAN2/UfhX/2Sy2l5L0VCfgqqZ1yNrZh0ZnvYMLisuKCSt0ICQ5xkf73vRG0Dd+CzM3c/yGjbWbZdbbzIAz4rRWXt2+nbC+LR7Y0St4aH0bx/VFb2HwNmQtQsW/LSy4n0WfJOEy2Oag6qKb7aQ3MK0GeTnZppUvwPrcO916q0ypnUYyQD9fqHSJ6P7DdHlzZsUqpkGiBO7OscoyeWboG1aqD58aBDLrmq1nQjTcZS79Lf3jPeBCcmmh10NqBEZw2GFBLskv89ws+g31QtzfHBWi849+pG6NYDGRyefdTPSEYZsYB3E5Jn/aRW1i0K30reDUc+Y8UHF5S0JDWr1zhJm7iPoJ0DvNztgq7CFmqLH3akxauhw3x/dxOxvgpK1Jk6IFAW79BLDCqQxmMcbRWMVxmopLz/jzRvODwAi/D43tCBITCM+1aoQuq+c7tOrwntXcwpnmxOICCBXQ3fh3iV8YyYpX8Ya0IDUOkxM2bGTXnFigUfsRJePiIZvn41MlH8Dp/vActvAqUqfowIg57H3xnszsSXx0y5WKIjrQvu9vDIsLXUdmAm4uQPJAq9GgjFS9GePUosJwrj7oJpvlp1wXQm3gIyz0ghbhziATmc0vCFnfj0oiOIhnGSXa4BbkmEIS4LfakH11RLJC086sDKpsOEnWN/EA5ImVKVrxR05xwErk0/0H35bnq+6Pvp672M/vyKLHaJaXfdA/YfPm2AUtpExA28uPZ+FJJXycjXExM7/2tzxY3/ruCZer25qw37UJ1j5VddBVsb74muHwZkrruqttqKGcGGLLQT/sw8X6t4fZdkX5Q1BiP2MuipjtxunpST+yCCbp0zIv8kpvo9KUO2n/rHAdN2W9Bhg7QszIfAYRUnO/R7FMIClZc/5Dka8iWjHm+TQ2xR4u3xKsRxCjYATsz9+d+InOpRWG3MXkqKAO14yDOqOwezhTbj/5ymtrcUvHPWau18bUd6UFUf5TUrdJTxDi025Dvk0Wj14UYJzYWiZj5vqoT7meekKvzl/y5RxBLR4TcKWeawF5H9o0Kh6sIzFM1UGUn8z0Icq0pYsn9eTcj5b35FIqlX89lTK+8f0yv/GIFVH13O3yhiCwCgw9OZsL3MXEdNyd/io97dr5Wlgc43kdX8c4jBCirl6dESbPrQBbU/4m/FR3sMIMlYNmNE8NKOoR9CEfOAfdg/m70RYYflYp+k096jncCWFXnmbunww5rvFd12AsJhwmKpgf3F3gKj86AZpIe0btVOEzdHiQGDmXYSBQQZOv8vezSxZ/KXfr9WFSxGR9EZ7A0kRkMvdZDDMd/Yi0yvEfjHKPj71jC1AL2bsRUztS2RMFS+ynfq2BjBF4xRcuqAWosmer4wBsB+hfTcR8hmhuRJ2WjtMlYt5hoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M9whBMD3WTSr1eXC1dtmCn",
      "input": {
        "note": "Overhead shows the cube just off the gripper's lower-right corner; shifting ~1.5 cm to the arm's right and 2 cm nearer for another attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.948,
          "left_j1": 2.086,
          "left_j2": 1.4,
          "left_j3": -0.679
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M9whBMD3WTSr1eXC1dtmCn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9451 left_j1=2.0827 left_j2=1.4338 left_j3=-0.6567 left_j4=-0.0669 left_j5=-1.0451 left_gripper=0.9953 right_j0=-0.8928 right_j1=0.0586 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.6735, 3.4256, 0.5543, 0.022, -0.0659, -0.1636, -0.0615, 2.0718, 7.0769, 1.9756, -0.0317, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2de4d3efffa10829230cb950734aa2ce766f4af66ebb278665803cdf9e0fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302118d403ebdfb8115c575515477154f8a4124b62177c81e16afa12a1f6322c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 523):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:112271b4882041e40b0dad2595622315e4a753e50622d78498df3524d0ecad26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6c2de4d3efff
wire blob 302118d403eb
wire blob 112271b48820
call 60 attempt 0 · /messages · status 200 · 6.864 s
model
claude-opus-5
effort
low
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=-0.9081 left_j1=2.1338 left_j2=1.5208 left_j3=-0.7498 left_j4=-0.0566 left_j5=-1.0416 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0368 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -10.9197, 4.3966, 0.7253, -0.0122, -0.0513, -0.1148, -0.1026, 1.7299, 7.0769, 1.9609, -0.0122, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.9077 left_j1=2.1254 left_j2=1.5074 left_j3=-0.7471 left_j4=-0.0589 left_j5=-1.0451 left_gripper=0.008 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -10.6735, 6.8171, 0.6374, -0.0024, 0.0171, 0.5885, -0.1573, 1.5385, 7.0769, 1.956, -0.022, -0.0366, -0.0171]\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=-0.9451 left_j1=2.0827 left_j2=1.4338 left_j3=-0.6567 left_j4=-0.0669 left_j5=-1.0451 left_gripper=0.9953 right_j0=-0.8928 right_j1=0.0586 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.6735, 3.4256, 0.5543, 0.022, -0.0659, -0.1636, -0.0615, 2.0718, 7.0769, 1.9756, -0.0317, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2de4d3efffa10829230cb950734aa2ce766f4af66ebb278665803cdf9e0fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302118d403ebdfb8115c575515477154f8a4124b62177c81e16afa12a1f6322c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112271b4882041e40b0dad2595622315e4a753e50622d78498df3524d0ecad26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6c2de4d3efff]
[blob 302118d403eb]
[blob 112271b48820]
{
  "content": [
    {
      "signature": "CAISywIKjAEIEBgCKkAhZ5bkv+iLPthzCxzL17mZwT4oQaNLv+xBRpJbR5tqPV5yb358+WqGyrPg+DE6epYFaIFeeVS83jbw4jM27F21MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMScX3xZqgI2o7gahQGgyG97TQrHUaRyW2fJUiMIhU/jAV9WdaK1FdW8hHDilWRx0RceMBDjQmeFYF8ox5955SR/Dysjq5lgU9gqdaqCps0oKqocu6B5nbZ8oTl31O01EIQsUt8hPyeq5o8LqcDlAjEsZjoXwiBvOuT65jwdk6QqooIzxpWPgTyrey6RWqXN864Njp59heD+c8aKUar0P7LOv0UeDgu52F73QXqV6Aet7GF+880G12ci0PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HiqTyRTWwviwFbMi7aVETc",
      "input": {
        "note": "Cube is centered between the jaws at the bottom of the wrist view; 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_01HiqTyRTWwviwFbMi7aVETc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9451 left_j1=2.0811 left_j2=1.4319 left_j3=-0.6575 left_j4=-0.0669 left_j5=-1.0477 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0589 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -10.8786, 5.9145, 0.7888, -0.0611, 0.0122, 0.6374, -0.0615, 1.4838, 7.1043, 1.9414, -0.0513, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab39128f4f40f9ddc18de1d977506a61e7eb0b5f07de09ab4fab8786416eb5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3c051cccd096470b34995770c1b764bd4d54633db37d44aaa737395ba2a2ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 533):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36e5c23bf323b33c76883685676212e7081708a2a024ea5a3f920d66f078c9ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3ab39128f4f4
wire blob fa3c051cccd0
wire blob 36e5c23bf323
call 61 attempt 0 · /messages · status 200 · 5.577 s
model
claude-opus-5
effort
low
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=-0.9077 left_j1=2.1254 left_j2=1.5074 left_j3=-0.7471 left_j4=-0.0589 left_j5=-1.0451 left_gripper=0.008 right_j0=-0.8932 right_j1=0.0582 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -10.6735, 6.8171, 0.6374, -0.0024, 0.0171, 0.5885, -0.1573, 1.5385, 7.0769, 1.956, -0.022, -0.0366, -0.0171]\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=-0.9451 left_j1=2.0827 left_j2=1.4338 left_j3=-0.6567 left_j4=-0.0669 left_j5=-1.0451 left_gripper=0.9953 right_j0=-0.8928 right_j1=0.0586 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.6735, 3.4256, 0.5543, 0.022, -0.0659, -0.1636, -0.0615, 2.0718, 7.0769, 1.9756, -0.0317, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.9451 left_j1=2.0811 left_j2=1.4319 left_j3=-0.6575 left_j4=-0.0669 left_j5=-1.0477 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0589 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -10.8786, 5.9145, 0.7888, -0.0611, 0.0122, 0.6374, -0.0615, 1.4838, 7.1043, 1.9414, -0.0513, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab39128f4f40f9ddc18de1d977506a61e7eb0b5f07de09ab4fab8786416eb5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3c051cccd096470b34995770c1b764bd4d54633db37d44aaa737395ba2a2ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 533):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e5c23bf323b33c76883685676212e7081708a2a024ea5a3f920d66f078c9ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3ab39128f4f4]
[blob fa3c051cccd0]
[blob 36e5c23bf323]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJXPdK8o8GBhijHL3tZjCL",
      "input": {
