adhoc - adhoc_f0ddf1ab.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 100
max_output_tokens: 16000
max_speed_frac: 0.1
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: fast
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 1200
duration: 1443 s
total steps: 713

success_at_end

scenes

trials

errored

scene-0

completed

Place the left block on top of the right block

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe overhead view is dim but shows two small blocks near the middle-bottom of the frame: a blue-ish one left of centre and a red one right of centre. I'm raising the left arm into a gripper-down pose at roughly 35 cm forward, 15 cm up, to calibrate the overhead scale and locate the arm in the image.

move_joints

left_j00.0000left_j12.0600left_j21.6600left_j3-1.1700left_j40.0000left_j50.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [0.0342, 1.2923, 6.4615, 2.2735, -0.0611, 0.2173, -0.0562, -0.4991, 0.7453, 6.5846, 2.1026, 0.0464, 0.0317, -0.0855] 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, "left_j1": 2.06, "left_j2": 1.66, "left_j3": -1.17, "left_j4": 0, "left_j5": 0, "left_gripper": 1.0}, "note": "The overhead view is dim but shows two small blocks near the middle-bottom of the frame: a blue-ish one left of centre and a red one right of centre. I'm raising the left arm into a gripper-down pose at roughly 35 cm forward, 15 cm up, to calibrate the overhead scale and locate the arm in the image."})

tool

executing move_joints over 33 steps (3.3s)

step 33

assistant

agent noteThe lighting improved: both blocks are clearly visible (blue at image x≈78, red at x≈133) and the left arm now appears as a dark shape at the left edge. I'm yawing the left base -0.6 rad to swing the gripper right, toward the blocks, which also calibrates the overhead pixel scale from a known angular move.

move_joints

left_j0-0.6000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.001 left_j1=2.0357 left_j2=1.6215 left_j3=-1.1316 left_j4=0.0002 left_j5=-0.0227 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.046 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.2803, -10.1949, 7.8974, 0.188, -0.0366, 0.1978, -0.0562, -0.1299, 1.5795, 6.9949, 2.083, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.6}, "note": "The lighting improved: both blocks are clearly visible (blue at image x\u224878, red at x\u2248133) and the left arm now appears as a dark shape at the left edge. I'm yawing the left base -0.6 rad to swing the gripper right, toward the blocks, which also calibrates the overhead pixel scale from a known angular move."})

tool

executing move_joints over 10 steps (1.0s)

step 43

assistant

agent noteThe left wrist camera now shows the blue block clearly, a bit left of the jaw gap and about 4 cm beyond the grasp point. I'm extending the reach ~4 cm and nudging the yaw slightly left to bring the block under the jaws, staying at the same height.

move_joints

left_j0-0.5490left_j12.2070left_j21.8950left_j3-1.2580

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5808 left_j1=2.0663 left_j2=1.6238 left_j3=-1.145 left_j4=0.0029 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.049 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.0205, -13.1761, 5.4359, 0.3834, -0.0073, 0.0073, -0.0073, -0.0752, 1.5932, 7.3231, 1.9512, -0.0708, -0.0073, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.549, "left_j1": 2.207, "left_j2": 1.895, "left_j3": -1.258}, "note": "The left wrist camera now shows the blue block clearly, a bit left of the jaw gap and about 4 cm beyond the grasp point. I'm extending the reach ~4 cm and nudging the yaw slightly left to bring the block under the jaws, staying at the same height."})

tool

executing move_joints over 5 steps (0.5s)

step 48

assistant

agent noteThe blue block is now close to the jaws in the wrist view (just above and slightly left of the jaw gap). I'm extending ~1.5 cm further, nudging yaw slightly, and lowering roughly 4 cm to close in on it.

move_joints

left_j0-0.5280left_j12.3200left_j21.9160left_j3-1.1670

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5484 left_j1=2.1914 left_j2=1.8523 left_j3=-1.2453 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0544 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [0.1162, -10.8786, 7.9795, 0.1587, -0.0464, -0.0415, -0.0122, -0.0479, 1.6068, 6.9949, 1.956, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.528, "left_j1": 2.32, "left_j2": 1.916, "left_j3": -1.167}, "note": "The blue block is now close to the jaws in the wrist view (just above and slightly left of the jaw gap). I'm extending ~1.5 cm further, nudging yaw slightly, and lowering roughly 4 cm to close in on it."})

tool

executing move_joints over 3 steps (0.3s)

step 51

assistant

agent noteThe wrist view (blurred) shows the blue block sitting right in the jaw gap at the bottom of the frame, so lateral alignment looks good. I'm descending another ~2 cm to bring the fingers down around the block.

move_joints

left_j12.3530left_j21.8860left_j3-1.1040

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5365 left_j1=2.2852 left_j2=1.8908 left_j3=-1.2198 left_j4=0.0067 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [0.5812, -11.5214, 8.1846, 0.232, -0.0415, -0.0659, -0.0073, -0.0205, 1.6342, 7.2137, 1.9023, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.353, "left_j2": 1.886, "left_j3": -1.104}, "note": "The wrist view (blurred) shows the blue block sitting right in the jaw gap at the bottom of the frame, so lateral alignment looks good. I'm descending another ~2 cm to bring the fingers down around the block."})

tool

executing move_joints over 2 steps (0.2s)

step 53

assistant

agent noteThe block has slid to the very bottom edge of the wrist frame, right in the jaw gap, which means it is at the grasp point. Closing the gripper fully; I'll read the residual to confirm I have the block (expect ~0.45 for a ~4 cm cube).

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=-0.5301 left_j1=2.3341 left_j2=1.8885 left_j3=-1.1694 left_j4=0.0063 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.8274, -10.6462, 5.5316, 0.4908, -0.0122, -0.0464, -0.0073, -0.0752, 1.6479, 6.9949, 1.9219, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0.0}, "note": "The block has slid to the very bottom edge of the wrist frame, right in the jaw gap, which means it is at the grasp point. Closing the gripper fully; I'll read the residual to confirm I have the block (expect ~0.45 for a ~4 cm cube)."})

tool

executing move_joints over 10 steps (1.0s)

step 63

assistant

agent noteThe close came back with a 1 mm residual — I closed on air, so the jaws were not actually around the block. Reopening and pulling back ~3 cm radially to bring the block back into the wrist view and re-judge its offset.

move_joints

left_gripper1.0000left_j12.2520left_j21.7030left_j3-1.0210

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5301 left_j1=2.3474 left_j2=1.8866 left_j3=-1.1667 left_j4=0.0059 left_j5=-0.0303 left_gripper=0.0115 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.0615, -13.7231, 5.7231, 0.105, -0.022, 0.0024, 0.9646, -0.0615, 1.7709, 6.9949, 1.8828, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.252, "left_j2": 1.703, "left_j3": -1.021}, "note": "The close came back with a 1 mm residual \u2014 I closed on air, so the jaws were not actually around the block. Reopening and pulling back ~3 cm radially to bring the block back into the wrist view and re-judge its offset."})

tool

executing move_joints over 10 steps (1.0s)

step 73

assistant

agent noteOverhead shows the blue block untouched, so my earlier close simply happened above it — the fingers were too high. Returning to the block's radius and descending ~5 cm lower with the gripper open, watching j1 effort for table contact.

move_joints

left_j12.4560left_j21.8460left_j3-0.9610

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5282 left_j1=2.2589 left_j2=1.7283 left_j3=-1.0382 left_j4=0.0036 left_j5=-0.0338 left_gripper=0.9945 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.4855, -12.3966, 4.0547, 0.3639, -0.0073, 0.0122, -0.1294, -0.1709, 1.6068, 7.159, 1.917, -0.0269, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_j1": 2.456, "left_j2": 1.846, "left_j3": -0.961}, "note": "Overhead shows the blue block untouched, so my earlier close simply happened above it \u2014 the fingers were too high. Returning to the block's radius and descending ~5 cm lower with the gripper open, watching j1 effort for table contact."})

tool

executing move_joints over 4 steps (0.4s)

step 77

assistant

agent notej1 stalled and its holding effort relaxed from -12 to -3.9 N·m: the fingertips touched the table, which calibrates my height (FK z reads 8.8 cm high). Overhead shows the gripper sitting about 4-5 cm beyond the blue block, so I'm lifting to ~6 cm and pulling back 4 cm to re-acquire it.

move_joints

left_j12.0970left_j21.7150left_j3-1.1890

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5282 left_j1=2.3436 left_j2=1.8599 left_j3=-1.0893 left_j4=0.0059 left_j5=-0.0456 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.2393, -3.8906, 3.6581, 1.5311, -0.0366, 0.0708, 0.0611, -0.1846, 1.6068, 6.9949, 1.9316, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.097, "left_j2": 1.715, "left_j3": -1.189}, "note": "j1 stalled and its holding effort relaxed from -12 to -3.9 N\u00b7m: the fingertips touched the table, which calibrates my height (FK z reads 8.8 cm high). Overhead shows the gripper sitting about 4-5 cm beyond the blue block, so I'm lifting to ~6 cm and pulling back 4 cm to re-acquire it."})

tool

executing move_joints over 4 steps (0.4s)

step 81

assistant

agent noteAfter retracting, the blue block is back in the wrist view right between the jaws. I'm descending ~1.5 cm to bring the fingertips to mid-block height (about 2 cm above the table) before closing.

move_joints

left_j12.1860left_j21.6810left_j3-1.0660

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5282 left_j1=2.1647 left_j2=1.7267 left_j3=-1.1587 left_j4=0.0032 left_j5=-0.0494 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0563 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.0889, -14.2974, 5.3949, 0.4127, -0.0073, -0.0073, -0.0073, -0.1983, 1.7573, 7.1179, 1.8632, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.186, "left_j2": 1.681, "left_j3": -1.066}, "note": "After retracting, the blue block is back in the wrist view right between the jaws. I'm descending ~1.5 cm to bring the fingertips to mid-block height (about 2 cm above the table) before closing."})

tool

executing move_joints over 2 steps (0.2s)

step 83

assistant

agent noteThe wrist view shows the blue cube squarely between the open jaws, just beyond the grasp point, and I'm about 4.7 cm above the table. Descending another ~3 cm (commanding slightly past the target to beat controller sag) so the jaws straddle the block.

move_joints

left_j12.2300left_j21.6530left_j3-1.0400

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5282 left_j1=2.1323 left_j2=1.7035 left_j3=-1.1427 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.0205, -8.4444, 4.7658, 0.3199, -0.0024, -0.0415, -0.0073, -0.2256, 1.6615, 7.0769, 1.8877, -0.0659, -0.0464, -0.0122] 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": 2.23, "left_j2": 1.653, "left_j3": -1.04}, "note": "The wrist view shows the blue cube squarely between the open jaws, just beyond the grasp point, and I'm about 4.7 cm above the table. Descending another ~3 cm (commanding slightly past the target to beat controller sag) so the jaws straddle the block."})

tool

executing move_joints over 2 steps (0.2s)

step 85

assistant

agent noteThe fingertips are now ~1.3 cm above the table with the block filling the jaw gap at the bottom of the wrist view. Closing fully; I expect a residual near 0.4 (a ~4 cm cube) if the grasp is good.

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=-0.5282 left_j1=2.2032 left_j2=1.6669 left_j3=-1.0668 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [0.0068, -9.2376, 4.9299, 0.3443, 0.0024, -0.0757, -0.0073, -0.0752, 1.6205, 7.0222, 1.917, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0.0}, "note": "The fingertips are now ~1.3 cm above the table with the block filling the jaw gap at the bottom of the wrist view. Closing fully; I expect a residual near 0.4 (a ~4 cm cube) if the grasp is good."})

tool

executing move_joints over 10 steps (1.0s)

step 95

assistant

agent noteSecond close also read 1 mm residual — still missing the block, so my lateral/radial estimate is off by a few cm. Lifting to ~11 cm with the gripper open to get a wider wrist view where I can see both jaws and the block and measure the offset properly.

move_joints

left_gripper1.0000left_j12.0530left_j21.8600left_j3-1.3780

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5293 left_j1=2.2189 left_j2=1.66 left_j3=-1.0615 left_j4=0.0055 left_j5=-0.0521 left_gripper=0.0115 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.2667, -12.9436, 5.9692, 0.1245, -0.0513, -0.0122, 0.9548, -0.0615, 1.6889, 7.2, 1.8779, 0.0073, -0.0317, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.053, "left_j2": 1.86, "left_j3": -1.378}, "note": "Second close also read 1 mm residual \u2014 still missing the block, so my lateral/radial estimate is off by a few cm. Lifting to ~11 cm with the gripper open to get a wider wrist view where I can see both jaws and the block and measure the offset properly."})

tool

executing move_joints over 10 steps (1.0s)

step 105

assistant

agent noteComparing overhead frames shows the block has been shoved ~3 cm radially inward by my descents, so my radius was too large. Swinging the base yaw from -0.53 to -0.15 rad at fixed radius/height to pin down where the gripper is in the overhead image and the pixels-per-cm scale, so I can aim by coordinates instead of guesswork.

move_joints

left_j0-0.1500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5289 left_j1=2.0975 left_j2=1.8278 left_j3=-1.3422 left_j4=0.0063 left_j5=-0.0528 left_gripper=0.995 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.1846, -13.8188, 8.1846, 0.1294, -0.0464, -0.0562, -0.0904, -0.1436, 1.812, 6.9949, 1.8828, -0.0366, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.15}, "note": "Comparing overhead frames shows the block has been shoved ~3 cm radially inward by my descents, so my radius was too large. Swinging the base yaw from -0.53 to -0.15 rad at fixed radius/height to pin down where the gripper is in the overhead image and the pixels-per-cm scale, so I can aim by coordinates instead of guesswork."})

tool

executing move_joints over 7 steps (0.7s)

step 112

assistant

agent noteRather than guessing from the wrist view, I'll measure directly: moving to a shorter radius (~4 cm inside the block) at table height, where the open jaws touch the tabletop and the overhead camera can show their offset from the blue block without parallax error.

move_joints

left_j0-0.6000left_j12.0560left_j21.4160left_j3-0.9300

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.1745 left_j1=2.0892 left_j2=1.8317 left_j3=-1.3464 left_j4=0.0059 left_j5=-0.0525 left_gripper=0.9958 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [0.253, -10.2632, 5.5726, 0.232, -0.0415, -0.0317, 0.0806, -0.0615, 1.7573, 7.1316, 1.8681, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.6, "left_j1": 2.056, "left_j2": 1.416, "left_j3": -0.93}, "note": "Rather than guessing from the wrist view, I'll measure directly: moving to a shorter radius (~4 cm inside the block) at table height, where the open jaws touch the tabletop and the overhead camera can show their offset from the blue block without parallax error."})

tool

executing move_joints over 7 steps (0.7s)

step 119

assistant

agent noteAt this shorter radius the wrist camera shows the blue lettered cube sitting right in the jaw gap with the fingertips ~1 cm above the table. Closing the gripper.

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=-0.5743 left_j1=2.0758 left_j2=1.4345 left_j3=-0.9977 left_j4=0.0025 left_j5=-0.0559 left_gripper=0.9959 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992 state[joint_eff]: [-0.1983, -12.0274, 6.0239, 0.2613, -0.0171, 0.0269, 0.0024, -0.0615, 1.6889, 7.2137, 1.956, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0.0}, "note": "At this shorter radius the wrist camera shows the blue lettered cube sitting right in the jaw gap with the fingertips ~1 cm above the table. Closing the gripper."})

tool

executing move_joints over 10 steps (1.0s)

step 129

assistant

agent noteGrasp confirmed: the gripper closed to a 0.45 residual (~4.3 cm — the cube's width) with high grip effort. Lifting the block ~15 cm straight up before transporting it toward the red block.

move_joints

left_j11.8610left_j21.7960left_j3-1.5060

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5739 left_j1=2.0727 left_j2=1.42 left_j3=-0.9901 left_j4=0.0029 left_j5=-0.0566 left_gripper=0.4482 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.4034, -10.1128, 6.3658, 0.022, -0.0317, -0.0611, 1.033, -0.1846, 1.6342, 6.9949, 1.8926, -0.0611, -0.0366, -0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.861, "left_j2": 1.796, "left_j3": -1.506}, "note": "Grasp confirmed: the gripper closed to a 0.45 residual (~4.3 cm \u2014 the cube's width) with high grip effort. Lifting the block ~15 cm straight up before transporting it toward the red block."})

tool

executing move_joints over 9 steps (0.9s)

step 138

assistant

agent noteThe block is lifted ~14 cm clear of the table and the red block is plainly visible in the overhead view. Using my overhead calibration (base ~584 mm apart ⇒ ~3.2 px/cm) the red block sits at bearing -0.86 rad and radius ~0.46 for this arm, so I'm flying there at ~11 cm height.

move_joints

left_j0-0.8560left_j12.5300left_j22.6740left_j3-1.7160

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5739 left_j1=1.9053 left_j2=1.755 left_j3=-1.4403 left_j4=0.0032 left_j5=-0.0601 left_gripper=0.4513 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.0889, -11.7402, 8.1436, 0.1294, -0.0269, -0.0122, 0.6862, -0.1026, 1.812, 6.9949, 1.9023, -0.0562, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.856, "left_j1": 2.53, "left_j2": 2.674, "left_j3": -1.716}, "note": "The block is lifted ~14 cm clear of the table and the red block is plainly visible in the overhead view. Using my overhead calibration (base ~584 mm apart \u21d2 ~3.2 px/cm) the red block sits at bearing -0.86 rad and radius ~0.46 for this arm, so I'm flying there at ~11 cm height."})

tool

executing move_joints over 15 steps (1.5s)

step 153

assistant

agent noteThe wrist camera shows the red '2' block ahead and the held blue '6' block hanging at the bottom of the frame. Since the camera is ~11 cm above the table, a block that looks "ahead" is largely just below me, so I'm descending ~5 cm (and yawing 2 cm right) rather than extending, and will watch how the red block tracks toward the jaws.

move_joints

left_j0-0.8900left_j12.4980left_j22.4100left_j3-1.4830

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8463 left_j1=2.5118 left_j2=2.6289 left_j3=-1.7039 left_j4=0.0036 left_j5=-0.0715 left_gripper=0.4524 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0673 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.5675, -12.9709, 7.4598, 0.1832, -0.0659, 0.1099, 1.0281, -0.0342, 1.5385, 6.9949, 2.0244, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.89, "left_j1": 2.498, "left_j2": 2.41, "left_j3": -1.483}, "note": "The wrist camera shows the red '2' block ahead and the held blue '6' block hanging at the bottom of the frame. Since the camera is ~11 cm above the table, a block that looks \"ahead\" is largely just below me, so I'm descending ~5 cm (and yawing 2 cm right) rather than extending, and will watch how the red block tracks toward the jaws."})

tool

executing move_joints over 4 steps (0.4s)

step 157

assistant

agent noteDescending brought the red block noticeably closer and larger in the wrist view, but it is still ahead of the held blue block, so I'm extending the reach ~3 cm at constant height to close the remaining radial gap.

move_joints

left_j12.6720left_j22.7230left_j3-1.6220

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8806 left_j1=2.5156 left_j2=2.4233 left_j3=-1.5543 left_j4=0.0032 left_j5=-0.0719 left_gripper=0.4524 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992 state[joint_eff]: [-0.4034, -15.1179, 6.4889, 0.2955, -0.0073, -0.022, 1.0232, 0.0068, 1.812, 7.1179, 1.873, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.672, "left_j2": 2.723, "left_j3": -1.622}, "note": "Descending brought the red block noticeably closer and larger in the wrist view, but it is still ahead of the held blue block, so I'm extending the reach ~3 cm at constant height to close the remaining radial gap."})

tool

executing move_joints over 5 steps (0.5s)

step 162

assistant

agent noteThe red block is now just above the held blue block in the wrist view, so they may already be vertically aligned. I'm lowering ~3 cm as a probe: if the descent stalls with rising effort at about the red block's 4.3 cm top height, I'm on top of it; if it goes all the way to the table, I'm beside it.

move_joints

left_j12.6400left_j22.5180left_j3-1.4490

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8837 left_j1=2.6564 left_j2=2.6755 left_j3=-1.6287 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4537 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.2393, -13.5179, 7.8838, 0.3639, 0.0317, 0.0171, 1.0281, -0.0889, 1.8256, 6.9949, 1.8681, -0.0562, -0.0171, -0.0073] 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_j1": 2.64, "left_j2": 2.518, "left_j3": -1.449}, "note": "The red block is now just above the held blue block in the wrist view, so they may already be vertically aligned. I'm lowering ~3 cm as a probe: if the descent stalls with rising effort at about the red block's 4.3 cm top height, I'm on top of it; if it goes all the way to the table, I'm beside it."})

tool

executing move_joints over 3 steps (0.3s)

step 165

assistant

agent noteThe probe descended past the red block's top height without a clear contact stall, so the blue block is still short of being over it. Raising the block ~2 cm to clear the red block's top and extending to near-maximum reach before probing again.

move_joints

left_j12.7300left_j22.8590left_j3-1.7000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8837 left_j1=2.6259 left_j2=2.5607 left_j3=-1.5505 left_j4=0.0013 left_j5=-0.0788 left_gripper=0.4567 right_j0=0.0044 right_j1=0.012 right_j2=0.0074 right_j3=-0.0689 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.0752, -12.547, 3.5077, 0.9011, -0.0073, -0.0317, 0.696, -0.2393, 1.7026, 6.9949, 1.8681, -0.0317, -0.0171, -0.0073] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.73, "left_j2": 2.859, "left_j3": -1.7}, "note": "The probe descended past the red block's top height without a clear contact stall, so the blue block is still short of being over it. Raising the block ~2 cm to clear the red block's top and extending to near-maximum reach before probing again."})

tool

executing move_joints over 5 steps (0.5s)

step 170

assistant

agent noteNow at near-maximum reach with the block's underside just above the red block's top. Descending ~3 cm as a contact probe: a stall around 4.3 cm means the blue block has landed on the red one.

move_joints

left_j12.6890left_j22.6330left_j3-1.5150

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8837 left_j1=2.7152 left_j2=2.812 left_j3=-1.6894 left_j4=0.0029 left_j5=-0.0795 left_gripper=0.4592 right_j0=0.0048 right_j1=0.012 right_j2=0.0074 right_j3=-0.07 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.212, -13.2718, 7.788, 0.3541, -0.0317, -0.0122, 0.5641, -0.1709, 1.6068, 7.0222, 1.8828, -0.0024, -0.0415, -0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.689, "left_j2": 2.633, "left_j3": -1.515}, "note": "Now at near-maximum reach with the block's underside just above the red block's top. Descending ~3 cm as a contact probe: a stall around 4.3 cm means the blue block has landed on the red one."})

tool

executing move_joints over 3 steps (0.3s)

step 173

assistant

agent noteConfirmed: the red block sits ~3 cm beyond the left arm's usable reach, so the left arm cannot stack onto it. New plan — set the blue block down about 8 cm closer to the bases, where the right arm (which has the red block well inside its workspace) can pick it up and do the stack.

move_joints

left_j12.3030left_j21.8540left_j3-1.1220

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8837 left_j1=2.6835 left_j2=2.6732 left_j3=-1.6066 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4587 right_j0=0.0044 right_j1=0.0135 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.0205, -13.4496, 3.8085, 0.6178, -0.0171, -0.0708, 0.5446, -0.1299, 2.1812, 7.5829, 1.7411, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.303, "left_j2": 1.854, "left_j3": -1.122}, "note": "Confirmed: the red block sits ~3 cm beyond the left arm's usable reach, so the left arm cannot stack onto it. New plan \u2014 set the blue block down about 8 cm closer to the bases, where the right arm (which has the red block well inside its workspace) can pick it up and do the stack."})

tool

executing move_joints over 14 steps (1.4s)

step 187

assistant

agent noteImportant realisation: the pink '9' face I have been chasing in the wrist view does not move when the arm moves — it is the TOP face of the very cube I am holding, not the red block. So my "out of reach" conclusion was based on a phantom. I'm setting the blue block down here to free the view and re-locate the real red block from overhead.

move_joints

left_j12.3900left_j21.9390left_j3-1.1640

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8848 left_j1=2.2745 left_j2=1.9102 left_j3=-1.1175 left_j4=0.0048 left_j5=-0.0784 left_gripper=0.4583 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.1573, -9.1829, 3.2615, 0.2271, -0.0855, -0.0366, 0.8181, -0.1709, 1.935, 7.0359, 1.9267, -0.022, -0.022, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.39, "left_j2": 1.939, "left_j3": -1.164}, "note": "Important realisation: the pink '9' face I have been chasing in the wrist view does not move when the arm moves \u2014 it is the TOP face of the very cube I am holding, not the red block. So my \"out of reach\" conclusion was based on a phantom. I'm setting the blue block down here to free the view and re-locate the real red block from overhead."})

tool

executing move_joints over 2 steps (0.2s)

step 189

assistant

agent notej1 stalled and its holding effort relaxed, so the block is resting on the table. Opening the gripper to release it here, then I'll pull the arm back to get an unobstructed overhead view.

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=-0.8867 left_j1=2.3005 left_j2=1.945 left_j3=-1.1465 left_j4=0.0013 left_j5=-0.0792 left_gripper=0.4584 right_j0=0.0048 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.0615, -6.106, 3.7675, 0.1929, 0.0317, -0.0513, 0.4567, -0.0479, 1.6205, 7.1863, 1.8926, -0.0366, -0.0757, -0.0171] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 1.0}, "note": "j1 stalled and its holding effort relaxed, so the block is resting on the table. Opening the gripper to release it here, then I'll pull the arm back to get an unobstructed overhead view."})

tool

executing move_joints over 6 steps (0.6s)

step 195

assistant

agent noteBlock released on the table. Parking the left arm back near its own base so the overhead camera has a clear, unobstructed view of both blocks for a fresh position fix.

move_joints

left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8867 left_j1=2.3058 left_j2=1.9453 left_j3=-1.1622 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9956 right_j0=0.0044 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.1436, -12.9299, 5.7778, 0.5543, -0.0415, -0.0415, -0.0904, -0.1573, 1.7709, 7.2137, 1.873, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": 0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6}, "note": "Block released on the table. Parking the left arm back near its own base so the overhead camera has a clear, unobstructed view of both blocks for a fresh position fix."})

tool

executing move_joints over 28 steps (2.8s)

step 223

assistant

agent noteClear overhead view at last: the blue '6' block I set down is at image (124,158) and the red block at (139,143) — only ~7 cm apart, both comfortably inside the RIGHT arm's workspace. Bringing the right arm over the blue block at 11 cm height with the jaws partly closed (0.65) so the open jaw doesn't knock the nearby red block.

move_joints

right_j00.7890right_j12.1120right_j21.9500right_j3-1.4090right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6189 left_j2=1.2083 left_j3=-0.6495 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9965 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993 state[joint_eff]: [0.0752, 2.5231, 5.3675, 2.21, -0.0464, -0.0708, 0.0855, -0.1026, 2.0581, 7.2, 1.8974, -0.0708, -0.0366, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.789, "right_j1": 2.112, "right_j2": 1.95, "right_j3": -1.409, "right_gripper": 0.65}, "note": "Clear overhead view at last: the blue '6' block I set down is at image (124,158) and the red block at (139,143) \u2014 only ~7 cm apart, both comfortably inside the RIGHT arm's workspace. Bringing the right arm over the blue block at 11 cm height with the jaws partly closed (0.65) so the open jaw doesn't knock the nearby red block."})

tool

executing move_joints over 34 steps (3.4s)

step 257

assistant

agent noteThe right wrist camera sees both cubes clearly: blue '6' straight ahead of the jaws and red '2' off to its right. Descending ~8 cm over the blue block, keeping it centred in the jaw gap.

move_joints

right_j12.1960right_j21.7430right_j3-1.1180

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6205 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7803 right_j1=2.0914 right_j2=1.9083 right_j3=-1.3632 right_j4=-0.0113 right_j5=-0.0196 right_gripper=0.6509 state[joint_eff]: [-0.0615, 1.6342, 5.6274, 2.083, -0.0122, -0.0464, -0.0024, 0.212, -11.0701, 7.8291, 0.0317, -0.0122, 0.0757, 0.0269] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.196, "right_j2": 1.743, "right_j3": -1.118}, "note": "The right wrist camera sees both cubes clearly: blue '6' straight ahead of the jaws and red '2' off to its right. Descending ~8 cm over the blue block, keeping it centred in the jaw gap."})

tool

executing move_joints over 4 steps (0.4s)

step 261

assistant

agent noteThe blue cube is in the jaw gap but a bit to the image-right, and my fingertips are level with its top. Yawing ~1 cm right and descending another ~3 cm so the jaws straddle the block's mid-height, watching for table contact in the effort.

move_joints

right_j00.7500right_j12.2600right_j21.6790right_j3-1.0370

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6209 left_j2=1.203 left_j3=-0.6754 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7834 right_j1=2.1815 right_j2=1.7573 right_j3=-1.2007 right_j4=-0.0116 right_j5=-0.0204 right_gripper=0.6509 state[joint_eff]: [-0.1026, 1.7983, 5.2171, 2.0293, -0.0366, -0.0366, -0.0073, -0.4855, -11.7538, 6.1197, 0.2222, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.75, "right_j1": 2.26, "right_j2": 1.679, "right_j3": -1.037}, "note": "The blue cube is in the jaw gap but a bit to the image-right, and my fingertips are level with its top. Yawing ~1 cm right and descending another ~3 cm so the jaws straddle the block's mid-height, watching for table contact in the effort."})

tool

executing move_joints over 3 steps (0.3s)

step 264

assistant

agent noteFingertips are now ~1 cm above the table but the cube sits toward the right jaw rather than centred, so I'm lifting 4 cm and yawing another ~2 cm to the arm's right before dropping back down — nudging sideways at table level would just shove the block.

move_joints

right_j00.7100right_j12.1370right_j21.7350right_j3-1.1690

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6209 left_j2=1.203 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.765 right_j1=2.2292 right_j2=1.6939 right_j3=-1.0882 right_j4=-0.012 right_j5=-0.0231 right_gripper=0.6509 state[joint_eff]: [-0.0479, 1.9077, 5.4222, 1.8828, -0.0708, -0.0611, -0.0171, -0.8821, -10.2222, 5.2718, 0.3248, -0.0366, 0.0122, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.71, "right_j1": 2.137, "right_j2": 1.735, "right_j3": -1.169}, "note": "Fingertips are now ~1 cm above the table but the cube sits toward the right jaw rather than centred, so I'm lifting 4 cm and yawing another ~2 cm to the arm's right before dropping back down \u2014 nudging sideways at table level would just shove the block."})

tool

executing move_joints over 2 steps (0.2s)

step 266

assistant

agent noteThe cube is now nearly centred between the jaws at table level. Widening the jaws to ~7.8 cm for capture margin (still clear of the red block ~4.5 cm to the right) before closing.

move_joints

right_gripper0.8200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6918 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7399 right_j1=2.2208 right_j2=1.6917 right_j3=-1.1122 right_j4=-0.0151 right_j5=-0.0238 right_gripper=0.6509 state[joint_eff]: [-0.3077, 1.7983, 5.2308, 2.0293, -0.0171, -0.0317, -0.0171, -1.853, -16.6085, 9.2786, 0.3541, 0.0024, -0.0073, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.82}, "note": "The cube is now nearly centred between the jaws at table level. Widening the jaws to ~7.8 cm for capture margin (still clear of the red block ~4.5 cm to the right) before closing."})

tool

executing move_joints over 2 steps (0.2s)

step 268

assistant

agent noteThe arm drifted up ~2 cm while the jaws widened; the blue cube is centred in the gap but the right jaw is close to the red block. Dropping the fingertips back to ~1 cm above the table so the jaws grip the cube's mid-height, then I'll close immediately.

move_joints

right_j12.2700right_j21.6790right_j3-1.0370

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6952 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7235 right_j1=2.1792 right_j2=1.7107 right_j3=-1.15 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8137 state[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0171, -0.0659, -0.0122, 0.7179, -9.1282, 4.4103, 0.1245, -0.0562, -0.0024, -0.0611] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.27, "right_j2": 1.679, "right_j3": -1.037}, "note": "The arm drifted up ~2 cm while the jaws widened; the blue cube is centred in the gap but the right jaw is close to the red block. Dropping the fingertips back to ~1 cm above the table so the jaws grip the cube's mid-height, then I'll close immediately."})

tool

executing move_joints over 2 steps (0.2s)

step 270

assistant

agent noteFingertips are at the tabletop with the blue cube squarely in the jaw gap and the red block safely off to the right edge. Closing to grasp; expecting a ~0.45 residual.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.7025 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.236 right_j2=1.6878 right_j3=-1.0954 right_j4=-0.0151 right_j5=-0.0273 right_gripper=0.8152 state[joint_eff]: [-0.1162, 1.6479, 5.3675, 1.9609, -0.0513, -0.0171, -0.0073, -1.3197, -9.7026, 4.7248, 0.2906, 0.0171, -0.0171, 0.1392] 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": {"right_gripper": 0.0}, "note": "Fingertips are at the tabletop with the blue cube squarely in the jaw gap and the red block safely off to the right edge. Closing to grasp; expecting a ~0.45 residual."})

tool

executing move_joints over 9 steps (0.9s)

step 279

assistant

agent noteMissed again (residual 0.007) — and the overhead view shows the cube got shoved ~5 cm toward the bases, which reveals the key lesson: an object that looks centred at the bottom of this wrist frame is actually ~4-5 cm radially inside the fingertips. Re-targeting the cube's new overhead position (radius 0.33, bearing 0.90) from 6 cm up.

move_joints

right_j00.9000right_j11.9820right_j21.5400right_j3-1.1280right_gripper0.8200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6228 left_j2=1.2022 left_j3=-0.7204 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.2463 right_j2=1.6882 right_j3=-1.0985 right_j4=-0.0151 right_j5=-0.028 right_gripper=0.0073 state[joint_eff]: [-0.0752, 1.5385, 5.2444, 2.0928, -0.0024, -0.0317, -0.0171, -0.335, -12.506, 5.3675, 0.1538, -0.022, 0.0024, 0.5592] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.9, "right_j1": 1.982, "right_j2": 1.54, "right_j3": -1.128, "right_gripper": 0.82}, "note": "Missed again (residual 0.007) \u2014 and the overhead view shows the cube got shoved ~5 cm toward the bases, which reveals the key lesson: an object that looks centred at the bottom of this wrist frame is actually ~4-5 cm radially inside the fingertips. Re-targeting the cube's new overhead position (radius 0.33, bearing 0.90) from 6 cm up."})

tool

executing move_joints over 9 steps (0.9s)

step 288

assistant

agent noteThe wrist camera shows the cube ~2.5 cm to the right of the jaw gap, so my overhead fix was a bit off; correcting the yaw back to 0.81 and descending to just above the tabletop, then I'll re-check before closing.

move_joints

right_j00.8100right_j12.1500right_j21.4670right_j3-0.9350

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6231 left_j2=1.2022 left_j3=-0.7292 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8913 right_j1=2.0247 right_j2=1.5497 right_j3=-1.1225 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.8158 state[joint_eff]: [-0.1846, 1.6205, 5.3402, 2.0, -0.0464, -0.0415, -0.0122, 0.3761, -12.6017, 5.4769, 0.2271, -0.0708, -0.0806, -0.0708] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.81, "right_j1": 2.15, "right_j2": 1.467, "right_j3": -0.935}, "note": "The wrist camera shows the cube ~2.5 cm to the right of the jaw gap, so my overhead fix was a bit off; correcting the yaw back to 0.81 and descending to just above the tabletop, then I'll re-check before closing."})

tool

executing move_joints over 3 steps (0.3s)

step 291

assistant

agent noteFingertips are at table level; the cube has dropped out of the wrist view, which on this rig means it is right at or just inside the jaws. Closing to test — the residual will tell me whether I have it.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6239 left_j2=1.2022 left_j3=-0.7319 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8326 right_j1=2.1132 right_j2=1.4887 right_j3=-1.0012 right_j4=-0.0147 right_j5=-0.0273 right_gripper=0.8166 state[joint_eff]: [-0.3624, 1.8803, 5.2444, 1.9805, -0.0562, -0.0366, -0.0122, -0.2803, -10.4821, 5.2171, 0.1392, -0.0024, -0.0122, 0.0806] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are at table level; the cube has dropped out of the wrist view, which on this rig means it is right at or just inside the jaws. Closing to test \u2014 the residual will tell me whether I have it."})

tool

executing move_joints over 9 steps (0.9s)

step 300

assistant

agent noteEmpty close again, and I can see a sliver of the blue cube peeking out just below the closed jaws — it is sitting ~4 cm radially inside my fingertips. Lifting clear and pulling the arm 4 cm back (plus 1.5 cm right) with the jaws open, so the cube ends up in the gap rather than in front of it.

move_joints

right_j00.7900right_j11.8790right_j21.3450right_j3-1.0370right_gripper0.8200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6262 left_j2=1.1984 left_j3=-0.7444 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.836 right_j1=2.1227 right_j2=1.4841 right_j3=-0.9974 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.0077 state[joint_eff]: [-0.1983, 1.6068, 5.5726, 2.0195, -0.0317, -0.0317, -0.0171, -0.4444, -11.3983, 5.6684, 0.0904, -0.0611, 0.0171, 0.5788] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.79, "right_j1": 1.879, "right_j2": 1.345, "right_j3": -1.037, "right_gripper": 0.82}, "note": "Empty close again, and I can see a sliver of the blue cube peeking out just below the closed jaws \u2014 it is sitting ~4 cm radially inside my fingertips. Lifting clear and pulling the arm 4 cm back (plus 1.5 cm right) with the jaws open, so the cube ends up in the gap rather than in front of it."})

tool

executing move_joints over 9 steps (0.9s)

step 309

assistant

agent noteNow the blue cube fills the bottom of the wrist view squarely between both jaw wedges — this is what a correct pre-grasp looks like on this rig. Descending ~3 cm so the jaws are around the cube's mid-height before closing.

move_joints

right_j00.7770right_j12.0300right_j21.2920right_j3-0.8840

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6266 left_j2=1.1984 left_j3=-0.7555 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7967 right_j1=1.9152 right_j2=1.351 right_j3=-1.0283 right_j4=-0.0116 right_j5=-0.0273 right_gripper=0.816 state[joint_eff]: [-0.0889, 1.5932, 5.3949, 2.0293, -0.0024, -0.0171, -0.0171, -0.6769, -11.3573, 5.4085, 0.2466, -0.0171, -0.0757, -0.0952] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.777, "right_j1": 2.03, "right_j2": 1.292, "right_j3": -0.884}, "note": "Now the blue cube fills the bottom of the wrist view squarely between both jaw wedges \u2014 this is what a correct pre-grasp looks like on this rig. Descending ~3 cm so the jaws are around the cube's mid-height before closing."})

tool

executing move_joints over 3 steps (0.3s)

step 312

assistant

agent noteFingertips at table level with the cube between the jaws (image blurred by motion but the blue block is centred at the bottom). Closing to grasp.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6277 left_j2=1.1984 left_j3=-0.7635 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7868 right_j1=2.0041 right_j2=1.3079 right_j3=-0.936 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8167 state[joint_eff]: [-0.1983, 1.7573, 5.2581, 2.083, -0.0415, -0.0757, -0.0122, -0.841, -9.9897, 5.2171, 0.1099, -0.0122, -0.0171, 0.0659] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips at table level with the cube between the jaws (image blurred by motion but the blue block is centred at the bottom). Closing to grasp."})

tool

executing move_joints over 9 steps (0.9s)

step 321

assistant

agent noteThree empty closes with the cube apparently in the gap makes me suspect my height model for the RIGHT arm is wrong (its j1 never stalled, so the fingers never touched the table). Swinging clear of the cube and driving down 6 cm with the gripper closed to find the true tabletop from the effort signature.

move_joints

right_j01.0000right_j12.1780right_j21.2250right_j3-0.6180

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7742 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7853 right_j1=2.0106 right_j2=1.306 right_j3=-0.9379 right_j4=-0.012 right_j5=-0.0269 right_gripper=0.0078 state[joint_eff]: [-0.1846, 1.7026, 5.7368, 2.0293, -0.0122, -0.0415, -0.0122, -0.1983, -10.1538, 5.2444, 0.1343, -0.0513, 0.0024, 0.5934] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 1.0, "right_j1": 2.178, "right_j2": 1.225, "right_j3": -0.618}, "note": "Three empty closes with the cube apparently in the gap makes me suspect my height model for the RIGHT arm is wrong (its j1 never stalled, so the fingers never touched the table). Swinging clear of the cube and driving down 6 cm with the gripper closed to find the true tabletop from the effort signature."})

tool

executing move_joints over 6 steps (0.6s)

step 327

assistant

agent noteTable contact found (effort flipped positive at FK z=0.085), so my height was right — the real error is radial: each attempt has been nudging the cube further in toward the base. Reading the overhead frame against the base positions puts the cube at only ~26 cm radius, bearing ~1.0 rad, so I'm repositioning there with the jaws wide open.

move_joints

right_j01.0050right_j11.7870right_j21.1980right_j3-0.9820right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9661 right_j1=2.0342 right_j2=1.2984 right_j3=-0.7849 right_j4=0.0734 right_j5=-0.0273 right_gripper=0.0098 state[joint_eff]: [-0.1573, 1.6068, 5.3675, 1.9853, -0.0562, -0.0513, -0.0122, 1.4017, 1.7573, -0.6496, 1.1111, -0.8278, -0.0513, 0.1929] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 1.005, "right_j1": 1.787, "right_j2": 1.198, "right_j3": -0.982, "right_gripper": 0.95}, "note": "Table contact found (effort flipped positive at FK z=0.085), so my height was right \u2014 the real error is radial: each attempt has been nudging the cube further in toward the base. Reading the overhead frame against the base positions puts the cube at only ~26 cm radius, bearing ~1.0 rad, so I'm repositioning there with the jaws wide open."})

tool

executing move_joints over 10 steps (1.0s)

step 337

assistant

agent noteThe cube is now nicely framed between both jaw wedges, about 2 cm to the right of the gap centre. Correcting the yaw 2 cm right and descending ~4 cm to the tabletop, deliberately aiming 1 cm short in radius to allow for the arm drooping outward as it descends.

move_joints

right_j00.9200right_j11.9100right_j21.0840right_j3-0.7960

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7937 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=1.0016 right_j1=1.8236 right_j2=1.2034 right_j3=-0.9539 right_j4=0.0669 right_j5=-0.0273 right_gripper=0.9456 state[joint_eff]: [-0.1026, 1.6342, 5.2718, 2.0342, -0.0611, -0.0513, -0.0171, 0.294, -10.5094, 5.2855, 0.2564, 0.0659, -0.0611, -0.1343] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.92, "right_j1": 1.91, "right_j2": 1.084, "right_j3": -0.796}, "note": "The cube is now nicely framed between both jaw wedges, about 2 cm to the right of the gap centre. Correcting the yaw 2 cm right and descending ~4 cm to the tabletop, deliberately aiming 1 cm short in radius to allow for the arm drooping outward as it descends."})

tool

executing move_joints over 3 steps (0.3s)

step 340

assistant

agent noteContact-like effort at ~1 cm above the table with the cube's colours just visible at the bottom of the jaw gap. Closing now.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6292 left_j2=1.1954 left_j3=-0.8017 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9314 right_j1=1.8771 right_j2=1.1168 right_j3=-0.8623 right_j4=0.0364 right_j5=-0.0315 right_gripper=0.9462 state[joint_eff]: [-0.0615, 1.8256, 5.7778, 2.127, -0.0269, -0.0562, -0.0122, 0.8137, -5.3812, 2.7966, 0.8181, 1.2772, 0.3004, 0.0317] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "Contact-like effort at ~1 cm above the table with the cube's colours just visible at the bottom of the jaw gap. Closing now."})

tool

executing move_joints over 10 steps (1.0s)

step 350

assistant

agent noteAnother empty close, and now I can see the blue cube sitting outside the jaws at the bottom-right corner of the wrist view — the repeated closes have been knocking it sideways. Lifting and swinging the arm away to get a clean overhead fix on where the cube actually is now.

move_joints

right_j00.3000right_j11.5950right_j21.4850right_j3-1.4610

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6304 left_j2=1.1927 left_j3=-0.8082 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9321 right_j1=1.874 right_j2=1.1149 right_j3=-0.86 right_j4=0.0372 right_j5=-0.0307 right_gripper=0.0079 state[joint_eff]: [-0.2256, 1.6342, 5.4906, 1.9609, -0.0464, -0.0269, -0.0122, -0.0889, -8.1983, 5.3402, 0.1832, -0.0171, -0.0171, 0.5885] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.3, "right_j1": 1.595, "right_j2": 1.485, "right_j3": -1.461}, "note": "Another empty close, and now I can see the blue cube sitting outside the jaws at the bottom-right corner of the wrist view \u2014 the repeated closes have been knocking it sideways. Lifting and swinging the arm away to get a clean overhead fix on where the cube actually is now."})

tool

executing move_joints over 11 steps (1.1s)

step 361

assistant

agent noteOverhead now shows the red block at (134,148) and the displaced blue cube at (150,207). Before chasing it again I'm putting the closed fingertips flat on the table at a known radius/bearing in an empty area, so I can see exactly which pixel corresponds to a known arm position and fix my overhead mapping.

move_joints

right_j12.1850right_j21.5570right_j3-0.9430

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6308 left_j2=1.1927 left_j3=-0.8268 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3214 right_j1=1.6257 right_j2=1.4471 right_j3=-1.4109 right_j4=0.0383 right_j5=-0.0353 right_gripper=0.0098 state[joint_eff]: [-0.0615, 1.9214, 5.2855, 2.0586, -0.0415, -0.0171, -0.0171, -0.1573, -8.1026, 7.7607, 0.3736, 0.0171, 0.0269, 0.1783] 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": {"right_j1": 2.185, "right_j2": 1.557, "right_j3": -0.943}, "note": "Overhead now shows the red block at (134,148) and the displaced blue cube at (150,207). Before chasing it again I'm putting the closed fingertips flat on the table at a known radius/bearing in an empty area, so I can see exactly which pixel corresponds to a known arm position and fix my overhead mapping."})

tool

executing move_joints over 9 steps (0.9s)

step 370

assistant

agent noteMy overhead mapping is unreliable (the wide-angle lens compresses distances near the frame edges), so I'm switching to a direct calibration: hovering at 6 cm with the cube in the wrist view at yaw 0.55, then I'll nudge the yaw by a known amount to measure how many pixels per centimetre this view really has.

move_joints

right_j00.5500right_j11.8900right_j21.4080right_j3-1.0890right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6327 left_j2=1.1915 left_j3=-0.8352 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3248 right_j1=2.1578 right_j2=1.5341 right_j3=-1.0439 right_j4=0.0406 right_j5=-0.0471 right_gripper=0.0114 state[joint_eff]: [-0.0752, 1.6342, 5.3812, 1.9805, -0.0513, -0.0366, -0.0171, -0.2803, -9.5795, 4.9573, 1.409, -0.0562, 0.0708, 0.1587] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55, "right_j1": 1.89, "right_j2": 1.408, "right_j3": -1.089, "right_gripper": 0.95}, "note": "My overhead mapping is unreliable (the wide-angle lens compresses distances near the frame edges), so I'm switching to a direct calibration: hovering at 6 cm with the cube in the wrist view at yaw 0.55, then I'll nudge the yaw by a known amount to measure how many pixels per centimetre this view really has."})

tool

executing move_joints over 10 steps (1.0s)

step 380

assistant

agent noteThe wrist view shows the red 'a' block up in the frame and the blue cube at the bottom-left edge. Yawing +0.15 rad (a known 4.5 cm sideways move at this radius) purely to measure how far, in pixels, each block shifts — that gives me the true scale of this view.

move_joints

right_j00.7000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8509 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5438 right_j1=1.9282 right_j2=1.4139 right_j3=-1.0847 right_j4=0.041 right_j5=-0.0498 right_gripper=0.9464 state[joint_eff]: [-0.1983, 1.388, 5.4769, 2.0147, -0.0415, -0.0757, -0.0171, 0.1026, -11.4393, 5.1761, 0.3004, -0.0073, -0.0513, -0.1245] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.7}, "note": "The wrist view shows the red 'a' block up in the frame and the blue cube at the bottom-left edge. Yawing +0.15 rad (a known 4.5 cm sideways move at this radius) purely to measure how far, in pixels, each block shifts \u2014 that gives me the true scale of this view."})

tool

executing move_joints over 3 steps (0.3s)

step 383

assistant

agent notePixel scales in both cameras are proving unreliable, so I'm placing the closed fingertips flat on the table at my best estimate of the cube's spot (bearing 1.0 rad, radius 0.24). With tip and cube both on the tabletop and close together, the overhead view gives a parallax-free, locally-valid read of the offset.

move_joints

right_j01.0000right_j11.8600right_j21.0270right_j3-0.7380right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8577 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6762 right_j1=1.9209 right_j2=1.4117 right_j3=-1.0912 right_j4=0.0437 right_j5=-0.0498 right_gripper=0.9473 state[joint_eff]: [-0.2393, 1.5111, 5.4222, 1.9365, -0.0073, -0.0269, -0.0122, -0.5812, -8.335, 5.7231, 0.3101, -0.0562, -0.0415, 0.0904] 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": {"right_j0": 1.0, "right_j1": 1.86, "right_j2": 1.027, "right_j3": -0.738, "right_gripper": 0.0}, "note": "Pixel scales in both cameras are proving unreliable, so I'm placing the closed fingertips flat on the table at my best estimate of the cube's spot (bearing 1.0 rad, radius 0.24). With tip and cube both on the tabletop and close together, the overhead view gives a parallax-free, locally-valid read of the offset."})

tool

executing move_joints over 10 steps (1.0s)

step 393

assistant

agent noteCross-checking two wrist views at known yaws finally pins the scale: ~15 px/cm, and the cube sits ~6 cm to the arm's right of my current axis — my bearing was 0.25 rad too far left all along. Moving to yaw 0.74 at radius 0.235 with the jaws open, 5 cm above the table.

move_joints

right_j00.7400right_j11.6870right_j21.1030right_j3-0.9870right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8795 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9859 right_j1=1.8431 right_j2=1.0641 right_j3=-0.7906 right_j4=0.0578 right_j5=-0.049 right_gripper=0.0074 state[joint_eff]: [-0.0889, 1.812, 5.2991, 2.1221, -0.0611, -0.0269, -0.0171, 0.3761, -6.0923, 3.1111, 0.4811, -0.1929, -0.0317, 0.5641] 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": {"right_j0": 0.74, "right_j1": 1.687, "right_j2": 1.103, "right_j3": -0.987, "right_gripper": 0.95}, "note": "Cross-checking two wrist views at known yaws finally pins the scale: ~15 px/cm, and the cube sits ~6 cm to the arm's right of my current axis \u2014 my bearing was 0.25 rad too far left all along. Moving to yaw 0.74 at radius 0.235 with the jaws open, 5 cm above the table."})

tool

executing move_joints over 10 steps (1.0s)

step 403

assistant

agent noteThe cube is now centred between the jaw wedges in the wrist view and reads 60 px wide, exactly the 4 cm it should be at 15 px/cm — the alignment is finally trustworthy. Descending to the tabletop with a 1 cm yaw tweak, ready to close.

move_joints

right_j00.7900right_j11.8600right_j20.9900right_j3-0.7480

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8997 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7517 right_j1=1.713 right_j2=1.0748 right_j3=-0.9707 right_j4=0.0597 right_j5=-0.057 right_gripper=0.9456 state[joint_eff]: [-0.0479, 1.5111, 5.2991, 2.1074, -0.0269, -0.0415, -0.0171, -0.2667, -8.5812, 7.8564, 0.1734, -0.0171, 0.0269, -0.1832] approver: 1 step(s) modified (delta_clamped). 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": {"right_j0": 0.79, "right_j1": 1.86, "right_j2": 0.99, "right_j3": -0.748}, "note": "The cube is now centred between the jaw wedges in the wrist view and reads 60 px wide, exactly the 4 cm it should be at 15 px/cm \u2014 the alignment is finally trustworthy. Descending to the tabletop with a 1 cm yaw tweak, ready to close."})

tool

executing move_joints over 4 steps (0.4s)

step 407

assistant

agent noteFingertips are on the table (j1 effort relaxed, j3 effort rising) with the blue cube filling the jaw gap. Closing to grasp.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9146 left_j4=-0.001 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.783 right_j1=1.8103 right_j2=1.0229 right_j3=-0.8654 right_j4=0.0475 right_j5=-0.0647 right_gripper=0.9459 state[joint_eff]: [-0.294, 1.5385, 5.2991, 2.1221, -0.0562, -0.0464, -0.0122, 0.6632, -3.7675, 2.2632, 1.2576, 0.1245, 0.105, 0.0269] camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are on the table (j1 effort relaxed, j3 effort rising) with the blue cube filling the jaw gap. Closing to grasp."})

tool

executing move_joints over 10 steps (1.0s)

step 417

assistant

agent noteGrasp confirmed — gripper residual 0.43 (~4.1 cm cube) with high grip effort. Lifting the cube ~15 cm and extending slightly so the overhead camera can show me where the red block is for the stack.

move_joints

right_j11.7090right_j21.6090right_j3-1.4710

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9321 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7837 right_j1=1.8057 right_j2=1.0214 right_j3=-0.8639 right_j4=0.041 right_j5=-0.0715 right_gripper=0.4338 state[joint_eff]: [-0.2256, 1.6205, 5.7368, 2.0244, -0.0659, -0.0659, -0.0122, -0.2667, -7.3504, 4.9846, 0.0952, 0.0415, 0.0317, 1.0281] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.709, "right_j2": 1.609, "right_j3": -1.471}, "note": "Grasp confirmed \u2014 gripper residual 0.43 (~4.1 cm cube) with high grip effort. Lifting the cube ~15 cm and extending slightly so the overhead camera can show me where the red block is for the stack."})

tool

executing move_joints over 10 steps (1.0s)

step 427

assistant

agent noteCarrying the cube at ~14 cm; the red block is visible in the upper-right of the wrist view. Moving ~5 cm outward and ~5 cm to the arm's right to get above it, then I'll fine-tune before lowering.

move_joints

right_j00.6200right_j11.9450right_j21.8280right_j3-1.4530

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6369 left_j2=1.1908 left_j3=-0.9478 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7837 right_j1=1.7458 right_j2=1.565 right_j3=-1.4033 right_j4=0.041 right_j5=-0.0727 right_gripper=0.4375 state[joint_eff]: [-0.1026, 1.4974, 5.6274, 1.9902, -0.0366, -0.0708, -0.0122, -0.3077, -10.0991, 7.747, 0.0904, -0.0122, -0.022, 1.0232] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.62, "right_j1": 1.945, "right_j2": 1.828, "right_j3": -1.453}, "note": "Carrying the cube at ~14 cm; the red block is visible in the upper-right of the wrist view. Moving ~5 cm outward and ~5 cm to the arm's right to get above it, then I'll fine-tune before lowering."})

tool

executing move_joints over 5 steps (0.5s)

step 432

assistant

agent noteThe red block has come down and left in the wrist view but is still well ahead of me. Extending another ~6 cm outward and dropping ~3 cm, nudging slightly right, closing in on the stack position.

move_joints

right_j00.5850right_j12.1680right_j22.0000right_j3-1.4020

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6403 left_j2=1.1904 left_j3=-0.9627 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6346 right_j1=1.9369 right_j2=1.7763 right_j3=-1.4612 right_j4=0.041 right_j5=-0.0792 right_gripper=0.4381 state[joint_eff]: [-0.1846, 1.2923, 5.3128, 1.9756, -0.0659, -0.0659, -0.0073, -0.4718, -9.5248, 8.1299, 0.1783, -0.0024, 0.1001, 1.033] camera 'top_cam' (step 432): [image omitted: streamed camera frame] camera 'left_cam' (step 432): [image omitted: streamed camera frame] camera 'right_cam' (step 432): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.585, "right_j1": 2.168, "right_j2": 2.0, "right_j3": -1.402}, "note": "The red block has come down and left in the wrist view but is still well ahead of me. Extending another ~6 cm outward and dropping ~3 cm, nudging slightly right, closing in on the stack position."})

tool

executing move_joints over 4 steps (0.4s)

step 436

assistant

agent noteRed block is now centred left-to-right in the wrist view and dropping down the frame as I approach. Extending ~5 cm further out at the same height to bring the carried cube over it.

move_joints

right_j12.3520right_j22.2690right_j3-1.4870

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9703 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6006 right_j1=2.1601 right_j2=1.9514 right_j3=-1.4345 right_j4=0.0406 right_j5=-0.0845 right_gripper=0.4381 state[joint_eff]: [-0.1436, 1.5111, 5.3128, 1.8974, -0.022, -0.0464, -0.0171, -1.0051, -12.7248, 8.6496, 0.0904, -0.0122, 0.0171, 1.033] camera 'top_cam' (step 436): [image omitted: streamed camera frame] camera 'left_cam' (step 436): [image omitted: streamed camera frame] camera 'right_cam' (step 436): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.352, "right_j2": 2.269, "right_j3": -1.487}, "note": "Red block is now centred left-to-right in the wrist view and dropping down the frame as I approach. Extending ~5 cm further out at the same height to bring the carried cube over it."})

tool

executing move_joints over 6 steps (0.6s)

step 442

assistant

agent noteEach 5 cm of extension walks the red block ~50 px down the wrist frame; it is now just above my carried cube, which hangs ~3.5 cm clear of its top. Extending a final ~5 cm to bring the cube directly over the red block.

move_joints

right_j12.6010right_j22.7090right_j3-1.6780

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9844 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.606 right_j1=2.3375 right_j2=2.223 right_j3=-1.496 right_j4=0.0406 right_j5=-0.0986 right_gripper=0.4387 state[joint_eff]: [-0.0205, 1.5111, 5.4496, 2.0098, -0.0757, -0.0562, -0.0171, -0.7453, -12.0137, 8.1846, 0.2515, -0.0269, 0.1197, 0.989] camera 'top_cam' (step 442): [image omitted: streamed camera frame] camera 'left_cam' (step 442): [image omitted: streamed camera frame] camera 'right_cam' (step 442): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.601, "right_j2": 2.709, "right_j3": -1.678}, "note": "Each 5 cm of extension walks the red block ~50 px down the wrist frame; it is now just above my carried cube, which hangs ~3.5 cm clear of its top. Extending a final ~5 cm to bring the cube directly over the red block."})

tool

executing move_joints over 8 steps (0.8s)

step 450

assistant

agent noteThe red block is pressed right up against the carried cube in the wrist view, so I should be over it. Lowering ~3 cm so the cube's underside comes to just above the red block's 4.3 cm top, watching effort for the touchdown.

move_joints

right_j12.5670right_j22.5060right_j3-1.5100

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9916 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5824 right_j2=2.6625 right_j3=-1.6711 right_j4=0.0406 right_j5=-0.1093 right_gripper=0.4413 state[joint_eff]: [-0.0889, 1.5248, 5.2718, 1.9121, -0.0562, -0.0317, -0.0171, 0.0068, -12.6427, 7.7744, 0.3248, -0.0122, 0.0855, 0.9158] camera 'top_cam' (step 450): [image omitted: streamed camera frame] camera 'left_cam' (step 450): [image omitted: streamed camera frame] camera 'right_cam' (step 450): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.567, "right_j2": 2.506, "right_j3": -1.51}, "note": "The red block is pressed right up against the carried cube in the wrist view, so I should be over it. Lowering ~3 cm so the cube's underside comes to just above the red block's 4.3 cm top, watching effort for the touchdown."})

tool

executing move_joints over 3 steps (0.3s)

step 453

assistant

agent noteThe cube's underside is level with the red block's top and still no contact, and the overhead frame shows the red block down-and-right of my carried cube — meaning the red-and-white patch in the wrist view is my own cube's top face, not the target. Trusting the overhead: lifting a little and pulling back ~7 cm toward the red block's real position.

move_joints

right_j00.6290right_j12.1420right_j21.9580right_j3-1.3860

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6426 left_j2=1.19 left_j3=-0.992 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5782 right_j2=2.5229 right_j3=-1.5841 right_j4=0.0406 right_j5=-0.1097 right_gripper=0.4441 state[joint_eff]: [-0.2256, 1.9761, 5.2991, 1.8339, -0.0562, -0.0366, -0.0122, -0.212, -14.7487, 6.7624, 0.3297, 0.0073, -0.0171, 0.6276] 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": {"right_j0": 0.629, "right_j1": 2.142, "right_j2": 1.958, "right_j3": -1.386}, "note": "The cube's underside is level with the red block's top and still no contact, and the overhead frame shows the red block down-and-right of my carried cube \u2014 meaning the red-and-white patch in the wrist view is my own cube's top face, not the target. Trusting the overhead: lifting a little and pulling back ~7 cm toward the red block's real position."})

tool

executing move_joints over 9 steps (0.9s)

step 462

assistant

agent noteNow I can see the genuine red '2' block on the table ahead of the jaws, distinct from my own cube's face at the bottom of the frame. Extending a measured 3 cm to see how many pixels it drops, which calibrates the last bit of the approach.

move_joints

right_j00.6070right_j12.2950right_j22.1520right_j3-1.4280

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6426 left_j2=1.19 left_j3=-0.9974 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6273 right_j1=2.191 right_j2=1.9766 right_j3=-1.4151 right_j4=0.0406 right_j5=-0.1162 right_gripper=0.4469 state[joint_eff]: [-0.0342, 1.6889, 5.5179, 1.8926, -0.0171, -0.0464, -0.0122, -0.1573, -13.9692, 6.1744, 0.5299, 0.022, 0.0659, 0.6276] camera 'top_cam' (step 462): [image omitted: streamed camera frame] camera 'left_cam' (step 462): [image omitted: streamed camera frame] camera 'right_cam' (step 462): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.607, "right_j1": 2.295, "right_j2": 2.152, "right_j3": -1.428}, "note": "Now I can see the genuine red '2' block on the table ahead of the jaws, distinct from my own cube's face at the bottom of the frame. Extending a measured 3 cm to see how many pixels it drops, which calibrates the last bit of the approach."})

tool

executing move_joints over 3 steps (0.3s)

step 465

assistant

agent noteThe 3 cm test moved the red block 25 px down the frame, so this view runs ~8 px/cm; I need roughly 7 cm more. Taking 4 cm of it now and re-checking, with the cube still riding 3 cm above the red block's top.

move_joints

right_j12.4600right_j22.4380right_j3-1.5490

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0111 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6193 right_j1=2.2749 right_j2=2.1086 right_j3=-1.4307 right_j4=0.0414 right_j5=-0.1173 right_gripper=0.4466 state[joint_eff]: [-0.1983, 1.4564, 5.4632, 1.9414, -0.0562, -0.0415, -0.0171, -1.0462, -11.6718, 8.1299, 0.1441, 0.0269, 0.0024, 0.3004] camera 'top_cam' (step 465): [image omitted: streamed camera frame] camera 'left_cam' (step 465): [image omitted: streamed camera frame] camera 'right_cam' (step 465): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.46, "right_j2": 2.438, "right_j3": -1.549}, "note": "The 3 cm test moved the red block 25 px down the frame, so this view runs ~8 px/cm; I need roughly 7 cm more. Taking 4 cm of it now and re-checking, with the cube still riding 3 cm above the red block's top."})

tool

executing move_joints over 6 steps (0.6s)

step 471

assistant

agent noteI need to settle which red patch is the real target: yawing the base -0.2 rad with everything else fixed. Anything rigidly held by the gripper will stay put in the wrist image, while the block lying on the table will sweep sideways by ~9 cm.

move_joints

right_j00.4200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6437 left_j2=1.19 left_j3=-1.0176 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.622 right_j1=2.4451 right_j2=2.3932 right_j3=-1.541 right_j4=0.0406 right_j5=-0.1291 right_gripper=0.4492 state[joint_eff]: [-0.0889, 1.6752, 5.4769, 1.8486, -0.0708, -0.0415, -0.0171, -0.212, -12.5744, 7.9385, 0.2173, 0.0073, 0.0708, 0.2613] camera 'top_cam' (step 471): [image omitted: streamed camera frame] camera 'left_cam' (step 471): [image omitted: streamed camera frame] camera 'right_cam' (step 471): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.42}, "note": "I need to settle which red patch is the real target: yawing the base -0.2 rad with everything else fixed. Anything rigidly held by the gripper will stay put in the wrist image, while the block lying on the table will sweep sideways by ~9 cm."})

tool

executing move_joints over 4 steps (0.4s)

step 475

assistant

agent noteThe yaw test settled it: the red patch at the bottom of the wrist frame is my own cube's top face, while the overhead camera's red block stayed fixed — that one is the real target, about 4 cm right and 7 cm behind my cube. Moving to that spot (radius 0.36, yaw 0.43) with the cube hanging ~1 cm above the red block's top.

move_joints

right_j00.4250right_j12.1000right_j21.7080right_j3-1.1780

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0183 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.448 right_j1=2.4538 right_j2=2.3898 right_j3=-1.5639 right_j4=0.0376 right_j5=-0.1394 right_gripper=0.4515 state[joint_eff]: [-0.1026, 1.4838, 5.2855, 1.8193, -0.0562, -0.0415, -0.0122, 0.0342, -14.065, 5.9692, 0.3932, 0.0171, 0.0611, 0.2222] camera 'top_cam' (step 475): [image omitted: streamed camera frame] camera 'left_cam' (step 475): [image omitted: streamed camera frame] camera 'right_cam' (step 475): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.425, "right_j1": 2.1, "right_j2": 1.708, "right_j3": -1.178}, "note": "The yaw test settled it: the red patch at the bottom of the wrist frame is my own cube's top face, while the overhead camera's red block stayed fixed \u2014 that one is the real target, about 4 cm right and 7 cm behind my cube. Moving to that spot (radius 0.36, yaw 0.43) with the cube hanging ~1 cm above the red block's top."})

tool

executing move_joints over 11 steps (1.1s)

step 486

assistant

agent noteWith the red block now clearly identified on the table at the upper-left of the wrist view, the yaw correction from the overhead read was wrong — the right bearing is ~0.60 rad. Returning there at radius 0.42 with the cube's underside ~5 cm up, just clearing the red block's top.

move_joints

right_j00.6000right_j12.3310right_j22.0960right_j3-1.3360

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6434 left_j2=1.19 left_j3=-1.0332 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4324 right_j1=2.1498 right_j2=1.7218 right_j3=-1.224 right_j4=0.0429 right_j5=-0.1394 right_gripper=0.4534 state[joint_eff]: [-0.1026, 1.5385, 5.2581, 1.9365, -0.0269, -0.0757, -0.0122, -0.7863, -14.2701, 6.3111, 0.5495, -0.0415, -0.0317, 0.188] camera 'top_cam' (step 486): [image omitted: streamed camera frame] camera 'left_cam' (step 486): [image omitted: streamed camera frame] camera 'right_cam' (step 486): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.6, "right_j1": 2.331, "right_j2": 2.096, "right_j3": -1.336}, "note": "With the red block now clearly identified on the table at the upper-left of the wrist view, the yaw correction from the overhead read was wrong \u2014 the right bearing is ~0.60 rad. Returning there at radius 0.42 with the cube's underside ~5 cm up, just clearing the red block's top."})

tool

executing move_joints over 6 steps (0.6s)

step 492

assistant

agent noteRather than keep arguing with ambiguous imagery, I'm using the arm as a probe: lowering 5 cm here. If the descent stalls with the cube's underside ~4.3 cm up, it has landed on the red block; if it goes all the way down, I'm over bare table and will know to step outward.

move_joints

right_j12.3740right_j21.9540right_j3-1.1500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6445 left_j2=1.19 left_j3=-1.037 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5957 right_j1=2.3104 right_j2=2.0533 right_j3=-1.3224 right_j4=0.0437 right_j5=-0.1509 right_gripper=0.4543 state[joint_eff]: [-0.3487, 1.4154, 5.4359, 1.8144, -0.0611, -0.0366, -0.0122, -0.1026, -11.5487, 7.5829, 0.1294, -0.0122, 0.0611, 0.0757] camera 'top_cam' (step 492): [image omitted: streamed camera frame] camera 'left_cam' (step 492): [image omitted: streamed camera frame] camera 'right_cam' (step 492): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.374, "right_j2": 1.954, "right_j3": -1.15}, "note": "Rather than keep arguing with ambiguous imagery, I'm using the arm as a probe: lowering 5 cm here. If the descent stalls with the cube's underside ~4.3 cm up, it has landed on the red block; if it goes all the way down, I'm over bare table and will know to step outward."})

tool

executing move_joints over 3 steps (0.3s)

step 495

assistant

agent noteThe cube descended to 2 cm above the table with no contact, so there is definitely no block underneath me. Raising the arm high (still holding the cube) to get a wide wrist-camera view of the table and re-find the red block.

move_joints

right_j12.0850right_j22.5380right_j3-2.0240

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.646 left_j2=1.19 left_j3=-1.0416 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6014 right_j1=2.3394 right_j2=1.9793 right_j3=-1.2182 right_j4=0.0441 right_j5=-0.1543 right_gripper=0.4555 state[joint_eff]: [-0.1983, 1.853, 5.2718, 1.8584, -0.0464, -0.0659, -0.0171, -0.2256, -10.2359, 5.0667, 0.3004, -0.0024, -0.0122, 0.1148] camera 'top_cam' (step 495): [image omitted: streamed camera frame] camera 'left_cam' (step 495): [image omitted: streamed camera frame] camera 'right_cam' (step 495): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.085, "right_j2": 2.538, "right_j3": -2.024}, "note": "The cube descended to 2 cm above the table with no contact, so there is definitely no block underneath me. Raising the arm high (still holding the cube) to get a wide wrist-camera view of the table and re-find the red block."})

tool

executing move_joints over 13 steps (1.3s)

step 508

assistant

agent noteBad news and good news: the grip force decayed to zero and the cube slipped out — but it landed right next to the red block, and now both cubes are clearly visible side by side in the wrist view (blue farther out, red ~4 cm nearer). Opening the jaws and descending to 5 cm to re-grasp the blue one.

move_joints

right_j12.2280right_j21.8870right_j3-1.2300right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6472 left_j2=1.19 left_j3=-1.0439 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.6029 right_j1=2.1319 right_j2=2.5019 right_j3=-1.7046 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.4555 state[joint_eff]: [-0.253, 1.388, 5.4359, 1.8486, -0.0269, -0.0562, -0.0122, -0.335, -13.4496, 6.8855, 0.4957, -0.0269, 0.0464, -0.0024] camera 'top_cam' (step 508): [image omitted: streamed camera frame] camera 'left_cam' (step 508): [image omitted: streamed camera frame] camera 'right_cam' (step 508): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.228, "right_j2": 1.887, "right_j3": -1.23, "right_gripper": 0.95}, "note": "Bad news and good news: the grip force decayed to zero and the cube slipped out \u2014 but it landed right next to the red block, and now both cubes are clearly visible side by side in the wrist view (blue farther out, red ~4 cm nearer). Opening the jaws and descending to 5 cm to re-grasp the blue one."})

tool

executing move_joints over 10 steps (1.0s)

step 518

assistant

agent noteBoth cubes are laterally centred in the jaw gap, blue farther out and red nearer. Extending ~3 cm toward the blue cube and descending to the tabletop; I'll check the framing before closing.

move_joints

right_j12.4000right_j21.9950right_j3-1.1660

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6479 left_j2=1.19 left_j3=-1.0595 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.2093 right_j2=1.9049 right_j3=-1.2915 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.9477 state[joint_eff]: [-0.0889, 1.4564, 5.3128, 2.0195, -0.0562, -0.0562, -0.0171, -0.0889, -10.5231, 6.4205, 0.5397, -0.0269, -0.0317, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 518): [image omitted: streamed camera frame] camera 'left_cam' (step 518): [image omitted: streamed camera frame] camera 'right_cam' (step 518): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.4, "right_j2": 1.995, "right_j3": -1.166}, "note": "Both cubes are laterally centred in the jaw gap, blue farther out and red nearer. Extending ~3 cm toward the blue cube and descending to the tabletop; I'll check the framing before closing."})

tool

executing move_joints over 4 steps (0.4s)

step 522

assistant

agent noteThe blue cube fills the jaw gap at the bottom of the wrist view and the fingertips are ~1 cm off the table. Closing to re-grasp it.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.071 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3734 right_j2=1.964 right_j3=-1.2121 right_j4=0.0441 right_j5=-0.1616 right_gripper=0.9487 state[joint_eff]: [-0.1026, 1.4291, 5.2718, 1.917, -0.0611, -0.0513, -0.0171, -0.4034, -12.3419, 8.3077, 0.2662, 0.0024, 0.0171, 0.0855] camera 'top_cam' (step 522): [image omitted: streamed camera frame] camera 'left_cam' (step 522): [image omitted: streamed camera frame] camera 'right_cam' (step 522): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue cube fills the jaw gap at the bottom of the wrist view and the fingertips are ~1 cm off the table. Closing to re-grasp it."})

tool

executing move_joints over 10 steps (1.0s)

step 532

assistant

agent noteRe-grasped the blue cube (residual 0.435, strong grip effort). Lifting ~6 cm and pulling back ~3.5 cm toward where the red block sat, staying high enough to clear its top.

move_joints

right_j12.1380right_j21.8240right_j3-1.2570

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.0813 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3985 right_j2=1.9652 right_j3=-1.211 right_j4=0.041 right_j5=-0.1654 right_gripper=0.4354 state[joint_eff]: [-0.1436, 1.6479, 5.2718, 1.8974, -0.0513, -0.0464, -0.0073, -0.2803, -14.9265, 5.4222, 0.1099, 0.0122, 0.0073, 1.0281] camera 'top_cam' (step 532): [image omitted: streamed camera frame] camera 'left_cam' (step 532): [image omitted: streamed camera frame] camera 'right_cam' (step 532): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.138, "right_j2": 1.824, "right_j3": -1.257}, "note": "Re-grasped the blue cube (residual 0.435, strong grip effort). Lifting ~6 cm and pulling back ~3.5 cm toward where the red block sat, staying high enough to clear its top."})

tool

executing move_joints over 5 steps (0.5s)

step 537

assistant

agent noteThe overhead close-up shows the red block sitting immediately to the image-right of my held cube (~3-4 cm to the arm's right), same forward distance. Yawing right by that amount before probing downward.

move_joints

right_j00.5100

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.651 left_j2=1.19 left_j3=-1.0885 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.1948 right_j2=1.8343 right_j3=-1.2488 right_j4=0.0406 right_j5=-0.1658 right_gripper=0.439 state[joint_eff]: [-0.212, 1.5111, 5.2581, 1.8193, -0.0464, -0.0464, -0.0122, -0.1983, -13.6547, 5.4222, 0.4567, -0.0171, -0.0122, 0.8523] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 537): [image omitted: streamed camera frame] camera 'left_cam' (step 537): [image omitted: streamed camera frame] camera 'right_cam' (step 537): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.51}, "note": "The overhead close-up shows the red block sitting immediately to the image-right of my held cube (~3-4 cm to the arm's right), same forward distance. Yawing right by that amount before probing downward."})

tool

executing move_joints over 2 steps (0.2s)

step 539

assistant

agent noteThe red '1' block is now clearly in the wrist view directly above my held cube and laterally centred — the yaw move even stalled slightly as if brushing it. Descending 4 cm: if the cube's underside stops at ~4.3 cm the stack is made.

move_joints

right_j12.2190right_j21.7370right_j3-1.0890

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.651 left_j2=1.19 left_j3=-1.0901 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.572 right_j1=2.1662 right_j2=1.824 right_j3=-1.2568 right_j4=0.0368 right_j5=-0.1738 right_gripper=0.4418 state[joint_eff]: [-0.1846, 1.4564, 5.5043, 1.79, -0.0464, -0.0562, -0.0122, -3.1658, -9.5521, 6.6667, 0.315, 0.0659, 0.0659, 0.862] camera 'top_cam' (step 539): [image omitted: streamed camera frame] camera 'left_cam' (step 539): [image omitted: streamed camera frame] camera 'right_cam' (step 539): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.219, "right_j2": 1.737, "right_j3": -1.089}, "note": "The red '1' block is now clearly in the wrist view directly above my held cube and laterally centred \u2014 the yaw move even stalled slightly as if brushing it. Descending 4 cm: if the cube's underside stops at ~4.3 cm the stack is made."})

tool

executing move_joints over 3 steps (0.3s)

step 542

assistant

agent noteDescent reached 2.6 cm with no contact, so the cube is alongside — not on top of — the red block, which sits just outward of me. Lifting back to 6 cm clearance and stepping ~2.5 cm further out before the next probe.

move_joints

right_j12.2340right_j21.9830right_j3-1.3200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6533 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5652 right_j1=2.1948 right_j2=1.7531 right_j3=-1.1572 right_j4=0.0448 right_j5=-0.1772 right_gripper=0.4417 state[joint_eff]: [-0.0889, 1.5932, 5.2855, 1.8486, -0.0659, -0.0122, -0.0171, -0.1436, -9.6342, 5.3812, 0.3932, -0.1148, -0.022, 0.6862] camera 'top_cam' (step 542): [image omitted: streamed camera frame] camera 'left_cam' (step 542): [image omitted: streamed camera frame] camera 'right_cam' (step 542): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.234, "right_j2": 1.983, "right_j3": -1.32}, "note": "Descent reached 2.6 cm with no contact, so the cube is alongside \u2014 not on top of \u2014 the red block, which sits just outward of me. Lifting back to 6 cm clearance and stepping ~2.5 cm further out before the next probe."})

tool

executing move_joints over 4 steps (0.4s)

step 546

assistant

agent noteSwitching to a tactile search: lowering the carried cube until its underside is ~2 cm up — below the red block's 4.3 cm top — so that a sideways sweep will physically bump into the block and show up as a stall in the j0 effort.

move_joints

right_j12.2780right_j21.8720right_j3-1.1650

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6529 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5713 right_j1=2.2238 right_j2=1.9404 right_j3=-1.2762 right_j4=0.0418 right_j5=-0.1841 right_gripper=0.4441 state[joint_eff]: [-0.1983, 1.4564, 5.6547, 1.7265, -0.0317, -0.0562, -0.0122, -0.6906, -11.1932, 7.7744, 0.2222, 0.0464, 0.0366, 0.232] camera 'top_cam' (step 546): [image omitted: streamed camera frame] camera 'left_cam' (step 546): [image omitted: streamed camera frame] camera 'right_cam' (step 546): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.278, "right_j2": 1.872, "right_j3": -1.165}, "note": "Switching to a tactile search: lowering the carried cube until its underside is ~2 cm up \u2014 below the red block's 4.3 cm top \u2014 so that a sideways sweep will physically bump into the block and show up as a stall in the j0 effort."})

tool

executing move_joints over 2 steps (0.2s)

step 548

assistant

agent noteThe overhead close-up gives a clean read this time: the red block is ~5 cm right and ~7 cm behind my fingertips, which is almost purely a radial offset at this bearing. Pulling back ~8 cm at the same bearing with the cube lifted clear, then I'll probe down.

move_joints

right_j00.5600right_j11.9140right_j21.4870right_j3-1.1430

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6529 left_j2=1.19 left_j3=-1.0981 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5724 right_j1=2.2311 right_j2=1.9083 right_j3=-1.2449 right_j4=0.0429 right_j5=-0.1841 right_gripper=0.4456 state[joint_eff]: [-0.1709, 1.4427, 5.3812, 1.8046, -0.0415, -0.0317, -0.0122, 0.0342, -9.0051, 5.0667, 0.2759, -0.0073, -0.0171, 0.149] camera 'top_cam' (step 548): [image omitted: streamed camera frame] camera 'left_cam' (step 548): [image omitted: streamed camera frame] camera 'right_cam' (step 548): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.56, "right_j1": 1.914, "right_j2": 1.487, "right_j3": -1.143}, "note": "The overhead close-up gives a clean read this time: the red block is ~5 cm right and ~7 cm behind my fingertips, which is almost purely a radial offset at this bearing. Pulling back ~8 cm at the same bearing with the cube lifted clear, then I'll probe down."})

tool

executing move_joints over 7 steps (0.7s)

step 555

assistant

agent noteThe overhead offset shrank from ~8 cm to ~5 cm after the last correction, so I'm applying the remainder with a little overshoot: another ~6 cm back and 3 cm right, cube held ~5.5 cm up so it clears the red block's top.

move_joints

right_j00.5710right_j11.6970right_j21.1710right_j3-1.0450

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.654 left_j2=1.19 left_j3=-1.1141 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5648 right_j1=1.9633 right_j2=1.504 right_j3=-1.158 right_j4=0.0441 right_j5=-0.1837 right_gripper=0.4471 state[joint_eff]: [-0.1846, 1.894, 5.2855, 1.8877, -0.0366, -0.0611, -0.0122, -0.5128, -12.5333, 6.5026, 0.4664, -0.0317, 0.0024, 0.1392] camera 'top_cam' (step 555): [image omitted: streamed camera frame] camera 'left_cam' (step 555): [image omitted: streamed camera frame] camera 'right_cam' (step 555): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.571, "right_j1": 1.697, "right_j2": 1.171, "right_j3": -1.045}, "note": "The overhead offset shrank from ~8 cm to ~5 cm after the last correction, so I'm applying the remainder with a little overshoot: another ~6 cm back and 3 cm right, cube held ~5.5 cm up so it clears the red block's top."})

tool

executing move_joints over 6 steps (0.6s)

step 561

assistant

agent noteRetracting that far overshot — the red block has climbed to the top of the wrist frame, and calibrating the frame's radial rate (4.4 px/cm) says the aligned position was the radius I had two moves ago. Going back out ~7 cm and descending so the cube's underside passes the red block's top; a stall means we are stacked.

move_joints

right_j11.9770right_j21.4480right_j3-1.0420

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6544 left_j2=1.19 left_j3=-1.1221 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5682 right_j1=1.7313 right_j2=1.1862 right_j3=-1.0706 right_j4=0.0444 right_j5=-0.1833 right_gripper=0.4479 state[joint_eff]: [-0.0889, 1.5795, 5.2718, 1.8388, -0.0611, -0.0757, -0.0122, 0.335, -8.4581, 6.0786, 0.6227, -0.0024, -0.0269, 0.0708] camera 'top_cam' (step 561): [image omitted: streamed camera frame] camera 'left_cam' (step 561): [image omitted: streamed camera frame] camera 'right_cam' (step 561): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.977, "right_j2": 1.448, "right_j3": -1.042}, "note": "Retracting that far overshot \u2014 the red block has climbed to the top of the wrist frame, and calibrating the frame's radial rate (4.4 px/cm) says the aligned position was the radius I had two moves ago. Going back out ~7 cm and descending so the cube's underside passes the red block's top; a stall means we are stacked."})

tool

executing move_joints over 5 steps (0.5s)

step 566

assistant

agent noteStill no contact at 3.4 cm, and the calibrated frame rate puts the red block exactly one cube-width (~4.3 cm) further out. Lifting to 5.5 cm clearance and stepping out that 4.3 cm.

move_joints

right_j12.0450right_j21.6430right_j3-1.1690

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6552 left_j2=1.1896 left_j3=-1.1351 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=1.9526 right_j2=1.4044 right_j3=-1.0676 right_j4=0.0444 right_j5=-0.1848 right_gripper=0.4485 state[joint_eff]: [-0.1983, 1.6068, 5.2581, 1.9267, -0.0611, -0.022, -0.0171, -0.335, -8.8821, 7.2547, 0.2271, 0.022, -0.022, 0.0513] camera 'top_cam' (step 566): [image omitted: streamed camera frame] camera 'left_cam' (step 566): [image omitted: streamed camera frame] camera 'right_cam' (step 566): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.045, "right_j2": 1.643, "right_j3": -1.169}, "note": "Still no contact at 3.4 cm, and the calibrated frame rate puts the red block exactly one cube-width (~4.3 cm) further out. Lifting to 5.5 cm clearance and stepping out that 4.3 cm."})

tool

executing move_joints over 4 steps (0.4s)

step 570

assistant

agent noteStepped out; the red block dropped in the frame as predicted. Now lowering ~2 cm: contact at the 4.3 cm level means the cube has landed on the red block.

move_joints

right_j12.0630right_j21.5560right_j3-1.0640

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1419 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0319 right_j2=1.5997 right_j3=-1.1481 right_j4=0.0441 right_j5=-0.1886 right_gripper=0.4485 state[joint_eff]: [-0.1846, 1.4974, 5.2444, 1.7558, -0.0464, -0.0366, -0.0122, -0.1846, -9.5795, 7.5556, 0.1099, -0.0317, -0.0073, -0.0122] camera 'top_cam' (step 570): [image omitted: streamed camera frame] camera 'left_cam' (step 570): [image omitted: streamed camera frame] camera 'right_cam' (step 570): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.063, "right_j2": 1.556, "right_j3": -1.064}, "note": "Stepped out; the red block dropped in the frame as predicted. Now lowering ~2 cm: contact at the 4.3 cm level means the cube has landed on the red block."})

tool

executing move_joints over 2 steps (0.2s)

step 572

assistant

agent noteThe cube's underside is now level with the red block's top and the block is right under the jaws in the wrist view. Pressing down another ~1.5 cm; if it seats on the block, j1 will stall with its effort relaxing.

move_joints

right_j12.1100right_j21.5450right_j3-1.0400

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1423 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0418 right_j2=1.581 right_j3=-1.1221 right_j4=0.0437 right_j5=-0.1879 right_gripper=0.4485 state[joint_eff]: [-0.1436, 1.4564, 5.2308, 1.7314, -0.0611, -0.0513, -0.0122, -0.1846, -8.9231, 5.641, 0.2759, 0.022, -0.0269, -0.0122] camera 'top_cam' (step 572): [image omitted: streamed camera frame] camera 'left_cam' (step 572): [image omitted: streamed camera frame] camera 'right_cam' (step 572): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.11, "right_j2": 1.545, "right_j3": -1.04}, "note": "The cube's underside is now level with the red block's top and the block is right under the jaws in the wrist view. Pressing down another ~1.5 cm; if it seats on the block, j1 will stall with its effort relaxing."})

tool

executing move_joints over 2 steps (0.2s)

step 574

assistant

agent noteDescended past the block's top height again with no contact, so the red patch under my jaws may once more be my own cube's face. Running the clean test: a large pure-yaw swing (+0.35 rad, ~12 cm sideways) with the wrist pose frozen — a block on the table will sweep out of frame, my own cube will barely move.

move_joints

right_j00.9200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1477 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0747 right_j2=1.5547 right_j3=-1.0733 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485 state[joint_eff]: [-0.0615, 1.4427, 5.2308, 1.7607, -0.0757, -0.0659, -0.0122, -0.1846, -8.253, 4.7521, 0.3443, 0.0024, 0.0171, -0.0073] camera 'top_cam' (step 574): [image omitted: streamed camera frame] camera 'left_cam' (step 574): [image omitted: streamed camera frame] camera 'right_cam' (step 574): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.92}, "note": "Descended past the block's top height again with no contact, so the red patch under my jaws may once more be my own cube's face. Running the clean test: a large pure-yaw swing (+0.35 rad, ~12 cm sideways) with the wrist pose frozen \u2014 a block on the table will sweep out of frame, my own cube will barely move."})

tool

executing move_joints over 6 steps (0.6s)

step 580

assistant

agent noteDecisive result: the red patch swept out of frame with the yaw, so it really is the block lying on the table just beyond my fingertips. Returning to that bearing, lifting to 5.5 cm clearance and reaching 5 cm further out to get over it.

move_joints

right_j00.5690right_j12.1910right_j21.8750right_j3-1.2550

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1484 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.8997 right_j1=2.1059 right_j2=1.5425 right_j3=-1.0676 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485 state[joint_eff]: [-0.212, 1.4427, 5.4085, 1.707, -0.0708, -0.0757, -0.0122, 0.3077, -13.2308, 6.5436, 0.0806, 0.0317, -0.0415, -0.0122] camera 'top_cam' (step 580): [image omitted: streamed camera frame] camera 'left_cam' (step 580): [image omitted: streamed camera frame] camera 'right_cam' (step 580): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.569, "right_j1": 2.191, "right_j2": 1.875, "right_j3": -1.255}, "note": "Decisive result: the red patch swept out of frame with the yaw, so it really is the block lying on the table just beyond my fingertips. Returning to that bearing, lifting to 5.5 cm clearance and reaching 5 cm further out to get over it."})

tool

executing move_joints over 6 steps (0.6s)

step 586

assistant

agent noteThe block is visible right at the bottom of the jaw gap and the wrist camera sees past the fingertips, so it must be a few cm further out than I am. Stepping 3 cm outward at 5 cm clearance, then I'll probe straight down.

move_joints

right_j12.2860right_j22.0380right_j3-1.3230

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6563 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5873 right_j1=2.1807 right_j2=1.8324 right_j3=-1.2289 right_j4=0.0444 right_j5=-0.2031 right_gripper=0.4485 state[joint_eff]: [-0.1846, 1.388, 5.2171, 1.6874, -0.0269, -0.0757, -0.0122, -0.3077, -10.7692, 8.0752, 0.2027, 0.0366, 0.0513, -0.0122] camera 'top_cam' (step 586): [image omitted: streamed camera frame] camera 'left_cam' (step 586): [image omitted: streamed camera frame] camera 'right_cam' (step 586): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.286, "right_j2": 2.038, "right_j3": -1.323}, "note": "The block is visible right at the bottom of the jaw gap and the wrist camera sees past the fingertips, so it must be a few cm further out than I am. Stepping 3 cm outward at 5 cm clearance, then I'll probe straight down."})

tool

executing move_joints over 4 steps (0.4s)

step 590

assistant

agent noteProbing straight down 2 cm at this new radius — a stall with j1's effort relaxing means the cube has seated on the red block.

move_joints

right_j12.2920right_j21.9410right_j3-1.2200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5949 right_j1=2.2742 right_j2=1.993 right_j3=-1.3087 right_j4=0.0441 right_j5=-0.2096 right_gripper=0.4485 state[joint_eff]: [-0.0205, 1.4154, 5.2855, 1.6581, -0.0317, -0.0806, -0.0122, -0.5538, -11.5897, 8.6769, 0.0659, 0.0415, 0.0855, -0.0122] camera 'top_cam' (step 590): [image omitted: streamed camera frame] camera 'left_cam' (step 590): [image omitted: streamed camera frame] camera 'right_cam' (step 590): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.292, "right_j2": 1.941, "right_j3": -1.22}, "note": "Probing straight down 2 cm at this new radius \u2014 a stall with j1's effort relaxing means the cube has seated on the red block."})

tool

executing move_joints over 2 steps (0.2s)

step 592

assistant

agent noteThe last two descents barely executed, so the probe was inconclusive — the cube's underside is still right at the block's top height. Commanding a firmer 3 cm push down: it will either stall on the red block or sink to the table, which tells me definitively.

move_joints

right_j12.3600right_j21.9000right_j3-1.1600

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5945 right_j1=2.2765 right_j2=1.9652 right_j3=-1.2842 right_j4=0.0441 right_j5=-0.2104 right_gripper=0.4485 state[joint_eff]: [-0.0889, 1.4564, 5.2171, 1.7216, -0.0513, -0.0171, -0.0122, 0.0205, -10.906, 5.9282, 0.1978, 0.0073, -0.0317, -0.0073] camera 'top_cam' (step 592): [image omitted: streamed camera frame] camera 'left_cam' (step 592): [image omitted: streamed camera frame] camera 'right_cam' (step 592): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.36, "right_j2": 1.9, "right_j3": -1.16}, "note": "The last two descents barely executed, so the probe was inconclusive \u2014 the cube's underside is still right at the block's top height. Commanding a firmer 3 cm push down: it will either stall on the red block or sink to the table, which tells me definitively."})

tool

executing move_joints over 2 steps (0.2s)

step 594

assistant

agent noteDefinitive: the cube sank to 1.9 cm with no contact and the red block vanished off the bottom of the wrist frame as I descended — it is inside my fingertip radius, as the overhead view kept saying. Lifting to 5.5 cm and pulling back ~8 cm (and 5 cm right) onto it.

move_joints

right_j00.6070right_j11.9120right_j21.4480right_j3-1.1060

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6575 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5953 right_j1=2.3096 right_j2=1.924 right_j3=-1.2133 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485 state[joint_eff]: [-0.2393, 1.4564, 5.2308, 1.7118, -0.022, -0.0757, -0.0171, -0.294, -9.265, 4.5744, 0.3101, 0.0073, 0.0269, -0.0073] camera 'top_cam' (step 594): [image omitted: streamed camera frame] camera 'left_cam' (step 594): [image omitted: streamed camera frame] camera 'right_cam' (step 594): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.607, "right_j1": 1.912, "right_j2": 1.448, "right_j3": -1.106}, "note": "Definitive: the cube sank to 1.9 cm with no contact and the red block vanished off the bottom of the wrist frame as I descended \u2014 it is inside my fingertip radius, as the overhead view kept saying. Lifting to 5.5 cm and pulling back ~8 cm (and 5 cm right) onto it."})

tool

executing move_joints over 8 steps (0.8s)

step 602

assistant

agent noteNow the red '1' block sits right in the jaw gap in the wrist view and right at the gripper tip overhead. Lowering ~3 cm to set the cube down onto it.

move_joints

right_j12.0500right_j21.3800right_j3-0.9400

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6594 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6018 right_j1=1.9636 right_j2=1.4631 right_j3=-1.1244 right_j4=0.0444 right_j5=-0.2134 right_gripper=0.4485 state[joint_eff]: [-0.212, 1.4291, 5.2581, 1.6728, -0.0122, -0.0562, -0.0122, 0.4171, -12.0547, 6.2291, 0.4811, 0.0024, -0.022, -0.0122] camera 'top_cam' (step 602): [image omitted: streamed camera frame] camera 'left_cam' (step 602): [image omitted: streamed camera frame] camera 'right_cam' (step 602): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.05, "right_j2": 1.38, "right_j3": -0.94}, "note": "Now the red '1' block sits right in the jaw gap in the wrist view and right at the gripper tip overhead. Lowering ~3 cm to set the cube down onto it."})

tool

executing move_joints over 3 steps (0.3s)

step 605

assistant

agent noteAgain no contact — the block keeps sitting just inside my fingertips. With my last moves I'm pulling back 5 cm and holding the cube's underside at ~4.5 cm, the exact height of the red block's top, so that releasing here drops it onto the block if it is there.

move_joints

right_j11.7620right_j21.2070right_j3-1.0150

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6609 left_j2=1.1896 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.0247 right_j2=1.3987 right_j3=-1.0039 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485 state[joint_eff]: [-0.1026, 1.812, 5.3265, 1.7656, -0.0171, -0.0659, -0.0171, -0.3761, -10.0581, 5.3402, 0.1197, 0.0171, -0.0464, -0.0122] camera 'top_cam' (step 605): [image omitted: streamed camera frame] camera 'left_cam' (step 605): [image omitted: streamed camera frame] camera 'right_cam' (step 605): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.762, "right_j2": 1.207, "right_j3": -1.015}, "note": "Again no contact \u2014 the block keeps sitting just inside my fingertips. With my last moves I'm pulling back 5 cm and holding the cube's underside at ~4.5 cm, the exact height of the red block's top, so that releasing here drops it onto the block if it is there."})

tool

executing move_joints over 5 steps (0.5s)

step 610

assistant

agent noteI have more budget than I feared, so instead of gambling on a blind release I'll localise the block by touch: dropping the carried cube to 2 cm — below the red block's top — so that sliding sideways or inward will physically bump it and register in the joint efforts.

move_joints

right_j11.8440right_j21.1850right_j3-0.9110

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6636 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.7943 right_j2=1.2274 right_j3=-1.0096 right_j4=0.0444 right_j5=-0.2142 right_gripper=0.4484 state[joint_eff]: [-0.1846, 1.4974, 5.3402, 1.6679, -0.0366, -0.0366, -0.0171, -0.1299, -8.8957, 5.2855, 0.4908, -0.0171, -0.0269, -0.0171] camera 'top_cam' (step 610): [image omitted: streamed camera frame] camera 'left_cam' (step 610): [image omitted: streamed camera frame] camera 'right_cam' (step 610): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.844, "right_j2": 1.185, "right_j3": -0.911}, "note": "I have more budget than I feared, so instead of gambling on a blind release I'll localise the block by touch: dropping the carried cube to 2 cm \u2014 below the red block's top \u2014 so that sliding sideways or inward will physically bump it and register in the joint efforts."})

tool

executing move_joints over 2 steps (0.2s)

step 612

assistant

agent noteTouchdown: the descent stalled with j1's effort relaxing and j3/j4 efforts rising, with the cube's underside about 3.5-4 cm above the table — that can only be the top of the red block. Opening the jaws to release the cube onto it.