        "note": "Overhead clearly shows the cube ~3 cm nearer the base than the closed fingertips; pulling in 3 cm more.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.011,
          "left_j2": 1.269,
          "left_j3": -0.558
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YJXPdK8o8GBhijHL3tZjCL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9451 left_j1=2.006 left_j2=1.3067 left_j3=-0.5297 left_j4=-0.0673 left_j5=-1.0477 left_gripper=0.9945 right_j0=-0.8932 right_j1=0.0616 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.036 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.812, 3.2889, 0.6032, -0.0708, -0.0611, -0.2369, -0.0342, 1.8803, 7.0769, 1.9853, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2ed9270e0142d13c323309b34100080732de026e8d279466a2fed74a63546e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b278f2af0263dc0b16a3100031c26d03ef2becdeef31ab153a1d4f4a60e5756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 543):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0636b0df252e7c1a062a282187967c32ab0e959c66ea04f8f810c80f4296a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8d2ed9270e01
wire blob 6b278f2af026
wire blob f0636b0df252
call 62 attempt 0 · /messages · status 200 · 8.314 s
model
claude-opus-5
effort
low
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=-0.9451 left_j1=2.0827 left_j2=1.4338 left_j3=-0.6567 left_j4=-0.0669 left_j5=-1.0451 left_gripper=0.9953 right_j0=-0.8928 right_j1=0.0586 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -10.6735, 3.4256, 0.5543, 0.022, -0.0659, -0.1636, -0.0615, 2.0718, 7.0769, 1.9756, -0.0317, -0.0757, -0.0073]\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=-0.9451 left_j1=2.0811 left_j2=1.4319 left_j3=-0.6575 left_j4=-0.0669 left_j5=-1.0477 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0589 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -10.8786, 5.9145, 0.7888, -0.0611, 0.0122, 0.6374, -0.0615, 1.4838, 7.1043, 1.9414, -0.0513, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.9451 left_j1=2.006 left_j2=1.3067 left_j3=-0.5297 left_j4=-0.0673 left_j5=-1.0477 left_gripper=0.9945 right_j0=-0.8932 right_j1=0.0616 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.036 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.812, 3.2889, 0.6032, -0.0708, -0.0611, -0.2369, -0.0342, 1.8803, 7.0769, 1.9853, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2ed9270e0142d13c323309b34100080732de026e8d279466a2fed74a63546e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b278f2af0263dc0b16a3100031c26d03ef2becdeef31ab153a1d4f4a60e5756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 543):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0636b0df252e7c1a062a282187967c32ab0e959c66ea04f8f810c80f4296a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8d2ed9270e01]
[blob 6b278f2af026]
[blob f0636b0df252]
{
  "content": [
    {
      "signature": "CAISuwMKjAEIEBgCKkBHkjsiUSHLJ+ytzyMNp9e29/EJ2BKAk3vdrkD+X81nRBD1t2lqdiQTf0I5yYa2rmm5FAzBQn2kCrztFVha2bMPMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMhGDJR3TV7J3N5g4/GgzdFZ8NUoKoC6P54PciMFC9Xj4WMkZ+32I4qfbp5OQKbqygQQGD33wGv2sxYh8W5xFm7EYbTpv5G0v/hgObrSrbAerJGF8i/CEm0P552pStW/KnKSSlELrYXvYRxAdz9Ordrh4WwftsADPSiS1bUSmEwVnuvfTqidfVneMFVlecryfE86P6mMuvP8EnmegcDpdu3RnDwW43r+muachQau6VEYLmYxxl9h3R6cfus9yYaRA9Ny10lUBo5UntUwLUHnf7A0RAvYyEXzdyd7UihmhdYXV4V06+f24/HVZVcsCsSLbPEEgOoRfIojcLjfEDMoK0x3zwLuxNyXOJqHdIBl9cNQpAxEz6RGEd373E/cyIGEHn+a91d7Go20GZnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B6oGq8Df9uYxPAvHCWptyB",
      "input": {
        "note": "Cube appears between the open jaws at the bottom of the wrist frame; 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_01B6oGq8Df9uYxPAvHCWptyB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9447 left_j1=2.0029 left_j2=1.3018 left_j3=-0.5343 left_j4=-0.0669 left_j5=-1.0485 left_gripper=0.0088 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -10.0034, 6.1744, 0.9841, -0.0659, -0.0269, 0.6178, -0.1709, 1.4974, 7.1316, 1.8974, -0.0269, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc9d73440fedb486c8664a2275a726d7021659bd710632e57ae914c33a4209a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bee75b316565155c4c7b382d67ca5a6364a8d377297264f33835545f81d4509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 553):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ef2b73fd1446e1dbd0481058792d8d5ab153f5b7174d6d315732c7c77cf2479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2fc9d73440fe
wire blob 9bee75b31656
wire blob 7ef2b73fd144
call 63 attempt 0 · /messages · status 200 · 7.183 s
model
claude-opus-5
effort
low
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=-0.9451 left_j1=2.0811 left_j2=1.4319 left_j3=-0.6575 left_j4=-0.0669 left_j5=-1.0477 left_gripper=0.0089 right_j0=-0.8932 right_j1=0.0589 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -10.8786, 5.9145, 0.7888, -0.0611, 0.0122, 0.6374, -0.0615, 1.4838, 7.1043, 1.9414, -0.0513, -0.0757, -0.0073]\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=-0.9451 left_j1=2.006 left_j2=1.3067 left_j3=-0.5297 left_j4=-0.0673 left_j5=-1.0477 left_gripper=0.9945 right_j0=-0.8932 right_j1=0.0616 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.036 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.812, 3.2889, 0.6032, -0.0708, -0.0611, -0.2369, -0.0342, 1.8803, 7.0769, 1.9853, -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 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=-0.9447 left_j1=2.0029 left_j2=1.3018 left_j3=-0.5343 left_j4=-0.0669 left_j5=-1.0485 left_gripper=0.0088 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -10.0034, 6.1744, 0.9841, -0.0659, -0.0269, 0.6178, -0.1709, 1.4974, 7.1316, 1.8974, -0.0269, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc9d73440fedb486c8664a2275a726d7021659bd710632e57ae914c33a4209a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bee75b316565155c4c7b382d67ca5a6364a8d377297264f33835545f81d4509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef2b73fd1446e1dbd0481058792d8d5ab153f5b7174d6d315732c7c77cf2479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2fc9d73440fe]
[blob 9bee75b31656]
[blob 7ef2b73fd144]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NKYgCMtDoU2eQP8X7YTzoF",
      "input": {
        "note": "I think each close is nudging the cube away, so changing tactic: lifting to ~8 cm above the table directly over the cube's position, to then descend vertically onto it.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.925,
          "left_j1": 1.858,
          "left_j2": 1.454,
          "left_j3": -1.167
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01NKYgCMtDoU2eQP8X7YTzoF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9318 left_j1=1.8988 left_j2=1.4246 left_j3=-1.0882 left_j4=-0.0669 left_j5=-1.0481 left_gripper=0.9957 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -11.9453, 7.9795, 0.2027, -0.0317, -0.0366, -0.1099, -0.0889, 1.7162, 7.2957, 1.9219, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0efc8d4c608c2acce369c5c5219d35929155c1b8b085cf5c211319de9bd79b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:138d3aef45429ff7f21d3813337b74fd8ab8c45f0fffc3f3c6ebc05d0b00868a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 564):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2bd8afded31e858ba7c5193d5e2b62fdcb68caee43452e4a00ae5431ddebcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b0efc8d4c608
wire blob 138d3aef4542
wire blob b2bd8afded31
call 64 attempt 0 · /messages · status 200 · 8.831 s