move_joints

right_gripper0.9000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6632 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.8065 right_j2=1.2026 right_j3=-0.9844 right_j4=0.0345 right_j5=-0.2138 right_gripper=0.4484 state[joint_eff]: [-0.0752, 1.4974, 5.3128, 1.6972, -0.0708, -0.0757, -0.0122, 0.1846, -6.0239, 2.865, 1.116, 0.7497, -0.0171, -0.0171] camera 'top_cam' (step 612): [image omitted: streamed camera frame] camera 'left_cam' (step 612): [image omitted: streamed camera frame] camera 'right_cam' (step 612): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.9}, "note": "Touchdown: the descent stalled with j1's effort relaxing and j3/j4 efforts rising, with the cube's underside about 3.5-4 cm above the table \u2014 that can only be the top of the red block. Opening the jaws to release the cube onto it."})

tool

executing move_joints over 5 steps (0.5s)

step 617

assistant

agent noteCube released. Lifting the arm ~12 cm straight up to clear the area and let the cameras show whether the blue cube is sitting on top of the red one.

move_joints

right_j11.5500right_j21.4500right_j3-1.4500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1492 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6041 right_j1=1.8324 right_j2=1.1893 right_j3=-0.9791 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8962 state[joint_eff]: [-0.0342, 1.1556, 5.3812, 1.6777, -0.0464, -0.0464, -0.0122, -0.3487, -10.441, 6.4752, 0.1832, 0.0366, -0.0415, -0.1538] camera 'top_cam' (step 617): [image omitted: streamed camera frame] camera 'left_cam' (step 617): [image omitted: streamed camera frame] camera 'right_cam' (step 617): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.55, "right_j2": 1.45, "right_j3": -1.45}, "note": "Cube released. Lifting the arm ~12 cm straight up to clear the area and let the cameras show whether the blue cube is sitting on top of the red one."})

tool

executing move_joints over 8 steps (0.8s)

step 625

assistant

agent noteThe wrist view suggests the blue cube is sitting slightly closer to the camera than the red one, hinting at a stack. Parking the right arm back near its base so the overhead camera can give an unobstructed verdict.

move_joints

right_j00.2000right_j10.7500right_j21.2500right_j3-0.7000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6048 right_j1=1.5887 right_j2=1.4105 right_j3=-1.3827 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8973 state[joint_eff]: [-0.1709, 1.4974, 5.4769, 1.6532, -0.0757, -0.0562, -0.0171, -0.4171, -8.1983, 8.3487, 0.2613, 0.022, -0.0366, 0.1001] camera 'top_cam' (step 625): [image omitted: streamed camera frame] camera 'left_cam' (step 625): [image omitted: streamed camera frame] camera 'right_cam' (step 625): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.2, "right_j1": 0.75, "right_j2": 1.25, "right_j3": -0.7}, "note": "The wrist view suggests the blue cube is sitting slightly closer to the camera than the red one, hinting at a stack. Parking the right arm back near its base so the overhead camera can give an unobstructed verdict."})

tool

executing move_joints over 14 steps (1.4s)

step 639

assistant

agent noteOverhead confirms the cubes ended up side by side, not stacked — the cube slid off the block's edge. New tactic: re-grasp the blue cube and then apply the small blue→red displacement I can measure directly overhead (~4.5 cm to the arm's right). Hovering over the blue cube's spot with jaws open.

move_joints

right_j00.6040right_j11.7530right_j21.2290right_j3-1.0470right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.2104 right_j1=0.7776 right_j2=1.2541 right_j3=-0.7948 right_j4=0.0189 right_j5=-0.2287 right_gripper=0.8975 state[joint_eff]: [-0.1162, 1.5111, 5.4085, 1.6728, -0.0611, -0.0611, -0.0122, -0.2393, -0.0752, 5.7368, 2.2442, 0.0708, 0.0952, 0.0024] camera 'top_cam' (step 639): [image omitted: streamed camera frame] camera 'left_cam' (step 639): [image omitted: streamed camera frame] camera 'right_cam' (step 639): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.604, "right_j1": 1.753, "right_j2": 1.229, "right_j3": -1.047, "right_gripper": 0.95}, "note": "Overhead confirms the cubes ended up side by side, not stacked \u2014 the cube slid off the block's edge. New tactic: re-grasp the blue cube and then apply the small blue\u2192red displacement I can measure directly overhead (~4.5 cm to the arm's right). Hovering over the blue cube's spot with jaws open."})

tool

executing move_joints over 16 steps (1.6s)

step 655

assistant

agent noteWrist view shows the blue cube centred in the jaw gap with the red block just beyond it. Descending to the tabletop to re-grasp the blue cube.

move_joints

right_j11.9300right_j21.1300right_j3-0.8000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6666 left_j2=1.187 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5964 right_j1=1.7359 right_j2=1.2282 right_j3=-1.0252 right_j4=0.0185 right_j5=-0.2363 right_gripper=0.949 state[joint_eff]: [-0.212, 1.2786, 5.6137, 1.707, -0.0415, -0.0464, -0.0122, 0.2393, -8.6085, 5.7504, 0.2759, -0.0024, 0.0464, -0.1197] camera 'top_cam' (step 655): [image omitted: streamed camera frame] camera 'left_cam' (step 655): [image omitted: streamed camera frame] camera 'right_cam' (step 655): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.93, "right_j2": 1.13, "right_j3": -0.8}, "note": "Wrist view shows the blue cube centred in the jaw gap with the red block just beyond it. Descending to the tabletop to re-grasp the blue cube."})

tool

executing move_joints over 4 steps (0.4s)

step 659

assistant

agent noteFingertips are on the table with the blue cube filling the jaw gap. Closing to grasp it.

move_joints

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6666 left_j2=1.1866 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5995 right_j1=1.9072 right_j2=1.1481 right_j3=-0.8848 right_j4=0.0105 right_j5=-0.2367 right_gripper=0.9488 state[joint_eff]: [-0.0479, 1.6068, 5.5179, 1.7802, -0.0122, -0.0317, -0.0122, -0.294, -6.5983, 3.6171, 1.0427, 0.2076, 0.0317, -0.0269] camera 'top_cam' (step 659): [image omitted: streamed camera frame] camera 'left_cam' (step 659): [image omitted: streamed camera frame] camera 'right_cam' (step 659): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are on the table with the blue cube filling the jaw gap. Closing to grasp it."})

tool

executing move_joints over 10 steps (1.0s)

step 669

assistant

agent noteCube re-grasped (residual 0.60 — it is held across its diagonal, but firmly). Now applying the measured blue→red offset from the overhead frame: ~4.3 cm to the arm's right and ~1.7 cm back, carried at 6 cm height.

move_joints

right_j00.4820right_j11.5990right_j21.0870right_j3-1.0590

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6678 left_j2=1.1854 left_j3=-1.1645 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6003 right_j1=1.9038 right_j2=1.1461 right_j3=-0.8886 right_j4=0.0063 right_j5=-0.2398 right_gripper=0.5962 state[joint_eff]: [-0.1573, 1.3607, 5.3812, 1.8144, -0.0464, -0.0269, -0.0122, -0.2667, -8.3624, 5.4632, 0.1734, 0.0024, 0.0073, 1.033] camera 'top_cam' (step 669): [image omitted: streamed camera frame] camera 'left_cam' (step 669): [image omitted: streamed camera frame] camera 'right_cam' (step 669): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.482, "right_j1": 1.599, "right_j2": 1.087, "right_j3": -1.059}, "note": "Cube re-grasped (residual 0.60 \u2014 it is held across its diagonal, but firmly). Now applying the measured blue\u2192red offset from the overhead frame: ~4.3 cm to the arm's right and ~1.7 cm back, carried at 6 cm height."})

tool

executing move_joints over 5 steps (0.5s)

step 674

assistant

agent noteIn position over the red block's measured spot with the cube 5.5 cm up. Lowering until the effort shows the cube seating on the block's top.

move_joints

right_j11.7600right_j21.0200right_j3-0.8600

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6697 left_j2=1.1854 left_j3=-1.1721 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4911 right_j1=1.6314 right_j2=1.0954 right_j3=-1.0225 right_j4=-0.0002 right_j5=-0.2436 right_gripper=0.596 state[joint_eff]: [-0.0889, 1.5932, 5.3128, 1.7558, -0.0513, -0.0366, -0.0171, -0.294, -6.8855, 5.1077, 0.5201, 0.0171, 0.0122, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 674): [image omitted: streamed camera frame] camera 'left_cam' (step 674): [image omitted: streamed camera frame] camera 'right_cam' (step 674): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.76, "right_j2": 1.02, "right_j3": -0.86}, "note": "In position over the red block's measured spot with the cube 5.5 cm up. Lowering until the effort shows the cube seating on the block's top."})

tool

executing move_joints over 3 steps (0.3s)

step 677

assistant

agent noteThe descent stalled again with the efforts relaxing while the fingertips are still ~4 cm above the table, so the cube is resting on the red block. Opening the jaws to release it.

move_joints

right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6712 left_j2=1.1854 left_j3=-1.1782 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4957 right_j1=1.7206 right_j2=1.0595 right_j3=-0.9276 right_j4=-0.001 right_j5=-0.2451 right_gripper=0.599 state[joint_eff]: [-0.1709, 1.6068, 5.2991, 1.79, -0.0757, -0.0122, -0.0171, -0.5812, -3.9179, 2.6188, 0.0024, 0.0171, 0.0073, 1.0281] camera 'top_cam' (step 677): [image omitted: streamed camera frame] camera 'left_cam' (step 677): [image omitted: streamed camera frame] camera 'right_cam' (step 677): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.95}, "note": "The descent stalled again with the efforts relaxing while the fingertips are still ~4 cm above the table, so the cube is resting on the red block. Opening the jaws to release it."})

tool

executing move_joints over 4 steps (0.4s)

step 681

assistant

agent noteReleased. Parking the arm back by its base again to get a clean overhead look at whether the cubes are stacked this time.

move_joints

right_j00.2000right_j10.7500right_j21.2500right_j3-0.7000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6708 left_j2=1.1854 left_j3=-1.1908 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4946 right_j1=1.7393 right_j2=1.0378 right_j3=-0.9199 right_j4=-0.0048 right_j5=-0.2447 right_gripper=0.9457 state[joint_eff]: [-0.0752, 1.388, 5.2991, 1.746, -0.0366, -0.0562, -0.0122, 0.1709, -8.6906, 6.8581, 0.1538, -0.0171, -0.0708, -0.2222] camera 'top_cam' (step 681): [image omitted: streamed camera frame] camera 'left_cam' (step 681): [image omitted: streamed camera frame] camera 'right_cam' (step 681): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.2, "right_j1": 0.75, "right_j2": 1.25, "right_j3": -0.7}, "note": "Released. Parking the arm back by its base again to get a clean overhead look at whether the cubes are stacked this time."})

tool

executing move_joints over 16 steps (1.6s)

step 697

assistant

agent noteStill side by side. Key diagnostic from that attempt: contact happened with the fingertips only 3.9 cm up, i.e. the cube struck the block's side, not its top — I need more overshoot toward the block. Going back over the blue cube to re-grasp it.

move_joints

right_j00.5000right_j11.6830right_j21.1460right_j3-1.0340right_gripper0.9500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0116 left_j1=0.6727 left_j2=1.1851 left_j3=-1.2007 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.207 right_j1=0.7788 right_j2=1.2121 right_j3=-0.7547 right_j4=-0.0078 right_j5=-0.2558 right_gripper=0.9466 state[joint_eff]: [-0.1573, 1.2923, 5.4222, 1.7118, -0.0513, -0.0464, -0.0171, -0.212, -0.1162, 8.7453, 2.3077, 0.0269, 0.0659, 0.0806] camera 'top_cam' (step 697): [image omitted: streamed camera frame] camera 'left_cam' (step 697): [image omitted: streamed camera frame] camera 'right_cam' (step 697): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.5, "right_j1": 1.683, "right_j2": 1.146, "right_j3": -1.034, "right_gripper": 0.95}, "note": "Still side by side. Key diagnostic from that attempt: contact happened with the fingertips only 3.9 cm up, i.e. the cube struck the block's side, not its top \u2014 I need more overshoot toward the block. Going back over the blue cube to re-grasp it."})

tool

executing move_joints over 15 steps (1.5s)

step 712

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0113 left_j1=0.6758 left_j2=1.1851 left_j3=-1.216 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4923 right_j1=1.6619 right_j2=1.1492 right_j3=-1.01 right_j4=-0.0078 right_j5=-0.2623 right_gripper=0.9489 state[joint_eff]: [-0.2393, 1.5111, 5.2718, 1.8291, -0.0415, -0.0415, -0.0122, 0.2393, -7.5282, 5.6, 0.3394, -0.0122, 0.0269, -0.1294] camera 'top_cam' (step 712): [image omitted: streamed camera frame] camera 'left_cam' (step 712): [image omitted: streamed camera frame] camera 'right_cam' (step 712): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]

call 0 attempt 0 · /messages · status 200 · 8.731 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0342, 1.2923, 6.4615, 2.2735, -0.0611, 0.2173, -0.0562, -0.4991, 0.7453, 6.5846, 2.1026, 0.0464, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9dd661b581ed82c7c76e4f4c5efb4b5cb4cae4327e11f17b4e34fcc157b995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b386edd4c2309b25162c7b1ac31d2c109115f30c5dcf1f9f89e448b90f385d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcf265d00532124697be0528b0bd547b178c2df89604b0c99b71e23065adb70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 9.267 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0342, 1.2923, 6.4615, 2.2735, -0.0611, 0.2173, -0.0562, -0.4991, 0.7453, 6.5846, 2.1026, 0.0464, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9dd661b581ed82c7c76e4f4c5efb4b5cb4cae4327e11f17b4e34fcc157b995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b386edd4c2309b25162c7b1ac31d2c109115f30c5dcf1f9f89e448b90f385d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf265d00532124697be0528b0bd547b178c2df89604b0c99b71e23065adb70a",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  "role": "user"
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[blob 3e9dd661b581]

[blob 2b386edd4c23]

[blob fcf265d00532]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VE3Tf29Q3rmH8wMKVGJPK",
      "input": {
        "note": "The overhead view is dim but shows two small blocks near the middle-bottom of the frame: a blue-ish one left of centre and a red one right of centre. I'm raising the left arm into a gripper-down pose at roughly 35 cm forward, 15 cm up, to calibrate the overhead scale and locate the arm in the image.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": 0,
          "left_j1": 2.06,
          "left_j2": 1.66,
          "left_j3": -1.17,
          "left_j4": 0,
          "left_j5": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_017VE3Tf29Q3rmH8wMKVGJPK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=2.0357 left_j2=1.6215 left_j3=-1.1316 left_j4=0.0002 left_j5=-0.0227 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.046 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -10.1949, 7.8974, 0.188, -0.0366, 0.1978, -0.0562, -0.1299, 1.5795, 6.9949, 2.083, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a05d39b05993d62e30b73d7dc3cc9a562d5742eadac03da6144d350bc9088b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0390273d19b39a423e0fdb7ff04859f693b5ddfcee3aa952e1fa82874a670835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0728581ed15f95fb278ad50524f62ae4e65922eca937fd589ba8ae745ab9281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 9.565 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0342, 1.2923, 6.4615, 2.2735, -0.0611, 0.2173, -0.0562, -0.4991, 0.7453, 6.5846, 2.1026, 0.0464, 0.0317, -0.0855]",
      "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=-0.001 left_j1=2.0357 left_j2=1.6215 left_j3=-1.1316 left_j4=0.0002 left_j5=-0.0227 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.046 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -10.1949, 7.8974, 0.188, -0.0366, 0.1978, -0.0562, -0.1299, 1.5795, 6.9949, 2.083, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a05d39b05993d62e30b73d7dc3cc9a562d5742eadac03da6144d350bc9088b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0390273d19b39a423e0fdb7ff04859f693b5ddfcee3aa952e1fa82874a670835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0728581ed15f95fb278ad50524f62ae4e65922eca937fd589ba8ae745ab9281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a05d39b05993]

[blob 0390273d19b3]

[blob a0728581ed15]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKq7QrNQZ6grgexmhXtBs6",
      "input": {
        "note": "The lighting improved: both blocks are clearly visible (blue at image x≈78, red at x≈133) and the left arm now appears as a dark shape at the left edge. I'm yawing the left base -0.6 rad to swing the gripper right, toward the blocks, which also calibrates the overhead pixel scale from a known angular move.",
        "targets": {
          "left_j0": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JKq7QrNQZ6grgexmhXtBs6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5808 left_j1=2.0663 left_j2=1.6238 left_j3=-1.145 left_j4=0.0029 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.049 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.1761, 5.4359, 0.3834, -0.0073, 0.0073, -0.0073, -0.0752, 1.5932, 7.3231, 1.9512, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b2f4328c2484addd44628349a89a2695015004c9fedb2b5e7b06927df66154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b960081101ce7f5f53a3ca78f2dc21b157d2ebff1022e23f1f3f12b7704730e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37980805635d74e233af67cdca8c074b1bb86a1e1069b4aa318609baac88c01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 7.259 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0342, 1.2923, 6.4615, 2.2735, -0.0611, 0.2173, -0.0562, -0.4991, 0.7453, 6.5846, 2.1026, 0.0464, 0.0317, -0.0855]",
      "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=-0.001 left_j1=2.0357 left_j2=1.6215 left_j3=-1.1316 left_j4=0.0002 left_j5=-0.0227 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.046 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -10.1949, 7.8974, 0.188, -0.0366, 0.1978, -0.0562, -0.1299, 1.5795, 6.9949, 2.083, -0.0708, -0.0415, -0.0122]",
      "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=-0.5808 left_j1=2.0663 left_j2=1.6238 left_j3=-1.145 left_j4=0.0029 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.049 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.1761, 5.4359, 0.3834, -0.0073, 0.0073, -0.0073, -0.0752, 1.5932, 7.3231, 1.9512, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b2f4328c2484addd44628349a89a2695015004c9fedb2b5e7b06927df66154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b960081101ce7f5f53a3ca78f2dc21b157d2ebff1022e23f1f3f12b7704730e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37980805635d74e233af67cdca8c074b1bb86a1e1069b4aa318609baac88c01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a2b2f4328c24]

[blob b960081101ce]

[blob 37980805635d]

{
  "content": [
    {
      "signature": "CAIS0B4KjAEIEBgCKkC1XbAceJ0dl0kmybvxzL7JngO5+FAZtnTfD3rKKNG/4GBUMedDAa+vJY9j9ft6WHWD4Se2c6Q6T3pMA/rzBI8aMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMdShE4cWgCKN/me4aGgzh0f8+c4UOZLjSem0iMLjl80aLWIakJJWLWasStZec/5BtCf5scXNfvkIbKSM+s1b7XFYWQNa0Eu62MxNXESrwHBkHBwJATgUCFsCdzfkyzfC7Yc4s2NCsMeIG8/rbB4eMlEiRJUjl+/W5y+FIthXZMyn8mIKAW+1koTLna+hw6YTS7q/HO3f8UiCB+M+eZMoEK+yEWUUMMl2zM6pZ+SNTE632ycFC4axqLd8sr4Xfg/RamZtAFbHh+ivgq0PSpUn6XS2h5bcowvPhsVNz6SiTQpL6vqwb9gls4gwj0sCMzhhn72Jlqhsmq6wZQevFScB3DnsILOkTpmSL1fzFDLRT1tyK8yZz0Ckg4GHjh9B/jnYHdZjJpqw8TNseOsgJmGTGHmtKUw3e4A1CWcGt/qzAGXOJuJzXuXM/514An7YNXELB6KSERvQeGq2d1u52VZJr0UHaEx+W28T4oWLpFYN3ToqpKyGZ90iFjNG0EtIMp8Q+5ZJ8mjsE30yPVWje2SlK0HGhro7laXPJ2Zt0U20Iv/hSLldQuNi740DWAy7VzqTa0QEkK5abdV6rH8zDqsXCflC15AnA2zRMPhxUmYVFXOiVVuJNHnUjsgNsqzS0dQDcALsMGzXOYRAweVmSadjNf2/qFlYAzyWaoEYYJ1Uyti7c7pLXVB3R03BuCZlqhjNhtyGjPlv17DdnnbmY/xqTNC9+PeQRESVyYI0fwpRIAZnQ1JPpLSpjTZ6hO/DNV9tK/hEjaig7wjJ9xklJhVEl/opwOvo1csmkEIDbicyNZemvec7EPYbOGxW/rZG4ATNm1L1vkn0v+SJQAvI7WqfYGy+9usUwMG3LtqoL3es1/hcQj+j1SssywPtNQ9qcD4orY5bNYy1euw8asDult6XMw2mE/6Mzy/GdGwcdFC5oM68f2ByR2nz2ZD+RjgN92P9golKJpGAwNykpKj3lfqjo4IwrdxajN8oCxnPd+WHNShqwoQ7zuBqKBxvEHKPRnQiWUJynSzeLLlu+hYZAz0ARhoausMsBGYq2/RT5xcQxSiCypj7YEK1PR3kaLsFe3RYf/6kV/BGAtkJD5lUkSplCIWXWIIXGtCeyFTi/3oX/KH1LZBONSmHqhtpLduHUeqfhZpBlEeRUpduRN8Vnilq5MXoKv9hmvdqMGRSoAEIWEVVJ+HCnfbHJNlLLNR8phkxyzILoGa21tg+W9b8PcnZG+R+w/6PBzk65XpwsPmCHYrirmFzwCHEWEc22qhmoy3GEKdTWamNrot0ahE64bQDbk4WdCHm+/HJ0b7HE4cjkrNfJjbjpD5UNVzdCXSx39UtUrS4cTwUbRuGS8D+hfWR+Wdys5seUgEM4vi0HVBGJ3/3Ga0ZgUixEuKFUa2FeuxnT8RBwOP1FL3X5slNd5cu8XGZ9i++SYmtpq7tl8uu8YnZq/kJpZLK9bThI/CPDhghi0ehuRvCfzOUCC0dauIQcvouW7xtoE0y3T4hPBjbPIcn79upLolP68PAbkX+Pk1vkjyw3DF0aMSuzigRlNc57TSebK978WrTjfDGP3NSwW9AjpkFQkZ7CPR/8+HBHv5Z0Pwab0qoYrPvgMq//NMx1xY6cEt+QlejabkfWtDnQjAO7lZrSRPrVNzgx/nKayeEVnHO0THrJoqGgRtZjyygQEtx3f53ricWAAG+UAJd07q90SDp0VUhahTryrFVHRg1bMub2weQAMAs8R3BTO5NkMV2XHGFoe9CA1fDqI2vf3p5g54alNCd/SdZU5Yoj+NoQDnwU4a2+w0sFPN0BNuMadlF9FyNm6HEF6ZVDVFJdfmDaTKThJQ5wFKbpxxbb9Imn5XbbE8eWuGnUj3UbYgnrVUqWBSymwdLbQYME/8xqdrQ1TQ/dsvkvfQm5VReiqMh1GtPdPA4pE4/QliX1kPcuhOXS5Pz/M9Tte8V2VmyiWVgqQ9SloGFHGD8rjzl7O22kpQDLzDpGvmR2Nf9tVnIOM5TyMC+SmxSBG6j7AF6qWPbxFMSEvW9rsNsZ8ezzTNE/vjjIVsr/Ajrn6+rTVfeiVm/5Zf3atffliL2w8xASEWkgbaQ00BsfzOF0jA8Zt7wIU/+fIk3GiH75joSG2Y4pscI/Z+t8eqsp0vb9DMMwiSEjr0TLXIDkQ/gvpVALm1nYKrYfvTcBshTfLBm+5mYLwrp9oqWldV1nyxvmpMq35eEXrXAj08Hq4zDqUq3qPVbilTRKebZdo3stlTWccKPeiRUY7Yy9TD7fqYOIFiPHJT426Y1fIw/9gzGf2wv1bsuLQA6CZq32chp+MRcIud9eGLqCiFCHzqfRGoJTiUWAE47oZdTgJ6LP70s/0hvUZllXHfpatb9/2prhOcYgUgcNltc/vjrrc4BSGq2R8oPzZzfsWFp+vjBh28fAJ/tMWUkSF7ChhX71RVyGA1Gg/RKJw6LewU4bzbRzNWGsiXovBaKEo1aGsQ3i98kcpoRTfUS9DEEb3cU/LT7xG60+XiR6QrcUfCmXO8X8tWpI+BVjUt9ey4DqvoQ2G4YNXFhpr4zbazt0YvTqB5IvxFWliejCN+Ks/SmGiaP/BAH5c0DJ0rDwQJt5PY0SyTGypX71ebCwkLW0QEXDg3osQBWMd1enfzqg9Gx1hkgjGdCk517c408ZJyTvcJAfuizLMjc2kdaRyiuWC/lEUcCU61tvj0lwExE8SPFzxmIUgQ2JDTeFfxVPwO5RipEE/0uyzVqglScZKQLt07WS0hprnYJqocy5vPSv1CIGr6dqHph8+qD1/SmMZNZObcOKBMzygNipMuFGN9VjOMi+5JZ6DJKvRxqmOAsq2TIVb+Ocyh/b5PpeVapWzUKqsL4BGTrIEbeWOVP25Wt2kfOxKQID0TQdQ+if0JnZHsHiLJNNDGEzcvzo6qkyaOR2kM7AAGCt4pew2t3DB+BEGAcjIRi8fgXVjRujnXPm3WIDIEf+bv2CEbBFmhN2PqiPOuTBe5v9B6HuRqxWEN6qfvj/sip3oOa+4Yk8fek5mN67Xvq/hWk2X9sP2AaAQcY5ep/8awpRfgrJr6FmHK9rljRrMmV29cD9RquAWDshTVKCMlQKhzUZJkd+5DLqv0yfzGqe8Oy6BC0QoEpSV5D4IZl5ttdYRmtvI19Fj9d0jXhjIkGMFUBYc25658YcFPL3NbcsUcui4Ov4RpIYW9Xw7C+Jw9PJNTM3aapCcrJbvA/t0Kqd74RTKsAlVwZXk9EYP+UX3kSr2UJ6hfIWHGmkW0np2Im8E/UimfSufUlBxi2zRuO+Mf1Nfvr9ITMMtqbQXscqrZcoXiMZAdxetxt2KibsWDCflhY2PrvrfhghsGuNySepTvyrVVCIQZuixJyka4kPe3AIqaKPuiD1O8l5MBrZSpWpxQ3neQwf70El47qB8US1+ue8TIu9rxgxLe2NPs3pYRoIm4Jeg+/MypCFKBpgysRUXhqjoh41zkp2Z6z6jPN2AxBmfj9YXuOwQAjhmGQ4Lvk8a6uOGAVw/CnmHxBCO2RfVYeHwT9otOSVIxpc3OPJUqQD15jGFoU/xGxfboOWR6GK6vdrdGzclbsduz7xcTw0Oi4W+51+S3HNfQ/hWkZ/QIqdAuN8azJzD7ILgvB0kgl+WIJoP3XHUcb9nIX6YDp2IFEe9WpDqMtb1tR+XD4jMYN7f/dLeVOnHBaToZTvqPuwxPRuga8c0/sEIBgX7DHvBIgOP6vjGKc+TQ3H2imIoZQGoOu2TOVghnuUEUbU1YMi7Tq0Q3KRfOIaK/Rx0pAgZPtihll4V4lTFpl5Moiw5Skc6U+ozzQXurIkIENWxQo2V9ccy6d/YArQV3LJpVSt1D+rITp+3sRdjzVW5bkkpF903pKNXs0w39wkEDToIWOK4LspxQ4hhOnpHYxlJFFQI2yY4+fD6pnwDvlvz0fUwivHjYH8tUQ/CYfHN7hvruf95m/a2/vnkatfSvq97AaXSHTrRDMbr4tNr1lVnc4rUK24/UXNsgdX83BhxNlld6Kh4xZVwVUvczlg7/RC8ayc0SIFtG2e39dqHpIeIoGAZ2dnUZzp13DUVdT+J8pLtVfWqzSGYlgj96547ZeyXLTgqbDroj2Pag1Rr+UV/WNpUuwlPG2VIYo88soHVcFU1JkJ2oZXimbIn853FwOB7MJI2b5b1/7MEWllgeiwQU+zZED9gK/mcfBneRnfLmGVjrrT23PGeuwJiwbXyiYwEWbvVU4Z/AC1L588CbPm8OKRB+smgzOz/+fckZEKY+ln6zuvxR98zxecowYkZJVm6kQmxaZc8+v8oE0SLBl1T1r/I2e31zk67UMpobdHmwjoZsd1Ryg+iDbXczaEJDO3yKNG4+Nk3fi4bBlveTVvxxHlK+qNzviHBddiJq+8AC+Dy4y2Hkqoo336nkDh3dRnbVIFZGPWezNsCup7xl6xJJnyWDc5Rfd7Yi4bRf+x0x2g0bb14S9LQb0CE3lFRKwbu/dJJ4RBXFv9SYQBekefRn+GoZsbDCjdSLoPaN+0df053cPB5+QKbFnAgQ4Fm40WSCAwu6cBOl9FzBzsoQileXGd6pfYq94jUrNw2IZKaSrZJJqLv9lzUM4gMLJ7s67gDYHCxO7ZM2WAhvrWExPjeNKYFhV3ojIllhBkLKwJ/uNYTw7DsdccWNPHUnqfvB0eeaG8GV3cBKAnnsM20e8tgd7RB3r3WwKdnHMlycvLyvnlgMJwEyxKsbFFDKd3ZqjgQiG8id0enxKx72pppcZZcDsSQYHLvEwIpkq6WYQLm8XbJyvxydqC5uLz0pIpWzkCpXYwDyBGhanm8IsY1vMqmDOKc4S+gBDIBgo3fU5fEFrlCDfFlTsjYAeRM2keNNFnKc1yFmhzjGvZyuuC63B3xf3NQTQvd24WyR+JTnJ4oMsudo8R7qibSfzWgibNg+kN294dBsNX9zoaD8lnUocMOS4peTQ+3q/EyCGYFv6S2G+GdBXi1OfU79uzC6+LmYFDGLyeU3oiKrCMgogSd6VSBUr864XvlIkI1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GSLgLmDa3oKK4WCDmHteVa",
      "input": {
        "note": "The left wrist camera now shows the blue block clearly, a bit left of the jaw gap and about 4 cm beyond the grasp point. I'm extending the reach ~4 cm and nudging the yaw slightly left to bring the block under the jaws, staying at the same height.",
        "targets": {
          "left_j0": -0.549,
          "left_j1": 2.207,
          "left_j2": 1.895,
          "left_j3": -1.258
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GSLgLmDa3oKK4WCDmHteVa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5484 left_j1=2.1914 left_j2=1.8523 left_j3=-1.2453 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0544 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.8786, 7.9795, 0.1587, -0.0464, -0.0415, -0.0122, -0.0479, 1.6068, 6.9949, 1.956, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:503121919151068295272164be72a9157a1a8a50b1ee059342648a626073834c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1a1e45ff17120f50e26afe91ea05dd2f79d77372308bce30807b1fcab3aec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9724a56dbc7a515303b9b80a7a14c336c8d6006e80e4c864f3f7d81f5a3eded8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 5.68 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.001 left_j1=2.0357 left_j2=1.6215 left_j3=-1.1316 left_j4=0.0002 left_j5=-0.0227 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.046 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -10.1949, 7.8974, 0.188, -0.0366, 0.1978, -0.0562, -0.1299, 1.5795, 6.9949, 2.083, -0.0708, -0.0415, -0.0122]",
      "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=-0.5808 left_j1=2.0663 left_j2=1.6238 left_j3=-1.145 left_j4=0.0029 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.049 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.1761, 5.4359, 0.3834, -0.0073, 0.0073, -0.0073, -0.0752, 1.5932, 7.3231, 1.9512, -0.0708, -0.0073, -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=-0.5484 left_j1=2.1914 left_j2=1.8523 left_j3=-1.2453 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0544 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.8786, 7.9795, 0.1587, -0.0464, -0.0415, -0.0122, -0.0479, 1.6068, 6.9949, 1.956, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:503121919151068295272164be72a9157a1a8a50b1ee059342648a626073834c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1a1e45ff17120f50e26afe91ea05dd2f79d77372308bce30807b1fcab3aec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9724a56dbc7a515303b9b80a7a14c336c8d6006e80e4c864f3f7d81f5a3eded8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 503121919151]

[blob 3b1a1e45ff17]

[blob 9724a56dbc7a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ViqFANV9reCXi2D9ggdHyX",
      "input": {
        "note": "The blue block is now close to the jaws in the wrist view (just above and slightly left of the jaw gap). I'm extending ~1.5 cm further, nudging yaw slightly, and lowering roughly 4 cm to close in on it.",
        "targets": {
          "left_j0": -0.528,
          "left_j1": 2.32,
          "left_j2": 1.916,
          "left_j3": -1.167
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ViqFANV9reCXi2D9ggdHyX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5365 left_j1=2.2852 left_j2=1.8908 left_j3=-1.2198 left_j4=0.0067 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 8.1846, 0.232, -0.0415, -0.0659, -0.0073, -0.0205, 1.6342, 7.2137, 1.9023, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11a3976dfa62940b382f5b0bc8bb736b11305e8822a97c3dc554ff1a92c2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d519568aaac71d8c61851a541e479b447d367483de7658d0d42f90c5ed266d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7490b349fdcdd08e539dc38f08c6b8d37b792d728da05796dd73a5132a2f8111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 4.556 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5808 left_j1=2.0663 left_j2=1.6238 left_j3=-1.145 left_j4=0.0029 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.049 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.1761, 5.4359, 0.3834, -0.0073, 0.0073, -0.0073, -0.0752, 1.5932, 7.3231, 1.9512, -0.0708, -0.0073, -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=-0.5484 left_j1=2.1914 left_j2=1.8523 left_j3=-1.2453 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0544 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.8786, 7.9795, 0.1587, -0.0464, -0.0415, -0.0122, -0.0479, 1.6068, 6.9949, 1.956, -0.0415, -0.0415, -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=-0.5365 left_j1=2.2852 left_j2=1.8908 left_j3=-1.2198 left_j4=0.0067 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 8.1846, 0.232, -0.0415, -0.0659, -0.0073, -0.0205, 1.6342, 7.2137, 1.9023, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11a3976dfa62940b382f5b0bc8bb736b11305e8822a97c3dc554ff1a92c2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d519568aaac71d8c61851a541e479b447d367483de7658d0d42f90c5ed266d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7490b349fdcdd08e539dc38f08c6b8d37b792d728da05796dd73a5132a2f8111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 6a11a3976dfa]

[blob d519568aaac7]

[blob 7490b349fdcd]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011PAXi74VuzwszALVHTw11c",
      "input": {
        "note": "The wrist view (blurred) shows the blue block sitting right in the jaw gap at the bottom of the frame, so lateral alignment looks good. I'm descending another ~2 cm to bring the fingers down around the block.",
        "targets": {
          "left_j1": 2.353,
          "left_j2": 1.886,
          "left_j3": -1.104
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_011PAXi74VuzwszALVHTw11c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5301 left_j1=2.3341 left_j2=1.8885 left_j3=-1.1694 left_j4=0.0063 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -10.6462, 5.5316, 0.4908, -0.0122, -0.0464, -0.0073, -0.0752, 1.6479, 6.9949, 1.9219, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160f899d7cade2d9ddc88fd7f75c158e92da342afe718abb583057a0baef7577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39adafcd763b6e9d552e538ead07384ae9967ebe154c61188a67eff433d7a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6253a848a8aad67934a41e79278f40e3e329b49c5c9b4e97777fb9370945b91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 7.598 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5484 left_j1=2.1914 left_j2=1.8523 left_j3=-1.2453 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0544 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.8786, 7.9795, 0.1587, -0.0464, -0.0415, -0.0122, -0.0479, 1.6068, 6.9949, 1.956, -0.0415, -0.0415, -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=-0.5365 left_j1=2.2852 left_j2=1.8908 left_j3=-1.2198 left_j4=0.0067 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 8.1846, 0.232, -0.0415, -0.0659, -0.0073, -0.0205, 1.6342, 7.2137, 1.9023, -0.0708, -0.0415, -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=-0.5301 left_j1=2.3341 left_j2=1.8885 left_j3=-1.1694 left_j4=0.0063 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -10.6462, 5.5316, 0.4908, -0.0122, -0.0464, -0.0073, -0.0752, 1.6479, 6.9949, 1.9219, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160f899d7cade2d9ddc88fd7f75c158e92da342afe718abb583057a0baef7577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39adafcd763b6e9d552e538ead07384ae9967ebe154c61188a67eff433d7a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6253a848a8aad67934a41e79278f40e3e329b49c5c9b4e97777fb9370945b91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 160f899d7cad]

[blob d39adafcd763]

[blob 6253a848a8aa]

{
  "content": [
    {
      "signature": "CAISrwkKjAEIEBgCKkC49AXA879bZmYmuZa6j+4X2ax6he5tyiQ/9dqMUNuCCs4TcTOzrAp0A0SGoEoC5srK1fvnzmfOQKgg0u7yz1dXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIML08q9WnyhQZnkXX6GgwKaKVviM/btYxqvl4iMKQ8sRfZPJkjO6Do+G2ZjDzIEIycUHn110gwtQTI4OC1q2PuSvJ9+dli2p7pdgP95yrPB98gb3lojGFf3mN3YJJy+DhVBTLWfJAlOdhmvfE/att4hUPUTcgujnNynZXSoFrkqTOKofjuSvKpUD7Pbd56t3QYP43BrROfvXVYN2pGFGL0zQkxB2hEJU3lwToYFMJzXSPo5AmgJBidCcBtLvJko6+3eJQ1kyEKwMBRPhvdR0ec3hvMCjG7DuilklqVDUK6kqCnY8xP5u/1y5cmrvSeJxgQQ8irYR5MQFQyxWxZKErlWkllIvvjfE8XB8EdCyLozeaVFvbjGpCFQLKL6n+fEy4WgWlSYeYUdHbV1Ct303wNSsfq2rCTsib8x41cC48vpNhkdkr1uGwvBNAbh4we8XxzYEZfclhV4DLykEde+ehZ/vYXMkWiycDZRF90QRPU+pdpfT3nIqSVpIgiKChbegXidR2Fw5GZOLSpTrXoj7r3c1A7c6u9+ePocNy8OD7jW5XGatgDyxAp/U7EHlEO9/fxlGfvdb82OshDmv2+LoWs5oIcGIQN9r7Ll+tOCLMDtATtZAToiKZwW4/QWoojIGGoWaUUdyNsijJ4uJORMybm0WGKgbjy25+5stl9iU+Y7n/Dt6nMY09RQUd3TF8oDu3lG70+36WVFn6BdqONxiJjCSYSaTHv+5//Ud+JqA83igmHV0hWJvv5Xo3yWXZEs0t5AxYzJc6MkQUVcDiGVajjxLu/kOkv2z6f5kr4BhLSQMGen26/vLptdISIsIv5lKbsKFSWieAiqk9A4o8NXDINKRck8AyoQNSXbYGcJ/QZfp5oGqDBHRz0Iab4IH4dMsAKByfivigkvgeqRkuwfCLSygi8qpcMmOxyJI4XwGzFD5Gg+PFqjgApdR9NAu0kr6bGPDsTbguc0QJUbbT49ZOLBlrT+upjk+X4KbpUQHLqaUyQ2818l7BQx0xnxYhgydPqsjW0YUHvTsOgkbRQXEGhE2QOTp5Y5grwczIWCxAQ6xeeRyIfUarzvrfpWQp03TQc7gWa9Ft+lrtzkSzEHqhal6AVkDYf6WgYpApevK1fVcg1z97Is59xxifk1id7Z681Tmfrw8C7xE8lSU2br73Q+zLYSVOo49PsnFMnxQleEmTvV0tXHzJGiY/HZSPJ6t/5q9mTllB2BY7KCk20/ybKULBScXKWwS8vf53reZ5jW1cmbl41X/jbHB8fRjtDN6x69XflWkM/mj3PHPI6pX0mz14qGp4uSX3hQGRynka68WbB4y7rPDErq/D4xtPYk6mb5OUcLbAkVIbM5KjNzZ3N5m1OMAV9qZ6lJ0zofy6kQZ2O8WENNrItk8YIeAW6zxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JYW2K4zWuuBf8suNfsY5A1",
      "input": {
        "note": "The block has slid to the very bottom edge of the wrist frame, right in the jaw gap, which means it is at the grasp point. Closing the gripper fully; I'll read the residual to confirm I have the block (expect ~0.45 for a ~4 cm cube).",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JYW2K4zWuuBf8suNfsY5A1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5301 left_j1=2.3474 left_j2=1.8866 left_j3=-1.1667 left_j4=0.0059 left_j5=-0.0303 left_gripper=0.0115 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -13.7231, 5.7231, 0.105, -0.022, 0.0024, 0.9646, -0.0615, 1.7709, 6.9949, 1.8828, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828b2e125832b245386e878bb38a4e6431616090c5b0bd7e8ee69d5b4f814c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b651927e74ab76de29d6e5931e3f51655ae9ec9e74a5be62df2cb116c9a4f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:900a12cabfd6ea6b8b447b391b8cb1c2800027749c888315cb8dd2607486cc65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 11.46 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5365 left_j1=2.2852 left_j2=1.8908 left_j3=-1.2198 left_j4=0.0067 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 8.1846, 0.232, -0.0415, -0.0659, -0.0073, -0.0205, 1.6342, 7.2137, 1.9023, -0.0708, -0.0415, -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=-0.5301 left_j1=2.3341 left_j2=1.8885 left_j3=-1.1694 left_j4=0.0063 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -10.6462, 5.5316, 0.4908, -0.0122, -0.0464, -0.0073, -0.0752, 1.6479, 6.9949, 1.9219, -0.0659, -0.0366, -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=-0.5301 left_j1=2.3474 left_j2=1.8866 left_j3=-1.1667 left_j4=0.0059 left_j5=-0.0303 left_gripper=0.0115 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -13.7231, 5.7231, 0.105, -0.022, 0.0024, 0.9646, -0.0615, 1.7709, 6.9949, 1.8828, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828b2e125832b245386e878bb38a4e6431616090c5b0bd7e8ee69d5b4f814c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b651927e74ab76de29d6e5931e3f51655ae9ec9e74a5be62df2cb116c9a4f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900a12cabfd6ea6b8b447b391b8cb1c2800027749c888315cb8dd2607486cc65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 828b2e125832]

[blob 8b651927e74a]

[blob 900a12cabfd6]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3fZXUbUfLB1pPnntTmmwS",
      "input": {
        "note": "The close came back with a 1 mm residual — I closed on air, so the jaws were not actually around the block. Reopening and pulling back ~3 cm radially to bring the block back into the wrist view and re-judge its offset.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.252,
          "left_j2": 1.703,
          "left_j3": -1.021
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U3fZXUbUfLB1pPnntTmmwS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2589 left_j2=1.7283 left_j3=-1.0382 left_j4=0.0036 left_j5=-0.0338 left_gripper=0.9945 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -12.3966, 4.0547, 0.3639, -0.0073, 0.0122, -0.1294, -0.1709, 1.6068, 7.159, 1.917, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba42001c00f3bf5fd940565fe7b5f9bffddba8e5b465a984df2d20df77895a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e5109829ace2a8f9c542a42bf18c6aa3884b5c67f45f5ff82790e758425cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40be8c1c845468d1e7be20ad271bd3d43d1f46a693b016895caad1f27a776435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 10.39 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5301 left_j1=2.3341 left_j2=1.8885 left_j3=-1.1694 left_j4=0.0063 left_j5=-0.0269 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -10.6462, 5.5316, 0.4908, -0.0122, -0.0464, -0.0073, -0.0752, 1.6479, 6.9949, 1.9219, -0.0659, -0.0366, -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=-0.5301 left_j1=2.3474 left_j2=1.8866 left_j3=-1.1667 left_j4=0.0059 left_j5=-0.0303 left_gripper=0.0115 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -13.7231, 5.7231, 0.105, -0.022, 0.0024, 0.9646, -0.0615, 1.7709, 6.9949, 1.8828, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2589 left_j2=1.7283 left_j3=-1.0382 left_j4=0.0036 left_j5=-0.0338 left_gripper=0.9945 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -12.3966, 4.0547, 0.3639, -0.0073, 0.0122, -0.1294, -0.1709, 1.6068, 7.159, 1.917, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba42001c00f3bf5fd940565fe7b5f9bffddba8e5b465a984df2d20df77895a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e5109829ace2a8f9c542a42bf18c6aa3884b5c67f45f5ff82790e758425cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40be8c1c845468d1e7be20ad271bd3d43d1f46a693b016895caad1f27a776435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob dba42001c00f]

[blob b0e5109829ac]

[blob 40be8c1c8454]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011uAjs8f9QBTZSoNcaoXGnF",
      "input": {
        "note": "Overhead shows the blue block untouched, so my earlier close simply happened above it — the fingers were too high. Returning to the block's radius and descending ~5 cm lower with the gripper open, watching j1 effort for table contact.",
        "targets": {
          "left_j1": 2.456,
          "left_j2": 1.846,
          "left_j3": -0.961
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_011uAjs8f9QBTZSoNcaoXGnF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.3436 left_j2=1.8599 left_j3=-1.0893 left_j4=0.0059 left_j5=-0.0456 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -3.8906, 3.6581, 1.5311, -0.0366, 0.0708, 0.0611, -0.1846, 1.6068, 6.9949, 1.9316, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef41e67a6be9668852d0902cd4b8535b5fef266efe3d2ab81eddc3f897c61545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf95a595a49c6d1966d0aba9aca5a5009bb17bc94c251b6f8815c2f27729b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c93fc528163e835b696b0d6adb89ef8fd43cb70b0aa9f3525c46cff2e798cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 6.962 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5301 left_j1=2.3474 left_j2=1.8866 left_j3=-1.1667 left_j4=0.0059 left_j5=-0.0303 left_gripper=0.0115 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -13.7231, 5.7231, 0.105, -0.022, 0.0024, 0.9646, -0.0615, 1.7709, 6.9949, 1.8828, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2589 left_j2=1.7283 left_j3=-1.0382 left_j4=0.0036 left_j5=-0.0338 left_gripper=0.9945 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -12.3966, 4.0547, 0.3639, -0.0073, 0.0122, -0.1294, -0.1709, 1.6068, 7.159, 1.917, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.5282 left_j1=2.3436 left_j2=1.8599 left_j3=-1.0893 left_j4=0.0059 left_j5=-0.0456 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -3.8906, 3.6581, 1.5311, -0.0366, 0.0708, 0.0611, -0.1846, 1.6068, 6.9949, 1.9316, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef41e67a6be9668852d0902cd4b8535b5fef266efe3d2ab81eddc3f897c61545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf95a595a49c6d1966d0aba9aca5a5009bb17bc94c251b6f8815c2f27729b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c93fc528163e835b696b0d6adb89ef8fd43cb70b0aa9f3525c46cff2e798cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ef41e67a6be9]

[blob acf95a595a49]

[blob 2c93fc528163]

{
  "content": [
    {
      "signature": 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jeNEvlM92zMggl0cSrkJ9J9JD+yuwhXTTF/tt25eWHUQap2ZYK9UpkfZNnh4xHmf5O495/M454JFZiYFjwo0oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UTyexGGxenexnko8eQPZmr",
      "input": {
        "note": "j1 stalled and its holding effort relaxed from -12 to -3.9 N·m: the fingertips touched the table, which calibrates my height (FK z reads 8.8 cm high). Overhead shows the gripper sitting about 4-5 cm beyond the blue block, so I'm lifting to ~6 cm and pulling back 4 cm to re-acquire it.",
        "targets": {
          "left_j1": 2.097,
          "left_j2": 1.715,
          "left_j3": -1.189
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UTyexGGxenexnko8eQPZmr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1647 left_j2=1.7267 left_j3=-1.1587 left_j4=0.0032 left_j5=-0.0494 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0563 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -14.2974, 5.3949, 0.4127, -0.0073, -0.0073, -0.0073, -0.1983, 1.7573, 7.1179, 1.8632, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ede82212160f824d1345df02314398215e3a2624c632d610a3d2dcd9e29215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7c28e9c2b41f51c26f6a27aaa170d550968f049e1d859f9f23cf54652ef291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5885659a181b5fc5ea3b39b1a6b4601bbd34900a69f881d6f9f4c05095f639b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 7.791 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2589 left_j2=1.7283 left_j3=-1.0382 left_j4=0.0036 left_j5=-0.0338 left_gripper=0.9945 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -12.3966, 4.0547, 0.3639, -0.0073, 0.0122, -0.1294, -0.1709, 1.6068, 7.159, 1.917, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.5282 left_j1=2.3436 left_j2=1.8599 left_j3=-1.0893 left_j4=0.0059 left_j5=-0.0456 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -3.8906, 3.6581, 1.5311, -0.0366, 0.0708, 0.0611, -0.1846, 1.6068, 6.9949, 1.9316, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1647 left_j2=1.7267 left_j3=-1.1587 left_j4=0.0032 left_j5=-0.0494 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0563 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -14.2974, 5.3949, 0.4127, -0.0073, -0.0073, -0.0073, -0.1983, 1.7573, 7.1179, 1.8632, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ede82212160f824d1345df02314398215e3a2624c632d610a3d2dcd9e29215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7c28e9c2b41f51c26f6a27aaa170d550968f049e1d859f9f23cf54652ef291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5885659a181b5fc5ea3b39b1a6b4601bbd34900a69f881d6f9f4c05095f639b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 83ede8221216]