model
claude-opus-5
effort
low
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=-0.9451 left_j1=2.006 left_j2=1.3067 left_j3=-0.5297 left_j4=-0.0673 left_j5=-1.0477 left_gripper=0.9945 right_j0=-0.8932 right_j1=0.0616 right_j2=0.0128 right_j3=-0.0715 right_j4=-0.036 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.812, 3.2889, 0.6032, -0.0708, -0.0611, -0.2369, -0.0342, 1.8803, 7.0769, 1.9853, -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 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=-0.9447 left_j1=2.0029 left_j2=1.3018 left_j3=-0.5343 left_j4=-0.0669 left_j5=-1.0485 left_gripper=0.0088 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -10.0034, 6.1744, 0.9841, -0.0659, -0.0269, 0.6178, -0.1709, 1.4974, 7.1316, 1.8974, -0.0269, -0.0757, -0.0171]\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=-0.9318 left_j1=1.8988 left_j2=1.4246 left_j3=-1.0882 left_j4=-0.0669 left_j5=-1.0481 left_gripper=0.9957 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -11.9453, 7.9795, 0.2027, -0.0317, -0.0366, -0.1099, -0.0889, 1.7162, 7.2957, 1.9219, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0efc8d4c608c2acce369c5c5219d35929155c1b8b085cf5c211319de9bd79b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:138d3aef45429ff7f21d3813337b74fd8ab8c45f0fffc3f3c6ebc05d0b00868a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 564):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2bd8afded31e858ba7c5193d5e2b62fdcb68caee43452e4a00ae5431ddebcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b0efc8d4c608]
[blob 138d3aef4542]
[blob b2bd8afded31]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ef8tpH81dtvJVJh7GPbAN4",
      "input": {
        "note": "From 8 cm up the wrist camera shows the cube large at the lower right, about 5 cm off; commanding +0.17 rad yaw and 2.5 cm more reach to center it under the jaws.",
        "targets": {
          "left_j0": -0.76,
          "left_j1": 1.946,
          "left_j2": 1.576,
          "left_j3": -1.201
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ef8tpH81dtvJVJh7GPbAN4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7952 left_j1=1.9408 left_j2=1.5402 left_j3=-1.1748 left_j4=-0.0563 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0624 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -9.2786, 7.159, 0.0024, -0.149, -0.0269, 0.0904, -0.1299, 1.5111, 7.0769, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 567):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8921cb29f570e45dc9b5d452c6fb72b46530b53aa09a9992069f06f331ae14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 567):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae9b1873e3e2825dc420641593b7ae132ee8b1065e342228df1c57280e93bf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 567):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b59bdf807a98463d13081a176749c26602f84a8da1e989a3a114049d10222faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6a8921cb29f5
wire blob 9ae9b1873e3e
wire blob b59bdf807a98
call 65 attempt 0 · /messages · status 200 · 11.65 s
model
claude-opus-5
effort
low
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=-0.9447 left_j1=2.0029 left_j2=1.3018 left_j3=-0.5343 left_j4=-0.0669 left_j5=-1.0485 left_gripper=0.0088 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0723 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -10.0034, 6.1744, 0.9841, -0.0659, -0.0269, 0.6178, -0.1709, 1.4974, 7.1316, 1.8974, -0.0269, -0.0757, -0.0171]\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=-0.9318 left_j1=1.8988 left_j2=1.4246 left_j3=-1.0882 left_j4=-0.0669 left_j5=-1.0481 left_gripper=0.9957 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -11.9453, 7.9795, 0.2027, -0.0317, -0.0366, -0.1099, -0.0889, 1.7162, 7.2957, 1.9219, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7952 left_j1=1.9408 left_j2=1.5402 left_j3=-1.1748 left_j4=-0.0563 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0624 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -9.2786, 7.159, 0.0024, -0.149, -0.0269, 0.0904, -0.1299, 1.5111, 7.0769, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 567):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8921cb29f570e45dc9b5d452c6fb72b46530b53aa09a9992069f06f331ae14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 567):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae9b1873e3e2825dc420641593b7ae132ee8b1065e342228df1c57280e93bf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 567):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b59bdf807a98463d13081a176749c26602f84a8da1e989a3a114049d10222faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6a8921cb29f5]
[blob 9ae9b1873e3e]
[blob b59bdf807a98]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MoU8w7EUuf8Z1eBdRqV5zT",
      "input": {
        "note": "Overhead (more reliable here) puts the cube ~2 cm right and ~5 cm nearer than the fingertips; repositioning to hover directly above it at 8 cm before descending straight down.",
        "targets": {
          "left_j0": -0.855,
          "left_j1": 1.751,
          "left_j2": 1.319,
          "left_j3": -1.139
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MoU8w7EUuf8Z1eBdRqV5zT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8547 left_j1=1.8057 left_j2=1.3384 left_j3=-1.1473 left_j4=-0.0547 left_j5=-1.0481 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0635 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.6735, 5.5726, 0.4176, -0.0806, -0.0562, -0.0073, -0.1846, 1.935, 7.2684, 1.9267, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9821266923d213ec6f2a4c13acba153fc8e7eca9f3f91d0067c26f31b53e067a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b000dad715cba2615eaf2e085a972a5114a55f9cc3c321333cb87f79924583b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecba93505070a48a0b15bbc8b51707167e1b4fea6d5d439b3583fc714d89088e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9821266923d2
wire blob b000dad715cb
wire blob ecba93505070
call 66 attempt 0 · /messages · status 200 · 5.439 s
model
claude-opus-5
effort
low
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=-0.9318 left_j1=1.8988 left_j2=1.4246 left_j3=-1.0882 left_j4=-0.0669 left_j5=-1.0481 left_gripper=0.9957 right_j0=-0.8932 right_j1=0.062 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0357 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -11.9453, 7.9795, 0.2027, -0.0317, -0.0366, -0.1099, -0.0889, 1.7162, 7.2957, 1.9219, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7952 left_j1=1.9408 left_j2=1.5402 left_j3=-1.1748 left_j4=-0.0563 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0624 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -9.2786, 7.159, 0.0024, -0.149, -0.0269, 0.0904, -0.1299, 1.5111, 7.0769, 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 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8547 left_j1=1.8057 left_j2=1.3384 left_j3=-1.1473 left_j4=-0.0547 left_j5=-1.0481 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0635 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.6735, 5.5726, 0.4176, -0.0806, -0.0562, -0.0073, -0.1846, 1.935, 7.2684, 1.9267, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9821266923d213ec6f2a4c13acba153fc8e7eca9f3f91d0067c26f31b53e067a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b000dad715cba2615eaf2e085a972a5114a55f9cc3c321333cb87f79924583b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecba93505070a48a0b15bbc8b51707167e1b4fea6d5d439b3583fc714d89088e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9821266923d2]
[blob b000dad715cb]
[blob ecba93505070]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011L6mqFLoNvB4Ke33AHZMC2",
      "input": {
        "note": "The two views disagree on depth, so I'm making a deliberate 4 cm outward move (plus restoring the better yaw) to see which way the cube tracks in the wrist frame.",
        "targets": {
          "left_j0": -0.795,
          "left_j1": 2.073,
          "left_j2": 1.764,
          "left_j3": -1.262
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_011L6mqFLoNvB4Ke33AHZMC2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8024 left_j1=2.0556 left_j2=1.7264 left_j3=-1.2488 left_j4=-0.0521 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8928 right_j1=0.0643 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0383 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -10.0991, 7.0085, 0.149, -0.1148, -0.0366, -0.0122, 0.0752, 1.4701, 7.1453, 1.9267, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 578):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16801324734ebb8402551273eb4b90eb9126f330f0dcd73657b189429d2b3361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 578):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf2dd4159311156b8f524c3e6edce6bb97480306761cf0bcb6f4e6969d26bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 578):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4730c5bfa7cdb289c141a226aca49e318412270c3f713c075e55d7976b1c062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 16801324734e
wire blob 2cf2dd415931
wire blob d4730c5bfa7c
call 67 attempt 0 · /messages · status 200 · 8.95 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7952 left_j1=1.9408 left_j2=1.5402 left_j3=-1.1748 left_j4=-0.0563 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0624 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0353 right_j5=-0.0109 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -9.2786, 7.159, 0.0024, -0.149, -0.0269, 0.0904, -0.1299, 1.5111, 7.0769, 1.8681, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8547 left_j1=1.8057 left_j2=1.3384 left_j3=-1.1473 left_j4=-0.0547 left_j5=-1.0481 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0635 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.6735, 5.5726, 0.4176, -0.0806, -0.0562, -0.0073, -0.1846, 1.935, 7.2684, 1.9267, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8024 left_j1=2.0556 left_j2=1.7264 left_j3=-1.2488 left_j4=-0.0521 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8928 right_j1=0.0643 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0383 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -10.0991, 7.0085, 0.149, -0.1148, -0.0366, -0.0122, 0.0752, 1.4701, 7.1453, 1.9267, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 578):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16801324734ebb8402551273eb4b90eb9126f330f0dcd73657b189429d2b3361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 578):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf2dd4159311156b8f524c3e6edce6bb97480306761cf0bcb6f4e6969d26bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 578):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4730c5bfa7cdb289c141a226aca49e318412270c3f713c075e55d7976b1c062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 16801324734e]
[blob 2cf2dd415931]
[blob d4730c5bfa7c]
{
  "content": [
    {
      "signature": "CAISqwgKjAEIEBgCKkDH/Ms1/+B6ANgqoI7Q1tmu/7/d9pE87BBKJHQ6BDqrxtIjkOhKM7YmXCup+Fkor3Z8lPs6194wyuNnp11spROxMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMQEoMM6HgJjxMIUocGgzaCgGp6DO3xMo9lQ8iMLAJqWR/JRrQYvrF/m+jzc4585nHhCfHI7xI39jtPwR847J4yiMRdqTTym6GQU0PwCrLBqNaf18fzA0DxnAy8AObKxD9XQpXi9yuu3iR6Ch5/WfMTalhbDrDfATtz3gi4UvVyH+MEsKjajc64iwRHXdOmoAMySW/DCt5E2y4qZrJefw9bG9jgPpOTb5w9xn30DKS055QmMAYUy8fvJZD6ycLr1b4H7Grr9DFrdx6xhK2aGqL60B0banfdbTCf4u6qvdGrAiU22Pho34mkh2Zk/8Ln2/76QTT9GtnY/r7qRN8RM1O1SLusLbYB5WE0xbhPDyU/Rf9fI+e4xdTtgKX/FdiErJoHhowI6PR1enraL80wWsvkEccAlR/n3aLlWndNuCQtJYA3hH417O7Sps7gQhdrfrFgN9xTg6X6NYvPQa67YC5jfyNBqIyVjF8G1yz9nEUuCx/IFUBhuEtc8Fg13hSEmc/xfJliVTm6UAvyjK/k9VECmHyfk2ZgW1cdwjQJZwwy/MvsPvht1wdkACuwQDLfgjmZuX6NWweixiPdaVbw0kptXudGW9Q7o/dkPzAjr0rM7KAiEBVOBAsAuRKOja0HygOCuqaPxx7UVxwe21e/kqq+UdVNi9jFWQl6xCoHprG6sX1rZyUne8Xpqpp5CQgvWm4rgUFDDPUoYAv1AJcS9zi/Z1AyzetoYC4AeS8NaBeOKeKw2feP90Fmp/lNQNJaBTSgz66vGyR2t4/b6suqOklFgZjDWql1evduLqX57tkCs4XI5zcQnO+CtywUslRxGi4ARaYnZw8MIxeFfMZ7VaiJ42+mGp4zo9+hbaZ/F6ncOlwSSSghafXFMXfsFxUcB24Uj4VUUgrDv394dfrObZC4L7CxT3uvEa2S3p4xT9bMZUmeMWcP8cqQSstyUVgGWtuO4e8SvkAs4fbWY1/z5R36Txlr2vJ+vFaoPl68NaaTBYOMib9LJ6J85Es+aMJcHAlJjROT0OpE4DUtjm1OrYEDw6hWK6gYDFIvFxvo8Ucs9a91t44kOtCmPsfseKu4/Xy/wlyZ7PcOoQQxStHyJCWA2MhjWfi3JPlpPdr6cczgY4RPpzxNSe7YQkHaPJtw2Aaa6sqKWhi0bKCrsEuzb/BYJj8MMEC71kj1tGMm1Gdq0+3ozojf19FKSdIfRtUzLhco0M8orf1M6DLSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kh62wfJ9q5mKksoXZJ14sT",
      "input": {
        "note": "Confirmed: reaching outward slides the cube toward the jaw gap in the wrist view. Extending ~4 cm more to bring it onto the grasp point.",
        "targets": {
          "left_j1": 2.224,
          "left_j2": 2.009,
          "left_j3": -1.356
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Kh62wfJ9q5mKksoXZJ14sT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.799 left_j1=2.2158 left_j2=1.9652 left_j3=-1.3396 left_j4=-0.0517 left_j5=-1.0554 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0647 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0387 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -12.0, 7.6376, 0.1197, -0.0855, 0.022, -0.0073, -0.0342, 1.4974, 7.0769, 1.917, -0.0171, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af833671e789b073429b2dd2eb09983b2d614a8f1c0ee22f8d4ca67026544f52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40eb84753fe6616e694a25bff6d2bbda1503fe4bcf8dc77fe6955d0a36dc9b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 583):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85c94e3cc5d3ec45e07df914b5b0ab0a3f02208f643f4eb4e29c94510e19bc0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af833671e789
wire blob 40eb84753fe6
wire blob 85c94e3cc5d3
call 68 attempt 0 · /messages · status 200 · 4.414 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8547 left_j1=1.8057 left_j2=1.3384 left_j3=-1.1473 left_j4=-0.0547 left_j5=-1.0481 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0635 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.6735, 5.5726, 0.4176, -0.0806, -0.0562, -0.0073, -0.1846, 1.935, 7.2684, 1.9267, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8024 left_j1=2.0556 left_j2=1.7264 left_j3=-1.2488 left_j4=-0.0521 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8928 right_j1=0.0643 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0383 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -10.0991, 7.0085, 0.149, -0.1148, -0.0366, -0.0122, 0.0752, 1.4701, 7.1453, 1.9267, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.799 left_j1=2.2158 left_j2=1.9652 left_j3=-1.3396 left_j4=-0.0517 left_j5=-1.0554 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0647 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0387 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -12.0, 7.6376, 0.1197, -0.0855, 0.022, -0.0073, -0.0342, 1.4974, 7.0769, 1.917, -0.0171, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af833671e789b073429b2dd2eb09983b2d614a8f1c0ee22f8d4ca67026544f52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40eb84753fe6616e694a25bff6d2bbda1503fe4bcf8dc77fe6955d0a36dc9b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c94e3cc5d3ec45e07df914b5b0ab0a3f02208f643f4eb4e29c94510e19bc0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af833671e789]