[blob 9c7c28e9c2b4]

[blob b5885659a181]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014czYsggWJEBLEVAG2MLuNj",
      "input": {
        "note": "After retracting, the blue block is back in the wrist view right between the jaws. I'm descending ~1.5 cm to bring the fingertips to mid-block height (about 2 cm above the table) before closing.",
        "targets": {
          "left_j1": 2.186,
          "left_j2": 1.681,
          "left_j3": -1.066
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_014czYsggWJEBLEVAG2MLuNj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1323 left_j2=1.7035 left_j3=-1.1427 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -8.4444, 4.7658, 0.3199, -0.0024, -0.0415, -0.0073, -0.2256, 1.6615, 7.0769, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0605a3901b5ef5d599967ef56483fee1c66ef8bcafcbc36afc6425283ec39e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6197592f873afe8a88c4bc4e886572e43e5e474d690706e7d05c01ebec8da93e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:811fd2155fb955dec41aafccc181b50d3b4f0bc8c86df72fa7cb68efe00fe54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 5.261 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.3436 left_j2=1.8599 left_j3=-1.0893 left_j4=0.0059 left_j5=-0.0456 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -3.8906, 3.6581, 1.5311, -0.0366, 0.0708, 0.0611, -0.1846, 1.6068, 6.9949, 1.9316, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1647 left_j2=1.7267 left_j3=-1.1587 left_j4=0.0032 left_j5=-0.0494 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0563 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -14.2974, 5.3949, 0.4127, -0.0073, -0.0073, -0.0073, -0.1983, 1.7573, 7.1179, 1.8632, -0.0317, -0.0415, -0.0171]",
      "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=-0.5282 left_j1=2.1323 left_j2=1.7035 left_j3=-1.1427 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -8.4444, 4.7658, 0.3199, -0.0024, -0.0415, -0.0073, -0.2256, 1.6615, 7.0769, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0605a3901b5ef5d599967ef56483fee1c66ef8bcafcbc36afc6425283ec39e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6197592f873afe8a88c4bc4e886572e43e5e474d690706e7d05c01ebec8da93e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811fd2155fb955dec41aafccc181b50d3b4f0bc8c86df72fa7cb68efe00fe54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0605a3901b5e]

[blob 6197592f873a]

[blob 811fd2155fb9]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RSrK8qoKQS5Fcj9zsrDpuM",
      "input": {
        "note": "The wrist view shows the blue cube squarely between the open jaws, just beyond the grasp point, and I'm about 4.7 cm above the table. Descending another ~3 cm (commanding slightly past the target to beat controller sag) so the jaws straddle the block.",
        "targets": {
          "left_j1": 2.23,
          "left_j2": 1.653,
          "left_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RSrK8qoKQS5Fcj9zsrDpuM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2032 left_j2=1.6669 left_j3=-1.0668 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -9.2376, 4.9299, 0.3443, 0.0024, -0.0757, -0.0073, -0.0752, 1.6205, 7.0222, 1.917, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a972f109f184b5658d182550f500cd68e3ef9c54e2edf7e08aea434b46909d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6cca5099716360c7a0870e2637559910376127a4c924693041ba05a7e77da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f7389e3d143f5320fd9de228f5f40558eddc2046e57cf11109b4196cc711ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 11.97 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1647 left_j2=1.7267 left_j3=-1.1587 left_j4=0.0032 left_j5=-0.0494 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0563 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -14.2974, 5.3949, 0.4127, -0.0073, -0.0073, -0.0073, -0.1983, 1.7573, 7.1179, 1.8632, -0.0317, -0.0415, -0.0171]",
      "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=-0.5282 left_j1=2.1323 left_j2=1.7035 left_j3=-1.1427 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -8.4444, 4.7658, 0.3199, -0.0024, -0.0415, -0.0073, -0.2256, 1.6615, 7.0769, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2032 left_j2=1.6669 left_j3=-1.0668 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -9.2376, 4.9299, 0.3443, 0.0024, -0.0757, -0.0073, -0.0752, 1.6205, 7.0222, 1.917, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a972f109f184b5658d182550f500cd68e3ef9c54e2edf7e08aea434b46909d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6cca5099716360c7a0870e2637559910376127a4c924693041ba05a7e77da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7389e3d143f5320fd9de228f5f40558eddc2046e57cf11109b4196cc711ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 83a972f109f1]

[blob 7c6cca509971]

[blob 5f7389e3d143]

{
  "content": [
    {
      "signature": "CAIS7wUKjAEIEBgCKkAHnK17cud1us+VvP83ZlSvUX1gtvXwKGmthGEikzZlqPtPYkB+lQ9g+vpYLDxJi/ttoJIEg9u8QTNk6PgzbAyJMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLdSpWTq0k9Ux3P22GgyQA7Hqm+e5r7+MFWwiMPMURTMxwnxhHxtP1rvdDndt6KfbDi6CdLQbskBGnsl/izgW13EGu8wUK/zag4WzGCqPBDFGweH5BfzJrGq4RLhV0XmWEsVhICIfxckuFx7j1347Df9Iy6bMvOwBEQNIslbUxMwil1WOb+8G85XF8nWuXx9Gv4u5do1/5WR55u+wwR5Z6ja4rJ/GEcPNOO8TPLRCJF2irNCZpBuMoBT2wJYbVRK3QrtjmcuX4wHEcqC+vpd07vxNZWGEYvsN+NpmhR6JYEHjCLN3flZCw28ch/NL7eyWYUJEC5ZJy2NuEXQk5kgwLLZHXm0ohxvw8RzkuRMR2wFsW6PyJ8iNllwSDuQwnxKBLDLjVK2xZtACdJO8Qp1azy6hZxy7LlM0rozF02ISdxBtaF5Com7T5n2smbzcMvo+sa1RskXP8KwAVspi82SzgkGZLFhcds02TAAyoy8ahEPBuSgf57Tc0CqaGB3pYiz4YNLnN9Xkyxjuaw68VAYDDh9ZuhiWvD6ts7Eh8vS1WQg5P29D5+gGjyo8+QwrT4mrdv0WEo9fnbXFj9fXetRDA92uXbo5iNBsnQskA25igF1iU7B2RTy9kSJnI8qsYb1JVCqYUzWrH2kQeessM+LBuq0xyeNnkYPi5Uao0WnxX5UNmlPxBuB0A79C1u+JxPrhKrERJk/ewhZKt8ooMO48OevPxHDiNW5i9dmryjRv/507FBPvyiZ3saSfQCHogE3ynlaDAlw1QWS6dTI5Zt3CZfnG1IB7YgbLs8oiKa9NGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLqyyTocmdrHwF9MyXUCM1",
      "input": {
        "note": "The fingertips are now ~1.3 cm above the table with the block filling the jaw gap at the bottom of the wrist view. Closing fully; I expect a residual near 0.4 (a ~4 cm cube) if the grasp is good.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NLqyyTocmdrHwF9MyXUCM1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2189 left_j2=1.66 left_j3=-1.0615 left_j4=0.0055 left_j5=-0.0521 left_gripper=0.0115 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -12.9436, 5.9692, 0.1245, -0.0513, -0.0122, 0.9548, -0.0615, 1.6889, 7.2, 1.8779, 0.0073, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f562d0bcb224cf16ed4c8f7949387ab8fecbef39f0e70d308c22aa519c7ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db68e9b7f7be935739d22e351293dab26f75652f48ba660dbf6d14ad7c488ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4783787295ba987371e2f7aee3fe785ecc8ea2c1b38761438512eca9aabd8cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 20.24 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1323 left_j2=1.7035 left_j3=-1.1427 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -8.4444, 4.7658, 0.3199, -0.0024, -0.0415, -0.0073, -0.2256, 1.6615, 7.0769, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2032 left_j2=1.6669 left_j3=-1.0668 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -9.2376, 4.9299, 0.3443, 0.0024, -0.0757, -0.0073, -0.0752, 1.6205, 7.0222, 1.917, -0.0269, -0.0415, -0.0171]",
      "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=-0.5293 left_j1=2.2189 left_j2=1.66 left_j3=-1.0615 left_j4=0.0055 left_j5=-0.0521 left_gripper=0.0115 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -12.9436, 5.9692, 0.1245, -0.0513, -0.0122, 0.9548, -0.0615, 1.6889, 7.2, 1.8779, 0.0073, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f562d0bcb224cf16ed4c8f7949387ab8fecbef39f0e70d308c22aa519c7ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db68e9b7f7be935739d22e351293dab26f75652f48ba660dbf6d14ad7c488ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4783787295ba987371e2f7aee3fe785ecc8ea2c1b38761438512eca9aabd8cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d8f562d0bcb2]

[blob db68e9b7f7be]

[blob 4783787295ba]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H15iXw9gf3uPcAChFmvzqu",
      "input": {
        "note": "Second close also read 1 mm residual — still missing the block, so my lateral/radial estimate is off by a few cm. Lifting to ~11 cm with the gripper open to get a wider wrist view where I can see both jaws and the block and measure the offset properly.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.053,
          "left_j2": 1.86,
          "left_j3": -1.378
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H15iXw9gf3uPcAChFmvzqu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5289 left_j1=2.0975 left_j2=1.8278 left_j3=-1.3422 left_j4=0.0063 left_j5=-0.0528 left_gripper=0.995 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.8188, 8.1846, 0.1294, -0.0464, -0.0562, -0.0904, -0.1436, 1.812, 6.9949, 1.8828, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f048ee7e7258b4cca6a1ded7459de64f804724da7c44dfc69625ab8be21dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a02c8158c65e18afdbf603b8ca3ace47da3e3e6208525c59b3324ba9ed3e99b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5a277514d42a1763bf5c7b75b3c869d992215ea66ab1e81894c299dfc60b4b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 12 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.2032 left_j2=1.6669 left_j3=-1.0668 left_j4=0.0029 left_j5=-0.0498 left_gripper=0.9953 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -9.2376, 4.9299, 0.3443, 0.0024, -0.0757, -0.0073, -0.0752, 1.6205, 7.0222, 1.917, -0.0269, -0.0415, -0.0171]",
      "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=-0.5293 left_j1=2.2189 left_j2=1.66 left_j3=-1.0615 left_j4=0.0055 left_j5=-0.0521 left_gripper=0.0115 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -12.9436, 5.9692, 0.1245, -0.0513, -0.0122, 0.9548, -0.0615, 1.6889, 7.2, 1.8779, 0.0073, -0.0317, -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=-0.5289 left_j1=2.0975 left_j2=1.8278 left_j3=-1.3422 left_j4=0.0063 left_j5=-0.0528 left_gripper=0.995 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.8188, 8.1846, 0.1294, -0.0464, -0.0562, -0.0904, -0.1436, 1.812, 6.9949, 1.8828, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f048ee7e7258b4cca6a1ded7459de64f804724da7c44dfc69625ab8be21dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a02c8158c65e18afdbf603b8ca3ace47da3e3e6208525c59b3324ba9ed3e99b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a277514d42a1763bf5c7b75b3c869d992215ea66ab1e81894c299dfc60b4b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 83f048ee7e72]

[blob a02c8158c65e]

[blob b5a277514d42]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HhHEGGjoVVAiHQyWghiACJ",
      "input": {
        "note": "Comparing overhead frames shows the block has been shoved ~3 cm radially inward by my descents, so my radius was too large. Swinging the base yaw from -0.53 to -0.15 rad at fixed radius/height to pin down where the gripper is in the overhead image and the pixels-per-cm scale, so I can aim by coordinates instead of guesswork.",
        "targets": {
          "left_j0": -0.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HhHEGGjoVVAiHQyWghiACJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.1745 left_j1=2.0892 left_j2=1.8317 left_j3=-1.3464 left_j4=0.0059 left_j5=-0.0525 left_gripper=0.9958 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.2632, 5.5726, 0.232, -0.0415, -0.0317, 0.0806, -0.0615, 1.7573, 7.1316, 1.8681, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff6eeeec91ff3eff2f09b0e90de1172a3b3b369a8b6c99fd7bfaafd9e74d231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecea6b4e4dab1589eab070aa2da2434d4acdca63aedd93680653eafd0dfe1fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c7a2ce669f3095262d1f4d782b974071e442d245f6f6295e9c0ba492c02660d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 4.941 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2189 left_j2=1.66 left_j3=-1.0615 left_j4=0.0055 left_j5=-0.0521 left_gripper=0.0115 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -12.9436, 5.9692, 0.1245, -0.0513, -0.0122, 0.9548, -0.0615, 1.6889, 7.2, 1.8779, 0.0073, -0.0317, -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=-0.5289 left_j1=2.0975 left_j2=1.8278 left_j3=-1.3422 left_j4=0.0063 left_j5=-0.0528 left_gripper=0.995 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.8188, 8.1846, 0.1294, -0.0464, -0.0562, -0.0904, -0.1436, 1.812, 6.9949, 1.8828, -0.0366, -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 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=-0.1745 left_j1=2.0892 left_j2=1.8317 left_j3=-1.3464 left_j4=0.0059 left_j5=-0.0525 left_gripper=0.9958 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.2632, 5.5726, 0.232, -0.0415, -0.0317, 0.0806, -0.0615, 1.7573, 7.1316, 1.8681, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff6eeeec91ff3eff2f09b0e90de1172a3b3b369a8b6c99fd7bfaafd9e74d231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecea6b4e4dab1589eab070aa2da2434d4acdca63aedd93680653eafd0dfe1fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7a2ce669f3095262d1f4d782b974071e442d245f6f6295e9c0ba492c02660d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0ff6eeeec91f]

[blob ecea6b4e4dab]

[blob 5c7a2ce669f3]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cqtc6NuYadV3Wt3zCinwxf",
      "input": {
        "note": "Rather than guessing from the wrist view, I'll measure directly: moving to a shorter radius (~4 cm inside the block) at table height, where the open jaws touch the tabletop and the overhead camera can show their offset from the blue block without parallax error.",
        "targets": {
          "left_j0": -0.6,
          "left_j1": 2.056,
          "left_j2": 1.416,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Cqtc6NuYadV3Wt3zCinwxf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5743 left_j1=2.0758 left_j2=1.4345 left_j3=-0.9977 left_j4=0.0025 left_j5=-0.0559 left_gripper=0.9959 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.0274, 6.0239, 0.2613, -0.0171, 0.0269, 0.0024, -0.0615, 1.6889, 7.2137, 1.956, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:035f5ef95da6760aad529c45e959bb2686016d0d806edb3dfb271b3606a83412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f4c82121f42c4381f7d7c5599e462a2a729ff982ae7417921a629ad021d356b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:effdeedc5599abe0fec55357280d07e979f08f7f658689c18e3368017c807261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 15.32 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5289 left_j1=2.0975 left_j2=1.8278 left_j3=-1.3422 left_j4=0.0063 left_j5=-0.0528 left_gripper=0.995 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.8188, 8.1846, 0.1294, -0.0464, -0.0562, -0.0904, -0.1436, 1.812, 6.9949, 1.8828, -0.0366, -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 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=-0.1745 left_j1=2.0892 left_j2=1.8317 left_j3=-1.3464 left_j4=0.0059 left_j5=-0.0525 left_gripper=0.9958 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.2632, 5.5726, 0.232, -0.0415, -0.0317, 0.0806, -0.0615, 1.7573, 7.1316, 1.8681, -0.022, -0.0366, -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=-0.5743 left_j1=2.0758 left_j2=1.4345 left_j3=-0.9977 left_j4=0.0025 left_j5=-0.0559 left_gripper=0.9959 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.0274, 6.0239, 0.2613, -0.0171, 0.0269, 0.0024, -0.0615, 1.6889, 7.2137, 1.956, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:035f5ef95da6760aad529c45e959bb2686016d0d806edb3dfb271b3606a83412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f4c82121f42c4381f7d7c5599e462a2a729ff982ae7417921a629ad021d356b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:effdeedc5599abe0fec55357280d07e979f08f7f658689c18e3368017c807261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 035f5ef95da6]

[blob 4f4c82121f42]

[blob effdeedc5599]

{
  "content": [
    {
      "signature": "CAIS0AoKjAEIEBgCKkBxYkqwU27nfLg5StUQbJdaEm4IEhWl8aaTo9t0LxZcHebdVhtu9URBLM2AyS/Oe2QDv1u+uhToBlCdevw2skNgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMj0WFwKNnHf5OvEfIGgxe2TL+GQX2X/UoF20iMOMF+BOxwT+GeSikCddrwEVge74TWW+g8LhEXN6mK7sRd/el7GwvHJG1FqNuAbUVPirwCOPmMJHAmhSoBV645Teb+g03CNJ5Ggv9ai0onOm9zrRS/01y6sFgU4hs5FFfpFZrq9+OdrujW0n+nHSclrgQiDz4d+RY5VU6zKo4joqtmpkBqvXIIxaQzf1Y3xSpbRiOyCyLseRh8LnxPEzE8ynVSuX2zYTLEziZYzPYkYET9Vg/joSwHAZXIGSkifDZ3du5wOFRU2cu7d6Qzbn/f/+xNPcGG5nq79trl9V4Rv6ZP5SoddfCIJvTb3N4C3IK9rt9DuAVY9tYSY3M8mEY2DpPg+a9+0ZzhkXueBFfF5V6v7pvrMRT8JCzX8fnjKjCJkv+uyLjez795yDUsKZnEgyapcji8WAu7VgHAgBBGGQn8HwIk55/q0Bwc+cHAY7FkX40QThogUb7f7s4TDN1OqljcXgDPtvo40kc2izrPm9fuxyv/3+YKdkoNQRr8xx9q3RqBpC2leAQk6EImxYSNKJmbqy0SQHAihVdNugwALM4aWvP5sENpELnTXtZCpixQU27ExzSyfoGM6/wfELBt1l5ftYZpc2GkK6KoPYORxstn/cAd5Bj/iDa1q3p0KeMMiuG2zmgLwOxztUM/k7Nbk0Cecq9pVutAodHFQcgEyP0zMbE+u5RKAT58clqz+eaW/QwfG2wOa3SscMtdyANz5EFFhQJ8PcQ+QQgo/RBe0QFUd7kyODYIDjQaK8w2r8xoHfCNKT76un0iti4ECx/MbDjXCwAG4bXR+PaR5rnnkbcyD82eb+GK9uj+QMmFThoZRVt2ecnxDb54k+4KGvUXEJKXgST0iBxdzFwaeji7f4ryiEyw147jMl34WBFKKaHrMH05sKeGEFwYQxywijqZP97aFH7hLWC6A1e2/J9UG3zv6dEHzR7SSPyGIAKXq9PB2aIN+h8a6nOzbT5rBgkxFt3QuSUAqwYEQK6IWmLHA9S60uqn5072sPrbUTwmiM4duO2W7eHcnqxE1BaWvvILYgo9jN/KX1B02Ue1DhR/U7alqzX9b33pmPRTs7ef81+uL+hhk232/ImJer8X8+OnF4cbND4Cz6dy3RMjWCcYpnVpX8Tg3nExb7m34p32uCbTkWXwZtsYiC8i8AkiqWL6rpjIE/I7QViFc7kj+lYbOkv8Yh3B/JwCdq/z2hMmpJSjIWDVoYbcw8/HhbUact4VsGQbX5YP97qvGNuxig5V2H/kh56NIhYiyrrM1uUED9vySphHDktrXRT4coePksA8On7UIzjZtgr6086bqm7sEBf0OPQkUwendH8cLC6po5IWRq6AFXelKaeuToBcb4itU8ch4qkis9e6mx1aJBOMwHgoFghgVbdsnHZaA1BrjgmcFgdhNnzQydKI4/bwoT5TYPh8qfaT3bSMghd00/eiBnp0YbaRexHTAV50UhyhqfvXFY9D3f9gTsUSzaOZBCmBivXfhjCMDJ8OlGEettJnAUvBPPX06bbX5mvm1dyd/QBxdKb/3KrDc7e56CF224kUwWHSAC0isG0XsvzASITTiPEVVCiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mc6VdUsNiLPyzjoEDmZyvV",
      "input": {
        "note": "At this shorter radius the wrist camera shows the blue lettered cube sitting right in the jaw gap with the fingertips ~1 cm above the table. Closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Mc6VdUsNiLPyzjoEDmZyvV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0727 left_j2=1.42 left_j3=-0.9901 left_j4=0.0029 left_j5=-0.0566 left_gripper=0.4482 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -10.1128, 6.3658, 0.022, -0.0317, -0.0611, 1.033, -0.1846, 1.6342, 6.9949, 1.8926, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46e42b201c555c0fc8fed2b95d50d21b56880a75aa4a55fc515c37aa837d4a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3d4ab014fda7afddf4b2fbfd9ea273846ca86d72873f9673c5045bdba7ca851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56a0e35bb5eb6592240d8674ee95d9954efcb5bd4c66d7f71ac5027afc4b13a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 8.905 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.1745 left_j1=2.0892 left_j2=1.8317 left_j3=-1.3464 left_j4=0.0059 left_j5=-0.0525 left_gripper=0.9958 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.2632, 5.5726, 0.232, -0.0415, -0.0317, 0.0806, -0.0615, 1.7573, 7.1316, 1.8681, -0.022, -0.0366, -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=-0.5743 left_j1=2.0758 left_j2=1.4345 left_j3=-0.9977 left_j4=0.0025 left_j5=-0.0559 left_gripper=0.9959 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.0274, 6.0239, 0.2613, -0.0171, 0.0269, 0.0024, -0.0615, 1.6889, 7.2137, 1.956, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0727 left_j2=1.42 left_j3=-0.9901 left_j4=0.0029 left_j5=-0.0566 left_gripper=0.4482 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -10.1128, 6.3658, 0.022, -0.0317, -0.0611, 1.033, -0.1846, 1.6342, 6.9949, 1.8926, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46e42b201c555c0fc8fed2b95d50d21b56880a75aa4a55fc515c37aa837d4a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3d4ab014fda7afddf4b2fbfd9ea273846ca86d72873f9673c5045bdba7ca851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56a0e35bb5eb6592240d8674ee95d9954efcb5bd4c66d7f71ac5027afc4b13a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d46e42b201c5]

[blob e3d4ab014fda]

[blob 56a0e35bb5eb]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Du4iYroDcJv5u7AxCCK3bG",
      "input": {
        "note": "Grasp confirmed: the gripper closed to a 0.45 residual (~4.3 cm — the cube's width) with high grip effort. Lifting the block ~15 cm straight up before transporting it toward the red block.",
        "targets": {
          "left_j1": 1.861,
          "left_j2": 1.796,
          "left_j3": -1.506
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Du4iYroDcJv5u7AxCCK3bG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=1.9053 left_j2=1.755 left_j3=-1.4403 left_j4=0.0032 left_j5=-0.0601 left_gripper=0.4513 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -11.7402, 8.1436, 0.1294, -0.0269, -0.0122, 0.6862, -0.1026, 1.812, 6.9949, 1.9023, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c21899bdcb8c802a92d22c32d510eb71ca540b5002312fa161739db8e4415f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29cced76ac1db58e54c4274a9dd6d7921bcf1414465406f4a53c88655a71de10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d61426b24dd9989432376bafbc440cc8987263100b64fd555fc9d8f623a24b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 19.81 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5743 left_j1=2.0758 left_j2=1.4345 left_j3=-0.9977 left_j4=0.0025 left_j5=-0.0559 left_gripper=0.9959 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.0274, 6.0239, 0.2613, -0.0171, 0.0269, 0.0024, -0.0615, 1.6889, 7.2137, 1.956, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0727 left_j2=1.42 left_j3=-0.9901 left_j4=0.0029 left_j5=-0.0566 left_gripper=0.4482 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -10.1128, 6.3658, 0.022, -0.0317, -0.0611, 1.033, -0.1846, 1.6342, 6.9949, 1.8926, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=1.9053 left_j2=1.755 left_j3=-1.4403 left_j4=0.0032 left_j5=-0.0601 left_gripper=0.4513 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -11.7402, 8.1436, 0.1294, -0.0269, -0.0122, 0.6862, -0.1026, 1.812, 6.9949, 1.9023, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c21899bdcb8c802a92d22c32d510eb71ca540b5002312fa161739db8e4415f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29cced76ac1db58e54c4274a9dd6d7921bcf1414465406f4a53c88655a71de10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61426b24dd9989432376bafbc440cc8987263100b64fd555fc9d8f623a24b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 66c21899bdcb]

[blob 29cced76ac1d]

[blob d61426b24dd9]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WggzpuFBSMuEV7VHRswFLG",
      "input": {
        "note": "The block is lifted ~14 cm clear of the table and the red block is plainly visible in the overhead view. Using my overhead calibration (base ~584 mm apart ⇒ ~3.2 px/cm) the red block sits at bearing -0.86 rad and radius ~0.46 for this arm, so I'm flying there at ~11 cm height.",
        "targets": {
          "left_j0": -0.856,
          "left_j1": 2.53,
          "left_j2": 2.674,
          "left_j3": -1.716
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01WggzpuFBSMuEV7VHRswFLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8463 left_j1=2.5118 left_j2=2.6289 left_j3=-1.7039 left_j4=0.0036 left_j5=-0.0715 left_gripper=0.4524 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0673 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.9709, 7.4598, 0.1832, -0.0659, 0.1099, 1.0281, -0.0342, 1.5385, 6.9949, 2.0244, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9a2b28d819e892527df4933774c775801b1dfdc96d38cb5f11aa5c995f8e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3dd99e0c03d8202daa3a03e52e82891d794364979847b19f60ec4f3f858aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aa19026943c0a6906d4e525a0e6acdb962efb1b52856984b5d551e97b187b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /messages · status 200 · 9.474 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0727 left_j2=1.42 left_j3=-0.9901 left_j4=0.0029 left_j5=-0.0566 left_gripper=0.4482 right_j0=0.0044 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -10.1128, 6.3658, 0.022, -0.0317, -0.0611, 1.033, -0.1846, 1.6342, 6.9949, 1.8926, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=1.9053 left_j2=1.755 left_j3=-1.4403 left_j4=0.0032 left_j5=-0.0601 left_gripper=0.4513 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -11.7402, 8.1436, 0.1294, -0.0269, -0.0122, 0.6862, -0.1026, 1.812, 6.9949, 1.9023, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8463 left_j1=2.5118 left_j2=2.6289 left_j3=-1.7039 left_j4=0.0036 left_j5=-0.0715 left_gripper=0.4524 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0673 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.9709, 7.4598, 0.1832, -0.0659, 0.1099, 1.0281, -0.0342, 1.5385, 6.9949, 2.0244, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9a2b28d819e892527df4933774c775801b1dfdc96d38cb5f11aa5c995f8e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3dd99e0c03d8202daa3a03e52e82891d794364979847b19f60ec4f3f858aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa19026943c0a6906d4e525a0e6acdb962efb1b52856984b5d551e97b187b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bf9a2b28d819]

[blob ea3dd99e0c03]

[blob 6aa19026943c]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jr3AvCLqzMwf1chBBMLYqU",
      "input": {
        "note": "The wrist camera shows the red '2' block ahead and the held blue '6' block hanging at the bottom of the frame. Since the camera is ~11 cm above the table, a block that looks \"ahead\" is largely just below me, so I'm descending ~5 cm (and yawing 2 cm right) rather than extending, and will watch how the red block tracks toward the jaws.",
        "targets": {
          "left_j0": -0.89,
          "left_j1": 2.498,
          "left_j2": 2.41,
          "left_j3": -1.483
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jr3AvCLqzMwf1chBBMLYqU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8806 left_j1=2.5156 left_j2=2.4233 left_j3=-1.5543 left_j4=0.0032 left_j5=-0.0719 left_gripper=0.4524 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -15.1179, 6.4889, 0.2955, -0.0073, -0.022, 1.0232, 0.0068, 1.812, 7.1179, 1.873, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d271910719ef3b1155b07dc4395223fe330ad0a1982a928b8e4426172591757d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afcb1764ea55c0ed1118281fd10f3bc9a70bb0e60a992cf8d11d23c74dbe399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e0faa493bd775020fbfd124dd04ca4c331ea372b12183a3d33308e15b642dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 20 attempt 0 · /messages · status 200 · 17.74 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=1.9053 left_j2=1.755 left_j3=-1.4403 left_j4=0.0032 left_j5=-0.0601 left_gripper=0.4513 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -11.7402, 8.1436, 0.1294, -0.0269, -0.0122, 0.6862, -0.1026, 1.812, 6.9949, 1.9023, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8463 left_j1=2.5118 left_j2=2.6289 left_j3=-1.7039 left_j4=0.0036 left_j5=-0.0715 left_gripper=0.4524 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0673 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.9709, 7.4598, 0.1832, -0.0659, 0.1099, 1.0281, -0.0342, 1.5385, 6.9949, 2.0244, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8806 left_j1=2.5156 left_j2=2.4233 left_j3=-1.5543 left_j4=0.0032 left_j5=-0.0719 left_gripper=0.4524 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -15.1179, 6.4889, 0.2955, -0.0073, -0.022, 1.0232, 0.0068, 1.812, 7.1179, 1.873, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d271910719ef3b1155b07dc4395223fe330ad0a1982a928b8e4426172591757d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afcb1764ea55c0ed1118281fd10f3bc9a70bb0e60a992cf8d11d23c74dbe399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0faa493bd775020fbfd124dd04ca4c331ea372b12183a3d33308e15b642dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d271910719ef]

[blob 6afcb1764ea5]

[blob 0e0faa493bd7]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WvvQ8fAnrNixc2LKXvYXkf",
      "input": {
        "note": "Descending brought the red block noticeably closer and larger in the wrist view, but it is still ahead of the held blue block, so I'm extending the reach ~3 cm at constant height to close the remaining radial gap.",
        "targets": {
          "left_j1": 2.672,
          "left_j2": 2.723,
          "left_j3": -1.622
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WvvQ8fAnrNixc2LKXvYXkf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6564 left_j2=2.6755 left_j3=-1.6287 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4537 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -13.5179, 7.8838, 0.3639, 0.0317, 0.0171, 1.0281, -0.0889, 1.8256, 6.9949, 1.8681, -0.0562, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324227b97d84c8ce890640935df11a30dd7ac27f07b0e0fbd93306f0410eb68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212a195ed0c1948b82fe36285b9d53406585e077c0586b62d7ad01008ee9b228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:302cbfa03e6aac511134e713fe50d726e12ae20f2740838ccd087a466aea9354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 21 attempt 0 · /messages · status 200 · 10.72 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8463 left_j1=2.5118 left_j2=2.6289 left_j3=-1.7039 left_j4=0.0036 left_j5=-0.0715 left_gripper=0.4524 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0673 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.9709, 7.4598, 0.1832, -0.0659, 0.1099, 1.0281, -0.0342, 1.5385, 6.9949, 2.0244, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8806 left_j1=2.5156 left_j2=2.4233 left_j3=-1.5543 left_j4=0.0032 left_j5=-0.0719 left_gripper=0.4524 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -15.1179, 6.4889, 0.2955, -0.0073, -0.022, 1.0232, 0.0068, 1.812, 7.1179, 1.873, -0.022, -0.0464, -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=-0.8837 left_j1=2.6564 left_j2=2.6755 left_j3=-1.6287 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4537 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -13.5179, 7.8838, 0.3639, 0.0317, 0.0171, 1.0281, -0.0889, 1.8256, 6.9949, 1.8681, -0.0562, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324227b97d84c8ce890640935df11a30dd7ac27f07b0e0fbd93306f0410eb68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212a195ed0c1948b82fe36285b9d53406585e077c0586b62d7ad01008ee9b228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302cbfa03e6aac511134e713fe50d726e12ae20f2740838ccd087a466aea9354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 324227b97d84]

[blob 212a195ed0c1]

[blob 302cbfa03e6a]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cg6A1yMKW7KMSZu5Hojrtt",
      "input": {
        "note": "The red block is now just above the held blue block in the wrist view, so they may already be vertically aligned. I'm lowering ~3 cm as a probe: if the descent stalls with rising effort at about the red block's 4.3 cm top height, I'm on top of it; if it goes all the way to the table, I'm beside it.",
        "targets": {
          "left_j1": 2.64,
          "left_j2": 2.518,
          "left_j3": -1.449
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Cg6A1yMKW7KMSZu5Hojrtt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6259 left_j2=2.5607 left_j3=-1.5505 left_j4=0.0013 left_j5=-0.0788 left_gripper=0.4567 right_j0=0.0044 right_j1=0.012 right_j2=0.0074 right_j3=-0.0689 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.547, 3.5077, 0.9011, -0.0073, -0.0317, 0.696, -0.2393, 1.7026, 6.9949, 1.8681, -0.0317, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c15bbcc67d2527ec11fc1fc338ac9bd560707b92974df5535a3616c344f5906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35675f459cbe44695bf89b0143da1d6d094ee8d12f507f73b68309697d357af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f83c4070493ede3ec9100069df54e5eb537369c4bea442b1ce7729f7c5640c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 22 attempt 0 · /messages · status 200 · 7.167 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8806 left_j1=2.5156 left_j2=2.4233 left_j3=-1.5543 left_j4=0.0032 left_j5=-0.0719 left_gripper=0.4524 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -15.1179, 6.4889, 0.2955, -0.0073, -0.022, 1.0232, 0.0068, 1.812, 7.1179, 1.873, -0.022, -0.0464, -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=-0.8837 left_j1=2.6564 left_j2=2.6755 left_j3=-1.6287 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4537 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -13.5179, 7.8838, 0.3639, 0.0317, 0.0171, 1.0281, -0.0889, 1.8256, 6.9949, 1.8681, -0.0562, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6259 left_j2=2.5607 left_j3=-1.5505 left_j4=0.0013 left_j5=-0.0788 left_gripper=0.4567 right_j0=0.0044 right_j1=0.012 right_j2=0.0074 right_j3=-0.0689 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.547, 3.5077, 0.9011, -0.0073, -0.0317, 0.696, -0.2393, 1.7026, 6.9949, 1.8681, -0.0317, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c15bbcc67d2527ec11fc1fc338ac9bd560707b92974df5535a3616c344f5906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35675f459cbe44695bf89b0143da1d6d094ee8d12f507f73b68309697d357af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83c4070493ede3ec9100069df54e5eb537369c4bea442b1ce7729f7c5640c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4c15bbcc67d2]

[blob c35675f459cb]

[blob f83c4070493e]

{
  "content": [
    {
      "signature": 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LN2li3Ip1954SCFrjeMTXXxn6resbglIYXSHeo6iIW+7QSJSGsM4eVmr4TOA7TuJge9enRghYPFyQhp/gBxQn9vMrfZRXFEf9VO/EYWTsZ4J9YTa8NOmwsMkzbiVqHiptFWd+jAFw9QF2De0pBbd9bnXK+y40q46lyOsfLDxrPpMSlMWOIBdeLmS077eCIDdmqecGMD8tfPMas2mQjU+st/7UrJUL0w1r7tymXy2epcRW9t4sMQbDikUq9p+UWog8Ye5q006T8J5VEcWgmMLJcXXI/qSCMczjztTzYC1JpxyILRa1O0QUZw6bDy6s3/ml38cv0+qgs3WXVtrGL2e+9MnrSWeMWoCwtwG0u0QwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q4wcegr89d4PqbdWZSMuay",
      "input": {
        "note": "The probe descended past the red block's top height without a clear contact stall, so the blue block is still short of being over it. Raising the block ~2 cm to clear the red block's top and extending to near-maximum reach before probing again.",
        "targets": {
          "left_j1": 2.73,
          "left_j2": 2.859,
          "left_j3": -1.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Q4wcegr89d4PqbdWZSMuay",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.7152 left_j2=2.812 left_j3=-1.6894 left_j4=0.0029 left_j5=-0.0795 left_gripper=0.4592 right_j0=0.0048 right_j1=0.012 right_j2=0.0074 right_j3=-0.07 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -13.2718, 7.788, 0.3541, -0.0317, -0.0122, 0.5641, -0.1709, 1.6068, 7.0222, 1.8828, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcacad99393a26b15b5f1745f46e028f017c9575b2bbadca266c60535d3c70d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8a557086e3d058a9a623e2e1e97190cd6f4ca07001223e7284a3df1f88a57c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a54f410cb0e667a0367598821d1803aada9059b21669d02eb7379896f13c875f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 23 attempt 0 · /messages · status 200 · 22.54 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6564 left_j2=2.6755 left_j3=-1.6287 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4537 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -13.5179, 7.8838, 0.3639, 0.0317, 0.0171, 1.0281, -0.0889, 1.8256, 6.9949, 1.8681, -0.0562, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6259 left_j2=2.5607 left_j3=-1.5505 left_j4=0.0013 left_j5=-0.0788 left_gripper=0.4567 right_j0=0.0044 right_j1=0.012 right_j2=0.0074 right_j3=-0.0689 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.547, 3.5077, 0.9011, -0.0073, -0.0317, 0.696, -0.2393, 1.7026, 6.9949, 1.8681, -0.0317, -0.0171, -0.0073]",
      "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=-0.8837 left_j1=2.7152 left_j2=2.812 left_j3=-1.6894 left_j4=0.0029 left_j5=-0.0795 left_gripper=0.4592 right_j0=0.0048 right_j1=0.012 right_j2=0.0074 right_j3=-0.07 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -13.2718, 7.788, 0.3541, -0.0317, -0.0122, 0.5641, -0.1709, 1.6068, 7.0222, 1.8828, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcacad99393a26b15b5f1745f46e028f017c9575b2bbadca266c60535d3c70d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8a557086e3d058a9a623e2e1e97190cd6f4ca07001223e7284a3df1f88a57c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54f410cb0e667a0367598821d1803aada9059b21669d02eb7379896f13c875f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bcacad99393a]

[blob 0c8a557086e3]

[blob a54f410cb0e6]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJt7fUmYR637f2pCXpdv5Q",
      "input": {
        "note": "Now at near-maximum reach with the block's underside just above the red block's top. Descending ~3 cm as a contact probe: a stall around 4.3 cm means the blue block has landed on the red one.",
        "targets": {
          "left_j1": 2.689,
          "left_j2": 2.633,
          "left_j3": -1.515
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RJt7fUmYR637f2pCXpdv5Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6835 left_j2=2.6732 left_j3=-1.6066 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4587 right_j0=0.0044 right_j1=0.0135 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.4496, 3.8085, 0.6178, -0.0171, -0.0708, 0.5446, -0.1299, 2.1812, 7.5829, 1.7411, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a646a0c9cd9ec4a6c573aa40a922cb2801c1929d49433b35492a082d7202e11e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafa2c348e2dae25d3cad10ca939308083db9af9d955de8b975738070f3c8362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ceec4f209f024d15a3d85df8184598f02583d492ecc4d1e240bed5753edb981c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 24 attempt 0 · /messages · status 200 · 10.9 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6259 left_j2=2.5607 left_j3=-1.5505 left_j4=0.0013 left_j5=-0.0788 left_gripper=0.4567 right_j0=0.0044 right_j1=0.012 right_j2=0.0074 right_j3=-0.0689 right_j4=-0.0116 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.547, 3.5077, 0.9011, -0.0073, -0.0317, 0.696, -0.2393, 1.7026, 6.9949, 1.8681, -0.0317, -0.0171, -0.0073]",
      "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=-0.8837 left_j1=2.7152 left_j2=2.812 left_j3=-1.6894 left_j4=0.0029 left_j5=-0.0795 left_gripper=0.4592 right_j0=0.0048 right_j1=0.012 right_j2=0.0074 right_j3=-0.07 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -13.2718, 7.788, 0.3541, -0.0317, -0.0122, 0.5641, -0.1709, 1.6068, 7.0222, 1.8828, -0.0024, -0.0415, -0.0171]",
      "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=-0.8837 left_j1=2.6835 left_j2=2.6732 left_j3=-1.6066 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4587 right_j0=0.0044 right_j1=0.0135 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.4496, 3.8085, 0.6178, -0.0171, -0.0708, 0.5446, -0.1299, 2.1812, 7.5829, 1.7411, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a646a0c9cd9ec4a6c573aa40a922cb2801c1929d49433b35492a082d7202e11e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafa2c348e2dae25d3cad10ca939308083db9af9d955de8b975738070f3c8362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceec4f209f024d15a3d85df8184598f02583d492ecc4d1e240bed5753edb981c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a646a0c9cd9e]

[blob bafa2c348e2d]

[blob ceec4f209f02]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzuaW7tAnXsP2mGjCHKgGH",
      "input": {
        "note": "Confirmed: the red block sits ~3 cm beyond the left arm's usable reach, so the left arm cannot stack onto it. New plan — set the blue block down about 8 cm closer to the bases, where the right arm (which has the red block well inside its workspace) can pick it up and do the stack.",
        "targets": {
          "left_j1": 2.303,
          "left_j2": 1.854,
          "left_j3": -1.122
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01CzuaW7tAnXsP2mGjCHKgGH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8848 left_j1=2.2745 left_j2=1.9102 left_j3=-1.1175 left_j4=0.0048 left_j5=-0.0784 left_gripper=0.4583 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -9.1829, 3.2615, 0.2271, -0.0855, -0.0366, 0.8181, -0.1709, 1.935, 7.0359, 1.9267, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94197a2ca71a30a26ed78c6f71a27ddd05fa515eb8ddd2fc8d5e4bfd44a38d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117eecc46f8d86604963db23c95a99d0ee9cf28f7122b3fe5ec7c80192149fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bac07a221dfdc575bac254bb4fa0dff6420d45b6869517f2477bfbb2c8b5583f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 25 attempt 0 · /messages · status 200 · 5.114 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.7152 left_j2=2.812 left_j3=-1.6894 left_j4=0.0029 left_j5=-0.0795 left_gripper=0.4592 right_j0=0.0048 right_j1=0.012 right_j2=0.0074 right_j3=-0.07 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -13.2718, 7.788, 0.3541, -0.0317, -0.0122, 0.5641, -0.1709, 1.6068, 7.0222, 1.8828, -0.0024, -0.0415, -0.0171]",
      "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=-0.8837 left_j1=2.6835 left_j2=2.6732 left_j3=-1.6066 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4587 right_j0=0.0044 right_j1=0.0135 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.4496, 3.8085, 0.6178, -0.0171, -0.0708, 0.5446, -0.1299, 2.1812, 7.5829, 1.7411, -0.0171, -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=-0.8848 left_j1=2.2745 left_j2=1.9102 left_j3=-1.1175 left_j4=0.0048 left_j5=-0.0784 left_gripper=0.4583 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -9.1829, 3.2615, 0.2271, -0.0855, -0.0366, 0.8181, -0.1709, 1.935, 7.0359, 1.9267, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94197a2ca71a30a26ed78c6f71a27ddd05fa515eb8ddd2fc8d5e4bfd44a38d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117eecc46f8d86604963db23c95a99d0ee9cf28f7122b3fe5ec7c80192149fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac07a221dfdc575bac254bb4fa0dff6420d45b6869517f2477bfbb2c8b5583f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 94197a2ca71a]

[blob 117eecc46f8d]

[blob bac07a221dfd]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WkvpBZbp4kuTDGpwrjJ26R",
      "input": {
        "note": "Important realisation: the pink '9' face I have been chasing in the wrist view does not move when the arm moves — it is the TOP face of the very cube I am holding, not the red block. So my \"out of reach\" conclusion was based on a phantom. I'm setting the blue block down here to free the view and re-locate the real red block from overhead.",
        "targets": {
          "left_j1": 2.39,
          "left_j2": 1.939,
          "left_j3": -1.164
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WkvpBZbp4kuTDGpwrjJ26R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8867 left_j1=2.3005 left_j2=1.945 left_j3=-1.1465 left_j4=0.0013 left_j5=-0.0792 left_gripper=0.4584 right_j0=0.0048 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -6.106, 3.7675, 0.1929, 0.0317, -0.0513, 0.4567, -0.0479, 1.6205, 7.1863, 1.8926, -0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f7e282397b1e78e901bcf59bf445c03a5bde89069890e6c04b4a282efb0fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed46dedd1473d6c93ab28d3805405753b5ce08a224ce67f2df4d71010371f03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff9643a2594ac0c860e8d75581d75907f79bb42fcdbaa2b8ce2b19bd6690e448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 26 attempt 0 · /messages · status 200 · 5.504 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8837 left_j1=2.6835 left_j2=2.6732 left_j3=-1.6066 left_j4=0.0029 left_j5=-0.0788 left_gripper=0.4587 right_j0=0.0044 right_j1=0.0135 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -13.4496, 3.8085, 0.6178, -0.0171, -0.0708, 0.5446, -0.1299, 2.1812, 7.5829, 1.7411, -0.0171, -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=-0.8848 left_j1=2.2745 left_j2=1.9102 left_j3=-1.1175 left_j4=0.0048 left_j5=-0.0784 left_gripper=0.4583 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -9.1829, 3.2615, 0.2271, -0.0855, -0.0366, 0.8181, -0.1709, 1.935, 7.0359, 1.9267, -0.022, -0.022, -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=-0.8867 left_j1=2.3005 left_j2=1.945 left_j3=-1.1465 left_j4=0.0013 left_j5=-0.0792 left_gripper=0.4584 right_j0=0.0048 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -6.106, 3.7675, 0.1929, 0.0317, -0.0513, 0.4567, -0.0479, 1.6205, 7.1863, 1.8926, -0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f7e282397b1e78e901bcf59bf445c03a5bde89069890e6c04b4a282efb0fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed46dedd1473d6c93ab28d3805405753b5ce08a224ce67f2df4d71010371f03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff9643a2594ac0c860e8d75581d75907f79bb42fcdbaa2b8ce2b19bd6690e448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 18f7e282397b]

[blob bed46dedd147]

[blob ff9643a2594a]