[blob 40eb84753fe6]
[blob 85c94e3cc5d3]
{
  "content": [
    {
      "signature": "CAISkQsKjAEIEBgCKkB4CgwWurSjq1TwWkDA4SLcZrqP54XcmS1TpCn8cjtYZCFRJKagUhaX+bpywiR4N/STfvcBqru75B42Xw4j/+7XMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0S6ZC1os6d+8FfddGgwnVpZBB1/ge0iVjvIiMCJB9tJPfUvfop7gmSEIu1TVpvqi0DnRK1WYMijHR7Uc7CBLllNpiLBnDZKWsHcL7iqxCe0QpJwWt3ZqQFYU6BurPNpINKsTx8oJq25Ks3Vfwbqh3ZJfM0y9JL+W7Hlmsx2KDuHgNCv0Dbq8FCa8qd4HokiPXEGP+krLg42QDYwDgwZu21n/2m/Tq4+kbUSdLpwgV5B37igpbBmn6PKNv0PqdyeNNgi/d+3ccK7GXWXe3Yl5TqEg0ABrQMAoD8SHry9ikZUBDCxN8ClEsKMlOW9sC+LAOo75f/7vhSFcxTDaQRmUqx/S6oVwPqeERS9hCt/RUXdsljcqmg/NYe/GbCKfsdV2F1dwTCVz9HIqIb3d6iptoPsRqFvzR26F/LdXhMnfsJS1cuBsmItYP1hyfQv8Hf0N+eko+PKdMevvG88LaZ7f6WJ43HTqpG+/qRU1u+kbpDD9HeRf7xMjTGhGk5UsNgx+QJP+slhjtByUB68XEPYnHlEFmteVBG7BIG7B8Q9GL3ot1hVLwWu4vuYxcJFjWCi1jRHhcjATn3KnAqVmzIbaImh/ouJ4Za/U32+iCm7cYac7tHRinnTGKK6HmnSdegVukIghK6/L/qT+IbemAZZgrTgfkszY4gabU9E6R4pLmDikSM5Xt4G29wWFOb0JFQQ/IfYQF+T7MMaBbKVnsO42jzpIxv8XwCwX75NryhqHlHE1/C3YKy3lU9lXWoZvgYAEnFwAOv9R9nTqoGZLu0FhYvUZfkiC2Pb/V4MsTAjhQbMnuNAbr9GA1ksL1hjL6q6LSR5OK2qEzq2aIukG36XTbqkpRmrEy9fBbgT89DAGmtZkhFWNhWZv9vpTCWOXidGW3w7iNBpYjegQv+Dnrj9CP+0RwbM528cIUx5tbj2JndpwgwTQ886gjcL+uoThnavHulwoxsAr+viYeCNFeEbvEoWsFE/D3FQvnpH1oisGNiiggOXhEhzRPLnimHYs/Tzerv/uiO8horqgAuELt3GTyrRVWxYRzrWU5IHZSkGI8I6SYoi0vgg6eWW24FJU55mMapK4XXUXPQyJ1hPl6KNBC8YpfEGnqyvii/rszYFsU7tXy0rmwVbGmTJ9WqqCF8CBrTg9IF7r8ufdK37ls4Sg4jliEaiUYiBvapVQM+yA/gWAnEJp+EMEt7nIIHFrV6e0plG6oBDxRcKTkC4w+Wp/Dkv5OP2UTk0/UqjJu4mYalwEwba0iehUn+iQwlQ5WgDmng4zzBp6mkJ/1ef+25fpZcu6UQ7e3siwaVWPui+SvAGn25kyHeIxqo+671mzsoow9dUvlOHXbMh04BN32LEsIaVjIbgJtovIHrIaiCLCTAVvHgkjxfI6rzhxU4rab5Eqx/y4wewmSOrrwkNENkxnQUwiZTmvuBb0uTPisMchurLsgDG4M2Q9SdVms+Ko8RtroJEsBNd+opOSO6HddSQnU5GEyq16bdOnKPIXxRxtjkP8k2ZBy+baPk8RLnRz8AdXrF/dcdWqlY84qJWzaJ9y03XqXG0qi3BBRwFNHXvGqjj78aTDbXZ+zc9FvbMyeRb8Q8Ys45djDuzJtR1hrzmySFgZ8z94z6o/czxE2eu8CbROCyiBBh5t/Rlfe/75H96Ewu83U2t3bsud/LOUdbwbby4DU9fCS4DnqqcIk64CqVgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7T7bek7LrdJ69mfSwE7gZ",
      "input": {
        "note": "Cube now sits between the jaw silhouettes in the wrist view; descending vertically ~8 cm to table level before closing.",
        "targets": {
          "left_j1": 2.4,
          "left_j2": 1.83,
          "left_j3": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A7T7bek7LrdJ69mfSwE7gZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.794 left_j1=2.344 left_j2=1.8713 left_j3=-1.1221 left_j4=-0.0444 left_j5=-1.0592 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0677 right_j2=0.0139 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -8.1299, 2.5778, 0.735, -0.0659, 0.0708, -0.0122, -0.3487, 1.7162, 7.0222, 1.9072, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 588):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1aade0732c92c1bbe74c88d553607ef43db1f45fc44cee971c050bada54e686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 588):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ad6a4aac05653653c014545fc25906843040925f74002dd720647f2d76de75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 588):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab8e82dd20794f0d98773a1b34c95391b835c257eb5aa8bbe0ccff4fac49e48d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d1aade0732c9
wire blob 54ad6a4aac05
wire blob ab8e82dd2079
call 69 attempt 0 · /messages · status 200 · 9.562 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8024 left_j1=2.0556 left_j2=1.7264 left_j3=-1.2488 left_j4=-0.0521 left_j5=-1.0485 left_gripper=0.9967 right_j0=-0.8928 right_j1=0.0643 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0383 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -10.0991, 7.0085, 0.149, -0.1148, -0.0366, -0.0122, 0.0752, 1.4701, 7.1453, 1.9267, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.799 left_j1=2.2158 left_j2=1.9652 left_j3=-1.3396 left_j4=-0.0517 left_j5=-1.0554 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0647 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0387 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -12.0, 7.6376, 0.1197, -0.0855, 0.022, -0.0073, -0.0342, 1.4974, 7.0769, 1.917, -0.0171, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.794 left_j1=2.344 left_j2=1.8713 left_j3=-1.1221 left_j4=-0.0444 left_j5=-1.0592 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0677 right_j2=0.0139 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -8.1299, 2.5778, 0.735, -0.0659, 0.0708, -0.0122, -0.3487, 1.7162, 7.0222, 1.9072, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 588):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1aade0732c92c1bbe74c88d553607ef43db1f45fc44cee971c050bada54e686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 588):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ad6a4aac05653653c014545fc25906843040925f74002dd720647f2d76de75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 588):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8e82dd20794f0d98773a1b34c95391b835c257eb5aa8bbe0ccff4fac49e48d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d1aade0732c9]
[blob 54ad6a4aac05]
[blob ab8e82dd2079]
{
  "content": [
    {
      "signature": "CAISiAQKjAEIEBgCKkCtU3eYva33rbXYCVqtJzsnqGdKFv7wko6H53DwHpH2xSTbxp4k+vlNtEAeW68UcXXzKbEJpY5tRFw92xnPxqmIMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwcfKI3qFaMeH8+77GgyGk9koluYX6Rg2+gQiMK0a/Y+Q07PandX4L7/utWq6MYnij2LTcG5F3cPmUjNf6IZMGnFOifye0+keFcAmJCqoAsch2h/DModYXZQ1DzVens+G00n1J8pJeJkHSekb5SOTy+hQyWdA3Et9qWAxnG2pnxmdxHvZyb01s9NaC5+HxQhoIcBbZtchAsrB2U5Qj8h1UCP2neXgOTOcdGHsYyhAfOHozvpPoexwpZAEj5KlTQJ5ByQimBMbiSgHhzLAusl3WT1lNxr4vTVTdVp6hJqJkQWMwrec0VVLxTfgMwgtQQKHCTVZVaR4kUxDQEep/15E5pTcm6v/8mgmJx/2mXvY6JQD59jIG5P7Ag8Uwx76JgsPpyQ+aBsokEvg3IPOnrqxBQntjqcTTop5TmlnWjyRBcKP26KSef3Qb10OlacAVg/VyJVrNyACZJwrY3o9wlW00rYnuPP+FYr8iq1UcwmVgvoM9+R6qoMeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAeDMoGYZXrnhHGKVPChRj",
      "input": {
        "note": "At table height with the cube last seen between 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_01YAeDMoGYZXrnhHGKVPChRj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.3432 left_j2=1.8694 left_j3=-1.108 left_j4=-0.0334 left_j5=-1.0664 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0685 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0391 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1162, -12.6427, 5.8598, 0.1099, -0.1538, 0.0708, 0.5983, -0.1983, 1.4427, 7.1316, 1.8632, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a70548914ce749377419d0a23554e431570297e3e8cd0c8e32f27ea600fa000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1a9e838c89a357710eb374f4212da548d6651b1f82243282997c4c0c3b05de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 598):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5819891cc85700694fe9d4f2b53f6c3ecce6671f9785a9c60d52229147e1dffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8a70548914ce
wire blob bc1a9e838c89
wire blob 5819891cc857