{
  "content": [
    {
      "signature": "CAISngkKjAEIEBgCKkCXmnU65jfEfJNkEmSHpeIqGfswbmOh41ck7eYZF5ufS+SfeXQCIGdumAIdCJSzPaEDprTy0MuUBOUDXr8nwU/eMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM2nDehWURWnRn9tg6GgyXPjdgjTkjjjaMkeUiMBed37Wb/xam0t+gTYLfca9k2dv5MiocS5BVBKvcoygklF4hJvPS5OzLhWkwbeOe1Cq+B4THTPfSbW9gs+E6FKKWFP1mU+t32QYu25aLFCUqhvs4U6e8pEcpEK1g1H5nUi3aGE+iENNv69GQgxUTu3bmQt6W9YEOdjtp4RsagbtkilB7Mgryt22O8N05q6KfUgbBChnttubraG++BDkKdREBjuWzIM3/OVpnxSwi5khvsp/SN6TxxCj3+RSupF/1qpTKKtziM9+iWTpQqD/TRCCICzrN9ZhHgSzvcP+xGPQz9SCUx93DFu0LBlZfAoAiW5NmVQ0GC3tQl8Ehc47uWMgO8zQwiNxKmxbFopiWnmlVSyjAqLNcLl3/X9OUsPRwwayiM/erw0OdhsMm6i05svrdm6XZHHAKu4vRYtGCYkSX0TN5FOTfLVtmcJ2FPVb8EtXeZ66gvjq7+K2U5bp2dUZLBrOfTCtd3Z6j4DS8P5Nj0JqgRI1ZtwHQkve6FvA7P8hvcLQ7qhcgx+9ZMpu1o/BUhPwP/OD1ssGymNkHKtFa2/EnFLOQKj6QuqgDtTDCOyb8/pPLrpdjVDDTF5jeed5is2F4l26AOJgHottIfrhOh9kqjVIO8O08sCJWvLlk8q6WQJ8NhwvFgCm9gk62A3fCkMdanNUpcwtCERAdWKQk4okixp7eDGRwEO/SGtpmXZjdRbtAltCNFMxoF9xIHjhO3+9JsfDh0yf5N0jvdw/aIkbIauIGC1ce94m4kjbp3J7mylAW2ITMetlYXkVhHgASF9SuGrJbLhFrummQPM1MJBRyOnzV+XFgQRyGfaiXqFRS+jK5a96q1Vx6BAyTm8JhHVPnBm31cleMAjtVYYktWoE9rwNRtMBUjy0yQiN6FAKzQcFpjcg66Zwk0+3ZqeWga5jXaUNX25vYvKnRbug+i+6ogWmrwQ63F5pCeRuQLZxGx5f2CZZfdkcjfMAPfLF1Z4BAX8SFjLdA8PbR+Y5JItCWX4jGUuvMtFh2GqjIzMt9E6J8wXOGFVCABskOitEKkCpTOv7LJJ8XIdC/PVjrsM5wUOb+hzn6IgFY9O4HDP6b9VzyPxkRlGzS5HwnRvL7r6CoKb4z4NE7XxNfyyTDgbQsLYgf2UqNuBEq69roDWNFLCA/sYarK6nDxkSp8WdXiE6N4tcr7t1jLUnC0beQmuhr/bANg0pKQVzH1oDT+aev+5XimJjVeESL1KSmntP3+Mai77K//ZMtceC/cFuemg7xUeD3JJa1BGpb/Ps9wJv26+aI3gRe/Gzm/kG4kwE5jEvzcB5qhYhL7zoEqcsnpYA83ByxSgQYK5zIMW+oHUYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4GQTjaXM3ycc9D3eucHJi",
      "input": {
        "note": "j1 stalled and its holding effort relaxed, so the block is resting on the table. Opening the gripper to release it here, then I'll pull the arm back to get an unobstructed overhead view.",
        "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_01G4GQTjaXM3ycc9D3eucHJi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8867 left_j1=2.3058 left_j2=1.9453 left_j3=-1.1622 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9956 right_j0=0.0044 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.9299, 5.7778, 0.5543, -0.0415, -0.0415, -0.0904, -0.1573, 1.7709, 7.2137, 1.873, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebe67729c475a2e776cdd7ee4f24ff30360ac6e4f5289380120c93d70ad3e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d9c72cefb6417779469b5d3e6c54acad7271efcfe48b798b3ddb39b097f588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1162461563518fe724fe0f261dff61d924851cebfda86a14dd7934e6cb882f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 27 attempt 0 · /messages · status 200 · 15.98 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8848 left_j1=2.2745 left_j2=1.9102 left_j3=-1.1175 left_j4=0.0048 left_j5=-0.0784 left_gripper=0.4583 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -9.1829, 3.2615, 0.2271, -0.0855, -0.0366, 0.8181, -0.1709, 1.935, 7.0359, 1.9267, -0.022, -0.022, -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=-0.8867 left_j1=2.3005 left_j2=1.945 left_j3=-1.1465 left_j4=0.0013 left_j5=-0.0792 left_gripper=0.4584 right_j0=0.0048 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -6.106, 3.7675, 0.1929, 0.0317, -0.0513, 0.4567, -0.0479, 1.6205, 7.1863, 1.8926, -0.0366, -0.0757, -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=-0.8867 left_j1=2.3058 left_j2=1.9453 left_j3=-1.1622 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9956 right_j0=0.0044 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.9299, 5.7778, 0.5543, -0.0415, -0.0415, -0.0904, -0.1573, 1.7709, 7.2137, 1.873, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebe67729c475a2e776cdd7ee4f24ff30360ac6e4f5289380120c93d70ad3e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d9c72cefb6417779469b5d3e6c54acad7271efcfe48b798b3ddb39b097f588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1162461563518fe724fe0f261dff61d924851cebfda86a14dd7934e6cb882f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5ebe67729c47]

[blob 84d9c72cefb6]

[blob 116246156351]

{
  "content": [
    {
      "signature": "CAIS/AcKjAEIEBgCKkAPQ2YE7DT0E1LLBrOPvSCL/5cZE2NXYd1dOypZPWzaTm2bQeJvUpv4SWv2xeiWbZRla5XE0gEFUXF+sN0k8SX8MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3/n6ukbh6FvFnkpiGgwethWy9JxjEodcmZ4iMKHUtkB65lzSEihZTniONABXcbhkOr80LMkVoEAOw1zDxRABAHmwa7d4d+LOUOiRJSqcBm4H+mzWr0deZtBhmky0mckqYlrmcJkodV/cQnKc7ovbEKBGoEjr54HEZUbWMbB+c/KbVkHciqATLfsB84RWJ1CJJQIh+tnjQs/96eyZ3hptR4OWrLYu0p9kcxs2t93Ho6I0y1ECdMaCWG2qZQ25YsyiolEKtdX4mebFYrtHMt6IbOy3d9QfiKL31hsbCHigIYnztAd+FSezE5u7IoQO4FU6LJtht3pUVHyIZgwuVfcjb7wPdWfKvKo4XAy+qaiYp29JSAJKfW9sfdTw1zy/jA6Smg4ZqRdxQKqHcilJdBcYnqYCz2kwjDBV9sIFgRV0IYR3igvgpy6g1xFsj3yp9LxvcSMPAj3s3SwrOHc8L7nw+CbuIDyawk9hGwm0guceF4kOt82cBQyUVwiR9W8v8Ppvi29qeMiACwoTuhMaFE2HTpGUj6DaMYKKFmXJ8NHQOIkTGUBV2xo7erE12weCz5qXFW6k8e1qMZYURJyrvPIwsQIjhNU4hSMixSOK/ynirs3n9VSlXloxt7tSG8YR60/BSXWKr6VTiE5ijBPNRiWZj6TPYgVGjnOKkj1ynyPBOqhZMSVlsDdhAltuhwvCvy7YR2QBaIRN+AdFxppxvBg82GQHSy/Y1dMa4MNcyANUCIRP6Sg/Qxfx6I2wb6rZ5zxH6P2D5pBY5LM86JVYy9el/pFJWaiEI0ljfmJpFTATblg48fz88ZOx2bwKLOB+TtckyrwHJd18WHPOGKmGuHgU27ow03OE3HvltEGHLnoS8PGY9cRR8f1xpRx8B5BGzyRCB8F+nycqtc9kuAUv3TYohRxSidssgQGG/FuewXkqs1jUtCxC6jDzQvIdWJXNCy+Vur5B1ud7IWYC6zq9rBgVIra0Mb9UcvwEwVXAwSd+uXzYDn8g1SNoiB6mNwIkFThHsK+6JjNddP+Q1F8qztOwZAbkqoTHD/ZsQGVS5uiXVfePgqmgnLjwDbu2zF9zAAsL86I4YWppMumWQboZ+UwU8bOUmWsclTwTq1I/9xVo/qEYQhsKjThmrpKeJyRLn8wQSDEcbM/byiT1lh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014CvArT6zpRuF6uJViD3mYh",
      "input": {
        "note": "Block released on the table. Parking the left arm back near its own base so the overhead camera has a clear, unobstructed view of both blocks for a fresh position fix.",
        "targets": {
          "left_j0": 0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 28 steps (2.8s)",
      "tool_use_id": "toolu_014CvArT6zpRuF6uJViD3mYh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6189 left_j2=1.2083 left_j3=-0.6495 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9965 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 2.5231, 5.3675, 2.21, -0.0464, -0.0708, 0.0855, -0.1026, 2.0581, 7.2, 1.8974, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aaa04014470d0dbb87131d704a2b44bcb0063e68082a24e6cbd6a2caf22d1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3feffc465e81adf8a423d9a5965b3c1d0d9b1261af5f9dcd6598d9abe3d56ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb9117a2c3a9cab58cd245a78a46741fcea3279f226810e6f240aea745569cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 28 attempt 0 · /messages · status 200 · 6.146 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8867 left_j1=2.3005 left_j2=1.945 left_j3=-1.1465 left_j4=0.0013 left_j5=-0.0792 left_gripper=0.4584 right_j0=0.0048 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -6.106, 3.7675, 0.1929, 0.0317, -0.0513, 0.4567, -0.0479, 1.6205, 7.1863, 1.8926, -0.0366, -0.0757, -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=-0.8867 left_j1=2.3058 left_j2=1.9453 left_j3=-1.1622 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9956 right_j0=0.0044 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.9299, 5.7778, 0.5543, -0.0415, -0.0415, -0.0904, -0.1573, 1.7709, 7.2137, 1.873, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6189 left_j2=1.2083 left_j3=-0.6495 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9965 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 2.5231, 5.3675, 2.21, -0.0464, -0.0708, 0.0855, -0.1026, 2.0581, 7.2, 1.8974, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aaa04014470d0dbb87131d704a2b44bcb0063e68082a24e6cbd6a2caf22d1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3feffc465e81adf8a423d9a5965b3c1d0d9b1261af5f9dcd6598d9abe3d56ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb9117a2c3a9cab58cd245a78a46741fcea3279f226810e6f240aea745569cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5aaa04014470]

[blob b3feffc465e8]

[blob bb9117a2c3a9]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LXvXvAC4b4AnVYd9cNKEqb",
      "input": {
        "note": "Clear overhead view at last: the blue '6' block I set down is at image (124,158) and the red block at (139,143) — only ~7 cm apart, both comfortably inside the RIGHT arm's workspace. Bringing the right arm over the blue block at 11 cm height with the jaws partly closed (0.65) so the open jaw doesn't knock the nearby red block.",
        "targets": {
          "right_gripper": 0.65,
          "right_j0": 0.789,
          "right_j1": 2.112,
          "right_j2": 1.95,
          "right_j3": -1.409
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 34 steps (3.4s)",
      "tool_use_id": "toolu_01LXvXvAC4b4AnVYd9cNKEqb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6205 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7803 right_j1=2.0914 right_j2=1.9083 right_j3=-1.3632 right_j4=-0.0113 right_j5=-0.0196 right_gripper=0.6509\nstate[joint_eff]: [-0.0615, 1.6342, 5.6274, 2.083, -0.0122, -0.0464, -0.0024, 0.212, -11.0701, 7.8291, 0.0317, -0.0122, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3612f10d9f5be60c61fe7c208fe2ed5c165a0793d724eb9b6ed4c12ad59924e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c756e9bd0f08237f7cbd78cea4d9fa005c959681146e580fa7e7c5110c485a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5fc7eded8728fabf1d65b5dcc1d1724130766a369bc71ed715940528ace6dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 29 attempt 0 · /messages · status 200 · 7.893 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8867 left_j1=2.3058 left_j2=1.9453 left_j3=-1.1622 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9956 right_j0=0.0044 right_j1=0.0128 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.0116 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.9299, 5.7778, 0.5543, -0.0415, -0.0415, -0.0904, -0.1573, 1.7709, 7.2137, 1.873, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6189 left_j2=1.2083 left_j3=-0.6495 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9965 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 2.5231, 5.3675, 2.21, -0.0464, -0.0708, 0.0855, -0.1026, 2.0581, 7.2, 1.8974, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6205 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7803 right_j1=2.0914 right_j2=1.9083 right_j3=-1.3632 right_j4=-0.0113 right_j5=-0.0196 right_gripper=0.6509\nstate[joint_eff]: [-0.0615, 1.6342, 5.6274, 2.083, -0.0122, -0.0464, -0.0024, 0.212, -11.0701, 7.8291, 0.0317, -0.0122, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3612f10d9f5be60c61fe7c208fe2ed5c165a0793d724eb9b6ed4c12ad59924e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c756e9bd0f08237f7cbd78cea4d9fa005c959681146e580fa7e7c5110c485a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5fc7eded8728fabf1d65b5dcc1d1724130766a369bc71ed715940528ace6dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3612f10d9f5b]

[blob 2c756e9bd0f0]

[blob c5fc7eded872]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXogH5J3JepoHyrgim6Vsx",
      "input": {
        "note": "The right wrist camera sees both cubes clearly: blue '6' straight ahead of the jaws and red '2' off to its right. Descending ~8 cm over the blue block, keeping it centred in the jaw gap.",
        "targets": {
          "right_j1": 2.196,
          "right_j2": 1.743,
          "right_j3": -1.118
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HXogH5J3JepoHyrgim6Vsx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6209 left_j2=1.203 left_j3=-0.6754 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7834 right_j1=2.1815 right_j2=1.7573 right_j3=-1.2007 right_j4=-0.0116 right_j5=-0.0204 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, 1.7983, 5.2171, 2.0293, -0.0366, -0.0366, -0.0073, -0.4855, -11.7538, 6.1197, 0.2222, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d523555824b5ea651e36823ab10c9343a3240da428e723c90bc934ddad6198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c81624d27a2bc0fb104a9fdfbbf363dc005efcd1c4ecd66af36b5867d03204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42e31aa593487fb3a25cd6e83da04593f9e6efe64e25ebfa1638c4ce80445a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 30 attempt 0 · /messages · status 200 · 7.731 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6189 left_j2=1.2083 left_j3=-0.6495 left_j4=0.0025 left_j5=-0.0792 left_gripper=0.9965 right_j0=0.0044 right_j1=0.0132 right_j2=0.0074 right_j3=-0.0704 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 2.5231, 5.3675, 2.21, -0.0464, -0.0708, 0.0855, -0.1026, 2.0581, 7.2, 1.8974, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6205 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7803 right_j1=2.0914 right_j2=1.9083 right_j3=-1.3632 right_j4=-0.0113 right_j5=-0.0196 right_gripper=0.6509\nstate[joint_eff]: [-0.0615, 1.6342, 5.6274, 2.083, -0.0122, -0.0464, -0.0024, 0.212, -11.0701, 7.8291, 0.0317, -0.0122, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6209 left_j2=1.203 left_j3=-0.6754 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7834 right_j1=2.1815 right_j2=1.7573 right_j3=-1.2007 right_j4=-0.0116 right_j5=-0.0204 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, 1.7983, 5.2171, 2.0293, -0.0366, -0.0366, -0.0073, -0.4855, -11.7538, 6.1197, 0.2222, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d523555824b5ea651e36823ab10c9343a3240da428e723c90bc934ddad6198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c81624d27a2bc0fb104a9fdfbbf363dc005efcd1c4ecd66af36b5867d03204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e31aa593487fb3a25cd6e83da04593f9e6efe64e25ebfa1638c4ce80445a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a5d523555824]

[blob 90c81624d27a]

[blob 42e31aa59348]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgyZwJaLoD3x9VvUbgZFpK",
      "input": {
        "note": "The blue cube is in the jaw gap but a bit to the image-right, and my fingertips are level with its top. Yawing ~1 cm right and descending another ~3 cm so the jaws straddle the block's mid-height, watching for table contact in the effort.",
        "targets": {
          "right_j0": 0.75,
          "right_j1": 2.26,
          "right_j2": 1.679,
          "right_j3": -1.037
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EgyZwJaLoD3x9VvUbgZFpK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6209 left_j2=1.203 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.765 right_j1=2.2292 right_j2=1.6939 right_j3=-1.0882 right_j4=-0.012 right_j5=-0.0231 right_gripper=0.6509\nstate[joint_eff]: [-0.0479, 1.9077, 5.4222, 1.8828, -0.0708, -0.0611, -0.0171, -0.8821, -10.2222, 5.2718, 0.3248, -0.0366, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf930af9251cdadc7fcf8f9a8dac8e1770499c5a4472fb1b6e7c28e73d21896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a59db4333212684fb977938d2501052a9d244248365b86f25c02bfb45adeefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4071297c91dc97498ecb73b1ee727f8a8c78434d6ef5515b764bd8947039d007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 31 attempt 0 · /messages · status 200 · 8.728 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6205 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7803 right_j1=2.0914 right_j2=1.9083 right_j3=-1.3632 right_j4=-0.0113 right_j5=-0.0196 right_gripper=0.6509\nstate[joint_eff]: [-0.0615, 1.6342, 5.6274, 2.083, -0.0122, -0.0464, -0.0024, 0.212, -11.0701, 7.8291, 0.0317, -0.0122, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6209 left_j2=1.203 left_j3=-0.6754 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7834 right_j1=2.1815 right_j2=1.7573 right_j3=-1.2007 right_j4=-0.0116 right_j5=-0.0204 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, 1.7983, 5.2171, 2.0293, -0.0366, -0.0366, -0.0073, -0.4855, -11.7538, 6.1197, 0.2222, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6209 left_j2=1.203 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.765 right_j1=2.2292 right_j2=1.6939 right_j3=-1.0882 right_j4=-0.012 right_j5=-0.0231 right_gripper=0.6509\nstate[joint_eff]: [-0.0479, 1.9077, 5.4222, 1.8828, -0.0708, -0.0611, -0.0171, -0.8821, -10.2222, 5.2718, 0.3248, -0.0366, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf930af9251cdadc7fcf8f9a8dac8e1770499c5a4472fb1b6e7c28e73d21896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a59db4333212684fb977938d2501052a9d244248365b86f25c02bfb45adeefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4071297c91dc97498ecb73b1ee727f8a8c78434d6ef5515b764bd8947039d007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1cf930af9251]

[blob 5a59db433321]

[blob 4071297c91dc]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKqmhYZfwyGeHpnbrwuX54",
      "input": {
        "note": "Fingertips are now ~1 cm above the table but the cube sits toward the right jaw rather than centred, so I'm lifting 4 cm and yawing another ~2 cm to the arm's right before dropping back down — nudging sideways at table level would just shove the block.",
        "targets": {
          "right_j0": 0.71,
          "right_j1": 2.137,
          "right_j2": 1.735,
          "right_j3": -1.169
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WKqmhYZfwyGeHpnbrwuX54",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6918 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7399 right_j1=2.2208 right_j2=1.6917 right_j3=-1.1122 right_j4=-0.0151 right_j5=-0.0238 right_gripper=0.6509\nstate[joint_eff]: [-0.3077, 1.7983, 5.2308, 2.0293, -0.0171, -0.0317, -0.0171, -1.853, -16.6085, 9.2786, 0.3541, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3640778b8c5ab4183f8ac156a2f811a1a5994b630a525c0fb8080265368410dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1101c798315c341b2e18eb4d562e64ef1f8f7aee3a966071237e0b76877b0593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01cc8ef32db54c27b5d3d2947955a201fb1eda539a3fa1d1339de4187849cfc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 32 attempt 0 · /messages · status 200 · 6.99 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6209 left_j2=1.203 left_j3=-0.6754 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7834 right_j1=2.1815 right_j2=1.7573 right_j3=-1.2007 right_j4=-0.0116 right_j5=-0.0204 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, 1.7983, 5.2171, 2.0293, -0.0366, -0.0366, -0.0073, -0.4855, -11.7538, 6.1197, 0.2222, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6209 left_j2=1.203 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.765 right_j1=2.2292 right_j2=1.6939 right_j3=-1.0882 right_j4=-0.012 right_j5=-0.0231 right_gripper=0.6509\nstate[joint_eff]: [-0.0479, 1.9077, 5.4222, 1.8828, -0.0708, -0.0611, -0.0171, -0.8821, -10.2222, 5.2718, 0.3248, -0.0366, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6918 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7399 right_j1=2.2208 right_j2=1.6917 right_j3=-1.1122 right_j4=-0.0151 right_j5=-0.0238 right_gripper=0.6509\nstate[joint_eff]: [-0.3077, 1.7983, 5.2308, 2.0293, -0.0171, -0.0317, -0.0171, -1.853, -16.6085, 9.2786, 0.3541, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3640778b8c5ab4183f8ac156a2f811a1a5994b630a525c0fb8080265368410dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1101c798315c341b2e18eb4d562e64ef1f8f7aee3a966071237e0b76877b0593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01cc8ef32db54c27b5d3d2947955a201fb1eda539a3fa1d1339de4187849cfc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3640778b8c5a]

[blob 1101c798315c]

[blob 01cc8ef32db5]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pv2AEyxvjys5pNHFc8pkAM",
      "input": {
        "note": "The cube is now nearly centred between the jaws at table level. Widening the jaws to ~7.8 cm for capture margin (still clear of the red block ~4.5 cm to the right) before closing.",
        "targets": {
          "right_gripper": 0.82
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Pv2AEyxvjys5pNHFc8pkAM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6952 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7235 right_j1=2.1792 right_j2=1.7107 right_j3=-1.15 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8137\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0171, -0.0659, -0.0122, 0.7179, -9.1282, 4.4103, 0.1245, -0.0562, -0.0024, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc1a122c9f1f03d22f479df13b1b24204b43a55429c6935d0c8455a23cbbaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8312e7b1e18a222cbf9559941256a55601b58c94ab87f4d1ee90a928c29476d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:044f0d882beaac51c826a4edcd77bbebc6ddd795c5351206657d440d94e152fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 33 attempt 0 · /messages · status 200 · 4.444 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6209 left_j2=1.203 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.765 right_j1=2.2292 right_j2=1.6939 right_j3=-1.0882 right_j4=-0.012 right_j5=-0.0231 right_gripper=0.6509\nstate[joint_eff]: [-0.0479, 1.9077, 5.4222, 1.8828, -0.0708, -0.0611, -0.0171, -0.8821, -10.2222, 5.2718, 0.3248, -0.0366, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6918 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7399 right_j1=2.2208 right_j2=1.6917 right_j3=-1.1122 right_j4=-0.0151 right_j5=-0.0238 right_gripper=0.6509\nstate[joint_eff]: [-0.3077, 1.7983, 5.2308, 2.0293, -0.0171, -0.0317, -0.0171, -1.853, -16.6085, 9.2786, 0.3541, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6952 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7235 right_j1=2.1792 right_j2=1.7107 right_j3=-1.15 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8137\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0171, -0.0659, -0.0122, 0.7179, -9.1282, 4.4103, 0.1245, -0.0562, -0.0024, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc1a122c9f1f03d22f479df13b1b24204b43a55429c6935d0c8455a23cbbaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8312e7b1e18a222cbf9559941256a55601b58c94ab87f4d1ee90a928c29476d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044f0d882beaac51c826a4edcd77bbebc6ddd795c5351206657d440d94e152fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5dc1a122c9f1]

[blob 8312e7b1e18a]

[blob 044f0d882bea]

{
  "content": [
    {
      "signature": "CAISrQ4KjAEIEBgCKkCxZwfs0WuN5Pz4IgxpMJHBXkj98au3b0jmTvJaKRwKCYMReQnxFaqR8jhlduhixiOARuHtRDPFUEWwdCwUYVxBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMD1jm/4IaL9bwcLreGgxLdW5iMWTIbj1ap3siMGDOD5rxy6RfvrWlFQBmtDf8HDr5rOdc8Hh2ABhvlzNnlowphZTNpgHCYAuz6obnwyrNDFxgt3nff2AD0Sx3dvG7ezLWNOqtBkbMTy0bx1i2KkqAxm8n6rP9quoTPmckCSA3dHw8F+RmVkZrE24KGcKiikvqDK/wosuwLc8uOjScZfrUsEi3lhaB5tfoicLTN7KVZ2wgP8VvUNRnfq2Cj2LDz+uIF58nXYQTDDThb2tQsuZ3E8N36COyrU/eumUyM9O+8DXdxl9p061o/HRsSGGEv8KwWkbQ+3SGXPRr7lTibG1/EHrr2M4E4QuZPz+Y5L6rAb3YD+HxYxcLT19Jw+tzYyhtSrNiuPiHm9JU2hDnGi4thOK+xftNNVIWItrvA6Nb3Ut8Y/Z7h75TYxDD/tmtAmgnxtLp0lJ+Izegx/I7V2rhwc/KQTLPaUolb1dP/m1We3ONPkdQc98pJpX3qQP80wqvnBA5TQ9Q/xn1VCz+Zw/G9D4bplSgdqrZg+aMamdUxv2Gq2rXBiFYxldaILPjecHWF+cFUnBBP57JCrqCqyX6P1qgQBsMCqVwryCN8VqgRFKfs5cCnc+idksVSHk+qCwKPey0aIWVJcLUo2ad5WAoiWbWHKIoPAkXzAHLZM4qkhuDOufYiGFIYy8GmElFzTd2Aw1lzGDJfAooR9OC3gyC+fr58vwDtKUDPtoeHoKAo3Js2UfY+ZZQgh0NWMiptM9QQqmfRQd6/nu/YKdXXBFzfPT1viADFjfwAuOcOUWOw9/SbjieEWbrIYyTCxftBzlNkx1XYpPy+xD5sSIaCNSUOl0sWa4IzYWOLYlJfe4hms6NpY6kep9LMUrXnCvZXlCja/Ej3qxGDZF9gsM75wU9Fg4QQJtrKPGtL+lG/+T96J3hJiuWk9mt20f7LAL7Bu4q0OhBgwvjQ/yc9267eSXpHl1B4lLaq+WwuaeJ9iVrrsDAeemHrT6uQ8yNiwYj5mxXtnVDG2kI1cSAqSGeZer+4uy6NKx5c/13BTpO2j5t+6+mZxVnl56fYvB93krYsiaEo43XOBrNSOOv6GcsaqZ4kEya6RVmvnRH7TClYoHlbg5e2q08gngukJPW/npmGZzDqk6cOuJBv5KLrbF270wxtZQKXLPoVaugZZWY8Id+00l1hF9e/t+v8DzJ/W5tqRyOtyZx4oACxA5MoYkRlGY94BedZM9ZyDD/Lo5xZthmrCUgqXMmQQQNkcMOfUZWfNtI0sV8Uthua8MYWG7/PRB+0Mjq2tHSY47n8eIvhumOqgbRVMlX3FwsemFDIPLZyX3WgDWTwbcBsHWTtZ19BGL72U1rh+L6ulpH0pFXp7W15i2puesys04XkEZlDZ0SeQE2l97y1a1WpE1n4eLfauZwELM7QDQ5c9R6PS2V35skfrhFidZGy2auczCbbngHUiydfKgtltECnMU/CqLYVCypuUMSpdmd1/UeccHUHcZZ4H9OsoK0AIrLAHY0ay9Wf0FaFGxKkZvcoMMu0tlfvX6fegg75abk47RlW7fQf+YAkaKbPuZ8iEQOAiamG1ou8tDSesVjoZOwcyT09MvAQgeeswQtFJmGCsPgCYtKhgt+jrJ2yEbBn6vJvbQ0a5rruSB/57tToLWqhnRa5oB5jBwgxvKbBU80EXPjTOV77Kj1Jl106v2/2Vh0ogVrKxiQlryATwv076cynNtu9Z54YUtvJk8NJ/9ybph3pRzTb8OQmGeZd9ArgJwlbdJWpwDrvWWeEfvF/FeIFP5NbVVSxLyDYAGfGbaDb/9k/VAqvI/qTSp6EFnMXtTLm51ZFXkpXZe2YN+VO8SXGFQMovaGI2cDC2dIOrhiBHboCiiRDD/jkWz0nyukmLknajk+75+aggwH4DHX5/JyNSC7lwzNVZL7KSVgwk8MF111KYbtfG2pxxnzEYd3tmLPO67H7EZhKoWr/56Z0igyrikZH5ET/AN7t4j3bma00jgK4VNbLMbRt0AtmN8KMMjymvBnT11XOnSU43fpeIPEXr2RgSimTDE04oM4Sh2kdZhh/vPZuCrOuqW3dz12KVnuxf90LvfbRPTlvazXmNdpI4RfVFuy6ouwvV/HAp3HDeRvbamUa1sffMZpnTG+gQJDlUkXSH8hOch5LB1bjuym4CPTmq3qumga/+p5U7pxTb1SzE1b0puh7QOeKjXitDpqm3pzjR5Rm7yIx89MMPKOD5db8BuwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YFsV3CE57mNj1azYXuzZPF",
      "input": {
        "note": "The arm drifted up ~2 cm while the jaws widened; the blue cube is centred in the gap but the right jaw is close to the red block. Dropping the fingertips back to ~1 cm above the table so the jaws grip the cube's mid-height, then I'll close immediately.",
        "targets": {
          "right_j1": 2.27,
          "right_j2": 1.679,
          "right_j3": -1.037
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YFsV3CE57mNj1azYXuzZPF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.7025 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.236 right_j2=1.6878 right_j3=-1.0954 right_j4=-0.0151 right_j5=-0.0273 right_gripper=0.8152\nstate[joint_eff]: [-0.1162, 1.6479, 5.3675, 1.9609, -0.0513, -0.0171, -0.0073, -1.3197, -9.7026, 4.7248, 0.2906, 0.0171, -0.0171, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944a3252f78c5dc823c87a7195b365fcff2d6fadfe09044dc263367e010c7cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a013900355466f1be16367ac8ebf97715af948cde05b19a33e7d9be6cde4b4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c8ea3711a3c06cbb6f03d28fe3dceaf1cbe783e6159c89eff971dffa9397592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 34 attempt 0 · /messages · status 200 · 11.04 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6918 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7399 right_j1=2.2208 right_j2=1.6917 right_j3=-1.1122 right_j4=-0.0151 right_j5=-0.0238 right_gripper=0.6509\nstate[joint_eff]: [-0.3077, 1.7983, 5.2308, 2.0293, -0.0171, -0.0317, -0.0171, -1.853, -16.6085, 9.2786, 0.3541, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6952 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7235 right_j1=2.1792 right_j2=1.7107 right_j3=-1.15 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8137\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0171, -0.0659, -0.0122, 0.7179, -9.1282, 4.4103, 0.1245, -0.0562, -0.0024, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.7025 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.236 right_j2=1.6878 right_j3=-1.0954 right_j4=-0.0151 right_j5=-0.0273 right_gripper=0.8152\nstate[joint_eff]: [-0.1162, 1.6479, 5.3675, 1.9609, -0.0513, -0.0171, -0.0073, -1.3197, -9.7026, 4.7248, 0.2906, 0.0171, -0.0171, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944a3252f78c5dc823c87a7195b365fcff2d6fadfe09044dc263367e010c7cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a013900355466f1be16367ac8ebf97715af948cde05b19a33e7d9be6cde4b4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c8ea3711a3c06cbb6f03d28fe3dceaf1cbe783e6159c89eff971dffa9397592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 944a3252f78c]

[blob a01390035546]

[blob 9c8ea3711a3c]

{
  "content": [
    {
      "signature": "CAISpgUKjAEIEBgCKkDzS+KwcRHTpYju6ftPeySz6xwqbFCwGHyc9v5Rg059aV5BPC3XIbCrOw27vSwYNp3bh9PDe3xNp0mbedWWRW1+MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDY2FcvJEog3QxTIcGgyvXjxl8/bQut9SZekiMD2asBSLmVLs/2Y4ip0TZ5THCro8pKfp+rxuR6RQfclpUYfpWqlaC6pPq+c6G5hG9irGA8KoL7Y5rmf48zRNcrym0uGOoQouVcC9mt++zwJGts0+HYaP20PrD+yYaeC6UBvmV0MhmvdQ5gk2Sje/RWQtoOhECASTDGrlilVPkQQHlzVxyg/S4zmp9/6muoRBwfoHCi0VgYUg4vKokEFetaI5ruuGzVdgPPamAW7PgiQvktLIDdb79jjvyHgXDAKB6yvAZd6nSr7xX4RCigHeQxMbFtb1TZabhgB/f+1Sc1wVsbNd13+1b/I3p5wGieEG1YAM1p3GkMsQkGyVoIRRWZ7iFeMhHvZ88+bHHXdX0baf1qQKQpp9KKVsLD/BoBj8df8sUlnhSXDIXKC/v9gbfErZLZ38B/h6SbVvNUENK/wk/6xv6C7FyO6dTfaKKHRFokKRQPASBoBFkBdfXnwhl7gXauARl9FgW/6RBdSzkL/jg1YrUJgZDTKJEggJEx4S0Nk9LOy2CZUp+d4sQeL/CHTPQwu9vq0EWbCkc8POrRKzH9GamKwX/YB1biuwb63zrv7i/e8b+54KAy+JWC8rYQb4+eSL+TjxuzmV7TLPavhhFIakaqGc0sO6aTIDzdCamPqLLBCKTB0aCw0pL+OCC6vvuzyzgZU2SEEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DQ4JbogcmYF4Zi4vUD2HiC",
      "input": {
        "note": "Fingertips are at the tabletop with the blue cube squarely in the jaw gap and the red block safely off to the right edge. Closing to grasp; expecting a ~0.45 residual.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DQ4JbogcmYF4Zi4vUD2HiC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6228 left_j2=1.2022 left_j3=-0.7204 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.2463 right_j2=1.6882 right_j3=-1.0985 right_j4=-0.0151 right_j5=-0.028 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, 1.5385, 5.2444, 2.0928, -0.0024, -0.0317, -0.0171, -0.335, -12.506, 5.3675, 0.1538, -0.022, 0.0024, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc45a2e3156ed57e615c38f76a7aaddc0bdc0e7a1f7ac9c636dff643f3fcb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef41a876659d0a741ea46d3e82bf0df12008e3752e95240f3a4ded81ce5c1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7dd8c84a7f9474387e6c27fecd0df32d7006af60e15364f9f15dcc4921ddc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 35 attempt 0 · /messages · status 200 · 9.315 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.6952 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7235 right_j1=2.1792 right_j2=1.7107 right_j3=-1.15 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8137\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0171, -0.0659, -0.0122, 0.7179, -9.1282, 4.4103, 0.1245, -0.0562, -0.0024, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.7025 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.236 right_j2=1.6878 right_j3=-1.0954 right_j4=-0.0151 right_j5=-0.0273 right_gripper=0.8152\nstate[joint_eff]: [-0.1162, 1.6479, 5.3675, 1.9609, -0.0513, -0.0171, -0.0073, -1.3197, -9.7026, 4.7248, 0.2906, 0.0171, -0.0171, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6228 left_j2=1.2022 left_j3=-0.7204 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.2463 right_j2=1.6882 right_j3=-1.0985 right_j4=-0.0151 right_j5=-0.028 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, 1.5385, 5.2444, 2.0928, -0.0024, -0.0317, -0.0171, -0.335, -12.506, 5.3675, 0.1538, -0.022, 0.0024, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc45a2e3156ed57e615c38f76a7aaddc0bdc0e7a1f7ac9c636dff643f3fcb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef41a876659d0a741ea46d3e82bf0df12008e3752e95240f3a4ded81ce5c1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7dd8c84a7f9474387e6c27fecd0df32d7006af60e15364f9f15dcc4921ddc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ecc45a2e3156]

[blob 1ef41a876659]

[blob a7dd8c84a7f9]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XtFhR58DKRRN4pV4F4Qzjd",
      "input": {
        "note": "Missed again (residual 0.007) — and the overhead view shows the cube got shoved ~5 cm toward the bases, which reveals the key lesson: an object that looks centred at the bottom of this wrist frame is actually ~4-5 cm radially inside the fingertips. Re-targeting the cube's new overhead position (radius 0.33, bearing 0.90) from 6 cm up.",
        "targets": {
          "right_gripper": 0.82,
          "right_j0": 0.9,
          "right_j1": 1.982,
          "right_j2": 1.54,
          "right_j3": -1.128
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XtFhR58DKRRN4pV4F4Qzjd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6231 left_j2=1.2022 left_j3=-0.7292 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8913 right_j1=2.0247 right_j2=1.5497 right_j3=-1.1225 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.8158\nstate[joint_eff]: [-0.1846, 1.6205, 5.3402, 2.0, -0.0464, -0.0415, -0.0122, 0.3761, -12.6017, 5.4769, 0.2271, -0.0708, -0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:008eacd6c689536dc1dd4705c83802677240fba9cce9c09db42ad5a08956569f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aaa25726a02d1d27f0ea56c0f5e6452bd34dc092ca6ecba54cb94b53d64f1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78a4d0e9072808024897ba4fbac6fa98aafb76d455df59a2fd5e439c64a5bd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 36 attempt 0 · /messages · status 200 · 5.586 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6216 left_j2=1.2026 left_j3=-0.7025 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.236 right_j2=1.6878 right_j3=-1.0954 right_j4=-0.0151 right_j5=-0.0273 right_gripper=0.8152\nstate[joint_eff]: [-0.1162, 1.6479, 5.3675, 1.9609, -0.0513, -0.0171, -0.0073, -1.3197, -9.7026, 4.7248, 0.2906, 0.0171, -0.0171, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6228 left_j2=1.2022 left_j3=-0.7204 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.2463 right_j2=1.6882 right_j3=-1.0985 right_j4=-0.0151 right_j5=-0.028 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, 1.5385, 5.2444, 2.0928, -0.0024, -0.0317, -0.0171, -0.335, -12.506, 5.3675, 0.1538, -0.022, 0.0024, 0.5592]",
      "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=-0.0116 left_j1=0.6231 left_j2=1.2022 left_j3=-0.7292 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8913 right_j1=2.0247 right_j2=1.5497 right_j3=-1.1225 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.8158\nstate[joint_eff]: [-0.1846, 1.6205, 5.3402, 2.0, -0.0464, -0.0415, -0.0122, 0.3761, -12.6017, 5.4769, 0.2271, -0.0708, -0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:008eacd6c689536dc1dd4705c83802677240fba9cce9c09db42ad5a08956569f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aaa25726a02d1d27f0ea56c0f5e6452bd34dc092ca6ecba54cb94b53d64f1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a4d0e9072808024897ba4fbac6fa98aafb76d455df59a2fd5e439c64a5bd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 008eacd6c689]

[blob 1aaa25726a02]

[blob 78a4d0e90728]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D4CXZRheaJwhaJJ9TywfLz",
      "input": {
        "note": "The wrist camera shows the cube ~2.5 cm to the right of the jaw gap, so my overhead fix was a bit off; correcting the yaw back to 0.81 and descending to just above the tabletop, then I'll re-check before closing.",
        "targets": {
          "right_j0": 0.81,
          "right_j1": 2.15,
          "right_j2": 1.467,
          "right_j3": -0.935
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D4CXZRheaJwhaJJ9TywfLz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6239 left_j2=1.2022 left_j3=-0.7319 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8326 right_j1=2.1132 right_j2=1.4887 right_j3=-1.0012 right_j4=-0.0147 right_j5=-0.0273 right_gripper=0.8166\nstate[joint_eff]: [-0.3624, 1.8803, 5.2444, 1.9805, -0.0562, -0.0366, -0.0122, -0.2803, -10.4821, 5.2171, 0.1392, -0.0024, -0.0122, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980f2d25bc2a2b9973834403eca5e4a1a79baae24906d2f1a4986f4b4fbe0b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2588d37b340d5c3444814e335384ba490296732f8efc1a618524891a1e4f5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29bc094384e9b9399897e3e0d6b2989fd8d26930d187f63d57a1885b9a3d0450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 37 attempt 0 · /messages · status 200 · 12.01 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6228 left_j2=1.2022 left_j3=-0.7204 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7376 right_j1=2.2463 right_j2=1.6882 right_j3=-1.0985 right_j4=-0.0151 right_j5=-0.028 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, 1.5385, 5.2444, 2.0928, -0.0024, -0.0317, -0.0171, -0.335, -12.506, 5.3675, 0.1538, -0.022, 0.0024, 0.5592]",
      "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=-0.0116 left_j1=0.6231 left_j2=1.2022 left_j3=-0.7292 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8913 right_j1=2.0247 right_j2=1.5497 right_j3=-1.1225 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.8158\nstate[joint_eff]: [-0.1846, 1.6205, 5.3402, 2.0, -0.0464, -0.0415, -0.0122, 0.3761, -12.6017, 5.4769, 0.2271, -0.0708, -0.0806, -0.0708]",
      "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=-0.0116 left_j1=0.6239 left_j2=1.2022 left_j3=-0.7319 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8326 right_j1=2.1132 right_j2=1.4887 right_j3=-1.0012 right_j4=-0.0147 right_j5=-0.0273 right_gripper=0.8166\nstate[joint_eff]: [-0.3624, 1.8803, 5.2444, 1.9805, -0.0562, -0.0366, -0.0122, -0.2803, -10.4821, 5.2171, 0.1392, -0.0024, -0.0122, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980f2d25bc2a2b9973834403eca5e4a1a79baae24906d2f1a4986f4b4fbe0b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2588d37b340d5c3444814e335384ba490296732f8efc1a618524891a1e4f5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29bc094384e9b9399897e3e0d6b2989fd8d26930d187f63d57a1885b9a3d0450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 980f2d25bc2a]

[blob b2588d37b340]

[blob 29bc094384e9]

{
  "content": [
    {
      "signature": "CAIS+woKjAEIEBgCKkDLV92YDxWHM18BgH4GgMIUv3QDv1EuN9oVqmKwMscel8D0QMHlt2z5aM8bFgKlPGlI/WD5wmY10Vc81q9w7QJrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/X7+gDk2yiL1XOx2GgxSMI76bETm8d9OX5kiMKONYFDouIIEF8fpCRzBy+x53+x0WSUGdYt54dIAa/XOhH7wRS2DnKlAzZXd/HQgBSqbCT2YYDD9RzLcvKZ9zY65rIgxqqBYLhzN9z7dbE7jV5I+Lo2iyF28ujN8NltbIM5Xl61aE5yr40Y86j3hJE35Otv6vQyRYlH6a/PtBD+a21XkF2sRgqdJXrWtlz/8cyOXzfAHUEQ6hVtGhLaSt7kYGKTQl1shb1sY1MUwtFPsv8fVKn3VqToxiqo2jpoXPGUjnQccP/33tCcaXeniTPeo8cZSai9KoelhDIOeS4yn/IgdMWOkjdjxj5vsIbhfAV2WjMfMNnZBeuhM3XsZN5xMJEKlnYaFWhgVnnvYcT3dExcsx3RqJ2JWKkEc8HAAspZhiFJCtkGWgkH8jO/15oemYjKzWf0fzIVb2F+HEnfTo98QU/z2HTDImbWKbhpxLnhz7Jggaq9AK9qoGNo5ZH5WkaKEihLk1Wq8iTCEHWvHZIZoOZK59PgcNEBevQQBXcHZqYenvvGjsqowd7PsNMyJlQigE6laNeMmMerNNaTZUE1bWgZmbjYk59Ft3kPCIVnxCMnFeeSDjNLM5LE9lrL8lrHcFgCsKI1k2GpzIqdW5Zly6xOBLuNO5DKmF9xfVvuNH5Zab2UE1YSIA3VkUvbOtubuE4y9zlys5Qwc3dbs0YKvWHBiDndGgO9cLBpRe0B7mFVNfNl4XoBrWuwtPYoLq2VItNZT0fwwuHNlxcQUwUcHaR/F+bxSI1uGBvcz+lt6kLPx6aqxsuSlVHTe9PZ9DbXHr8OoXskT54Jo8xziFvBOx+XgBqLXVUkv8lHIR70yM4EGiVsRPViTAj0TYeqWoITctafPHPUKVXfUx90GCt4bcD3J5Ecd+QwCFAQwveb7QvBbTmJW5V0wEQqeX84rPNsxuv72GHiNp/vzZ51GxwoAcKCj20n90dWZLyrE6waglJwehsqQiXKzgft33i8ZkfH8KJNybim7u6hpreXlnMC6f98zatIl1Ly0wpmO+3vzJULW17a2lsJq3iS0fTfzC9d3tGH3B3cXvbSAxFv9NXCMeo1LZbat26mYhktWeDLk2QE6pbs5BK7zdTF6R5qO6gjsvcLpd7fhyGfLg3OKAJdzj6LFUJEwdZn6jqtzgRFeKR3YFcO1sQSyLzwG/WUBv7OspOdXgBTd4jeKa7uRa9lygo9ew2iKSPGHQphKAwESNGlJDLBtte2M3/cktGC3wy45mezgSjI503SZDRRv63TL6lTwxX/qg5o7adQ0ZtBj+jkXOGrHAHewvq2EAbHgx96u8BVOWkrLHs8Umg6p3sySDoIRKdM1n+fcQNxkfLQIVS+6aOTncHfMZFz85PwfzZj8jsWaPHYm9hQQLN+svfIaUdaZ0iVa80djJbY5128ozCjlXDPPCN3jaSdTCyYtvROQZx8gO4hdz13Wt2uWKZrBQwglO2tnvdEJIffqBUS9Kj6sAbEEGry3mChcxEKWLu9e4u3tfMWPPFUxjrfXjQ/rD0e0SqN6YgVDh1GWiyhYEKJcKH0z9SUl2JTjyFnUrq6wObmt/5dX5sVQ1iJwOt0GteezXxZZ4cvb31jKou0MrM1J7rkgeSM6iRGvI7IscgRi/BfS4+PVZVNd2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kp14TfKPdHvbVSdx3wLFoC",
      "input": {
        "note": "Fingertips are at table level; the cube has dropped out of the wrist view, which on this rig means it is right at or just inside the jaws. Closing to test — the residual will tell me whether I have it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Kp14TfKPdHvbVSdx3wLFoC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6262 left_j2=1.1984 left_j3=-0.7444 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.836 right_j1=2.1227 right_j2=1.4841 right_j3=-0.9974 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.0077\nstate[joint_eff]: [-0.1983, 1.6068, 5.5726, 2.0195, -0.0317, -0.0317, -0.0171, -0.4444, -11.3983, 5.6684, 0.0904, -0.0611, 0.0171, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:344d98001078649fe1483717993a968abc4fa20cbe9350e9dbddfc2613db0056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91de3eeac978cf9d6bae5bc3cfb18fca65bf8da7ac7f28acf145754ee21c5ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a303483f89695bf3b38c6d47b6c8e9a68f910f8936bb89c6b4e571b50118c6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

$wire blob 91de3eeac978$

call 38 attempt 0 · /messages · status 200 · 7.42 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6231 left_j2=1.2022 left_j3=-0.7292 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8913 right_j1=2.0247 right_j2=1.5497 right_j3=-1.1225 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.8158\nstate[joint_eff]: [-0.1846, 1.6205, 5.3402, 2.0, -0.0464, -0.0415, -0.0122, 0.3761, -12.6017, 5.4769, 0.2271, -0.0708, -0.0806, -0.0708]",
      "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=-0.0116 left_j1=0.6239 left_j2=1.2022 left_j3=-0.7319 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8326 right_j1=2.1132 right_j2=1.4887 right_j3=-1.0012 right_j4=-0.0147 right_j5=-0.0273 right_gripper=0.8166\nstate[joint_eff]: [-0.3624, 1.8803, 5.2444, 1.9805, -0.0562, -0.0366, -0.0122, -0.2803, -10.4821, 5.2171, 0.1392, -0.0024, -0.0122, 0.0806]",
      "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=-0.0113 left_j1=0.6262 left_j2=1.1984 left_j3=-0.7444 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.836 right_j1=2.1227 right_j2=1.4841 right_j3=-0.9974 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.0077\nstate[joint_eff]: [-0.1983, 1.6068, 5.5726, 2.0195, -0.0317, -0.0317, -0.0171, -0.4444, -11.3983, 5.6684, 0.0904, -0.0611, 0.0171, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:344d98001078649fe1483717993a968abc4fa20cbe9350e9dbddfc2613db0056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91de3eeac978cf9d6bae5bc3cfb18fca65bf8da7ac7f28acf145754ee21c5ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a303483f89695bf3b38c6d47b6c8e9a68f910f8936bb89c6b4e571b50118c6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 344d98001078]

[blob 91de3eeac978]

[blob a303483f8969]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RocZ48J3jbbKDEhoQruYbN",
      "input": {
        "note": "Empty close again, and I can see a sliver of the blue cube peeking out just below the closed jaws — it is sitting ~4 cm radially inside my fingertips. Lifting clear and pulling the arm 4 cm back (plus 1.5 cm right) with the jaws open, so the cube ends up in the gap rather than in front of it.",
        "targets": {
          "right_gripper": 0.82,
          "right_j0": 0.79,
          "right_j1": 1.879,
          "right_j2": 1.345,
          "right_j3": -1.037
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RocZ48J3jbbKDEhoQruYbN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6266 left_j2=1.1984 left_j3=-0.7555 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7967 right_j1=1.9152 right_j2=1.351 right_j3=-1.0283 right_j4=-0.0116 right_j5=-0.0273 right_gripper=0.816\nstate[joint_eff]: [-0.0889, 1.5932, 5.3949, 2.0293, -0.0024, -0.0171, -0.0171, -0.6769, -11.3573, 5.4085, 0.2466, -0.0171, -0.0757, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f837d66dc5279e50b851e410ada30dae526180268328abda2471cde59be0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c60d6a900bcc7bfda591780f85d0784f4abd3092c65afec6f009452e967f651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25f05637dcbb0e094f17799827fa8ae0676270ca5be76e0ca0944d715046b78a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 39 attempt 0 · /messages · status 200 · 5.274 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6239 left_j2=1.2022 left_j3=-0.7319 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.8326 right_j1=2.1132 right_j2=1.4887 right_j3=-1.0012 right_j4=-0.0147 right_j5=-0.0273 right_gripper=0.8166\nstate[joint_eff]: [-0.3624, 1.8803, 5.2444, 1.9805, -0.0562, -0.0366, -0.0122, -0.2803, -10.4821, 5.2171, 0.1392, -0.0024, -0.0122, 0.0806]",
      "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=-0.0113 left_j1=0.6262 left_j2=1.1984 left_j3=-0.7444 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.836 right_j1=2.1227 right_j2=1.4841 right_j3=-0.9974 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.0077\nstate[joint_eff]: [-0.1983, 1.6068, 5.5726, 2.0195, -0.0317, -0.0317, -0.0171, -0.4444, -11.3983, 5.6684, 0.0904, -0.0611, 0.0171, 0.5788]",
      "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=-0.0113 left_j1=0.6266 left_j2=1.1984 left_j3=-0.7555 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7967 right_j1=1.9152 right_j2=1.351 right_j3=-1.0283 right_j4=-0.0116 right_j5=-0.0273 right_gripper=0.816\nstate[joint_eff]: [-0.0889, 1.5932, 5.3949, 2.0293, -0.0024, -0.0171, -0.0171, -0.6769, -11.3573, 5.4085, 0.2466, -0.0171, -0.0757, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f837d66dc5279e50b851e410ada30dae526180268328abda2471cde59be0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c60d6a900bcc7bfda591780f85d0784f4abd3092c65afec6f009452e967f651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f05637dcbb0e094f17799827fa8ae0676270ca5be76e0ca0944d715046b78a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d5f837d66dc5]

[blob 2c60d6a900bc]

[blob 25f05637dcbb]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M4JuStHk9WV7t3RPKzUU1P",
      "input": {
        "note": "Now the blue cube fills the bottom of the wrist view squarely between both jaw wedges — this is what a correct pre-grasp looks like on this rig. Descending ~3 cm so the jaws are around the cube's mid-height before closing.",
        "targets": {
          "right_j0": 0.777,
          "right_j1": 2.03,
          "right_j2": 1.292,
          "right_j3": -0.884
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01M4JuStHk9WV7t3RPKzUU1P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6277 left_j2=1.1984 left_j3=-0.7635 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7868 right_j1=2.0041 right_j2=1.3079 right_j3=-0.936 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8167\nstate[joint_eff]: [-0.1983, 1.7573, 5.2581, 2.083, -0.0415, -0.0757, -0.0122, -0.841, -9.9897, 5.2171, 0.1099, -0.0122, -0.0171, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b97c140d91db4d6673464dbf77bd5a8fd16a6c005e193d93da08c06c0dec220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c753d58f1d0941563e6294bfc6494eae4b8d2c37077460b3aa3048e91b7092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc015885649ff4aac06d12ceaf9c9a6057c3733764015ac3320734015c73b05c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 40 attempt 0 · /messages · status 200 · 26.56 s

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

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6262 left_j2=1.1984 left_j3=-0.7444 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.836 right_j1=2.1227 right_j2=1.4841 right_j3=-0.9974 right_j4=-0.012 right_j5=-0.0273 right_gripper=0.0077\nstate[joint_eff]: [-0.1983, 1.6068, 5.5726, 2.0195, -0.0317, -0.0317, -0.0171, -0.4444, -11.3983, 5.6684, 0.0904, -0.0611, 0.0171, 0.5788]",
      "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=-0.0113 left_j1=0.6266 left_j2=1.1984 left_j3=-0.7555 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7967 right_j1=1.9152 right_j2=1.351 right_j3=-1.0283 right_j4=-0.0116 right_j5=-0.0273 right_gripper=0.816\nstate[joint_eff]: [-0.0889, 1.5932, 5.3949, 2.0293, -0.0024, -0.0171, -0.0171, -0.6769, -11.3573, 5.4085, 0.2466, -0.0171, -0.0757, -0.0952]",
      "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=-0.0113 left_j1=0.6277 left_j2=1.1984 left_j3=-0.7635 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7868 right_j1=2.0041 right_j2=1.3079 right_j3=-0.936 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8167\nstate[joint_eff]: [-0.1983, 1.7573, 5.2581, 2.083, -0.0415, -0.0757, -0.0122, -0.841, -9.9897, 5.2171, 0.1099, -0.0122, -0.0171, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b97c140d91db4d6673464dbf77bd5a8fd16a6c005e193d93da08c06c0dec220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c753d58f1d0941563e6294bfc6494eae4b8d2c37077460b3aa3048e91b7092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc015885649ff4aac06d12ceaf9c9a6057c3733764015ac3320734015c73b05c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 6b97c140d91d]

[blob 43c753d58f1d]

[blob cc015885649f]

{
  "content": [
    {
      "signature": "CAISigUKjAEIEBgCKkBP093lMOl9TpxHZbr77AGHalhDEPT9+VI9gfIsogmcUg2G+uZ3UXU+gmjUQxFEEwGRvZt/4xir9xMTHsuDTUnFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMoH83QJot1d5PQd/tGgxBIRHftkPHftpp2NYiMOio0QVB/qMExIWDNf7Q/hu8IH3ti5bwVS911M1FjvSBcyR2CeaqPATql13y0b1NPiqqAzHIHZj1cWuK93JpYZKgRrVleg1Dng/ypfI4lXXZ2B7glaurbqwfmx6TczxijMIEsBru7HReVM5XF7vmPMdptS7qjZTO9pCQ/EiVUROBTU5fTYHapViIMDsPGdoQM4HURl0quR3O3Byfmi81NDnQcuAn2APOXg4bLX7NU9aC+c001hwxaaLIjtZImRDK0HWCHHAknA1oOU9eMNWAad+27nmZS+Cjw+zlhABu9Q8p9WpbUx+OyDWWkZtouugMhiL2tN5Yw9pUtyZYfgfDEgoR127yJRaxNHQ9FXa0XWGB7d/9ncj0zpO4PQIF0dMVsDYZDsZ9+HpVEY8QqQXPvgX5gWr3B9AUZqLJvs0Xw4Ba8JZs0rvBz3EGm9gSfZqZVhGOsy4a0EDTpAgHwFiwlRm4UIkpzMoGkE6dLKWxsm669AtRX3CGqVLwChuSxXtlMD4JA5INzXPpUaHclN76S5dXhnivGBITZVSPlSQi7MLq+76yTBW+dtoCqEEUR3HA3DHPtsG++LZc4mkIndPFffKoNtQBL6OavpYHW87oPRDZ1vNYaJ/MFmwe+vHIbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AFjLc2Um5fkSiusoW7rug",
      "input": {
        "note": "Fingertips at table level with the cube between the jaws (image blurred by motion but the blue block is centred at the bottom). Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_013AFjLc2Um5fkSiusoW7rug",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7742 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7853 right_j1=2.0106 right_j2=1.306 right_j3=-0.9379 right_j4=-0.012 right_j5=-0.0269 right_gripper=0.0078\nstate[joint_eff]: [-0.1846, 1.7026, 5.7368, 2.0293, -0.0122, -0.0415, -0.0122, -0.1983, -10.1538, 5.2444, 0.1343, -0.0513, 0.0024, 0.5934]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:043bc6e087a286684c07ce631b42367c4793189e68495b77134abb00d5bbcd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fd84bb4de8f7888de7d7637a6416190c3b18cd89a1338d3953aa2b83ac8b523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae48d8c2791aff31dfec024e506c31d0f1bb09bd5577c9c8024b99f2648cd764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 41 attempt 0 · /messages · status 200 · 24.43 s

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

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6266 left_j2=1.1984 left_j3=-0.7555 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7967 right_j1=1.9152 right_j2=1.351 right_j3=-1.0283 right_j4=-0.0116 right_j5=-0.0273 right_gripper=0.816\nstate[joint_eff]: [-0.0889, 1.5932, 5.3949, 2.0293, -0.0024, -0.0171, -0.0171, -0.6769, -11.3573, 5.4085, 0.2466, -0.0171, -0.0757, -0.0952]",
      "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=-0.0113 left_j1=0.6277 left_j2=1.1984 left_j3=-0.7635 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7868 right_j1=2.0041 right_j2=1.3079 right_j3=-0.936 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8167\nstate[joint_eff]: [-0.1983, 1.7573, 5.2581, 2.083, -0.0415, -0.0757, -0.0122, -0.841, -9.9897, 5.2171, 0.1099, -0.0122, -0.0171, 0.0659]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7742 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7853 right_j1=2.0106 right_j2=1.306 right_j3=-0.9379 right_j4=-0.012 right_j5=-0.0269 right_gripper=0.0078\nstate[joint_eff]: [-0.1846, 1.7026, 5.7368, 2.0293, -0.0122, -0.0415, -0.0122, -0.1983, -10.1538, 5.2444, 0.1343, -0.0513, 0.0024, 0.5934]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:043bc6e087a286684c07ce631b42367c4793189e68495b77134abb00d5bbcd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fd84bb4de8f7888de7d7637a6416190c3b18cd89a1338d3953aa2b83ac8b523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae48d8c2791aff31dfec024e506c31d0f1bb09bd5577c9c8024b99f2648cd764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 043bc6e087a2]

[blob 3fd84bb4de8f]

[blob ae48d8c2791a]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YCAbLEcxccfkNXy9EApyR1",
      "input": {
        "note": "Three empty closes with the cube apparently in the gap makes me suspect my height model for the RIGHT arm is wrong (its j1 never stalled, so the fingers never touched the table). Swinging clear of the cube and driving down 6 cm with the gripper closed to find the true tabletop from the effort signature.",
        "targets": {
          "right_j0": 1.0,
          "right_j1": 2.178,
          "right_j2": 1.225,
          "right_j3": -0.618
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YCAbLEcxccfkNXy9EApyR1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9661 right_j1=2.0342 right_j2=1.2984 right_j3=-0.7849 right_j4=0.0734 right_j5=-0.0273 right_gripper=0.0098\nstate[joint_eff]: [-0.1573, 1.6068, 5.3675, 1.9853, -0.0562, -0.0513, -0.0122, 1.4017, 1.7573, -0.6496, 1.1111, -0.8278, -0.0513, 0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f95a1dc698385c1dd75ae7c25a4c2ae00bea1160542681c5ef54e0818e524b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94977448dd6a62cc51e3b23e982c251ded953086e08f9fa2572f01372abfdb5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9e5cf4b2f57aa076c73b8954c36ad52dc5f91f9f64784946f8dddd111e69cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 42 attempt 0 · /messages · status 200 · 10.96 s

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

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6277 left_j2=1.1984 left_j3=-0.7635 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7868 right_j1=2.0041 right_j2=1.3079 right_j3=-0.936 right_j4=-0.0116 right_j5=-0.0269 right_gripper=0.8167\nstate[joint_eff]: [-0.1983, 1.7573, 5.2581, 2.083, -0.0415, -0.0757, -0.0122, -0.841, -9.9897, 5.2171, 0.1099, -0.0122, -0.0171, 0.0659]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7742 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7853 right_j1=2.0106 right_j2=1.306 right_j3=-0.9379 right_j4=-0.012 right_j5=-0.0269 right_gripper=0.0078\nstate[joint_eff]: [-0.1846, 1.7026, 5.7368, 2.0293, -0.0122, -0.0415, -0.0122, -0.1983, -10.1538, 5.2444, 0.1343, -0.0513, 0.0024, 0.5934]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9661 right_j1=2.0342 right_j2=1.2984 right_j3=-0.7849 right_j4=0.0734 right_j5=-0.0273 right_gripper=0.0098\nstate[joint_eff]: [-0.1573, 1.6068, 5.3675, 1.9853, -0.0562, -0.0513, -0.0122, 1.4017, 1.7573, -0.6496, 1.1111, -0.8278, -0.0513, 0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f95a1dc698385c1dd75ae7c25a4c2ae00bea1160542681c5ef54e0818e524b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94977448dd6a62cc51e3b23e982c251ded953086e08f9fa2572f01372abfdb5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e5cf4b2f57aa076c73b8954c36ad52dc5f91f9f64784946f8dddd111e69cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5f95a1dc6983]

[blob 94977448dd6a]

[blob f9e5cf4b2f57]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JoyYnpxrWQgdBDqAq5Bj18",
      "input": {
        "note": "Table contact found (effort flipped positive at FK z=0.085), so my height was right — the real error is radial: each attempt has been nudging the cube further in toward the base. Reading the overhead frame against the base positions puts the cube at only ~26 cm radius, bearing ~1.0 rad, so I'm repositioning there with the jaws wide open.",
        "targets": {
          "right_gripper": 0.95,
          "right_j0": 1.005,
          "right_j1": 1.787,
          "right_j2": 1.198,
          "right_j3": -0.982
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JoyYnpxrWQgdBDqAq5Bj18",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7937 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=1.0016 right_j1=1.8236 right_j2=1.2034 right_j3=-0.9539 right_j4=0.0669 right_j5=-0.0273 right_gripper=0.9456\nstate[joint_eff]: [-0.1026, 1.6342, 5.2718, 2.0342, -0.0611, -0.0513, -0.0171, 0.294, -10.5094, 5.2855, 0.2564, 0.0659, -0.0611, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b563285674fa00c2faca1c2ca332c30cd26ec9349b43be092c6527e424c0912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e406b6d4bfcc88a567a1c1ebe2761bd2a8eba5cead9767955c9f0068d2eaf2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60cf1f3eb0e3d96e0f135bf23870998d75b59d355dc43fa9f5fc4e46d54c9ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 43 attempt 0 · /messages · status 200 · 4.684 s

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

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7742 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7853 right_j1=2.0106 right_j2=1.306 right_j3=-0.9379 right_j4=-0.012 right_j5=-0.0269 right_gripper=0.0078\nstate[joint_eff]: [-0.1846, 1.7026, 5.7368, 2.0293, -0.0122, -0.0415, -0.0122, -0.1983, -10.1538, 5.2444, 0.1343, -0.0513, 0.0024, 0.5934]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9661 right_j1=2.0342 right_j2=1.2984 right_j3=-0.7849 right_j4=0.0734 right_j5=-0.0273 right_gripper=0.0098\nstate[joint_eff]: [-0.1573, 1.6068, 5.3675, 1.9853, -0.0562, -0.0513, -0.0122, 1.4017, 1.7573, -0.6496, 1.1111, -0.8278, -0.0513, 0.1929]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7937 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=1.0016 right_j1=1.8236 right_j2=1.2034 right_j3=-0.9539 right_j4=0.0669 right_j5=-0.0273 right_gripper=0.9456\nstate[joint_eff]: [-0.1026, 1.6342, 5.2718, 2.0342, -0.0611, -0.0513, -0.0171, 0.294, -10.5094, 5.2855, 0.2564, 0.0659, -0.0611, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b563285674fa00c2faca1c2ca332c30cd26ec9349b43be092c6527e424c0912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e406b6d4bfcc88a567a1c1ebe2761bd2a8eba5cead9767955c9f0068d2eaf2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60cf1f3eb0e3d96e0f135bf23870998d75b59d355dc43fa9f5fc4e46d54c9ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5b563285674f]

[blob e406b6d4bfcc]

[blob 60cf1f3eb0e3]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018u7vvDYFChSW3ZDrJn5jiW",
      "input": {
        "note": "The cube is now nicely framed between both jaw wedges, about 2 cm to the right of the gap centre. Correcting the yaw 2 cm right and descending ~4 cm to the tabletop, deliberately aiming 1 cm short in radius to allow for the arm drooping outward as it descends.",
        "targets": {
          "right_j0": 0.92,
          "right_j1": 1.91,
          "right_j2": 1.084,
          "right_j3": -0.796
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018u7vvDYFChSW3ZDrJn5jiW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6292 left_j2=1.1954 left_j3=-0.8017 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9314 right_j1=1.8771 right_j2=1.1168 right_j3=-0.8623 right_j4=0.0364 right_j5=-0.0315 right_gripper=0.9462\nstate[joint_eff]: [-0.0615, 1.8256, 5.7778, 2.127, -0.0269, -0.0562, -0.0122, 0.8137, -5.3812, 2.7966, 0.8181, 1.2772, 0.3004, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e633d557c2d855b1292fd95f956798b6abf525c9dbaeb3294af3aff2823bc4d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e94b946de369aeffdf28b568a8a86075d99de36639dc8978df604f190afac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:373df25abe9588ed07c43ebe2b31053086098d2b4c697e2563d01dc6c82db49b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 44 attempt 0 · /messages · status 200 · 15.74 s

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

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9661 right_j1=2.0342 right_j2=1.2984 right_j3=-0.7849 right_j4=0.0734 right_j5=-0.0273 right_gripper=0.0098\nstate[joint_eff]: [-0.1573, 1.6068, 5.3675, 1.9853, -0.0562, -0.0513, -0.0122, 1.4017, 1.7573, -0.6496, 1.1111, -0.8278, -0.0513, 0.1929]",
      "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=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7937 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=1.0016 right_j1=1.8236 right_j2=1.2034 right_j3=-0.9539 right_j4=0.0669 right_j5=-0.0273 right_gripper=0.9456\nstate[joint_eff]: [-0.1026, 1.6342, 5.2718, 2.0342, -0.0611, -0.0513, -0.0171, 0.294, -10.5094, 5.2855, 0.2564, 0.0659, -0.0611, -0.1343]",
      "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=-0.0113 left_j1=0.6292 left_j2=1.1954 left_j3=-0.8017 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9314 right_j1=1.8771 right_j2=1.1168 right_j3=-0.8623 right_j4=0.0364 right_j5=-0.0315 right_gripper=0.9462\nstate[joint_eff]: [-0.0615, 1.8256, 5.7778, 2.127, -0.0269, -0.0562, -0.0122, 0.8137, -5.3812, 2.7966, 0.8181, 1.2772, 0.3004, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e633d557c2d855b1292fd95f956798b6abf525c9dbaeb3294af3aff2823bc4d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e94b946de369aeffdf28b568a8a86075d99de36639dc8978df604f190afac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:373df25abe9588ed07c43ebe2b31053086098d2b4c697e2563d01dc6c82db49b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e633d557c2d8]

[blob 45e94b946de3]

[blob 373df25abe95]

{
  "content": [
    {
      "signature": "CAIStgcKjAEIEBgCKkBtAWBZDCImZttOs212L3T5OcCLTFpw63XxnjL9Lw6zwpQ0/jzOb3eABf33nycnx0NgSWQNpBiIHln16Nh3PokRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMYiTRkP3wlG29iep4GgztUsgf8Tzup2UAh4UiMNEx9Ec/qbB9oqWM88EYodoG8I721ZjEe1yaSKBcZA9eg+5tbxD/OfR7R4u0ZO35/yrWBY316c9mffE4nU9yJ4qSqI+RVDjdiBa3B70yIg2H0BaxUlefyASXHSHeh3tO4PCEDRqDYphMu9o/qPU4Ml6KTm1GJDaMz8jDvwEcQO3z7eeWab5F2hBqSIFQzJEGQ8LR/6/URyE2EXFeU2ZW5i9h2ClmLdIHMST2+g3PbF06WVEm9Vv6TMS3oZ9wq07mV2iaTVnjMCUIjrz56yLYlq6EWCq7rAQKGFziGnjp2dLp4V1cUKuVZQoti53sPdtQKpJUlZg2TeUaT8emDHf1lP+LMsEcV8FjSgqhfGR/IP1PCQanZ6e268+Jlx9ydIQJECBjdoQfuNdAHpMoeWmjNHkq2KFsvOqz4uyIjLHo7FgoyaGxE+x3sDL/dU2jjuz42KXPsuEKt/6vjTPvLStQtXBtsg91eocrQboQCaI7K28qiSZ6hz8fvGojXtdOeLKH357/3KaYhTuaBuTBZGcdChb4hQbQZaJj2fxBq24dkwMSJRmlFmFJP1HZn8FguOfTbBtLuWvFAk0owBrjF9V/yYfDNeWe5faVD2mJbAtC7O92aEgCxG53Cwe4JoLwFzGkombaLhAgliHLLAX4GiDXnc7031+Z7Bm0dKG/IRO3478lKPWszUrwdnMxyXg6ENiSmWcbVtu/HSLsUfeUmNkLyjGIulahSavua1/LcuhsLE8C/aFAclzBbZtM91GRtwaoc8mLk5PeN7qA6Ftx3amBX4mPpnmZZ5fcaG1ptQ2gs8v99zpfZnvuxCKiJcAd+MNixHBgL9j/W4bCecFd/2PHysaJ/uMsN5EY1Yi+70l9vFrDot8sPYDJmtWueC5ektpgdG1pWlv+YUJ4KqcOUbJoMbu75PI8q68nbnZ/+gKYA6FmjcagbTdttSyzZIS0CwTR/Da9a+ZHuSDwLdOlFM6OiIuU+VafFVsWgXWe6JJ3xaOJjZbo72lL9YxP3bXkpov+Qb9QuhBKqH8TyxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01265TRnyQ9gwaB8B2dgYENh",
      "input": {
        "note": "Contact-like effort at ~1 cm above the table with the cube's colours just visible at the bottom of the jaw gap. Closing now.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01265TRnyQ9gwaB8B2dgYENh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6304 left_j2=1.1927 left_j3=-0.8082 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9321 right_j1=1.874 right_j2=1.1149 right_j3=-0.86 right_j4=0.0372 right_j5=-0.0307 right_gripper=0.0079\nstate[joint_eff]: [-0.2256, 1.6342, 5.4906, 1.9609, -0.0464, -0.0269, -0.0122, -0.0889, -8.1983, 5.3402, 0.1832, -0.0171, -0.0171, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917e49b004bbe3122dc17b97f37655062ad71976b208d5a3b892dac441f90ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74fe42ca1644d6801ea2d18b927888371da76d5a4e2e4a1de3cdac815b600ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a6b295973a002994bbc1f370f43f8eac7399a6da9411b0aeb247fdcbb86745a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 45 attempt 0 · /messages · status 200 · 17.76 s

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

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6285 left_j2=1.1965 left_j3=-0.7937 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=1.0016 right_j1=1.8236 right_j2=1.2034 right_j3=-0.9539 right_j4=0.0669 right_j5=-0.0273 right_gripper=0.9456\nstate[joint_eff]: [-0.1026, 1.6342, 5.2718, 2.0342, -0.0611, -0.0513, -0.0171, 0.294, -10.5094, 5.2855, 0.2564, 0.0659, -0.0611, -0.1343]",
      "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=-0.0113 left_j1=0.6292 left_j2=1.1954 left_j3=-0.8017 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9314 right_j1=1.8771 right_j2=1.1168 right_j3=-0.8623 right_j4=0.0364 right_j5=-0.0315 right_gripper=0.9462\nstate[joint_eff]: [-0.0615, 1.8256, 5.7778, 2.127, -0.0269, -0.0562, -0.0122, 0.8137, -5.3812, 2.7966, 0.8181, 1.2772, 0.3004, 0.0317]",
      "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=-0.0113 left_j1=0.6304 left_j2=1.1927 left_j3=-0.8082 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9321 right_j1=1.874 right_j2=1.1149 right_j3=-0.86 right_j4=0.0372 right_j5=-0.0307 right_gripper=0.0079\nstate[joint_eff]: [-0.2256, 1.6342, 5.4906, 1.9609, -0.0464, -0.0269, -0.0122, -0.0889, -8.1983, 5.3402, 0.1832, -0.0171, -0.0171, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917e49b004bbe3122dc17b97f37655062ad71976b208d5a3b892dac441f90ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74fe42ca1644d6801ea2d18b927888371da76d5a4e2e4a1de3cdac815b600ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6b295973a002994bbc1f370f43f8eac7399a6da9411b0aeb247fdcbb86745a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 917e49b004bb]

[blob 74fe42ca1644]

[blob 1a6b295973a0]

{
  "content": [
    {
      "signature": 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xRIGpGC0NmvYciGaqgxJB8B2JtM2VS6FMH66MO4gFFPFF598KBVQzuCJpGnnpm9c5erwWRnEGS4NZvlHksxa0DZ4ZcsbS+bgjV1Knks5EiaCZIF801tloyL+8hplnYShZV7aPwqZPC1K/kUNA7XuG8+z/ynw88vNHX1t2FadSEnQgBOg7tqgbe0807QJ+pSO40JtpO4ST4pPVxgHRbYwD3RwI0I7r/HoQLQnFQrdF4RO5ES7OA7CyAelP7Z93OdsNyfes44R/dFmSc+zSmlWNedH5TuXzPyaIt9/w6edQQ2mA/oqSH4dAXnK+KBE6yDFX4DLDfiILVAj576zeooxVEyrhNBo+f0De4M+G6M6tHs88Q08IRxdCyBCDqi4n8zXEI/k3TFYP+3JyJdHyc599J1GeKTFZ2I3jedh+9n/GhW7lnzL8cw/ei5SnmkO3N6sHlwvk8RVvrw8cEH4rRHjp5etOfnJYNSv6auDSMykrlp1tY8QFr19pMlM2sWQn1Zl3vosvapYjFR9Tfa6xgEEyuFUB11PB1Ky691WtxlRLFtWAZ9X8uliKkwRwjEEPb9mVKLMI6efvoKabMXIV3FxS6d7LbrPgUDrMmCODRjApL8uNr0UEMcjqb6ZT7X9wh6BEUV4CK6ptnBxOeG7xeSQxj2WplkqGoHYyG2qs29SVn+xMiDhLtLN4LIpLIZJisr5hFb2Ohd9KAQaS8Wi2N3lUEOUAITnx4ao//K3hhS/tcNxacewWcTyE7JySFvpGv74p3PRY60lfn8ArVcIHYeChEPYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HwFwLn3G1KhE4A63q2F22X",
      "input": {
        "note": "Another empty close, and now I can see the blue cube sitting outside the jaws at the bottom-right corner of the wrist view — the repeated closes have been knocking it sideways. Lifting and swinging the arm away to get a clean overhead fix on where the cube actually is now.",
        "targets": {
          "right_j0": 0.3,
          "right_j1": 1.595,
          "right_j2": 1.485,
          "right_j3": -1.461
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HwFwLn3G1KhE4A63q2F22X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6308 left_j2=1.1927 left_j3=-0.8268 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3214 right_j1=1.6257 right_j2=1.4471 right_j3=-1.4109 right_j4=0.0383 right_j5=-0.0353 right_gripper=0.0098\nstate[joint_eff]: [-0.0615, 1.9214, 5.2855, 2.0586, -0.0415, -0.0171, -0.0171, -0.1573, -8.1026, 7.7607, 0.3736, 0.0171, 0.0269, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4456f3ef740f4b7decc8299f06f614e93b4ac48dc317b6ee17f1b2baba90a358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd3d4b7a59e6ef730d321e26c9afb47f91366d79c428cb988744bd7a92ff896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79fe37c979a73ca189e444be69eac4620a5db03238d1a0333e9cec2d19078991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 46 attempt 0 · /messages · status 200 · 17.53 s

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

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6292 left_j2=1.1954 left_j3=-0.8017 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.9314 right_j1=1.8771 right_j2=1.1168 right_j3=-0.8623 right_j4=0.0364 right_j5=-0.0315 right_gripper=0.9462\nstate[joint_eff]: [-0.0615, 1.8256, 5.7778, 2.127, -0.0269, -0.0562, -0.0122, 0.8137, -5.3812, 2.7966, 0.8181, 1.2772, 0.3004, 0.0317]",
      "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=-0.0113 left_j1=0.6304 left_j2=1.1927 left_j3=-0.8082 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9321 right_j1=1.874 right_j2=1.1149 right_j3=-0.86 right_j4=0.0372 right_j5=-0.0307 right_gripper=0.0079\nstate[joint_eff]: [-0.2256, 1.6342, 5.4906, 1.9609, -0.0464, -0.0269, -0.0122, -0.0889, -8.1983, 5.3402, 0.1832, -0.0171, -0.0171, 0.5885]",
      "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=-0.0116 left_j1=0.6308 left_j2=1.1927 left_j3=-0.8268 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3214 right_j1=1.6257 right_j2=1.4471 right_j3=-1.4109 right_j4=0.0383 right_j5=-0.0353 right_gripper=0.0098\nstate[joint_eff]: [-0.0615, 1.9214, 5.2855, 2.0586, -0.0415, -0.0171, -0.0171, -0.1573, -8.1026, 7.7607, 0.3736, 0.0171, 0.0269, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4456f3ef740f4b7decc8299f06f614e93b4ac48dc317b6ee17f1b2baba90a358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd3d4b7a59e6ef730d321e26c9afb47f91366d79c428cb988744bd7a92ff896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79fe37c979a73ca189e444be69eac4620a5db03238d1a0333e9cec2d19078991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4456f3ef740f]

[blob 4dd3d4b7a59e]

[blob 79fe37c979a7]

{
  "content": [
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYPfVRn7djFViMNgMGGwho",
      "input": {
        "note": "Overhead now shows the red block at (134,148) and the displaced blue cube at (150,207). Before chasing it again I'm putting the closed fingertips flat on the table at a known radius/bearing in an empty area, so I can see exactly which pixel corresponds to a known arm position and fix my overhead mapping.",
        "targets": {
          "right_j1": 2.185,
          "right_j2": 1.557,
          "right_j3": -0.943
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PYPfVRn7djFViMNgMGGwho",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6327 left_j2=1.1915 left_j3=-0.8352 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3248 right_j1=2.1578 right_j2=1.5341 right_j3=-1.0439 right_j4=0.0406 right_j5=-0.0471 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, 1.6342, 5.3812, 1.9805, -0.0513, -0.0366, -0.0171, -0.2803, -9.5795, 4.9573, 1.409, -0.0562, 0.0708, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce254d9d72eb21af7b958413537896ba08ba9febe0636661b7fc9cc37655b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce83237ab32a19e6ba374d2026073c3bcd5d2304f8682ab76868dc1487011582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43a1ba9901653d1ff1bfef45b61d01f3f655375546ee96d298c32348e025f0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 47 attempt 0 · /messages · status 200 · 5.973 s

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

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6304 left_j2=1.1927 left_j3=-0.8082 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9321 right_j1=1.874 right_j2=1.1149 right_j3=-0.86 right_j4=0.0372 right_j5=-0.0307 right_gripper=0.0079\nstate[joint_eff]: [-0.2256, 1.6342, 5.4906, 1.9609, -0.0464, -0.0269, -0.0122, -0.0889, -8.1983, 5.3402, 0.1832, -0.0171, -0.0171, 0.5885]",
      "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=-0.0116 left_j1=0.6308 left_j2=1.1927 left_j3=-0.8268 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3214 right_j1=1.6257 right_j2=1.4471 right_j3=-1.4109 right_j4=0.0383 right_j5=-0.0353 right_gripper=0.0098\nstate[joint_eff]: [-0.0615, 1.9214, 5.2855, 2.0586, -0.0415, -0.0171, -0.0171, -0.1573, -8.1026, 7.7607, 0.3736, 0.0171, 0.0269, 0.1783]",
      "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=-0.0113 left_j1=0.6327 left_j2=1.1915 left_j3=-0.8352 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3248 right_j1=2.1578 right_j2=1.5341 right_j3=-1.0439 right_j4=0.0406 right_j5=-0.0471 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, 1.6342, 5.3812, 1.9805, -0.0513, -0.0366, -0.0171, -0.2803, -9.5795, 4.9573, 1.409, -0.0562, 0.0708, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce254d9d72eb21af7b958413537896ba08ba9febe0636661b7fc9cc37655b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce83237ab32a19e6ba374d2026073c3bcd5d2304f8682ab76868dc1487011582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a1ba9901653d1ff1bfef45b61d01f3f655375546ee96d298c32348e025f0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ce254d9d72eb]

[blob ce83237ab32a]

[blob 43a1ba990165]

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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015o6jVG4kJR147yjaPWgKKe",
      "input": {
        "note": "My overhead mapping is unreliable (the wide-angle lens compresses distances near the frame edges), so I'm switching to a direct calibration: hovering at 6 cm with the cube in the wrist view at yaw 0.55, then I'll nudge the yaw by a known amount to measure how many pixels per centimetre this view really has.",
        "targets": {
          "right_gripper": 0.95,
          "right_j0": 0.55,
          "right_j1": 1.89,
          "right_j2": 1.408,
          "right_j3": -1.089
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_015o6jVG4kJR147yjaPWgKKe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8509 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5438 right_j1=1.9282 right_j2=1.4139 right_j3=-1.0847 right_j4=0.041 right_j5=-0.0498 right_gripper=0.9464\nstate[joint_eff]: [-0.1983, 1.388, 5.4769, 2.0147, -0.0415, -0.0757, -0.0171, 0.1026, -11.4393, 5.1761, 0.3004, -0.0073, -0.0513, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a9733fc09f68dc017cf7c9db21dec0fb599b4af373aa8aef90735ddcbf2178d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc122636e7514ad4407566783a91aeb6e6e33378abdfe17564be72219d251b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa3adb09c1e6ff14c2c8832f2d303826102862c850dfef36487f73a82687bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 48 attempt 0 · /messages · status 200 · 35.12 s

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

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6308 left_j2=1.1927 left_j3=-0.8268 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3214 right_j1=1.6257 right_j2=1.4471 right_j3=-1.4109 right_j4=0.0383 right_j5=-0.0353 right_gripper=0.0098\nstate[joint_eff]: [-0.0615, 1.9214, 5.2855, 2.0586, -0.0415, -0.0171, -0.0171, -0.1573, -8.1026, 7.7607, 0.3736, 0.0171, 0.0269, 0.1783]",
      "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=-0.0113 left_j1=0.6327 left_j2=1.1915 left_j3=-0.8352 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3248 right_j1=2.1578 right_j2=1.5341 right_j3=-1.0439 right_j4=0.0406 right_j5=-0.0471 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, 1.6342, 5.3812, 1.9805, -0.0513, -0.0366, -0.0171, -0.2803, -9.5795, 4.9573, 1.409, -0.0562, 0.0708, 0.1587]",
      "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=-0.0116 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8509 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5438 right_j1=1.9282 right_j2=1.4139 right_j3=-1.0847 right_j4=0.041 right_j5=-0.0498 right_gripper=0.9464\nstate[joint_eff]: [-0.1983, 1.388, 5.4769, 2.0147, -0.0415, -0.0757, -0.0171, 0.1026, -11.4393, 5.1761, 0.3004, -0.0073, -0.0513, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a9733fc09f68dc017cf7c9db21dec0fb599b4af373aa8aef90735ddcbf2178d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc122636e7514ad4407566783a91aeb6e6e33378abdfe17564be72219d251b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa3adb09c1e6ff14c2c8832f2d303826102862c850dfef36487f73a82687bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7a9733fc09f6]

[blob efc122636e75]

[blob aa3adb09c1e6]

{
  "content": [
    {
      "signature": "CAISswsKjAEIEBgCKkBMxqPaSm2ltebbWY6l0X6MX5nJwxzrNd6/mPyQAWKuVd5hdMCDKgWYDwwUIAbUxIocIAWdQbThGoIXj698mTAcMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMb9Z2yYrYpiIBz7e9Ggx+mjccZdbOs3Mx52YiMHRSPrtOrhtXM0ZNuRvAUo1y8bQvFYygca1pJ+z6q/3beS8wP87bHr7KcdgkLeQBwirTCWwp0d2GuxTLmAkB5eO1qzubLOUq6ogCysa+fGD8Jas/E0lRS3gTiS9kLqN2socCv1cJyeHf11lLTnGwELcocQCaj++TCQSlIS2RknCARW5H4jVqnygyPbiNSXJdT6kB8Z34bkzAtnufN8cJo5GGPIsCzQIdLv1njH4pOAtTc0Wbx8boNrgEmXJk5q0goqK4VgsNpnZxhyeU9dPhlx9l3lLQ7nKo6whfwORxuwEISXRrYoOET5ALEG+YlMfK0LfDSTirMDe4r+0GfpJ0FEpO5nh88C4SHr/wtS78FKe4a2IUmFqWUYhlhfDobJCyZr4rvIrYC6DmRp+8WqqDqmGpN5Ee8r5SHuesfUsqs0dayZylPe0GKryElLlW/BZ+kvmTPNS/5snMgCL6mfUzftEXZn7r8eTcg3DCN6IQmV4TwMseG/e5OQWBND7pFg8T4wyAOmwYnfHw/r8ldWII9crJ2g5aph0kEhBo2a//j6dCKcEwMe/Lmxn9+TxM/Szz9kLvA2f50NYa3VqlIogNdzS0CVWnS7ID2IKCjzkeGwjVC78fty1hOj0kt0pW+c/OMUM61odxtYh5b3xz/WCqbZhL58tpxp/E7e000hkj2SwvA1Buq6u/dTnk1LP5pSCPOsdbxcX8sD4zo0jRJ8arl2IZ7s3w+0n4oewoYiC8hqVNz2ycxz42YZZOqUO8Xd+8IMv8EEGbkzdqDZQ8MHOMx7zcwhVc+tE0MuYMGKhq2BwhsKby/0J3nqf3eGU154w+WUlz+yRDDj/UHDZvmnyaG6PIPtHQaSJo1QJeOAUFpoB3IewKIrdJ2umeWUAg0iu4671UhhYAIcCrbViy7VuzGwbvOJ+Ndy7A9opJfr4WU28jUyrJX0+/eeS75beuRESWBeHaqgjQ2ePbZC8+Zwr/OH5o9rBSNCu3uoouGk2Fir8z2H+l7i9PmFHSPX4L3/+PbDI+7/Oq618ufEdMtDaoMFC5EnLjdx5vJ1FxpZoQ5WCNQmM2DJ31dLHsk30r3Xlai/a1SDhz0vHTnahMiBY9oC8J6n4ce9TEO83zaU9ulfsHForpfPz8Ow+o5q0HQhLeebzdedjzy/8rQfB1I9qsuCJSOlcuRnaqzgG8FVP9JJjfImDB0xG1/ce4TUBJ/zQsyzkvklVtj3ITKMpv3oKaCNcHlbRQtVOCISaAW7q9Ka8HPpdD87Lrfa7hEvj/4rHkNAZzp6g2Tkw/osM4jnM2r+68b8SNO9EsH026TM0oVXnryFHEGU99JHlBDdVCXbGC2prVIYWI/vDfJhW1j4hySkELbmlDwH49OVKvM97A99NuV0CPHTAhK0PVaGwKDDBFCGDBeim7ypEf6uCS02J8JV3mAWFrE7XBCfat4l6cDwemy+4xVNHik9hIhvN7T5zHuQ/ZeSZ3zc7BbpmPTOXrBsb7/t9O3MlayHpROBW/K13LZKRsKgqUwWGXNwyx4ZNDT9EX2R/9a2x6g+LV1htPREqAlbkdoNQI6GXvUJYK9DzoCP13iztwroa4jbRaxb1B8y3VwsL1npX22rac3IOn0Jmq7AzkE+uBkFA9N/gWRzcwSchz6b5+JjT28Fo5M8viXmO7wWTOszMaw0iazuOkIaZyP78Gkl/3PhqKlF+CLJXAEBZ5T4XMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015HAYL12FuMZAPQ4ADXyh6q",
      "input": {
        "note": "The wrist view shows the red 'a' block up in the frame and the blue cube at the bottom-left edge. Yawing +0.15 rad (a known 4.5 cm sideways move at this radius) purely to measure how far, in pixels, each block shifts — that gives me the true scale of this view.",
        "targets": {
          "right_j0": 0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015HAYL12FuMZAPQ4ADXyh6q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8577 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6762 right_j1=1.9209 right_j2=1.4117 right_j3=-1.0912 right_j4=0.0437 right_j5=-0.0498 right_gripper=0.9473\nstate[joint_eff]: [-0.2393, 1.5111, 5.4222, 1.9365, -0.0073, -0.0269, -0.0122, -0.5812, -8.335, 5.7231, 0.3101, -0.0562, -0.0415, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c8a324fb7e3843388e0e540d8f765e6be8cd575a4d7b97ed93b19d633e182e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f131695290edf4f0178a5617b9191c4fe3c81de7ed62e3c0f9a099112fdaa753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25872362d3a5064997ce315e7d0ea55676486326387cd4a13d27db03b83f1c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 49 attempt 0 · /messages · status 200 · 14.21 s

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

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6327 left_j2=1.1915 left_j3=-0.8352 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.3248 right_j1=2.1578 right_j2=1.5341 right_j3=-1.0439 right_j4=0.0406 right_j5=-0.0471 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, 1.6342, 5.3812, 1.9805, -0.0513, -0.0366, -0.0171, -0.2803, -9.5795, 4.9573, 1.409, -0.0562, 0.0708, 0.1587]",
      "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=-0.0116 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8509 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5438 right_j1=1.9282 right_j2=1.4139 right_j3=-1.0847 right_j4=0.041 right_j5=-0.0498 right_gripper=0.9464\nstate[joint_eff]: [-0.1983, 1.388, 5.4769, 2.0147, -0.0415, -0.0757, -0.0171, 0.1026, -11.4393, 5.1761, 0.3004, -0.0073, -0.0513, -0.1245]",
      "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=-0.0113 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8577 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6762 right_j1=1.9209 right_j2=1.4117 right_j3=-1.0912 right_j4=0.0437 right_j5=-0.0498 right_gripper=0.9473\nstate[joint_eff]: [-0.2393, 1.5111, 5.4222, 1.9365, -0.0073, -0.0269, -0.0122, -0.5812, -8.335, 5.7231, 0.3101, -0.0562, -0.0415, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c8a324fb7e3843388e0e540d8f765e6be8cd575a4d7b97ed93b19d633e182e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f131695290edf4f0178a5617b9191c4fe3c81de7ed62e3c0f9a099112fdaa753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25872362d3a5064997ce315e7d0ea55676486326387cd4a13d27db03b83f1c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 54c8a324fb7e]

[blob f131695290ed]

[blob 25872362d3a5]

{
  "content": [
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UL1AG4D5wMFjG4ADNJCmm8",
      "input": {
        "note": "Pixel scales in both cameras are proving unreliable, so I'm placing the closed fingertips flat on the table at my best estimate of the cube's spot (bearing 1.0 rad, radius 0.24). With tip and cube both on the tabletop and close together, the overhead view gives a parallax-free, locally-valid read of the offset.",
        "targets": {
          "right_gripper": 0.0,
          "right_j0": 1.0,
          "right_j1": 1.86,
          "right_j2": 1.027,
          "right_j3": -0.738
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UL1AG4D5wMFjG4ADNJCmm8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8795 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9859 right_j1=1.8431 right_j2=1.0641 right_j3=-0.7906 right_j4=0.0578 right_j5=-0.049 right_gripper=0.0074\nstate[joint_eff]: [-0.0889, 1.812, 5.2991, 2.1221, -0.0611, -0.0269, -0.0171, 0.3761, -6.0923, 3.1111, 0.4811, -0.1929, -0.0317, 0.5641]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d0a40810413e705e5b6fdde97836ffcdb9585dc971069201eb05b275503c04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce26c8cc59e39b9ee5ebacfd5e47da90cda30405e294fec47a88ac0eb787db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fd8cd6b2f8dac1945ccb9afc0bc1ed3c6d36f94d1ef33f6f112701adccf86c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 50 attempt 0 · /messages · status 200 · 8.819 s

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

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8509 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5438 right_j1=1.9282 right_j2=1.4139 right_j3=-1.0847 right_j4=0.041 right_j5=-0.0498 right_gripper=0.9464\nstate[joint_eff]: [-0.1983, 1.388, 5.4769, 2.0147, -0.0415, -0.0757, -0.0171, 0.1026, -11.4393, 5.1761, 0.3004, -0.0073, -0.0513, -0.1245]",
      "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=-0.0113 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8577 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6762 right_j1=1.9209 right_j2=1.4117 right_j3=-1.0912 right_j4=0.0437 right_j5=-0.0498 right_gripper=0.9473\nstate[joint_eff]: [-0.2393, 1.5111, 5.4222, 1.9365, -0.0073, -0.0269, -0.0122, -0.5812, -8.335, 5.7231, 0.3101, -0.0562, -0.0415, 0.0904]",
      "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=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8795 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9859 right_j1=1.8431 right_j2=1.0641 right_j3=-0.7906 right_j4=0.0578 right_j5=-0.049 right_gripper=0.0074\nstate[joint_eff]: [-0.0889, 1.812, 5.2991, 2.1221, -0.0611, -0.0269, -0.0171, 0.3761, -6.0923, 3.1111, 0.4811, -0.1929, -0.0317, 0.5641]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d0a40810413e705e5b6fdde97836ffcdb9585dc971069201eb05b275503c04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce26c8cc59e39b9ee5ebacfd5e47da90cda30405e294fec47a88ac0eb787db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd8cd6b2f8dac1945ccb9afc0bc1ed3c6d36f94d1ef33f6f112701adccf86c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 98d0a4081041]

[blob 4ce26c8cc59e]

[blob 7fd8cd6b2f8d]

{
  "content": [
    {
      "signature": 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qKV/7/ZnOAdLuBD8Ln0GcfvlONwEMKEFrvnRjRrbJns7iY/WRcizmO2sKyqvcTl/gUuUQGdXb+IjSm2NQjhQT9Z6djbFa+uTyp4sBduS1vvsXacxm0cDUplI5CKJi/fc6h5fs1OhszoIw7e5WS/FTmwaiExqWjwAG1gYZgfX8/UauQQ68O0efsyO+pdyAuISiJ+x1KXOKcBZmaNWp1yhtpoDsVLVXICt9eyM4JGRyzUnw9hpLwg8+QmRhKlkwWwGPGwJhbO/238Tb4gqnqo0GHZa9kc+7mDX9Yt6fLQSmLSpSMKapufVjGSDj8PI1BNnOz3GNvn4Jm0jrX3QeGS+WifRGeTPwwOpR3PI7gqRWKcF0R+sdyEa+5NGpTeBtmdWDYlHZ506Q94FUs8DSmcffooGUK69EFQnlkzDwVav3AM0tYMcR0Rx8YbBDNrAFYaGA96CbVQKPsF+s7Zoi81mDJSVz9YamA6sEVcSjf+f+eXZvfc1bwpL8ZmuzW0IUlHqmg3siT+BiaAR5RmnC5AFJOkAL6f2EaAZPktkMDssQJCgF0wKhtEymwY+21qKoCITT+cRVIdRrxAXiaNONrL5ip5VALwDmN521knGIcHD7+Br0q16isBYftmHjKxIDgIQRjiAijwWmqBmMPCCg3WO+RMFQiOquoSo+7nI2Uyy+wu0iQ1ZsB9tYo0mcIHYDC41ozOeIgvt9k53CAeLSVPGbsO1RoOJw8EThUtFwnykO67oIVoo6goUzmObu3bpysDf3+EkoXryEWhpAoZiELKI30EDNnqj0kq3iv+nDYrr4ddm965hPoe7Z7NSmZQSQnZ10NLf2B4xoPkk7P9Xl5WgCPZpDjkEVKsXQw4y9IsYvbxEUEUPXW2aCOCBTjxgHrdkA5H+UPhO7UUW8Ei9Tmg18bhFs7/jENXNi/5CKw4yAru4rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gp25Nj2n2bsyprLbkhqBmk",
      "input": {
        "note": "Cross-checking two wrist views at known yaws finally pins the scale: ~15 px/cm, and the cube sits ~6 cm to the arm's right of my current axis — my bearing was 0.25 rad too far left all along. Moving to yaw 0.74 at radius 0.235 with the jaws open, 5 cm above the table.",
        "targets": {
          "right_gripper": 0.95,
          "right_j0": 0.74,
          "right_j1": 1.687,
          "right_j2": 1.103,
          "right_j3": -0.987
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gp25Nj2n2bsyprLbkhqBmk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8997 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7517 right_j1=1.713 right_j2=1.0748 right_j3=-0.9707 right_j4=0.0597 right_j5=-0.057 right_gripper=0.9456\nstate[joint_eff]: [-0.0479, 1.5111, 5.2991, 2.1074, -0.0269, -0.0415, -0.0171, -0.2667, -8.5812, 7.8564, 0.1734, -0.0171, 0.0269, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9661b07e5600be0f3a6510b726caf870134f6691a44fa579009555bfe567b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e72bf50ec0e49c9718d2359f3c2e7864eb31605ee3e85f5764cad08bd2fd37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:845db941d9ad00466d43506b4bf021857346fd75c339e8d4898657a1885cbf38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 51 attempt 0 · /messages · status 200 · 5.675 s

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

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6342 left_j2=1.1908 left_j3=-0.8577 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6762 right_j1=1.9209 right_j2=1.4117 right_j3=-1.0912 right_j4=0.0437 right_j5=-0.0498 right_gripper=0.9473\nstate[joint_eff]: [-0.2393, 1.5111, 5.4222, 1.9365, -0.0073, -0.0269, -0.0122, -0.5812, -8.335, 5.7231, 0.3101, -0.0562, -0.0415, 0.0904]",
      "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=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8795 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9859 right_j1=1.8431 right_j2=1.0641 right_j3=-0.7906 right_j4=0.0578 right_j5=-0.049 right_gripper=0.0074\nstate[joint_eff]: [-0.0889, 1.812, 5.2991, 2.1221, -0.0611, -0.0269, -0.0171, 0.3761, -6.0923, 3.1111, 0.4811, -0.1929, -0.0317, 0.5641]",
      "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=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8997 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7517 right_j1=1.713 right_j2=1.0748 right_j3=-0.9707 right_j4=0.0597 right_j5=-0.057 right_gripper=0.9456\nstate[joint_eff]: [-0.0479, 1.5111, 5.2991, 2.1074, -0.0269, -0.0415, -0.0171, -0.2667, -8.5812, 7.8564, 0.1734, -0.0171, 0.0269, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9661b07e5600be0f3a6510b726caf870134f6691a44fa579009555bfe567b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e72bf50ec0e49c9718d2359f3c2e7864eb31605ee3e85f5764cad08bd2fd37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845db941d9ad00466d43506b4bf021857346fd75c339e8d4898657a1885cbf38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ed9661b07e56]