call 70 attempt 0 · /messages · status 200 · 6.444 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.799 left_j1=2.2158 left_j2=1.9652 left_j3=-1.3396 left_j4=-0.0517 left_j5=-1.0554 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0647 right_j2=0.0128 right_j3=-0.0719 right_j4=-0.0387 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -12.0, 7.6376, 0.1197, -0.0855, 0.022, -0.0073, -0.0342, 1.4974, 7.0769, 1.917, -0.0171, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.794 left_j1=2.344 left_j2=1.8713 left_j3=-1.1221 left_j4=-0.0444 left_j5=-1.0592 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0677 right_j2=0.0139 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -8.1299, 2.5778, 0.735, -0.0659, 0.0708, -0.0122, -0.3487, 1.7162, 7.0222, 1.9072, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.3432 left_j2=1.8694 left_j3=-1.108 left_j4=-0.0334 left_j5=-1.0664 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0685 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0391 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1162, -12.6427, 5.8598, 0.1099, -0.1538, 0.0708, 0.5983, -0.1983, 1.4427, 7.1316, 1.8632, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a70548914ce749377419d0a23554e431570297e3e8cd0c8e32f27ea600fa000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1a9e838c89a357710eb374f4212da548d6651b1f82243282997c4c0c3b05de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5819891cc85700694fe9d4f2b53f6c3ecce6671f9785a9c60d52229147e1dffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8a70548914ce]
[blob bc1a9e838c89]
[blob 5819891cc857]
{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UNjMMJ1jHhjgYbzURX27sg",
      "input": {
        "note": "Overhead consistently shows a ~9 cm gap with the cube nearer the base; making that full 9 cm pull-in at table height, then I'll close.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.84,
          "left_j1": 2.052,
          "left_j2": 1.355,
          "left_j3": -0.874
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UNjMMJ1jHhjgYbzURX27sg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8299 left_j1=2.059 left_j2=1.393 left_j3=-0.8726 left_j4=-0.0322 left_j5=-1.0718 left_gripper=0.9955 right_j0=-0.8932 right_j1=0.0723 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0872, -10.0855, 3.8906, 0.1197, -0.0611, 0.0073, -0.1245, -0.0342, 1.7436, 7.1043, 1.9267, -0.0659, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 608):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431d52414dc7a8003ccad9999e2059e89922207394c2ca176d02c0771ed427ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 608):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509e73251713e70e3f9afc487d4ca7c26899537e769b12cfc8de08a640ea96c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 608):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1faac0801e328b2120b10203bbadd3d6ae9e1bbcfc05485b94f4d0b2f3557232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 431d52414dc7
wire blob 509e73251713
wire blob 1faac0801e32
call 71 attempt 0 · /messages · status 200 · 6.242 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.794 left_j1=2.344 left_j2=1.8713 left_j3=-1.1221 left_j4=-0.0444 left_j5=-1.0592 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0677 right_j2=0.0139 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -8.1299, 2.5778, 0.735, -0.0659, 0.0708, -0.0122, -0.3487, 1.7162, 7.0222, 1.9072, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.3432 left_j2=1.8694 left_j3=-1.108 left_j4=-0.0334 left_j5=-1.0664 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0685 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0391 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1162, -12.6427, 5.8598, 0.1099, -0.1538, 0.0708, 0.5983, -0.1983, 1.4427, 7.1316, 1.8632, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8299 left_j1=2.059 left_j2=1.393 left_j3=-0.8726 left_j4=-0.0322 left_j5=-1.0718 left_gripper=0.9955 right_j0=-0.8932 right_j1=0.0723 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0872, -10.0855, 3.8906, 0.1197, -0.0611, 0.0073, -0.1245, -0.0342, 1.7436, 7.1043, 1.9267, -0.0659, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 608):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431d52414dc7a8003ccad9999e2059e89922207394c2ca176d02c0771ed427ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 608):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509e73251713e70e3f9afc487d4ca7c26899537e769b12cfc8de08a640ea96c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 608):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1faac0801e328b2120b10203bbadd3d6ae9e1bbcfc05485b94f4d0b2f3557232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 431d52414dc7]
[blob 509e73251713]
[blob 1faac0801e32]
{
  "content": [
    {
      "signature": "CAIS5AoKjAEIEBgCKkDKfvdFGqakhDpXq7skcBJpgPs/YyFOVBwieMgd+3noO42wORwX44/MZ6aDB117Fe1KZU+XJKEOhabGsS3OznV8MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMtveGyGvNVjlVgxZgGgzE3e3zpYeiwDU7aLoiMC5vg4CC6w4onsZxkl6tcfp9Ay/JyTsaK4k0z3uOFtUKw3bJT+Hs1sZVg8nqB6iFsSqECaix84F4ALWcsZg2abVjKnwCPOnoZcht/nDEqL2i7E8ZsS3J/vKtK5BlSryUWplhijtI8A8khPCuI6evX2u+8iDjsLDTlkqDeLJownwmc1EJAwLCm2TtbtSjTZ2ymtGlA13Ynw/DaBlCOoYhq8aI/tB31Y0DC3e7aWkycKMB/mNftOLvF//Ksee7tVapBge9WMsZmSuTanm9Dj5MNLy82bTf5YcaX4JJFRsipOET/hDyjzD0oxGLU2Ysjc6nBw+06EH+geBTmOlAGvN7kaUiOs6EBRjBmGXPKvaM5MnxMMsInUl5uFZjH5IoEQfP1KQTzQOi1FKpRDZeZFthfwk1qCnNmFJA1Sv68kX1tFhJi79pVemNqaLbfjVd+TZdsfAvSeGmjJxJHdAWn72v4jcFRymVdoTxGA4LkKxADSLBePZQyfrS3geQH1j0GqtU8YtECxKpkYLfyQa6SGfXQSCXhg9GTfAsvcJcCNNUmT3In94gcEHTjClq5R6b20gR8Uk12h/SlP3OkGk0+ktL5dnn0rfmR9y1CTuJYkCVCzwNbSFgv4/YHqGtvUXjbEzb2tCu7fB3SGWZK1aVz7Sa+1iLQL4KGAbJkr1z68uvzt2JpTVgHTrJcZ1eAJLRch79LaMdnTIpGKvR7f2FyZt7mqE4YuubuackTzZ7E0fB4dOCtmM7PWxJ1P60l6WCy8z28w0s0iftxOJeSnb1MHWMscbZCqg0DUOk54DWvNL8NTYnqcAdlaGdk+Sdtx7n8zE/ISFCyJ33IjlhSNJLPGmhPvQ9chzxtRnpMGRvIt9c/Y46KNlfoe5ClnyZ2O9nFng5YRWCEknN2djlevjgCCI/Q1qdGY+rwJ29Uo9CmLUTTosCyDH4UHCMh3sq7C9BsHK2iOML6JsGEWvDxk45+fRmq6cuCPN4HaG4CYVqDcO0SbYIYHVUHog+r/wTV3ABT7imsgr6b/1Nlhe9J8Z8g9PdNYJBPZsvD1gHUfFRjr1QqCNki1ejRisS7DUaLOhJp3RGyUVVl6dE/4lBuOQ6eZn6jTL+K1x8A9D7IZieDJuEqT+/+QyzOK2E67RI23VUgmRqZVoAfiEWbXGDfARW/oD+V9c7wcy+Olc2aV+XbqkF1wSdEHW5Fsn0+bfktSUU89UGCX+2zc9fL92P+3fe/vBXMYr0vIPqibdaJwuUiseE9JERhblTSG6iscfbvkvXS6a8FCPpUOVF0DojjUoMj4Y+YVy4FadMD66j+3b0XJPZVXIKijOWR5HP9mBAKM8Bfim7Wyvc6HbnIw0M2315jTAJOFCGq2/ZZw1QmF+24lbDxh9VKSYWajDbYdjZRIwJhBYJNRzcWCU85tobrFI3aGPpXk9FQUGKNt+60NYmCXeR1toVCJePUN6zV8EiubGecrt0g+J9IX+ECe+oGn/ne2DTdXz8sxBALddPDv5IYJtcwLJTPWJhIiy2xCmMSaN7+kbeZmVf+RvWShhhexuNmvGhcTIgzJAaQ0T3InOpVLkZqqdo1HOFFOeJEEVj2GHfetWSjS3T+YaR70kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VZFERjCj68UwvhLE1T82f",
      "input": {
        "note": "Overhead now shows only a small offset: cube ~5 cm to the arm's right and 4 cm nearer; applying that correction at table height.",
        "targets": {
          "left_j0": -0.98,
          "left_j1": 1.962,
          "left_j2": 1.213,
          "left_j3": -0.822
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018VZFERjCj68UwvhLE1T82f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9478 left_j1=1.9697 left_j2=1.2541 left_j3=-0.8131 left_j4=-0.0357 left_j5=-1.0744 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0738 right_j2=0.0132 right_j3=-0.0719 right_j4=-0.0399 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -8.9231, 3.8769, 0.3053, -0.1392, 0.0317, 0.1099, -0.0889, 1.7983, 7.3778, 1.9414, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 611):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11689b4b3134645cc6ad19bfb62b00240a7af2365bbe79aa39721fa12c6098d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 611):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8d9c11490bf2d7e0a24458eee0761923abf5a8605869ffd0d39ec285f4e3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 611):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a2a98946b4a159e4b68f06d38e1cbc8acd47e22ba1dc743fa5304b1c87a70fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d11689b4b313