[blob 89e72bf50ec0]

[blob 845db941d9ad]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KpC9g2gPbhnr64YfKpNaEr",
      "input": {
        "note": "The cube is now centred between the jaw wedges in the wrist view and reads 60 px wide, exactly the 4 cm it should be at 15 px/cm — the alignment is finally trustworthy. Descending to the tabletop with a 1 cm yaw tweak, ready to close.",
        "targets": {
          "right_j0": 0.79,
          "right_j1": 1.86,
          "right_j2": 0.99,
          "right_j3": -0.748
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KpC9g2gPbhnr64YfKpNaEr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9146 left_j4=-0.001 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.783 right_j1=1.8103 right_j2=1.0229 right_j3=-0.8654 right_j4=0.0475 right_j5=-0.0647 right_gripper=0.9459\nstate[joint_eff]: [-0.294, 1.5385, 5.2991, 2.1221, -0.0562, -0.0464, -0.0122, 0.6632, -3.7675, 2.2632, 1.2576, 0.1245, 0.105, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a42b8ea7f880576112e22de449a8c0e7a6372ca05cfc1953d591cfd263cdf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc7c578ed8a385c5337201b4fc4b8fbaf02bf8069af5481561e5845553e6539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8030679d535fcd8f8f8e99d24e298a6a5534e2fdf32bd184ed146b1560e49ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 52 attempt 0 · /messages · status 200 · 7.73 s

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

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8795 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.9859 right_j1=1.8431 right_j2=1.0641 right_j3=-0.7906 right_j4=0.0578 right_j5=-0.049 right_gripper=0.0074\nstate[joint_eff]: [-0.0889, 1.812, 5.2991, 2.1221, -0.0611, -0.0269, -0.0171, 0.3761, -6.0923, 3.1111, 0.4811, -0.1929, -0.0317, 0.5641]",
      "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=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8997 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7517 right_j1=1.713 right_j2=1.0748 right_j3=-0.9707 right_j4=0.0597 right_j5=-0.057 right_gripper=0.9456\nstate[joint_eff]: [-0.0479, 1.5111, 5.2991, 2.1074, -0.0269, -0.0415, -0.0171, -0.2667, -8.5812, 7.8564, 0.1734, -0.0171, 0.0269, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9146 left_j4=-0.001 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.783 right_j1=1.8103 right_j2=1.0229 right_j3=-0.8654 right_j4=0.0475 right_j5=-0.0647 right_gripper=0.9459\nstate[joint_eff]: [-0.294, 1.5385, 5.2991, 2.1221, -0.0562, -0.0464, -0.0122, 0.6632, -3.7675, 2.2632, 1.2576, 0.1245, 0.105, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a42b8ea7f880576112e22de449a8c0e7a6372ca05cfc1953d591cfd263cdf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc7c578ed8a385c5337201b4fc4b8fbaf02bf8069af5481561e5845553e6539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8030679d535fcd8f8f8e99d24e298a6a5534e2fdf32bd184ed146b1560e49ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 47a42b8ea7f8]

[blob bfc7c578ed8a]

[blob b8030679d535]

{
  "content": [
    {
      "signature": "CAISpgUKjAEIEBgCKkCgir1Kw08xcefDTssL4YwHZieiKkVjy+Ymj55NFoq6iEgLV5ORQOqoVolHZT+qz8rgX/2wfvc5luyykLxpoVJcMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMop3Ne44ZbkAjHDo+Ggx3xVcX7qpqvZIjSIYiMCik/T1hmdxfKdYk8WET6TCp6dzPVZxu3cfcmnQzM2e5KFdgifrzdY5o1uqsFnmWairGA/ar/NL+kQOH/RhCRmgA0KR7BIwQ5E0ziuuDyPpuN1gBQobM5VMS8SYUl/6HYjXYW3Pued0FEYe5PzruRpGANK5DquxXiZTfS0pzbQi2Lb9hZb4wnA2qthtUPahFMNPNg16m+4/itjekZ0E0XZv9wiX3t5yX4Gu81fqGWLvYnzCgDc6FqS9Z+IQlW3jS3ct06WklcoRQ/rYPNpHMXBBkws5iIN/xSTqYOFXlQxDcSecjDHGvMv6KrbmeRuxPp7mIRdf7EggMBg6XuHKe0iphkiPYOUQIwaxsE+BhNM1fyChTD+eZZk5fCafqZfKaybK+OsKE3n6BbIv4OEkIGpfU2miJF0M8zcEJpFCL5oel8NrCaCy5SUK6t0gZO/iTY2qBDFqe1CJEFXvXHrz3IBI94F+JTM6atgruDXksjaBaQG7fFuOThq9eu1c2BFDgchESTvKN3i2+lVa9OzcCVtQ+KBkGD46bAX2eF7Ih1HhfSidWyEbtzlWo6McRjgTN2cyXlv+EC2buNEfO3ijQRa76wxUaAAmAGdFGgwJDSOVP/UH19MMrwxzAeLNGQZygyi1DY6wKG5M7jhNFp80W7osaJt3TnWrsspUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017GpTykPYisLPhH4idhkcu6",
      "input": {
        "note": "Fingertips are on the table (j1 effort relaxed, j3 effort rising) with the blue cube filling the jaw gap. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017GpTykPYisLPhH4idhkcu6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9321 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7837 right_j1=1.8057 right_j2=1.0214 right_j3=-0.8639 right_j4=0.041 right_j5=-0.0715 right_gripper=0.4338\nstate[joint_eff]: [-0.2256, 1.6205, 5.7368, 2.0244, -0.0659, -0.0659, -0.0122, -0.2667, -7.3504, 4.9846, 0.0952, 0.0415, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82c9129174d480b17f70563b8d53ccc4517be24fe882f73b30ba21e54f68736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b435eeb419add4e565a50668fa9d72cf51964368ab1f92524f4cdae6dca7640f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7826516831692d0257eec6af9077c93e39011257d2325db0613cb474da2d6f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 53 attempt 0 · /messages · status 200 · 8.709 s

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

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.635 left_j2=1.1908 left_j3=-0.8997 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7517 right_j1=1.713 right_j2=1.0748 right_j3=-0.9707 right_j4=0.0597 right_j5=-0.057 right_gripper=0.9456\nstate[joint_eff]: [-0.0479, 1.5111, 5.2991, 2.1074, -0.0269, -0.0415, -0.0171, -0.2667, -8.5812, 7.8564, 0.1734, -0.0171, 0.0269, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9146 left_j4=-0.001 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.783 right_j1=1.8103 right_j2=1.0229 right_j3=-0.8654 right_j4=0.0475 right_j5=-0.0647 right_gripper=0.9459\nstate[joint_eff]: [-0.294, 1.5385, 5.2991, 2.1221, -0.0562, -0.0464, -0.0122, 0.6632, -3.7675, 2.2632, 1.2576, 0.1245, 0.105, 0.0269]",
      "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=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9321 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7837 right_j1=1.8057 right_j2=1.0214 right_j3=-0.8639 right_j4=0.041 right_j5=-0.0715 right_gripper=0.4338\nstate[joint_eff]: [-0.2256, 1.6205, 5.7368, 2.0244, -0.0659, -0.0659, -0.0122, -0.2667, -7.3504, 4.9846, 0.0952, 0.0415, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82c9129174d480b17f70563b8d53ccc4517be24fe882f73b30ba21e54f68736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b435eeb419add4e565a50668fa9d72cf51964368ab1f92524f4cdae6dca7640f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7826516831692d0257eec6af9077c93e39011257d2325db0613cb474da2d6f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d82c9129174d]

[blob b435eeb419ad]

[blob 782651683169]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Mp7T1b398e7yH6uYUGocd",
      "input": {
        "note": "Grasp confirmed — gripper residual 0.43 (~4.1 cm cube) with high grip effort. Lifting the cube ~15 cm and extending slightly so the overhead camera can show me where the red block is for the stack.",
        "targets": {
          "right_j1": 1.709,
          "right_j2": 1.609,
          "right_j3": -1.471
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012Mp7T1b398e7yH6uYUGocd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6369 left_j2=1.1908 left_j3=-0.9478 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7837 right_j1=1.7458 right_j2=1.565 right_j3=-1.4033 right_j4=0.041 right_j5=-0.0727 right_gripper=0.4375\nstate[joint_eff]: [-0.1026, 1.4974, 5.6274, 1.9902, -0.0366, -0.0708, -0.0122, -0.3077, -10.0991, 7.747, 0.0904, -0.0122, -0.022, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e52fb6de34b03fb36b2faee7a77343fc220248ad6d01c26c0993afc8af320a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a53941d1fcf784ccd49c65947cb7f12bfa5d12db57ef3b573db55c5500d852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bbd52dada1832c37283d6b13f3548c047d265c4785679905602e52791ccec32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 54 attempt 0 · /messages · status 200 · 8.496 s

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

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9146 left_j4=-0.001 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.783 right_j1=1.8103 right_j2=1.0229 right_j3=-0.8654 right_j4=0.0475 right_j5=-0.0647 right_gripper=0.9459\nstate[joint_eff]: [-0.294, 1.5385, 5.2991, 2.1221, -0.0562, -0.0464, -0.0122, 0.6632, -3.7675, 2.2632, 1.2576, 0.1245, 0.105, 0.0269]",
      "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=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9321 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7837 right_j1=1.8057 right_j2=1.0214 right_j3=-0.8639 right_j4=0.041 right_j5=-0.0715 right_gripper=0.4338\nstate[joint_eff]: [-0.2256, 1.6205, 5.7368, 2.0244, -0.0659, -0.0659, -0.0122, -0.2667, -7.3504, 4.9846, 0.0952, 0.0415, 0.0317, 1.0281]",
      "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=-0.0116 left_j1=0.6369 left_j2=1.1908 left_j3=-0.9478 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7837 right_j1=1.7458 right_j2=1.565 right_j3=-1.4033 right_j4=0.041 right_j5=-0.0727 right_gripper=0.4375\nstate[joint_eff]: [-0.1026, 1.4974, 5.6274, 1.9902, -0.0366, -0.0708, -0.0122, -0.3077, -10.0991, 7.747, 0.0904, -0.0122, -0.022, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e52fb6de34b03fb36b2faee7a77343fc220248ad6d01c26c0993afc8af320a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a53941d1fcf784ccd49c65947cb7f12bfa5d12db57ef3b573db55c5500d852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbd52dada1832c37283d6b13f3548c047d265c4785679905602e52791ccec32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 40e52fb6de34]

[blob a2a53941d1fc]

[blob 6bbd52dada18]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013sjp8eavcH8ABLa7cpKbTx",
      "input": {
        "note": "Carrying the cube at ~14 cm; the red block is visible in the upper-right of the wrist view. Moving ~5 cm outward and ~5 cm to the arm's right to get above it, then I'll fine-tune before lowering.",
        "targets": {
          "right_j0": 0.62,
          "right_j1": 1.945,
          "right_j2": 1.828,
          "right_j3": -1.453
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_013sjp8eavcH8ABLa7cpKbTx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6403 left_j2=1.1904 left_j3=-0.9627 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6346 right_j1=1.9369 right_j2=1.7763 right_j3=-1.4612 right_j4=0.041 right_j5=-0.0792 right_gripper=0.4381\nstate[joint_eff]: [-0.1846, 1.2923, 5.3128, 1.9756, -0.0659, -0.0659, -0.0073, -0.4718, -9.5248, 8.1299, 0.1783, -0.0024, 0.1001, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29469edaf34f315cbd1312a43d3d217f646b725af425cfdb7b2cc367b6be4ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c3e358ebcfc124ba97979b5dd938de22603e1d8dba57aa523d7a72d4903f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33fe840ad29adb5c10054cb333982d39f15c2a1c05739db780b3d09693b12d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 55 attempt 0 · /messages · status 200 · 7.671 s

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

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6365 left_j2=1.1908 left_j3=-0.9321 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.7837 right_j1=1.8057 right_j2=1.0214 right_j3=-0.8639 right_j4=0.041 right_j5=-0.0715 right_gripper=0.4338\nstate[joint_eff]: [-0.2256, 1.6205, 5.7368, 2.0244, -0.0659, -0.0659, -0.0122, -0.2667, -7.3504, 4.9846, 0.0952, 0.0415, 0.0317, 1.0281]",
      "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=-0.0116 left_j1=0.6369 left_j2=1.1908 left_j3=-0.9478 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7837 right_j1=1.7458 right_j2=1.565 right_j3=-1.4033 right_j4=0.041 right_j5=-0.0727 right_gripper=0.4375\nstate[joint_eff]: [-0.1026, 1.4974, 5.6274, 1.9902, -0.0366, -0.0708, -0.0122, -0.3077, -10.0991, 7.747, 0.0904, -0.0122, -0.022, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.0113 left_j1=0.6403 left_j2=1.1904 left_j3=-0.9627 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6346 right_j1=1.9369 right_j2=1.7763 right_j3=-1.4612 right_j4=0.041 right_j5=-0.0792 right_gripper=0.4381\nstate[joint_eff]: [-0.1846, 1.2923, 5.3128, 1.9756, -0.0659, -0.0659, -0.0073, -0.4718, -9.5248, 8.1299, 0.1783, -0.0024, 0.1001, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29469edaf34f315cbd1312a43d3d217f646b725af425cfdb7b2cc367b6be4ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c3e358ebcfc124ba97979b5dd938de22603e1d8dba57aa523d7a72d4903f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fe840ad29adb5c10054cb333982d39f15c2a1c05739db780b3d09693b12d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 29469edaf34f]

[blob c5c3e358ebcf]

[blob 33fe840ad29a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013mKeGhUWTPL9VZebkXA7RX",
      "input": {
        "note": "The red block has come down and left in the wrist view but is still well ahead of me. Extending another ~6 cm outward and dropping ~3 cm, nudging slightly right, closing in on the stack position.",
        "targets": {
          "right_j0": 0.585,
          "right_j1": 2.168,
          "right_j2": 2.0,
          "right_j3": -1.402
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_013mKeGhUWTPL9VZebkXA7RX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9703 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6006 right_j1=2.1601 right_j2=1.9514 right_j3=-1.4345 right_j4=0.0406 right_j5=-0.0845 right_gripper=0.4381\nstate[joint_eff]: [-0.1436, 1.5111, 5.3128, 1.8974, -0.022, -0.0464, -0.0171, -1.0051, -12.7248, 8.6496, 0.0904, -0.0122, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bfab2df35358df5717bc43975ea49eff28bfb0efe80c832a95eed6068be52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163c433f9ba70d5ff859b162742b47a34b68f0b5466241c78445c4281fba1d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47d2dc493124fa80aeea673154b7f74cc7754477be62b5ebee6dde5dbb1ecb5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 56 attempt 0 · /messages · status 200 · 9.977 s

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

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6369 left_j2=1.1908 left_j3=-0.9478 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.7837 right_j1=1.7458 right_j2=1.565 right_j3=-1.4033 right_j4=0.041 right_j5=-0.0727 right_gripper=0.4375\nstate[joint_eff]: [-0.1026, 1.4974, 5.6274, 1.9902, -0.0366, -0.0708, -0.0122, -0.3077, -10.0991, 7.747, 0.0904, -0.0122, -0.022, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.0113 left_j1=0.6403 left_j2=1.1904 left_j3=-0.9627 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6346 right_j1=1.9369 right_j2=1.7763 right_j3=-1.4612 right_j4=0.041 right_j5=-0.0792 right_gripper=0.4381\nstate[joint_eff]: [-0.1846, 1.2923, 5.3128, 1.9756, -0.0659, -0.0659, -0.0073, -0.4718, -9.5248, 8.1299, 0.1783, -0.0024, 0.1001, 1.033]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9703 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6006 right_j1=2.1601 right_j2=1.9514 right_j3=-1.4345 right_j4=0.0406 right_j5=-0.0845 right_gripper=0.4381\nstate[joint_eff]: [-0.1436, 1.5111, 5.3128, 1.8974, -0.022, -0.0464, -0.0171, -1.0051, -12.7248, 8.6496, 0.0904, -0.0122, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bfab2df35358df5717bc43975ea49eff28bfb0efe80c832a95eed6068be52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163c433f9ba70d5ff859b162742b47a34b68f0b5466241c78445c4281fba1d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d2dc493124fa80aeea673154b7f74cc7754477be62b5ebee6dde5dbb1ecb5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 94bfab2df353]

[blob 163c433f9ba7]

[blob 47d2dc493124]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SNAe2rZQ8bxVvsHSkrVkmp",
      "input": {
        "note": "Red block is now centred left-to-right in the wrist view and dropping down the frame as I approach. Extending ~5 cm further out at the same height to bring the carried cube over it.",
        "targets": {
          "right_j1": 2.352,
          "right_j2": 2.269,
          "right_j3": -1.487
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SNAe2rZQ8bxVvsHSkrVkmp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9844 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.606 right_j1=2.3375 right_j2=2.223 right_j3=-1.496 right_j4=0.0406 right_j5=-0.0986 right_gripper=0.4387\nstate[joint_eff]: [-0.0205, 1.5111, 5.4496, 2.0098, -0.0757, -0.0562, -0.0171, -0.7453, -12.0137, 8.1846, 0.2515, -0.0269, 0.1197, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:006d0f676ca4b151cdf0614282e13f6bb36b49b3a8a952af655835df59bc6924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c984fc67569c018b08b0fc9cb52bdeea482ff15afbef4409d22b01fe1e575aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69b2b2e3f1c3666ba7d2c640bcf35f72b7272151829b4b185233364d52a80dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 57 attempt 0 · /messages · status 200 · 12.47 s

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

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6403 left_j2=1.1904 left_j3=-0.9627 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6346 right_j1=1.9369 right_j2=1.7763 right_j3=-1.4612 right_j4=0.041 right_j5=-0.0792 right_gripper=0.4381\nstate[joint_eff]: [-0.1846, 1.2923, 5.3128, 1.9756, -0.0659, -0.0659, -0.0073, -0.4718, -9.5248, 8.1299, 0.1783, -0.0024, 0.1001, 1.033]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9703 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6006 right_j1=2.1601 right_j2=1.9514 right_j3=-1.4345 right_j4=0.0406 right_j5=-0.0845 right_gripper=0.4381\nstate[joint_eff]: [-0.1436, 1.5111, 5.3128, 1.8974, -0.022, -0.0464, -0.0171, -1.0051, -12.7248, 8.6496, 0.0904, -0.0122, 0.0171, 1.033]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9844 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.606 right_j1=2.3375 right_j2=2.223 right_j3=-1.496 right_j4=0.0406 right_j5=-0.0986 right_gripper=0.4387\nstate[joint_eff]: [-0.0205, 1.5111, 5.4496, 2.0098, -0.0757, -0.0562, -0.0171, -0.7453, -12.0137, 8.1846, 0.2515, -0.0269, 0.1197, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:006d0f676ca4b151cdf0614282e13f6bb36b49b3a8a952af655835df59bc6924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c984fc67569c018b08b0fc9cb52bdeea482ff15afbef4409d22b01fe1e575aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b2b2e3f1c3666ba7d2c640bcf35f72b7272151829b4b185233364d52a80dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 006d0f676ca4]

[blob 8c984fc67569]

[blob 69b2b2e3f1c3]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PtcgYrYkHQBEV2hhpXhboU",
      "input": {
        "note": "Each 5 cm of extension walks the red block ~50 px down the wrist frame; it is now just above my carried cube, which hangs ~3.5 cm clear of its top. Extending a final ~5 cm to bring the cube directly over the red block.",
        "targets": {
          "right_j1": 2.601,
          "right_j2": 2.709,
          "right_j3": -1.678
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PtcgYrYkHQBEV2hhpXhboU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9916 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5824 right_j2=2.6625 right_j3=-1.6711 right_j4=0.0406 right_j5=-0.1093 right_gripper=0.4413\nstate[joint_eff]: [-0.0889, 1.5248, 5.2718, 1.9121, -0.0562, -0.0317, -0.0171, 0.0068, -12.6427, 7.7744, 0.3248, -0.0122, 0.0855, 0.9158]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f1aa2f07226250fd3473183c9fb3ae5d1018e80a31810afbe6b8ca6fff011d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed75b559eb42a81de28eeec5034ff4b34dc3b29fdf725c0121908003680d5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68865466dbe2545c7d8d99983d1c165e0903910e3e4673447d3fc139a5a008bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 58 attempt 0 · /messages · status 200 · 15.71 s

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

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9703 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6006 right_j1=2.1601 right_j2=1.9514 right_j3=-1.4345 right_j4=0.0406 right_j5=-0.0845 right_gripper=0.4381\nstate[joint_eff]: [-0.1436, 1.5111, 5.3128, 1.8974, -0.022, -0.0464, -0.0171, -1.0051, -12.7248, 8.6496, 0.0904, -0.0122, 0.0171, 1.033]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9844 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.606 right_j1=2.3375 right_j2=2.223 right_j3=-1.496 right_j4=0.0406 right_j5=-0.0986 right_gripper=0.4387\nstate[joint_eff]: [-0.0205, 1.5111, 5.4496, 2.0098, -0.0757, -0.0562, -0.0171, -0.7453, -12.0137, 8.1846, 0.2515, -0.0269, 0.1197, 0.989]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9916 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5824 right_j2=2.6625 right_j3=-1.6711 right_j4=0.0406 right_j5=-0.1093 right_gripper=0.4413\nstate[joint_eff]: [-0.0889, 1.5248, 5.2718, 1.9121, -0.0562, -0.0317, -0.0171, 0.0068, -12.6427, 7.7744, 0.3248, -0.0122, 0.0855, 0.9158]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f1aa2f07226250fd3473183c9fb3ae5d1018e80a31810afbe6b8ca6fff011d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed75b559eb42a81de28eeec5034ff4b34dc3b29fdf725c0121908003680d5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68865466dbe2545c7d8d99983d1c165e0903910e3e4673447d3fc139a5a008bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c2f1aa2f0722]

[blob 7ed75b559eb4]

[blob 68865466dbe2]

{
  "content": [
    {
      "signature": 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ODFzs7ycZxeebe/UJ57/l1WXSjVqFa8piq6dA17+VDUJlStx9aMMmfpBvw6W4o8LjlXpLra27GlteX5tw8r1hO4+XVyaSv2KC5bnnwBsoqbT7ifqLv2+Y1LNCXfA+VJhbAzb4OM1exiUDQraYO/9eQTq7c3zo+wp7O0BgXoM2LcfDR5PBpsPqsSGxw8pmxav+q7wFQQLe445aaZbmSgvqAkyYwpqyKOeLvDXctNkdQnowQoKxyTT5LT8SnELCvUbJUGGyjCTnDAgOoi8dznqHh4UCKfKhploivWHl1DwLYeAgWyxC3nEKzMLph4QESk/o1ceEj0fcMt60EuDQdQ6MxZBoTTooZRHB5yTC2eEPMburcc5rgBzuAYNugCJn4WPlcrHWHoQw5tO7zqMrwCqDolf0vzLzqk6LXPkkhxNhjEd6pBmnRTiW6in1Feum7vaBm9XnmJ8x8Uwen0+ENVKkI7zhPeLrKsLfgYV5gC5QPIs1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012RCnsFWfUQPpuJbAKHbLur",
      "input": {
        "note": "The red block is pressed right up against the carried cube in the wrist view, so I should be over it. Lowering ~3 cm so the cube's underside comes to just above the red block's 4.3 cm top, watching effort for the touchdown.",
        "targets": {
          "right_j1": 2.567,
          "right_j2": 2.506,
          "right_j3": -1.51
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_012RCnsFWfUQPpuJbAKHbLur",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6426 left_j2=1.19 left_j3=-0.992 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5782 right_j2=2.5229 right_j3=-1.5841 right_j4=0.0406 right_j5=-0.1097 right_gripper=0.4441\nstate[joint_eff]: [-0.2256, 1.9761, 5.2991, 1.8339, -0.0562, -0.0366, -0.0122, -0.212, -14.7487, 6.7624, 0.3297, 0.0073, -0.0171, 0.6276]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72597bf40f37b143c607fe9ab1fed87bf5adff2fd52d88c1a19b006ac8a92ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced76732427a6b1c7feddbd02d14a4141e6848bbdb342dd36f3d8b413f77bc73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11151f41999666086e7787d97426b3a1c1c4c889461c1a4644366ce6f2ac4951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 59 attempt 0 · /messages · status 200 · 8.553 s

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

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9844 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.606 right_j1=2.3375 right_j2=2.223 right_j3=-1.496 right_j4=0.0406 right_j5=-0.0986 right_gripper=0.4387\nstate[joint_eff]: [-0.0205, 1.5111, 5.4496, 2.0098, -0.0757, -0.0562, -0.0171, -0.7453, -12.0137, 8.1846, 0.2515, -0.0269, 0.1197, 0.989]",
      "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=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9916 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5824 right_j2=2.6625 right_j3=-1.6711 right_j4=0.0406 right_j5=-0.1093 right_gripper=0.4413\nstate[joint_eff]: [-0.0889, 1.5248, 5.2718, 1.9121, -0.0562, -0.0317, -0.0171, 0.0068, -12.6427, 7.7744, 0.3248, -0.0122, 0.0855, 0.9158]",
      "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=-0.0116 left_j1=0.6426 left_j2=1.19 left_j3=-0.992 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5782 right_j2=2.5229 right_j3=-1.5841 right_j4=0.0406 right_j5=-0.1097 right_gripper=0.4441\nstate[joint_eff]: [-0.2256, 1.9761, 5.2991, 1.8339, -0.0562, -0.0366, -0.0122, -0.212, -14.7487, 6.7624, 0.3297, 0.0073, -0.0171, 0.6276]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72597bf40f37b143c607fe9ab1fed87bf5adff2fd52d88c1a19b006ac8a92ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced76732427a6b1c7feddbd02d14a4141e6848bbdb342dd36f3d8b413f77bc73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11151f41999666086e7787d97426b3a1c1c4c889461c1a4644366ce6f2ac4951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b72597bf40f3]

[blob ced76732427a]

[blob 11151f419996]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NvUdvxWWKrsfHzqeRvaF2x",
      "input": {
        "note": "The cube's underside is level with the red block's top and still no contact, and the overhead frame shows the red block down-and-right of my carried cube — meaning the red-and-white patch in the wrist view is my own cube's top face, not the target. Trusting the overhead: lifting a little and pulling back ~7 cm toward the red block's real position.",
        "targets": {
          "right_j0": 0.629,
          "right_j1": 2.142,
          "right_j2": 1.958,
          "right_j3": -1.386
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NvUdvxWWKrsfHzqeRvaF2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6426 left_j2=1.19 left_j3=-0.9974 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6273 right_j1=2.191 right_j2=1.9766 right_j3=-1.4151 right_j4=0.0406 right_j5=-0.1162 right_gripper=0.4469\nstate[joint_eff]: [-0.0342, 1.6889, 5.5179, 1.8926, -0.0171, -0.0464, -0.0122, -0.1573, -13.9692, 6.1744, 0.5299, 0.022, 0.0659, 0.6276]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0211c2edac4ab2daa4b9984d0eea89aafdcb54cf1a6a56fa7e7af4d1203b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a1908150f68cc0c86662e25b25512ecd9cc05f5704c49e2294f50c18355579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaf6fd67327aa4b76e0be80bf50659957b4024ea84d9b2b3133ea9c86b7a8cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 60 attempt 0 · /messages · status 200 · 9.305 s

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

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6418 left_j2=1.19 left_j3=-0.9916 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5824 right_j2=2.6625 right_j3=-1.6711 right_j4=0.0406 right_j5=-0.1093 right_gripper=0.4413\nstate[joint_eff]: [-0.0889, 1.5248, 5.2718, 1.9121, -0.0562, -0.0317, -0.0171, 0.0068, -12.6427, 7.7744, 0.3248, -0.0122, 0.0855, 0.9158]",
      "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=-0.0116 left_j1=0.6426 left_j2=1.19 left_j3=-0.992 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5782 right_j2=2.5229 right_j3=-1.5841 right_j4=0.0406 right_j5=-0.1097 right_gripper=0.4441\nstate[joint_eff]: [-0.2256, 1.9761, 5.2991, 1.8339, -0.0562, -0.0366, -0.0122, -0.212, -14.7487, 6.7624, 0.3297, 0.0073, -0.0171, 0.6276]",
      "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=-0.0113 left_j1=0.6426 left_j2=1.19 left_j3=-0.9974 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6273 right_j1=2.191 right_j2=1.9766 right_j3=-1.4151 right_j4=0.0406 right_j5=-0.1162 right_gripper=0.4469\nstate[joint_eff]: [-0.0342, 1.6889, 5.5179, 1.8926, -0.0171, -0.0464, -0.0122, -0.1573, -13.9692, 6.1744, 0.5299, 0.022, 0.0659, 0.6276]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0211c2edac4ab2daa4b9984d0eea89aafdcb54cf1a6a56fa7e7af4d1203b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a1908150f68cc0c86662e25b25512ecd9cc05f5704c49e2294f50c18355579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaf6fd67327aa4b76e0be80bf50659957b4024ea84d9b2b3133ea9c86b7a8cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9b0211c2edac]

[blob 62a1908150f6]

[blob eaf6fd67327a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015G5inUq67RPgBhTE7SxpcM",
      "input": {
        "note": "Now I can see the genuine red '2' block on the table ahead of the jaws, distinct from my own cube's face at the bottom of the frame. Extending a measured 3 cm to see how many pixels it drops, which calibrates the last bit of the approach.",
        "targets": {
          "right_j0": 0.607,
          "right_j1": 2.295,
          "right_j2": 2.152,
          "right_j3": -1.428
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015G5inUq67RPgBhTE7SxpcM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0111 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6193 right_j1=2.2749 right_j2=2.1086 right_j3=-1.4307 right_j4=0.0414 right_j5=-0.1173 right_gripper=0.4466\nstate[joint_eff]: [-0.1983, 1.4564, 5.4632, 1.9414, -0.0562, -0.0415, -0.0171, -1.0462, -11.6718, 8.1299, 0.1441, 0.0269, 0.0024, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1399d70730bcfd20029c916931a004b650903acb4581a7869c1af22442f23c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013def3620656f1fbee6817610c0a3a8311bfaec2c47e2f7d64b06ab8c6389a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e98fb56c271b7855d21a3befb72b337d1b8b6b902164f6dc2799d8082ffb7052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 61 attempt 0 · /messages · status 200 · 11.22 s

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

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6426 left_j2=1.19 left_j3=-0.992 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6067 right_j1=2.5782 right_j2=2.5229 right_j3=-1.5841 right_j4=0.0406 right_j5=-0.1097 right_gripper=0.4441\nstate[joint_eff]: [-0.2256, 1.9761, 5.2991, 1.8339, -0.0562, -0.0366, -0.0122, -0.212, -14.7487, 6.7624, 0.3297, 0.0073, -0.0171, 0.6276]",
      "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=-0.0113 left_j1=0.6426 left_j2=1.19 left_j3=-0.9974 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6273 right_j1=2.191 right_j2=1.9766 right_j3=-1.4151 right_j4=0.0406 right_j5=-0.1162 right_gripper=0.4469\nstate[joint_eff]: [-0.0342, 1.6889, 5.5179, 1.8926, -0.0171, -0.0464, -0.0122, -0.1573, -13.9692, 6.1744, 0.5299, 0.022, 0.0659, 0.6276]",
      "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=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0111 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6193 right_j1=2.2749 right_j2=2.1086 right_j3=-1.4307 right_j4=0.0414 right_j5=-0.1173 right_gripper=0.4466\nstate[joint_eff]: [-0.1983, 1.4564, 5.4632, 1.9414, -0.0562, -0.0415, -0.0171, -1.0462, -11.6718, 8.1299, 0.1441, 0.0269, 0.0024, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1399d70730bcfd20029c916931a004b650903acb4581a7869c1af22442f23c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013def3620656f1fbee6817610c0a3a8311bfaec2c47e2f7d64b06ab8c6389a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e98fb56c271b7855d21a3befb72b337d1b8b6b902164f6dc2799d8082ffb7052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c1399d70730b]

[blob 013def362065]

[blob e98fb56c271b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N443spE9owivjD2QVqABVi",
      "input": {
        "note": "The 3 cm test moved the red block 25 px down the frame, so this view runs ~8 px/cm; I need roughly 7 cm more. Taking 4 cm of it now and re-checking, with the cube still riding 3 cm above the red block's top.",
        "targets": {
          "right_j1": 2.46,
          "right_j2": 2.438,
          "right_j3": -1.549
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01N443spE9owivjD2QVqABVi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6437 left_j2=1.19 left_j3=-1.0176 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.622 right_j1=2.4451 right_j2=2.3932 right_j3=-1.541 right_j4=0.0406 right_j5=-0.1291 right_gripper=0.4492\nstate[joint_eff]: [-0.0889, 1.6752, 5.4769, 1.8486, -0.0708, -0.0415, -0.0171, -0.212, -12.5744, 7.9385, 0.2173, 0.0073, 0.0708, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 471):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75fa322b47f01a8c1e79f488fa22a08f6068a98bc86e7f1d70247c90734d55aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 471):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:087989c8c8268b264881f69d728fc6f9021be08b6002f246d3e9c95c54d445ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 471):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b31eef3e62ec18d51e3f09aa5a1a63f2e41de8f1a0a78f7fb5e1323d2b60402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 62 attempt 0 · /messages · status 200 · 16.52 s

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

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6426 left_j2=1.19 left_j3=-0.9974 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6273 right_j1=2.191 right_j2=1.9766 right_j3=-1.4151 right_j4=0.0406 right_j5=-0.1162 right_gripper=0.4469\nstate[joint_eff]: [-0.0342, 1.6889, 5.5179, 1.8926, -0.0171, -0.0464, -0.0122, -0.1573, -13.9692, 6.1744, 0.5299, 0.022, 0.0659, 0.6276]",
      "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=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0111 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6193 right_j1=2.2749 right_j2=2.1086 right_j3=-1.4307 right_j4=0.0414 right_j5=-0.1173 right_gripper=0.4466\nstate[joint_eff]: [-0.1983, 1.4564, 5.4632, 1.9414, -0.0562, -0.0415, -0.0171, -1.0462, -11.6718, 8.1299, 0.1441, 0.0269, 0.0024, 0.3004]",
      "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=-0.0113 left_j1=0.6437 left_j2=1.19 left_j3=-1.0176 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.622 right_j1=2.4451 right_j2=2.3932 right_j3=-1.541 right_j4=0.0406 right_j5=-0.1291 right_gripper=0.4492\nstate[joint_eff]: [-0.0889, 1.6752, 5.4769, 1.8486, -0.0708, -0.0415, -0.0171, -0.212, -12.5744, 7.9385, 0.2173, 0.0073, 0.0708, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 471):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75fa322b47f01a8c1e79f488fa22a08f6068a98bc86e7f1d70247c90734d55aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 471):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:087989c8c8268b264881f69d728fc6f9021be08b6002f246d3e9c95c54d445ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 471):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b31eef3e62ec18d51e3f09aa5a1a63f2e41de8f1a0a78f7fb5e1323d2b60402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 75fa322b47f0]

[blob 087989c8c826]

[blob 4b31eef3e62e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8oSDZNCeKo1WYsYmFFL7u",
      "input": {
        "note": "I need to settle which red patch is the real target: yawing the base -0.2 rad with everything else fixed. Anything rigidly held by the gripper will stay put in the wrist image, while the block lying on the table will sweep sideways by ~9 cm.",
        "targets": {
          "right_j0": 0.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01W8oSDZNCeKo1WYsYmFFL7u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0183 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.448 right_j1=2.4538 right_j2=2.3898 right_j3=-1.5639 right_j4=0.0376 right_j5=-0.1394 right_gripper=0.4515\nstate[joint_eff]: [-0.1026, 1.4838, 5.2855, 1.8193, -0.0562, -0.0415, -0.0122, 0.0342, -14.065, 5.9692, 0.3932, 0.0171, 0.0611, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 475):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:785763105b54fba119d4d5a15b3c5a55555bce1c30439f464757eae87f40f936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 475):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e90532f2ef9b1bc629beb24f6512e8e010daba575bf5808dd73a95d19055c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 475):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99545177142c8215652da81ca6ed71e08f8614669e34e851b6bd440183b92d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 63 attempt 0 · /messages · status 200 · 14.62 s

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

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0111 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6193 right_j1=2.2749 right_j2=2.1086 right_j3=-1.4307 right_j4=0.0414 right_j5=-0.1173 right_gripper=0.4466\nstate[joint_eff]: [-0.1983, 1.4564, 5.4632, 1.9414, -0.0562, -0.0415, -0.0171, -1.0462, -11.6718, 8.1299, 0.1441, 0.0269, 0.0024, 0.3004]",
      "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=-0.0113 left_j1=0.6437 left_j2=1.19 left_j3=-1.0176 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.622 right_j1=2.4451 right_j2=2.3932 right_j3=-1.541 right_j4=0.0406 right_j5=-0.1291 right_gripper=0.4492\nstate[joint_eff]: [-0.0889, 1.6752, 5.4769, 1.8486, -0.0708, -0.0415, -0.0171, -0.212, -12.5744, 7.9385, 0.2173, 0.0073, 0.0708, 0.2613]",
      "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=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0183 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.448 right_j1=2.4538 right_j2=2.3898 right_j3=-1.5639 right_j4=0.0376 right_j5=-0.1394 right_gripper=0.4515\nstate[joint_eff]: [-0.1026, 1.4838, 5.2855, 1.8193, -0.0562, -0.0415, -0.0122, 0.0342, -14.065, 5.9692, 0.3932, 0.0171, 0.0611, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 475):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:785763105b54fba119d4d5a15b3c5a55555bce1c30439f464757eae87f40f936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 475):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e90532f2ef9b1bc629beb24f6512e8e010daba575bf5808dd73a95d19055c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 475):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99545177142c8215652da81ca6ed71e08f8614669e34e851b6bd440183b92d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 785763105b54]

[blob 01e90532f2ef]

[blob 99545177142c]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTE6EfufkKUhvGHgx8cUTa",
      "input": {
        "note": "The yaw test settled it: the red patch at the bottom of the wrist frame is my own cube's top face, while the overhead camera's red block stayed fixed — that one is the real target, about 4 cm right and 7 cm behind my cube. Moving to that spot (radius 0.36, yaw 0.43) with the cube hanging ~1 cm above the red block's top.",
        "targets": {
          "right_j0": 0.425,
          "right_j1": 2.1,
          "right_j2": 1.708,
          "right_j3": -1.178
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PTE6EfufkKUhvGHgx8cUTa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6434 left_j2=1.19 left_j3=-1.0332 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4324 right_j1=2.1498 right_j2=1.7218 right_j3=-1.224 right_j4=0.0429 right_j5=-0.1394 right_gripper=0.4534\nstate[joint_eff]: [-0.1026, 1.5385, 5.2581, 1.9365, -0.0269, -0.0757, -0.0122, -0.7863, -14.2701, 6.3111, 0.5495, -0.0415, -0.0317, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3e42134bbb384cb9630ceb0d5e1a25c0649c88eacd3ad4d45ea3080877547c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb827a528ab698a09b3c01cd65861c79f770faf813bef7750f2843a93a54e8b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e9c0ee8c567cabe14905e5e4c800faa35ec364264e9c883b53a8fabcce94f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 64 attempt 0 · /messages · status 200 · 9.465 s

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

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6437 left_j2=1.19 left_j3=-1.0176 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.622 right_j1=2.4451 right_j2=2.3932 right_j3=-1.541 right_j4=0.0406 right_j5=-0.1291 right_gripper=0.4492\nstate[joint_eff]: [-0.0889, 1.6752, 5.4769, 1.8486, -0.0708, -0.0415, -0.0171, -0.212, -12.5744, 7.9385, 0.2173, 0.0073, 0.0708, 0.2613]",
      "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=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0183 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.448 right_j1=2.4538 right_j2=2.3898 right_j3=-1.5639 right_j4=0.0376 right_j5=-0.1394 right_gripper=0.4515\nstate[joint_eff]: [-0.1026, 1.4838, 5.2855, 1.8193, -0.0562, -0.0415, -0.0122, 0.0342, -14.065, 5.9692, 0.3932, 0.0171, 0.0611, 0.2222]",
      "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=-0.0116 left_j1=0.6434 left_j2=1.19 left_j3=-1.0332 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4324 right_j1=2.1498 right_j2=1.7218 right_j3=-1.224 right_j4=0.0429 right_j5=-0.1394 right_gripper=0.4534\nstate[joint_eff]: [-0.1026, 1.5385, 5.2581, 1.9365, -0.0269, -0.0757, -0.0122, -0.7863, -14.2701, 6.3111, 0.5495, -0.0415, -0.0317, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3e42134bbb384cb9630ceb0d5e1a25c0649c88eacd3ad4d45ea3080877547c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb827a528ab698a09b3c01cd65861c79f770faf813bef7750f2843a93a54e8b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9c0ee8c567cabe14905e5e4c800faa35ec364264e9c883b53a8fabcce94f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7b3e42134bbb]

[blob eb827a528ab6]

[blob 4e9c0ee8c567]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CKfYjxxxB3aJRzRFTFLenp",
      "input": {
        "note": "With the red block now clearly identified on the table at the upper-left of the wrist view, the yaw correction from the overhead read was wrong — the right bearing is ~0.60 rad. Returning there at radius 0.42 with the cube's underside ~5 cm up, just clearing the red block's top.",
        "targets": {
          "right_j0": 0.6,
          "right_j1": 2.331,
          "right_j2": 2.096,
          "right_j3": -1.336
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CKfYjxxxB3aJRzRFTFLenp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6445 left_j2=1.19 left_j3=-1.037 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5957 right_j1=2.3104 right_j2=2.0533 right_j3=-1.3224 right_j4=0.0437 right_j5=-0.1509 right_gripper=0.4543\nstate[joint_eff]: [-0.3487, 1.4154, 5.4359, 1.8144, -0.0611, -0.0366, -0.0122, -0.1026, -11.5487, 7.5829, 0.1294, -0.0122, 0.0611, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed3d70d3bcbaa7697146a1d7f381ee4f136cee4d8d7a47d6f60a36b3695c6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2277107205223d1dce4d651a220616d0710ae6723126da45a6df1e8ae6132de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2978954a325e45c29ab3d2817e2f6c27662c8eb174250a78951078308f32850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 65 attempt 0 · /messages · status 200 · 10.73 s

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

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6434 left_j2=1.19 left_j3=-1.0183 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.448 right_j1=2.4538 right_j2=2.3898 right_j3=-1.5639 right_j4=0.0376 right_j5=-0.1394 right_gripper=0.4515\nstate[joint_eff]: [-0.1026, 1.4838, 5.2855, 1.8193, -0.0562, -0.0415, -0.0122, 0.0342, -14.065, 5.9692, 0.3932, 0.0171, 0.0611, 0.2222]",
      "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=-0.0116 left_j1=0.6434 left_j2=1.19 left_j3=-1.0332 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4324 right_j1=2.1498 right_j2=1.7218 right_j3=-1.224 right_j4=0.0429 right_j5=-0.1394 right_gripper=0.4534\nstate[joint_eff]: [-0.1026, 1.5385, 5.2581, 1.9365, -0.0269, -0.0757, -0.0122, -0.7863, -14.2701, 6.3111, 0.5495, -0.0415, -0.0317, 0.188]",
      "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=-0.0116 left_j1=0.6445 left_j2=1.19 left_j3=-1.037 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5957 right_j1=2.3104 right_j2=2.0533 right_j3=-1.3224 right_j4=0.0437 right_j5=-0.1509 right_gripper=0.4543\nstate[joint_eff]: [-0.3487, 1.4154, 5.4359, 1.8144, -0.0611, -0.0366, -0.0122, -0.1026, -11.5487, 7.5829, 0.1294, -0.0122, 0.0611, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed3d70d3bcbaa7697146a1d7f381ee4f136cee4d8d7a47d6f60a36b3695c6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2277107205223d1dce4d651a220616d0710ae6723126da45a6df1e8ae6132de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2978954a325e45c29ab3d2817e2f6c27662c8eb174250a78951078308f32850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bed3d70d3bcb]

[blob 227710720522]

[blob d2978954a325]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011154sPFDARaYESoc1BoJiY",
      "input": {
        "note": "Rather than keep arguing with ambiguous imagery, I'm using the arm as a probe: lowering 5 cm here. If the descent stalls with the cube's underside ~4.3 cm up, it has landed on the red block; if it goes all the way down, I'm over bare table and will know to step outward.",
        "targets": {
          "right_j1": 2.374,
          "right_j2": 1.954,
          "right_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_011154sPFDARaYESoc1BoJiY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.646 left_j2=1.19 left_j3=-1.0416 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6014 right_j1=2.3394 right_j2=1.9793 right_j3=-1.2182 right_j4=0.0441 right_j5=-0.1543 right_gripper=0.4555\nstate[joint_eff]: [-0.1983, 1.853, 5.2718, 1.8584, -0.0464, -0.0659, -0.0171, -0.2256, -10.2359, 5.0667, 0.3004, -0.0024, -0.0122, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4614871d1b319639f26efaef2a368f1e1ed8e2ad2aa516a675f1664bd7f2849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75394550e898d6e425bb5e9e9e13b01df642c86a5798575fb2d32d3d041355b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 495):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9a4205d2994c216488cd5704429dec04114f1cf775952dffd50cc5ab4b1ed0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 66 attempt 0 · /messages · status 200 · 15.73 s

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

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6434 left_j2=1.19 left_j3=-1.0332 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4324 right_j1=2.1498 right_j2=1.7218 right_j3=-1.224 right_j4=0.0429 right_j5=-0.1394 right_gripper=0.4534\nstate[joint_eff]: [-0.1026, 1.5385, 5.2581, 1.9365, -0.0269, -0.0757, -0.0122, -0.7863, -14.2701, 6.3111, 0.5495, -0.0415, -0.0317, 0.188]",
      "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=-0.0116 left_j1=0.6445 left_j2=1.19 left_j3=-1.037 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5957 right_j1=2.3104 right_j2=2.0533 right_j3=-1.3224 right_j4=0.0437 right_j5=-0.1509 right_gripper=0.4543\nstate[joint_eff]: [-0.3487, 1.4154, 5.4359, 1.8144, -0.0611, -0.0366, -0.0122, -0.1026, -11.5487, 7.5829, 0.1294, -0.0122, 0.0611, 0.0757]",
      "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=-0.0113 left_j1=0.646 left_j2=1.19 left_j3=-1.0416 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6014 right_j1=2.3394 right_j2=1.9793 right_j3=-1.2182 right_j4=0.0441 right_j5=-0.1543 right_gripper=0.4555\nstate[joint_eff]: [-0.1983, 1.853, 5.2718, 1.8584, -0.0464, -0.0659, -0.0171, -0.2256, -10.2359, 5.0667, 0.3004, -0.0024, -0.0122, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4614871d1b319639f26efaef2a368f1e1ed8e2ad2aa516a675f1664bd7f2849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75394550e898d6e425bb5e9e9e13b01df642c86a5798575fb2d32d3d041355b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9a4205d2994c216488cd5704429dec04114f1cf775952dffd50cc5ab4b1ed0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b4614871d1b3]

[blob 75394550e898]

[blob c9a4205d2994]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015g4SAFLi7yAbJZA7KXNf9V",
      "input": {
        "note": "The cube descended to 2 cm above the table with no contact, so there is definitely no block underneath me. Raising the arm high (still holding the cube) to get a wide wrist-camera view of the table and re-find the red block.",
        "targets": {
          "right_j1": 2.085,
          "right_j2": 2.538,
          "right_j3": -2.024
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_015g4SAFLi7yAbJZA7KXNf9V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6472 left_j2=1.19 left_j3=-1.0439 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.6029 right_j1=2.1319 right_j2=2.5019 right_j3=-1.7046 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.4555\nstate[joint_eff]: [-0.253, 1.388, 5.4359, 1.8486, -0.0269, -0.0562, -0.0122, -0.335, -13.4496, 6.8855, 0.4957, -0.0269, 0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d9e26be484f235722fc699c5945b7d4284f6a30697cc3d45faa16376d7feb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:070b0d3983076d63f7a76251cef74d9397c46e25103219c3a9aafd06c04b43c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd544ea29ca183742aa1a1b99f77de760c6fb17ca5fbf0b5087a017d91b38d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 67 attempt 0 · /messages · status 200 · 10.5 s