wire blob 0f8d9c11490b
wire blob 1a2a98946b4a
call 72 attempt 0 · /messages · status 200 · 6.344 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7959 left_j1=2.3432 left_j2=1.8694 left_j3=-1.108 left_j4=-0.0334 left_j5=-1.0664 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0685 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0391 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.1162, -12.6427, 5.8598, 0.1099, -0.1538, 0.0708, 0.5983, -0.1983, 1.4427, 7.1316, 1.8632, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8299 left_j1=2.059 left_j2=1.393 left_j3=-0.8726 left_j4=-0.0322 left_j5=-1.0718 left_gripper=0.9955 right_j0=-0.8932 right_j1=0.0723 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0872, -10.0855, 3.8906, 0.1197, -0.0611, 0.0073, -0.1245, -0.0342, 1.7436, 7.1043, 1.9267, -0.0659, -0.022, -0.0171]\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 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9478 left_j1=1.9697 left_j2=1.2541 left_j3=-0.8131 left_j4=-0.0357 left_j5=-1.0744 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0738 right_j2=0.0132 right_j3=-0.0719 right_j4=-0.0399 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -8.9231, 3.8769, 0.3053, -0.1392, 0.0317, 0.1099, -0.0889, 1.7983, 7.3778, 1.9414, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 611):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11689b4b3134645cc6ad19bfb62b00240a7af2365bbe79aa39721fa12c6098d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 611):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8d9c11490bf2d7e0a24458eee0761923abf5a8605869ffd0d39ec285f4e3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 611):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2a98946b4a159e4b68f06d38e1cbc8acd47e22ba1dc743fa5304b1c87a70fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d11689b4b313]
[blob 0f8d9c11490b]
[blob 1a2a98946b4a]
{
  "content": [
    {
      "signature": "CAISnQMKjAEIEBgCKkC56H3NSIKIUc09/6uHmqzJWz7n/pjbaNm+baAnrbc8lNZ9kzmUHNGg+zA9cbuQCH2lH691xwWhzGUJYdgRzg77MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMw61hf83EXiiHKxMGgx2tksm/ZcJCKKiup8iMFWsJaNI7whAMgwxahCSGKAplGzlslGKkOyXh4kMcyigKdP4FcR9OHgOang3Aavg1Cq9AWvyOafmNuotTbPzDqMZ4OLT5D7tAvNj68Vw6Kr1Gqy8JHY1KcLnC1S0dJYZ6ueSsfP3iZYyWAjKzNaqIM5wlVOgCqtaAopHYl2/JcNqIeD66FnHVsglQ9VjiicLXhhhF3adiFu63VRaXap97bt9UaNlG9DKcj7nzqdZ5L5GyygAsgwbL4PT/YJFMpUFajCcNovrwBdDMFuaipRR/WMk6x4I+6b9cZVYo1DB+bAqQnqR4zRc6aUWB/4SKBubchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WYQdxrYdYyzFhxRTiGqP2T",
      "input": {
        "note": "Overhead shows the jaws now straddling the cube; 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_01WYQdxrYdYyzFhxRTiGqP2T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.947 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8135 left_j4=-0.0292 left_j5=-1.0744 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -8.4581, 6.4889, 0.398, -0.1392, -0.0122, 0.6618, -0.1162, 1.4838, 7.2684, 1.8779, -0.0757, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 621):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704d942188b0232870ca56ef183c5281cc510b15d355e07b93408aa7252d1e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 621):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec29c995471ef384d76c5f966817f248ec8e7114050b158b0c21d960d03fb66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 621):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d41fd159e2d9432a9fad01d1477bf7d6bea3a034cdc88479ea0c0d78eedb4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 704d942188b0
wire blob ec29c995471e
wire blob 0d41fd159e2d
call 73 attempt 0 · /messages · status 200 · 4.131 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8299 left_j1=2.059 left_j2=1.393 left_j3=-0.8726 left_j4=-0.0322 left_j5=-1.0718 left_gripper=0.9955 right_j0=-0.8932 right_j1=0.0723 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-1.0872, -10.0855, 3.8906, 0.1197, -0.0611, 0.0073, -0.1245, -0.0342, 1.7436, 7.1043, 1.9267, -0.0659, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9478 left_j1=1.9697 left_j2=1.2541 left_j3=-0.8131 left_j4=-0.0357 left_j5=-1.0744 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0738 right_j2=0.0132 right_j3=-0.0719 right_j4=-0.0399 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -8.9231, 3.8769, 0.3053, -0.1392, 0.0317, 0.1099, -0.0889, 1.7983, 7.3778, 1.9414, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.947 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8135 left_j4=-0.0292 left_j5=-1.0744 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -8.4581, 6.4889, 0.398, -0.1392, -0.0122, 0.6618, -0.1162, 1.4838, 7.2684, 1.8779, -0.0757, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 621):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704d942188b0232870ca56ef183c5281cc510b15d355e07b93408aa7252d1e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 621):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec29c995471ef384d76c5f966817f248ec8e7114050b158b0c21d960d03fb66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 621):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d41fd159e2d9432a9fad01d1477bf7d6bea3a034cdc88479ea0c0d78eedb4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 704d942188b0]
[blob ec29c995471e]
[blob 0d41fd159e2d]
{
  "content": [
    {
      "signature": "CAIS8wkKjAEIEBgCKkDQuRg+2IxOtDzNz9qP5N8hbaUshu7Fv7CGu81UzskLNlUJDaPNsSIuHH95PUbyYM66xvB0PEWatRh/h5funLV+MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3lLl1tTCE2yDRtj2GgwDaPYA5J9A7ixVc7YiMK9ZHZyeimcr8AHQqWpm2bGERnRix6LqCfPPpU5xqkFLsNYhrItA8xv91chFbQ4XKCqTCLBqPzYiXe24vi9E/snSjDQAFtnn53MyeS8K2WqBYLCldhLQC+PvbjocEpX/gvliJSQNNSgZdY+ixJOoWdzaaEqoqJGXh9vcf50ozEarbh3CyD+6sL6LchB0lNI99UJOtGhiC+wzA99ozAoikmHi9hctTakEoG5w6GI3rfX3/nhJ0izleqaWMJEgeb0YvqHgrUvfCrFc39dtWIc62MiV9Tn1xOvze7yiquadXleKvVpNUwxC5cytUXfk2+HCX9LKq1UJGTDoOVxBPO9cijIqSzPb7AYAEUa42ztRHEbSBHKvc/4GuH3NuaFyLH2IFJiTffmg/LtCAvWfQlbPskQjYQXs8cMA96Ls//C+c+j9cflLfdPE5nXiSmC3VJcOhsa+qGA1ABNjarXC9y5UdJl9xRVQ6+b1q7G7YGICJQdsQnI6fMtDQnxe2eX2MRhaZG5gAIRtjKA5SJieK1AcQ7vaFI+z3aRpZMrtTlVY+yjmVXvR8yLGYVEE9y2wirLb2G/eKfc7z+jF1Hq7ozmQKvoOp12BarP49MwMcY90tWfarN2cvilZpY0R0SNE4MhlB2f6NeFsGWuxs4oIJMDx9qMVf3cTNSnY/03r4FsUSsni303nTc3u9yAXlZvPX+c/HlnQp15DcP0O0XVnM6IWPJTKR63UJu4TQq6HVVXSudze/dLEpzi9MjBgg4yn4ZG4Bw8j7GeHWEewrNPfB4HB9A7OuifgSiG0Y6XLAT/E11G3sMYjsXYgQsluBPX+Ya6OV7PHUv50SONhporYlJEJ6k2pXpraKjeP8ap/qlCtwG1DAENO8gAwSlN9q+Ik51wDmMlxVZUM+Q5vzMMcDpMRjzz0AG7evYT9GHHWVY8uuyFHQ7o1e2jobPNKaMAHdToZIMUO0fuNzFTkxU+oikGeDGwGvsctdpuNpi6K47bMVimhB7jTgUpRxfuxs2OShgY21b2v+4NpoQRWbury3W/1GqUxeIW9+DC5qHlQQrYhgxk3sBfvXXYkmtBpBwQxrMOQ+wFlc4AI8glspBFGNbzn9vcTtsZ/dYC39NwjBi7xSGKbp/hX+tCeL/ADgdwgksJU6EqfHIMiPiMfrayXHiVbtC77FOhSSH5rKMpTkMuegkPnMm7fgGi42/7ZfypaznS55RfgEC+gO4a0laxAwX9R3rCUqpUR0m6xYsy6UBcC7yCvuhgK/Mm9L886LM0+jJTUOIn+PmqxJNgJK6P+PTfB+jRJYwwusuyVsA2h03VCrjWUsVMTsQPwdbA1qFA+5KbctWH92C0zVG9wBtyEP0U4u3o5x6091vZuuuqXT9sNOzcDMSfxmulqC4KdvR4wmGLgiNsX2MzBIn94Xsu0KsuYoe4AMhGmzluQw6X16jzhNj6r1fiqlqXsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VShhcsRH4rVLZzZxySqo2y",
      "input": {
        "note": "Cube is just off the right side of the closed jaws; opening and swinging ~3.5 cm to the arm's right to straddle it.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -1.07
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VShhcsRH4rVLZzZxySqo2y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0603 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0284 left_j5=-1.0798 left_gripper=0.9949 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.4427, 5.7231, 0.4078, -0.0171, 0.0122, -0.1343, -0.0068, 1.5795, 7.0769, 1.917, -0.0659, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1415ea6b5f98f817d9fbc627368ef936fb1fe4f230b313b7726212f57aefc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2781a744c3bcba827acdad0374a530fc3884fb35731160fe22e6cc2001d8f4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 631):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f06a4db2df853a9983c6f3fb234688257d63f941683718b57bcfb617d7966beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6a1415ea6b5f
wire blob 2781a744c3bc
wire blob f06a4db2df85
call 74 attempt 0 · /messages · status 200 · 4.466 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9478 left_j1=1.9697 left_j2=1.2541 left_j3=-0.8131 left_j4=-0.0357 left_j5=-1.0744 left_gripper=0.9967 right_j0=-0.8932 right_j1=0.0738 right_j2=0.0132 right_j3=-0.0719 right_j4=-0.0399 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -8.9231, 3.8769, 0.3053, -0.1392, 0.0317, 0.1099, -0.0889, 1.7983, 7.3778, 1.9414, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.947 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8135 left_j4=-0.0292 left_j5=-1.0744 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -8.4581, 6.4889, 0.398, -0.1392, -0.0122, 0.6618, -0.1162, 1.4838, 7.2684, 1.8779, -0.0757, -0.0513, -0.0171]",
      "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=-1.0603 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0284 left_j5=-1.0798 left_gripper=0.9949 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.4427, 5.7231, 0.4078, -0.0171, 0.0122, -0.1343, -0.0068, 1.5795, 7.0769, 1.917, -0.0659, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1415ea6b5f98f817d9fbc627368ef936fb1fe4f230b313b7726212f57aefc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2781a744c3bcba827acdad0374a530fc3884fb35731160fe22e6cc2001d8f4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 631):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06a4db2df853a9983c6f3fb234688257d63f941683718b57bcfb617d7966beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6a1415ea6b5f]
[blob 2781a744c3bc]
[blob f06a4db2df85]
{
  "content": [
    {
      "signature": "CAIS4QIKjAEIEBgCKkAUZxYWX5VQLMRmE6w10c7XBjCssYpXPP9GEfT8sd9FNXNZytzNpOOCB1QF1+3RRg2wcxdmNaZr39LS7XV0AwgFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRXfWb04bozjPuBq4Ggx5vZpCkb9sfhAOSZQiMObcZfe08WKFbDt8OpzMvAuRrc3elpo00RpRE7ihM2oUMdAAImVn3P9yr31fbA/8byqBAd8HePEyGveLMCTFS7Xp/tcmxzxk8BQG9ryc6QY38Ka9mAkpXI/dmpqPGkinJXgtXMqU/MtZvuxl8ON8k9xNX/+Id1N/0C7BbGGrJu/knSbaVmWk4sDYY/AI9o2EIpEXcemDAaMLutmSnSJXulJJOh2gMCDTJMBBWcF1iTPH1WrO0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gp1wEs1whS9v6XXgQaTQCH",
      "input": {
        "note": "Cube now appears directly beneath the open 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_01Gp1wEs1whS9v6XXgQaTQCH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0645 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8143 left_j4=-0.0288 left_j5=-1.0821 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -9.4291, 5.6274, 0.3736, -0.0904, 0.0024, 0.6325, -0.0889, 1.5248, 7.0906, 1.9463, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66668beed153bdb58ae7ae92fc10ce59063e4fef0a88f17b0a4e2e6906492be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f38220cdcd9fc4fa87872e2b0bad66d1c6182e9b9381b7b46e6d36a1a8b6cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 641):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6f9ab5f67e24207e17a9e0e2f256d609b8d0178b3a7176e2dc53e721aee36f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 66668beed153
wire blob 2f38220cdcd9
wire blob a6f9ab5f67e2
call 75 attempt 0 · /messages · status 200 · 8.93 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.947 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8135 left_j4=-0.0292 left_j5=-1.0744 left_gripper=0.0087 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -8.4581, 6.4889, 0.398, -0.1392, -0.0122, 0.6618, -0.1162, 1.4838, 7.2684, 1.8779, -0.0757, -0.0513, -0.0171]",
      "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=-1.0603 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0284 left_j5=-1.0798 left_gripper=0.9949 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.4427, 5.7231, 0.4078, -0.0171, 0.0122, -0.1343, -0.0068, 1.5795, 7.0769, 1.917, -0.0659, -0.0464, -0.0171]\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 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=-1.0645 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8143 left_j4=-0.0288 left_j5=-1.0821 left_gripper=0.0084 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -9.4291, 5.6274, 0.3736, -0.0904, 0.0024, 0.6325, -0.0889, 1.5248, 7.0906, 1.9463, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66668beed153bdb58ae7ae92fc10ce59063e4fef0a88f17b0a4e2e6906492be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f38220cdcd9fc4fa87872e2b0bad66d1c6182e9b9381b7b46e6d36a1a8b6cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 641):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f9ab5f67e24207e17a9e0e2f256d609b8d0178b3a7176e2dc53e721aee36f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 66668beed153]
[blob 2f38220cdcd9]
[blob a6f9ab5f67e2]
{
  "content": [
    {
      "signature": "CAISuQQKjAEIEBgCKkCtJOQzfPkzeSVW0Cp6t4Mo1VG0RirScZ1RQyiHuDa78hDrtF1lpcLYQedKtSHdFT2X1LpQUmJF4tumNVozWsEZMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMQKleJONeMAbcdk5FGgye/Jj8E5X9hC05Cd4iMGoJZJiof9b5s6Gxz/qXG2vne0/Slc1OvGXYVpZ3y1IEyuHG4ATLBQ91fsiuvxDI0irZAmj6pu/3PkwHXKYaZ1gIDdJAyuKVyO14RrAGkYUgK1s9qCiWRagS48w6se+TJzDfipDKXF5H6LrrujQrNKJw6w/COHgTkJzT0BDfML5qyWg9VVBqLmGx1tkUyptXG3VtcOIXkgQd6BJZ5kV291WElwhlbE111CD8MUeFYm1AKgz4/01a9Tqor45EQD+8PuVMXidfCMeOXdz4xif8OGjF6tfIQsVo1oa87wMmDFuz6XKD9ZMz5HB6lh9F+frYSfpEqytsfwQPyQvRHp6E/JmUhPDNtf+s5lcwJMdsB8Kz2jWtY4aUP8Z0MnSuLmcHzs/DHzlcdF0mIepU5monqWW65KFaDGHM+OW6PoEmzuEb1qqgMJ9pPBo7XUU5Tvxk9iOFFYjJKMp+fjNqgjmUscHbBTxjuwsVxfnd1/apE05yz9vYLV2NAoBd3AGZ9IuhIEkDwV2qQ5yVNW467RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUNFH3MNUgHXzJmA3oH2rb",
      "input": {
        "note": "Cube still sits just right of the jaws; one more 4 cm yaw shift to the arm's right before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -1.19
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AUNFH3MNUgHXzJmA3oH2rb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1805 left_j1=1.9579 left_j2=1.2411 left_j3=-0.8139 left_j4=-0.0288 left_j5=-1.0916 left_gripper=0.9947 right_j0=-0.8932 right_j1=0.0742 right_j2=0.0132 right_j3=-0.0723 right_j4=-0.0395 right_j5=-0.0105 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -9.4291, 5.2581, 0.398, -0.0171, 0.0659, -0.0806, -0.0889, 1.5111, 7.3368, 1.8974, -0.0659, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31beb49d8ce3f3e18c9e7cc5a13854aea0880c6225fd06910b0d9e3389a484e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 651):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295f72c7f3b103d3f55fc9352569a2faebacded3e2e6e0389c3df9c7984984c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 651):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63fa058697c64da9bd61cd3bcae7a4bdbab1caf958cb7493144793acdc3ad991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a31beb49d8ce
wire blob 295f72c7f3b1
wire blob 63fa058697c6