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

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6445 left_j2=1.19 left_j3=-1.037 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5957 right_j1=2.3104 right_j2=2.0533 right_j3=-1.3224 right_j4=0.0437 right_j5=-0.1509 right_gripper=0.4543\nstate[joint_eff]: [-0.3487, 1.4154, 5.4359, 1.8144, -0.0611, -0.0366, -0.0122, -0.1026, -11.5487, 7.5829, 0.1294, -0.0122, 0.0611, 0.0757]",
      "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=-0.0113 left_j1=0.646 left_j2=1.19 left_j3=-1.0416 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6014 right_j1=2.3394 right_j2=1.9793 right_j3=-1.2182 right_j4=0.0441 right_j5=-0.1543 right_gripper=0.4555\nstate[joint_eff]: [-0.1983, 1.853, 5.2718, 1.8584, -0.0464, -0.0659, -0.0171, -0.2256, -10.2359, 5.0667, 0.3004, -0.0024, -0.0122, 0.1148]",
      "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=-0.0113 left_j1=0.6472 left_j2=1.19 left_j3=-1.0439 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.6029 right_j1=2.1319 right_j2=2.5019 right_j3=-1.7046 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.4555\nstate[joint_eff]: [-0.253, 1.388, 5.4359, 1.8486, -0.0269, -0.0562, -0.0122, -0.335, -13.4496, 6.8855, 0.4957, -0.0269, 0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d9e26be484f235722fc699c5945b7d4284f6a30697cc3d45faa16376d7feb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:070b0d3983076d63f7a76251cef74d9397c46e25103219c3a9aafd06c04b43c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd544ea29ca183742aa1a1b99f77de760c6fb17ca5fbf0b5087a017d91b38d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 81d9e26be484]

[blob 070b0d398307]

[blob bd544ea29ca1]

{
  "content": [
    {
      "signature": 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sIyb574o5E5EbIopzsW7SHc6MNhdKo5CAYsN/coK5U8I+2x2YzSjae6H5MEgKa1h+QxO42bNb38mRkHh8xEOd5MuHkCXmoCVg7z/pnGmcIt30s4YJ1xIPlobHP97K5kDfqNXyAaaoVIPqXoER7IJ5EcqgDamip6n7ftBctTK9pcbXQ8YYJvAsgVPn1YPBQ9/gEKiF16dZtSFvrB4gH3O16dqvIQjDmnmWOtRm4TEj6iYhr8K4teddbOiOLD5OmwPC8xEI6xjWQgN03OccnDlXnSYUNk0IkHhgDisXVW1xqKYReZa/8rHzC0aA3Uk1YKHM+0+Wk9hvuv67i5DCsEvT+cwl9Z4n+P2u+ppMjQwAxUKPch09Ru7l2t6dtp2JyB/37FjobvCz93D79a25jIG0j9QFCyQ73I1+EaHnnZk2vsYSFfMOZb/luprtoCd0+1dzIqWqLokIpZKftxWl4OXjjkimf2rIp90gmXe3IdpmBm6hMcXa/aBqZhI3d1eDcUrm6RzUVz0+RicJOLOOkGj3lhqBVvjL44SCLG9sh3BrHQj7Pt0+ONudl9vRVnJ6KZUEJesQVpdcOALOxkHdHtgMfPrRUgowHg72U/VC99nb+OwdcQDu2bHohYk2bRrR+9Fd5jNyHojHVE41OQ9Z/1mVF2tX0XgRVT0/sD57WI2mdokdL9Gog+2/sC0GTh4nN10Sptwdn62mUdrqPBxVwSj1Zh1JrbXmpfbbPQUusdr9e19NyEI6rvgIKLNS/QwT4dkHyelSTFkBiUNdnSAIr4QpTy5XbtU8ERLRG1WbZGKWrhdbByKUcYLXZZEr3RVgoIbqT8hDFk1/uTOGiMHWRiXLDY4nIdJcU9Ipl3tfAcrugwx3I5ltLLQWFbJNJouPOyUX7/5iQxPyskHDyb+YHcFtYu4qyullzYiaPol1bOXJ4foPIfGkI3JFwoU98usA/iQds258Nabp+NzjpGvmgLcJXSu+kClV/n+LKC2ylu4EM2U/w0qKKHKMWs0Y4WUwB8aLqT1oJzkkCOt1mhlormu6T21USOyppUPjup5KHOmGPF+DUDUQ54lb8avSbHio1E9SFC/hGnG6tqb7hPMqW635GCBcFoA6gPpbBohpXmtCbkxk+9C7LLA2dJ6z0l2xzqdxC0q3ZoQCdbeqLFViuBQArzcNDTDFj1D4Cmrbiqf+DCsnfXP6UGgBKOFWUTODk2BvxC3ZSfTdgH3mKRQjCQeIVgaggLsrwPsm8nWYUPQobFdE1Qam91RsmP9NqLO2sgtCbWomobbGx2IXv0MO9xUKViWpEHgIXx2e2ciF1p8aCz2rhcBLljld0zXxB/+cqjUGXAn01AWaMEEdkk9iDsmJJNgeLIhgLxsPzPwo9D0BsTg9hn2OszFAMCKOFL132MaGbzP0ZqmIpPYF6rLUHW+7jFHjtulVBjPpbrDYjm50IbzHs4vF3T2Qfi1g30X+/ceecfrKZdpGykTc3x5If/Q/PxMx//mJ4mXHTyfr4VyVCX01M1Q/XliYve9xcIpyUkTbOvEtZhI7Ll0hyZZl/1GGSPH9E+55IN/FgoAbgIH1H6O5C2PCDYDaNADxycIQ5wDngAivOJWXwiM//NU6tZIM0Dk5EIzL6pfe6vjgwyCdGAl7JR9SAgrJVJry7QXREvUeXPzEIL1mzyJVk4xhE0ULGrrgY/qt7t7pfMr3/yQGEPo8k8mT2Ch23hLIsfAhQc9E0teIEpxfY5iMsjrI1DYo+YNNggNcHjbxq4kITNNmRaTCIyy+k4iBw9Un34qXp9/OZfIWvq4DDJFzH/6pd9zx2SJo9ZfvWmMckd/QybMQd17CoJ8aVmmh6MzKiSLZSKkea77kJDeDI3msMKriyuMeX9y6QqJoCNd/kMFBPwcNuD+cfE8UAyc8OG2qLrMS3cmwsM1yajD1Yc5pdAN1ooCw0F/t2ruXNLY8lC5Uv7Nq4293gsr0SwZim5U9+hg//6V8npMW8ZcQOroBNkbiJPKneq2BbP/k1Ngs+QgaPGCB6eXz6ZQbgP5KvdS+galj1ng+Cq7ocmZg7yttLbr1LXyGEkMsjYf0a9EqhOyKa1oOACJm9MvLDCsj9X0xkGWu0+FsZCeUD/cxP8VO+qANeoUPtZSczWWWD1nCV68/SKVGRVuCcCuSnbr5aCKh1MBXbkyG+5IS/g4+3I3Jb8L/UurdwI6Sh9xrNOVSCB4f8KdjVWpipr4XkUBQTEnen7JUTfIssGkL7F5WfuO76RTULuS4GxJI9fiQ+Em6Vik4TKYkEi0G5xWB1twFmEDnl5iKUAtwLWVg17MDwA/hEaSTNgxLJ5vk0lhdEc5ocyYjFVhmhOcgGtwnVBrDdz2CDjlfvJj8gcogriWT3LIj2ieK2Ee3BI5N81SFmyrnYcYgjNvnugE2tEXJ76X+rTrE3o4A7eSQnpW84sFzUYoGtDlJ1SoqBF5eQA1XpNLkMBm6FAKDKxy/7nbxvTjF/g0T0Wt4hjgpDb6warBUz+Vp1KWYpmIv0IEiWhlB6sNQ7igbbrH3UcomCs5/4k0u2K4B7HV6szg6PTW2kLzcR290JkctaCqoj1c0V7FPjDEFA3cptzrsfckhlrUgvjZRO8SseMG5pVEysjY1oM7jIG7KZMnc+fx9jBbkjeUNSvw+g3MBZFmIOTf7R4g8kBTy2e7WFLul8gu2PMsxsfNqFbT73lTkr4qsZKFs8RFeXXpqERUW3D2gV0+H4Ort/EiMoDsusj1UOJ4TXU+SM1uIC/MnxRxiPYjZkpdUzgipCxzVYAz5pdAAPNEA+K77Qcq6MZ4OCnhpR4BxFIs5RcMZibo9ltPnc+lYC9FudmuZD2neYukQrfOJjl4SbnfoiDHgc0LyChZtjm4b+Xbcq0zDwGJQnKlO/8qd/lgVJOBGc5PiaWv4GRylyQS5QTGQtLp08l7gZF8PVRTikWtj0eUED0YCiXoouj+XmK+2C7PM6uBvRjqu9FIVCjW+cyXliNkArxHEiMUEUiFh/EEkNDPYY0Hy+WgDJQwZmcoo214qmZhBIoUJuurOy5yh9KvjRWQeFtjA5qr3PHXWMrjK0NT9I7BIbqy5AOvSs7RM+ujVgFCEl2EH6MJ4MNU/nJTlrjdffuFZQizGzlwOp7SyEXuciltfthdh1FjhVPj4yVuk93Drqij0Fc8TWVxWo1njKQvDpLu54kIq49xk2yt6fJ5US60gO50XXCrbgd0qtFF9wXvzSgWvQSxhCsCHoV31hTSu0M9oIDxzIHessC0jSZ0pQyK99XaZvAL+WBlS+BF99Sd5Oiz7993brFl6z+LsDz3MrG2ssU7OjUEPEgdflskzefuxcAEfK+UzCY2VZqJ2nscdXBRjpPZEaxweJ44r2BNxvU1RJa+wuqbYWeGTB6e3uPAkoXndnhI4uxG9kSQB2nSjyAJAMgWmIb2qBaPYzcdV+Z6EA83UxQXhTM5iZm3PfzeTOfNsrDi8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S6Mg2CkAArWvq4TMFZ9fiN",
      "input": {
        "note": "Bad news and good news: the grip force decayed to zero and the cube slipped out — but it landed right next to the red block, and now both cubes are clearly visible side by side in the wrist view (blue farther out, red ~4 cm nearer). Opening the jaws and descending to 5 cm to re-grasp the blue one.",
        "targets": {
          "right_gripper": 0.95,
          "right_j1": 2.228,
          "right_j2": 1.887,
          "right_j3": -1.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S6Mg2CkAArWvq4TMFZ9fiN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6479 left_j2=1.19 left_j3=-1.0595 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.2093 right_j2=1.9049 right_j3=-1.2915 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.9477\nstate[joint_eff]: [-0.0889, 1.4564, 5.3128, 2.0195, -0.0562, -0.0562, -0.0171, -0.0889, -10.5231, 6.4205, 0.5397, -0.0269, -0.0317, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 518):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42baf6a004a9ffed2a85461f79e6282bc7d090011b3d583d30d417902d089cba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 518):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96cc7a3caf551dd516bf04b3254dab4cc658db80719900492e730af9b46c419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 518):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ddbbeb24b784194cad08e8da663a983af12ce5ff32d5552ceb886354d0bed41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 68 attempt 0 · /messages · status 200 · 7.221 s

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

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.646 left_j2=1.19 left_j3=-1.0416 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6014 right_j1=2.3394 right_j2=1.9793 right_j3=-1.2182 right_j4=0.0441 right_j5=-0.1543 right_gripper=0.4555\nstate[joint_eff]: [-0.1983, 1.853, 5.2718, 1.8584, -0.0464, -0.0659, -0.0171, -0.2256, -10.2359, 5.0667, 0.3004, -0.0024, -0.0122, 0.1148]",
      "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=-0.0113 left_j1=0.6472 left_j2=1.19 left_j3=-1.0439 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.6029 right_j1=2.1319 right_j2=2.5019 right_j3=-1.7046 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.4555\nstate[joint_eff]: [-0.253, 1.388, 5.4359, 1.8486, -0.0269, -0.0562, -0.0122, -0.335, -13.4496, 6.8855, 0.4957, -0.0269, 0.0464, -0.0024]",
      "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=-0.0116 left_j1=0.6479 left_j2=1.19 left_j3=-1.0595 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.2093 right_j2=1.9049 right_j3=-1.2915 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.9477\nstate[joint_eff]: [-0.0889, 1.4564, 5.3128, 2.0195, -0.0562, -0.0562, -0.0171, -0.0889, -10.5231, 6.4205, 0.5397, -0.0269, -0.0317, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 518):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42baf6a004a9ffed2a85461f79e6282bc7d090011b3d583d30d417902d089cba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 518):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96cc7a3caf551dd516bf04b3254dab4cc658db80719900492e730af9b46c419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 518):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddbbeb24b784194cad08e8da663a983af12ce5ff32d5552ceb886354d0bed41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 42baf6a004a9]

[blob c96cc7a3caf5]

[blob 9ddbbeb24b78]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151pwve6v2k4wWZzQ6wDtSG",
      "input": {
        "note": "Both cubes are laterally centred in the jaw gap, blue farther out and red nearer. Extending ~3 cm toward the blue cube and descending to the tabletop; I'll check the framing before closing.",
        "targets": {
          "right_j1": 2.4,
          "right_j2": 1.995,
          "right_j3": -1.166
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_0151pwve6v2k4wWZzQ6wDtSG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.071 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3734 right_j2=1.964 right_j3=-1.2121 right_j4=0.0441 right_j5=-0.1616 right_gripper=0.9487\nstate[joint_eff]: [-0.1026, 1.4291, 5.2718, 1.917, -0.0611, -0.0513, -0.0171, -0.4034, -12.3419, 8.3077, 0.2662, 0.0024, 0.0171, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6521dd2ef3311fbff87f041566623fbabd5813dfffc76a05915f96278ddaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4806ddd5611f558ad663af0181169debd6a88f08918a37e35ffa7e91b078cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 522):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e1b42a1d0de15f3e9e7724139c80acb39d6346e00e288ef848f7bea947417e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 69 attempt 0 · /messages · status 200 · 7.992 s

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

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6472 left_j2=1.19 left_j3=-1.0439 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.6029 right_j1=2.1319 right_j2=2.5019 right_j3=-1.7046 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.4555\nstate[joint_eff]: [-0.253, 1.388, 5.4359, 1.8486, -0.0269, -0.0562, -0.0122, -0.335, -13.4496, 6.8855, 0.4957, -0.0269, 0.0464, -0.0024]",
      "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=-0.0116 left_j1=0.6479 left_j2=1.19 left_j3=-1.0595 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.2093 right_j2=1.9049 right_j3=-1.2915 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.9477\nstate[joint_eff]: [-0.0889, 1.4564, 5.3128, 2.0195, -0.0562, -0.0562, -0.0171, -0.0889, -10.5231, 6.4205, 0.5397, -0.0269, -0.0317, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.071 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3734 right_j2=1.964 right_j3=-1.2121 right_j4=0.0441 right_j5=-0.1616 right_gripper=0.9487\nstate[joint_eff]: [-0.1026, 1.4291, 5.2718, 1.917, -0.0611, -0.0513, -0.0171, -0.4034, -12.3419, 8.3077, 0.2662, 0.0024, 0.0171, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6521dd2ef3311fbff87f041566623fbabd5813dfffc76a05915f96278ddaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4806ddd5611f558ad663af0181169debd6a88f08918a37e35ffa7e91b078cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1b42a1d0de15f3e9e7724139c80acb39d6346e00e288ef848f7bea947417e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bb6521dd2ef3]

[blob b4806ddd5611]

[blob 9e1b42a1d0de]

{
  "content": [
    {
      "signature": "CAISugUKjAEIEBgCKkC6H8zRjo9jaTfKGS5mOq0IG0s5+XQkIAFwKrfWaIQM2A7Sy2beDdbAR/b6me9eL2Elh4cXZjE2/YHfUDRJNV+rMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMeIn/wF216csQKaN0Ggyynfl/ZtBe2ZwU3LkiMJaXDhjnto34GzSwe/dupzqUtdjlndI6XB1xiUAkQbMV7kX81HPAI5cl9pBK69CS0yraA3jbiGBzjSeNLFnmM08DtS6yCQRAVJvSvGTikJmNHdHU1IlsZjXhmh+QNVy3/U2eGYmtfjMlM/weFNEtJYgYef9bCkndavqeOcrDap7+mY1w26Jbb0sKZEwShyh2jHy0IJCk0vzp1HSoXZQ26sjvpuwn57GUBkkDD7yVFVu6vtUKaIletAxSAylvcv0E4RTqwPi+wIq9kjEIUG37dwG3cLztWUg5ALYE6CsGTtUjeqqwXseudu+W6qGzqn5QNaPilLwejAKhxlLXicUAza65KbhgpbMO9SLuLrdFUvWUbN7R9zD6ehdwLqiJL1jzatQM5tIL6Ej4JfRyqZ00vPV9Qos8UsonZztJ8viqtsrLyCMNjwByNSPxNZTsl/zCGr+Ekvk7Z0LQixwikFq3aT7dmfZ4ApV6VZ5aTqMQ+YWWueVJinKlRv0Ur/7K8VxKzVR7YS0QaQZob5aR/DKFnUFXghGkqrr+sxhfcnacIxqMNjrqewwCsMe15c89Y5UoX4VNtxkje+8hH6EC93nTGpJlP3u7JOtNwLNQjYoLgdrJtm0mXKmL01s69Rz/CChPqidvV6/taSr6eJ/AH7pzvB6MD6P5UFRfut50mkCGU/VV+AzEMKDp3ncQdfvgbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FNeVY6Dmih46EF5AcUtNJG",
      "input": {
        "note": "The blue cube fills the jaw gap at the bottom of the wrist view and the fingertips are ~1 cm off the table. Closing to re-grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FNeVY6Dmih46EF5AcUtNJG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.0813 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3985 right_j2=1.9652 right_j3=-1.211 right_j4=0.041 right_j5=-0.1654 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, 1.6479, 5.2718, 1.8974, -0.0513, -0.0464, -0.0073, -0.2803, -14.9265, 5.4222, 0.1099, 0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 532):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f69fc79a3da72e9a13f1353c5046041f2950d204b230148b6056d075d437fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 532):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd70dc557465c5c8d269475933270daf5e795d81e0f0f1d703db543ea8fc805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 532):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7d587cb41ffcf763e59ac6532535ff976f3f0937601c72314f65a46e0dc05e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 70 attempt 0 · /messages · status 200 · 9.861 s

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

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6479 left_j2=1.19 left_j3=-1.0595 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.2093 right_j2=1.9049 right_j3=-1.2915 right_j4=0.0444 right_j5=-0.1612 right_gripper=0.9477\nstate[joint_eff]: [-0.0889, 1.4564, 5.3128, 2.0195, -0.0562, -0.0562, -0.0171, -0.0889, -10.5231, 6.4205, 0.5397, -0.0269, -0.0317, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.071 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3734 right_j2=1.964 right_j3=-1.2121 right_j4=0.0441 right_j5=-0.1616 right_gripper=0.9487\nstate[joint_eff]: [-0.1026, 1.4291, 5.2718, 1.917, -0.0611, -0.0513, -0.0171, -0.4034, -12.3419, 8.3077, 0.2662, 0.0024, 0.0171, 0.0855]",
      "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=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.0813 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3985 right_j2=1.9652 right_j3=-1.211 right_j4=0.041 right_j5=-0.1654 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, 1.6479, 5.2718, 1.8974, -0.0513, -0.0464, -0.0073, -0.2803, -14.9265, 5.4222, 0.1099, 0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 532):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f69fc79a3da72e9a13f1353c5046041f2950d204b230148b6056d075d437fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 532):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd70dc557465c5c8d269475933270daf5e795d81e0f0f1d703db543ea8fc805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 532):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d587cb41ffcf763e59ac6532535ff976f3f0937601c72314f65a46e0dc05e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 83f69fc79a3d]

[blob fbd70dc55746]

[blob c7d587cb41ff]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SHmCFzpGPavarH9rHD8NbS",
      "input": {
        "note": "Re-grasped the blue cube (residual 0.435, strong grip effort). Lifting ~6 cm and pulling back ~3.5 cm toward where the red block sat, staying high enough to clear its top.",
        "targets": {
          "right_j1": 2.138,
          "right_j2": 1.824,
          "right_j3": -1.257
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SHmCFzpGPavarH9rHD8NbS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.651 left_j2=1.19 left_j3=-1.0885 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.1948 right_j2=1.8343 right_j3=-1.2488 right_j4=0.0406 right_j5=-0.1658 right_gripper=0.439\nstate[joint_eff]: [-0.212, 1.5111, 5.2581, 1.8193, -0.0464, -0.0464, -0.0122, -0.1983, -13.6547, 5.4222, 0.4567, -0.0171, -0.0122, 0.8523]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 537):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ba824b1b1780e218dd0be6e6aef673e61fc0a4ab765c1940b1724efff050b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 537):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e027bb57e716f11d633b415e3cb6c43e592280da68466b7eb9ef0a2be7e058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 537):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13ae9b37caacb1aec5b9c6df1bdb8fc4c12062acdf0b6796e906a3f7df97f7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 71 attempt 0 · /messages · status 200 · 9.656 s

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

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.071 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3734 right_j2=1.964 right_j3=-1.2121 right_j4=0.0441 right_j5=-0.1616 right_gripper=0.9487\nstate[joint_eff]: [-0.1026, 1.4291, 5.2718, 1.917, -0.0611, -0.0513, -0.0171, -0.4034, -12.3419, 8.3077, 0.2662, 0.0024, 0.0171, 0.0855]",
      "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=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.0813 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3985 right_j2=1.9652 right_j3=-1.211 right_j4=0.041 right_j5=-0.1654 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, 1.6479, 5.2718, 1.8974, -0.0513, -0.0464, -0.0073, -0.2803, -14.9265, 5.4222, 0.1099, 0.0122, 0.0073, 1.0281]",
      "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=-0.0116 left_j1=0.651 left_j2=1.19 left_j3=-1.0885 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.1948 right_j2=1.8343 right_j3=-1.2488 right_j4=0.0406 right_j5=-0.1658 right_gripper=0.439\nstate[joint_eff]: [-0.212, 1.5111, 5.2581, 1.8193, -0.0464, -0.0464, -0.0122, -0.1983, -13.6547, 5.4222, 0.4567, -0.0171, -0.0122, 0.8523]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 537):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ba824b1b1780e218dd0be6e6aef673e61fc0a4ab765c1940b1724efff050b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 537):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e027bb57e716f11d633b415e3cb6c43e592280da68466b7eb9ef0a2be7e058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 537):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ae9b37caacb1aec5b9c6df1bdb8fc4c12062acdf0b6796e906a3f7df97f7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 98ba824b1b17]

[blob f5e027bb57e7]

[blob 13ae9b37caac]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiY9RR6ZYB26YjqnH4RNap",
      "input": {
        "note": "The overhead close-up shows the red block sitting immediately to the image-right of my held cube (~3-4 cm to the arm's right), same forward distance. Yawing right by that amount before probing downward.",
        "targets": {
          "right_j0": 0.51
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AiY9RR6ZYB26YjqnH4RNap",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.651 left_j2=1.19 left_j3=-1.0901 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.572 right_j1=2.1662 right_j2=1.824 right_j3=-1.2568 right_j4=0.0368 right_j5=-0.1738 right_gripper=0.4418\nstate[joint_eff]: [-0.1846, 1.4564, 5.5043, 1.79, -0.0464, -0.0562, -0.0122, -3.1658, -9.5521, 6.6667, 0.315, 0.0659, 0.0659, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 539):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fcbb92eb702bf5905c19e0e717d63b1d7f9d5416ee169882575099fae5d7c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 539):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a99f8c9bb9053283f1243db5ae75fae849efb41a74b50373aa34082d8009ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 539):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d93646e1d740a9f07be8aeb0d06953474f96e83ed6a15472445f84de811b8116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 72 attempt 0 · /messages · status 200 · 7.88 s

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

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6491 left_j2=1.19 left_j3=-1.0813 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6029 right_j1=2.3985 right_j2=1.9652 right_j3=-1.211 right_j4=0.041 right_j5=-0.1654 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, 1.6479, 5.2718, 1.8974, -0.0513, -0.0464, -0.0073, -0.2803, -14.9265, 5.4222, 0.1099, 0.0122, 0.0073, 1.0281]",
      "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=-0.0116 left_j1=0.651 left_j2=1.19 left_j3=-1.0885 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.1948 right_j2=1.8343 right_j3=-1.2488 right_j4=0.0406 right_j5=-0.1658 right_gripper=0.439\nstate[joint_eff]: [-0.212, 1.5111, 5.2581, 1.8193, -0.0464, -0.0464, -0.0122, -0.1983, -13.6547, 5.4222, 0.4567, -0.0171, -0.0122, 0.8523]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.0113 left_j1=0.651 left_j2=1.19 left_j3=-1.0901 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.572 right_j1=2.1662 right_j2=1.824 right_j3=-1.2568 right_j4=0.0368 right_j5=-0.1738 right_gripper=0.4418\nstate[joint_eff]: [-0.1846, 1.4564, 5.5043, 1.79, -0.0464, -0.0562, -0.0122, -3.1658, -9.5521, 6.6667, 0.315, 0.0659, 0.0659, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 539):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fcbb92eb702bf5905c19e0e717d63b1d7f9d5416ee169882575099fae5d7c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 539):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a99f8c9bb9053283f1243db5ae75fae849efb41a74b50373aa34082d8009ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 539):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d93646e1d740a9f07be8aeb0d06953474f96e83ed6a15472445f84de811b8116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1fcbb92eb702]

[blob 71a99f8c9bb9]

[blob d93646e1d740]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BEhzatS9GZJYjncs763wy",
      "input": {
        "note": "The red '1' block is now clearly in the wrist view directly above my held cube and laterally centred — the yaw move even stalled slightly as if brushing it. Descending 4 cm: if the cube's underside stops at ~4.3 cm the stack is made.",
        "targets": {
          "right_j1": 2.219,
          "right_j2": 1.737,
          "right_j3": -1.089
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_017BEhzatS9GZJYjncs763wy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6533 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5652 right_j1=2.1948 right_j2=1.7531 right_j3=-1.1572 right_j4=0.0448 right_j5=-0.1772 right_gripper=0.4417\nstate[joint_eff]: [-0.0889, 1.5932, 5.2855, 1.8486, -0.0659, -0.0122, -0.0171, -0.1436, -9.6342, 5.3812, 0.3932, -0.1148, -0.022, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d1a425c4d0fbc38b09327cea9c212410898de229b26f028cfad929982e2ee4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2dc21d82faccdcabb41d56f804d0e44c8e1652c57ada3c4cf2371b75e52340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 542):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ab2e7a382e42b107a52f9f57040a47cf0820aa4108c4d6ac0cf8e39244a4cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 73 attempt 0 · /messages · status 200 · 16.35 s

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

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.651 left_j2=1.19 left_j3=-1.0885 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.1948 right_j2=1.8343 right_j3=-1.2488 right_j4=0.0406 right_j5=-0.1658 right_gripper=0.439\nstate[joint_eff]: [-0.212, 1.5111, 5.2581, 1.8193, -0.0464, -0.0464, -0.0122, -0.1983, -13.6547, 5.4222, 0.4567, -0.0171, -0.0122, 0.8523]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.0113 left_j1=0.651 left_j2=1.19 left_j3=-1.0901 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.572 right_j1=2.1662 right_j2=1.824 right_j3=-1.2568 right_j4=0.0368 right_j5=-0.1738 right_gripper=0.4418\nstate[joint_eff]: [-0.1846, 1.4564, 5.5043, 1.79, -0.0464, -0.0562, -0.0122, -3.1658, -9.5521, 6.6667, 0.315, 0.0659, 0.0659, 0.862]",
      "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=-0.0113 left_j1=0.6533 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5652 right_j1=2.1948 right_j2=1.7531 right_j3=-1.1572 right_j4=0.0448 right_j5=-0.1772 right_gripper=0.4417\nstate[joint_eff]: [-0.0889, 1.5932, 5.2855, 1.8486, -0.0659, -0.0122, -0.0171, -0.1436, -9.6342, 5.3812, 0.3932, -0.1148, -0.022, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d1a425c4d0fbc38b09327cea9c212410898de229b26f028cfad929982e2ee4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2dc21d82faccdcabb41d56f804d0e44c8e1652c57ada3c4cf2371b75e52340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab2e7a382e42b107a52f9f57040a47cf0820aa4108c4d6ac0cf8e39244a4cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9d1a425c4d0f]

[blob 0d2dc21d82fa]

[blob 6ab2e7a382e4]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017CgEbwGXR9L3J7N2pPjMPW",
      "input": {
        "note": "Descent reached 2.6 cm with no contact, so the cube is alongside — not on top of — the red block, which sits just outward of me. Lifting back to 6 cm clearance and stepping ~2.5 cm further out before the next probe.",
        "targets": {
          "right_j1": 2.234,
          "right_j2": 1.983,
          "right_j3": -1.32
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_017CgEbwGXR9L3J7N2pPjMPW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6529 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5713 right_j1=2.2238 right_j2=1.9404 right_j3=-1.2762 right_j4=0.0418 right_j5=-0.1841 right_gripper=0.4441\nstate[joint_eff]: [-0.1983, 1.4564, 5.6547, 1.7265, -0.0317, -0.0562, -0.0122, -0.6906, -11.1932, 7.7744, 0.2222, 0.0464, 0.0366, 0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccb288201c5216e73d3efba2c6136d11906f13692250d99c6e7c3c6c1208176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4ae12331f13cea18e09d8ecdb7b291de5c697bf96a2d9984e9e261bb2b96ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 546):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc4c166fb54abf023a0e6f7c9c2a5d2c294bfcaa42dcc7cc8dd97c9bf8e7d056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 74 attempt 0 · /messages · status 200 · 10.86 s

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

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.651 left_j2=1.19 left_j3=-1.0901 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.572 right_j1=2.1662 right_j2=1.824 right_j3=-1.2568 right_j4=0.0368 right_j5=-0.1738 right_gripper=0.4418\nstate[joint_eff]: [-0.1846, 1.4564, 5.5043, 1.79, -0.0464, -0.0562, -0.0122, -3.1658, -9.5521, 6.6667, 0.315, 0.0659, 0.0659, 0.862]",
      "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=-0.0113 left_j1=0.6533 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5652 right_j1=2.1948 right_j2=1.7531 right_j3=-1.1572 right_j4=0.0448 right_j5=-0.1772 right_gripper=0.4417\nstate[joint_eff]: [-0.0889, 1.5932, 5.2855, 1.8486, -0.0659, -0.0122, -0.0171, -0.1436, -9.6342, 5.3812, 0.3932, -0.1148, -0.022, 0.6862]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 220 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6529 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5713 right_j1=2.2238 right_j2=1.9404 right_j3=-1.2762 right_j4=0.0418 right_j5=-0.1841 right_gripper=0.4441\nstate[joint_eff]: [-0.1983, 1.4564, 5.6547, 1.7265, -0.0317, -0.0562, -0.0122, -0.6906, -11.1932, 7.7744, 0.2222, 0.0464, 0.0366, 0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccb288201c5216e73d3efba2c6136d11906f13692250d99c6e7c3c6c1208176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4ae12331f13cea18e09d8ecdb7b291de5c697bf96a2d9984e9e261bb2b96ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 546):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4c166fb54abf023a0e6f7c9c2a5d2c294bfcaa42dcc7cc8dd97c9bf8e7d056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7ccb288201c5]

[blob 0a4ae12331f1]

[blob cc4c166fb54a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013KFWdJpVUgfH1Yvu2iiSWP",
      "input": {
        "note": "Switching to a tactile search: lowering the carried cube until its underside is ~2 cm up — below the red block's 4.3 cm top — so that a sideways sweep will physically bump into the block and show up as a stall in the j0 effort.",
        "targets": {
          "right_j1": 2.278,
          "right_j2": 1.872,
          "right_j3": -1.165
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_013KFWdJpVUgfH1Yvu2iiSWP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6529 left_j2=1.19 left_j3=-1.0981 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5724 right_j1=2.2311 right_j2=1.9083 right_j3=-1.2449 right_j4=0.0429 right_j5=-0.1841 right_gripper=0.4456\nstate[joint_eff]: [-0.1709, 1.4427, 5.3812, 1.8046, -0.0415, -0.0317, -0.0122, 0.0342, -9.0051, 5.0667, 0.2759, -0.0073, -0.0171, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 548):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:702f834887d820b2ba5b10001ffc70183576f7b6abfc78f6892231718067e4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 548):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2761d22df17b61b1556fa9ae104ea61a41e5606955fa646f07596346948664c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 548):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6093d52f897ed1b3154caf0825e80678bcd46da848eee44ce35ae225c9b33070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 75 attempt 0 · /messages · status 200 · 12.25 s

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

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6533 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5652 right_j1=2.1948 right_j2=1.7531 right_j3=-1.1572 right_j4=0.0448 right_j5=-0.1772 right_gripper=0.4417\nstate[joint_eff]: [-0.0889, 1.5932, 5.2855, 1.8486, -0.0659, -0.0122, -0.0171, -0.1436, -9.6342, 5.3812, 0.3932, -0.1148, -0.022, 0.6862]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 220 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6529 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5713 right_j1=2.2238 right_j2=1.9404 right_j3=-1.2762 right_j4=0.0418 right_j5=-0.1841 right_gripper=0.4441\nstate[joint_eff]: [-0.1983, 1.4564, 5.6547, 1.7265, -0.0317, -0.0562, -0.0122, -0.6906, -11.1932, 7.7744, 0.2222, 0.0464, 0.0366, 0.232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 223 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6529 left_j2=1.19 left_j3=-1.0981 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5724 right_j1=2.2311 right_j2=1.9083 right_j3=-1.2449 right_j4=0.0429 right_j5=-0.1841 right_gripper=0.4456\nstate[joint_eff]: [-0.1709, 1.4427, 5.3812, 1.8046, -0.0415, -0.0317, -0.0122, 0.0342, -9.0051, 5.0667, 0.2759, -0.0073, -0.0171, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 548):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:702f834887d820b2ba5b10001ffc70183576f7b6abfc78f6892231718067e4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 548):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2761d22df17b61b1556fa9ae104ea61a41e5606955fa646f07596346948664c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 548):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6093d52f897ed1b3154caf0825e80678bcd46da848eee44ce35ae225c9b33070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 702f834887d8]

[blob 2761d22df17b]

[blob 6093d52f897e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TYgawdozTVW8udbd89M217",
      "input": {
        "note": "The overhead close-up gives a clean read this time: the red block is ~5 cm right and ~7 cm behind my fingertips, which is almost purely a radial offset at this bearing. Pulling back ~8 cm at the same bearing with the cube lifted clear, then I'll probe down.",
        "targets": {
          "right_j0": 0.56,
          "right_j1": 1.914,
          "right_j2": 1.487,
          "right_j3": -1.143
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TYgawdozTVW8udbd89M217",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.654 left_j2=1.19 left_j3=-1.1141 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5648 right_j1=1.9633 right_j2=1.504 right_j3=-1.158 right_j4=0.0441 right_j5=-0.1837 right_gripper=0.4471\nstate[joint_eff]: [-0.1846, 1.894, 5.2855, 1.8877, -0.0366, -0.0611, -0.0122, -0.5128, -12.5333, 6.5026, 0.4664, -0.0317, 0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 555):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0adb4a4903e7e919075299b04ee582417b2f834b9f0ccdb72915ff3647fde0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 555):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aae50e7e5e8e9d2e9ffa5da4ee1fbb9f278bcaf402ed86a2c48b3e2e0498f531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 555):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09ec56891d00acc02e971ed7e195f7721d0c4bc01fdf5d0fefaa896c565df1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 76 attempt 0 · /messages · status 200 · 11.49 s

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

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6529 left_j2=1.19 left_j3=-1.0966 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5713 right_j1=2.2238 right_j2=1.9404 right_j3=-1.2762 right_j4=0.0418 right_j5=-0.1841 right_gripper=0.4441\nstate[joint_eff]: [-0.1983, 1.4564, 5.6547, 1.7265, -0.0317, -0.0562, -0.0122, -0.6906, -11.1932, 7.7744, 0.2222, 0.0464, 0.0366, 0.232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 223 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6529 left_j2=1.19 left_j3=-1.0981 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5724 right_j1=2.2311 right_j2=1.9083 right_j3=-1.2449 right_j4=0.0429 right_j5=-0.1841 right_gripper=0.4456\nstate[joint_eff]: [-0.1709, 1.4427, 5.3812, 1.8046, -0.0415, -0.0317, -0.0122, 0.0342, -9.0051, 5.0667, 0.2759, -0.0073, -0.0171, 0.149]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 226 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.654 left_j2=1.19 left_j3=-1.1141 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5648 right_j1=1.9633 right_j2=1.504 right_j3=-1.158 right_j4=0.0441 right_j5=-0.1837 right_gripper=0.4471\nstate[joint_eff]: [-0.1846, 1.894, 5.2855, 1.8877, -0.0366, -0.0611, -0.0122, -0.5128, -12.5333, 6.5026, 0.4664, -0.0317, 0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 555):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0adb4a4903e7e919075299b04ee582417b2f834b9f0ccdb72915ff3647fde0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 555):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aae50e7e5e8e9d2e9ffa5da4ee1fbb9f278bcaf402ed86a2c48b3e2e0498f531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 555):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ec56891d00acc02e971ed7e195f7721d0c4bc01fdf5d0fefaa896c565df1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f0adb4a4903e]

[blob aae50e7e5e8e]

[blob 09ec56891d00]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147rPeaYvZWMmCfJV8c4tyd",
      "input": {
        "note": "The overhead offset shrank from ~8 cm to ~5 cm after the last correction, so I'm applying the remainder with a little overshoot: another ~6 cm back and 3 cm right, cube held ~5.5 cm up so it clears the red block's top.",
        "targets": {
          "right_j0": 0.571,
          "right_j1": 1.697,
          "right_j2": 1.171,
          "right_j3": -1.045
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_0147rPeaYvZWMmCfJV8c4tyd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6544 left_j2=1.19 left_j3=-1.1221 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5682 right_j1=1.7313 right_j2=1.1862 right_j3=-1.0706 right_j4=0.0444 right_j5=-0.1833 right_gripper=0.4479\nstate[joint_eff]: [-0.0889, 1.5795, 5.2718, 1.8388, -0.0611, -0.0757, -0.0122, 0.335, -8.4581, 6.0786, 0.6227, -0.0024, -0.0269, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 561):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231d20044a1ff08bd08ec9011b9d3cca474e8db420f0d67ace4bd6f81ae513f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 561):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77bb1e881104a09fc278868a3fb8446c11b596ec275f9f9d41b7aea39efff1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 561):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6705010a959fdb9df00194da48185ed7cddd9515ca3b5457d9ed60e9cd95b335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 77 attempt 0 · /messages · status 200 · 7.983 s

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

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6529 left_j2=1.19 left_j3=-1.0981 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5724 right_j1=2.2311 right_j2=1.9083 right_j3=-1.2449 right_j4=0.0429 right_j5=-0.1841 right_gripper=0.4456\nstate[joint_eff]: [-0.1709, 1.4427, 5.3812, 1.8046, -0.0415, -0.0317, -0.0122, 0.0342, -9.0051, 5.0667, 0.2759, -0.0073, -0.0171, 0.149]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 226 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.654 left_j2=1.19 left_j3=-1.1141 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5648 right_j1=1.9633 right_j2=1.504 right_j3=-1.158 right_j4=0.0441 right_j5=-0.1837 right_gripper=0.4471\nstate[joint_eff]: [-0.1846, 1.894, 5.2855, 1.8877, -0.0366, -0.0611, -0.0122, -0.5128, -12.5333, 6.5026, 0.4664, -0.0317, 0.0024, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 229 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6544 left_j2=1.19 left_j3=-1.1221 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5682 right_j1=1.7313 right_j2=1.1862 right_j3=-1.0706 right_j4=0.0444 right_j5=-0.1833 right_gripper=0.4479\nstate[joint_eff]: [-0.0889, 1.5795, 5.2718, 1.8388, -0.0611, -0.0757, -0.0122, 0.335, -8.4581, 6.0786, 0.6227, -0.0024, -0.0269, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 561):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231d20044a1ff08bd08ec9011b9d3cca474e8db420f0d67ace4bd6f81ae513f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 561):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77bb1e881104a09fc278868a3fb8446c11b596ec275f9f9d41b7aea39efff1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 561):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6705010a959fdb9df00194da48185ed7cddd9515ca3b5457d9ed60e9cd95b335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 231d20044a1f]

[blob 77bb1e881104]

[blob 6705010a959f]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYpuok2dp17ET9qhMkf5V3",
      "input": {
        "note": "Retracting that far overshot — the red block has climbed to the top of the wrist frame, and calibrating the frame's radial rate (4.4 px/cm) says the aligned position was the radius I had two moves ago. Going back out ~7 cm and descending so the cube's underside passes the red block's top; a stall means we are stacked.",
        "targets": {
          "right_j1": 1.977,
          "right_j2": 1.448,
          "right_j3": -1.042
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FYpuok2dp17ET9qhMkf5V3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6552 left_j2=1.1896 left_j3=-1.1351 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=1.9526 right_j2=1.4044 right_j3=-1.0676 right_j4=0.0444 right_j5=-0.1848 right_gripper=0.4485\nstate[joint_eff]: [-0.1983, 1.6068, 5.2581, 1.9267, -0.0611, -0.022, -0.0171, -0.335, -8.8821, 7.2547, 0.2271, 0.022, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eff1314d814cfac2b70a62db4dfd0c612a464db654db9ec2512d8299c919234",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2a62d44200536581ebff71a54b66f71a741576296d9fed72e54c44a1a8b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 566):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0795306b7c2b05087c31a4485ce0bc6eb9ae8aa7b37ac6c8fe44147ef31a291e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 78 attempt 0 · /messages · status 200 · 7.32 s

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

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.654 left_j2=1.19 left_j3=-1.1141 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5648 right_j1=1.9633 right_j2=1.504 right_j3=-1.158 right_j4=0.0441 right_j5=-0.1837 right_gripper=0.4471\nstate[joint_eff]: [-0.1846, 1.894, 5.2855, 1.8877, -0.0366, -0.0611, -0.0122, -0.5128, -12.5333, 6.5026, 0.4664, -0.0317, 0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 229 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6544 left_j2=1.19 left_j3=-1.1221 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5682 right_j1=1.7313 right_j2=1.1862 right_j3=-1.0706 right_j4=0.0444 right_j5=-0.1833 right_gripper=0.4479\nstate[joint_eff]: [-0.0889, 1.5795, 5.2718, 1.8388, -0.0611, -0.0757, -0.0122, 0.335, -8.4581, 6.0786, 0.6227, -0.0024, -0.0269, 0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 232 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6552 left_j2=1.1896 left_j3=-1.1351 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=1.9526 right_j2=1.4044 right_j3=-1.0676 right_j4=0.0444 right_j5=-0.1848 right_gripper=0.4485\nstate[joint_eff]: [-0.1983, 1.6068, 5.2581, 1.9267, -0.0611, -0.022, -0.0171, -0.335, -8.8821, 7.2547, 0.2271, 0.022, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eff1314d814cfac2b70a62db4dfd0c612a464db654db9ec2512d8299c919234",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2a62d44200536581ebff71a54b66f71a741576296d9fed72e54c44a1a8b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 566):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0795306b7c2b05087c31a4485ce0bc6eb9ae8aa7b37ac6c8fe44147ef31a291e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5eff1314d814]

[blob ed2a62d44200]

[blob 0795306b7c2b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcpFitWUAreLAsdNUN9zQ9",
      "input": {
        "note": "Still no contact at 3.4 cm, and the calibrated frame rate puts the red block exactly one cube-width (~4.3 cm) further out. Lifting to 5.5 cm clearance and stepping out that 4.3 cm.",
        "targets": {
          "right_j1": 2.045,
          "right_j2": 1.643,
          "right_j3": -1.169
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LcpFitWUAreLAsdNUN9zQ9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1419 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0319 right_j2=1.5997 right_j3=-1.1481 right_j4=0.0441 right_j5=-0.1886 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.4974, 5.2444, 1.7558, -0.0464, -0.0366, -0.0122, -0.1846, -9.5795, 7.5556, 0.1099, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f29fb0f5a56356c3744420799299534c904515df36c2f982a9a226469fa0257e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab5753852dfbe39bc4de3104fbbc18df0167a8c6714613d804ab4023bf31bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 570):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21d4489a0a1f1d9a08cf65f41c370694bf0022e0684703bd3c34881b7d5a96ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 79 attempt 0 · /messages · status 200 · 5.936 s

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

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6544 left_j2=1.19 left_j3=-1.1221 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5682 right_j1=1.7313 right_j2=1.1862 right_j3=-1.0706 right_j4=0.0444 right_j5=-0.1833 right_gripper=0.4479\nstate[joint_eff]: [-0.0889, 1.5795, 5.2718, 1.8388, -0.0611, -0.0757, -0.0122, 0.335, -8.4581, 6.0786, 0.6227, -0.0024, -0.0269, 0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 232 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6552 left_j2=1.1896 left_j3=-1.1351 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=1.9526 right_j2=1.4044 right_j3=-1.0676 right_j4=0.0444 right_j5=-0.1848 right_gripper=0.4485\nstate[joint_eff]: [-0.1983, 1.6068, 5.2581, 1.9267, -0.0611, -0.022, -0.0171, -0.335, -8.8821, 7.2547, 0.2271, 0.022, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 235 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1419 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0319 right_j2=1.5997 right_j3=-1.1481 right_j4=0.0441 right_j5=-0.1886 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.4974, 5.2444, 1.7558, -0.0464, -0.0366, -0.0122, -0.1846, -9.5795, 7.5556, 0.1099, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f29fb0f5a56356c3744420799299534c904515df36c2f982a9a226469fa0257e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab5753852dfbe39bc4de3104fbbc18df0167a8c6714613d804ab4023bf31bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 570):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d4489a0a1f1d9a08cf65f41c370694bf0022e0684703bd3c34881b7d5a96ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f29fb0f5a563]

[blob 4ab5753852df]

[blob 21d4489a0a1f]

{
  "content": [
    {
      "signature": "CAIS/wgKjAEIEBgCKkBFOv/wP/JqZmxHx9CPgXh6WM8ENitHNnHfyz2rEDAp1eSk1R0eANDYDcvO1LRIDwOQzBwj2QcROQOh1xUGjbHMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGUHsNrIPI7OpZw8cGgy4BelpOQ+OfkVGyTkiMO6SHZkFJpzsYwX0RE+0+MdywluVTbXQeF4T0JmAOSArKXzJSh1C+vfh3n2fcfyRZiqfB+/Avoj67Tv83X7/wi6kkKupa57NB4KraUg/niHsilmWRV1wswAtkpCK9u9Q90b/XtrhKRiZ6TCPUVjad2dh90qZ3rqND1xs1aawl6tSA+Ymh0yavX2E3ugAeTaIzcaq4K8u/PoVe/zAZZmJ9T52fjLHIvBukqBlZQGK21TvfFIOiFF+QytwshwtzWnNyESUn02VOeJctzUyxOAmGG24K2fs5WibwtCEfuF6Qi6faVtusqoLbUbx+NAohUjGgeJJSPO0i9Blq7y7Yc18Ga94CMzoRHda+DsG1tmM1WNt3xupVW/ycYPTvRQ7dvTwahp6VQE5r3YSnfq5hF7KnfnuUu5T22lWvuUStRsFeKf5oEifYpGuSFgRhyBJIbaxJgLELv8oYZtBELTKSPLaFNABnChGhMOdZBnL3tFh8h8JLUF6wHRaWQhGayTU4jRyso6+S1KF2bR3MZZodXYBGiuGI6SARXncdEbfOaod99MWRtY05Ym5nYjjevwXpjZQG7XqIhQX4klmo/7PCY9jsCE1zeqf+8kwB9CAphsNk6QMKt8qOXAIg/WHqypgjz+YxPVFUm/bBWF9yIWi2eTRZgTDyioafNGkF3yS7B9OTlv+HdzpU7wBxy+rHNQAtMiyKiW0gkc9sUdJkeFzFl14qwiFVWJxPR4SzMSSnSSB/TLe4J/LhXOs9W1MKaPHRPrIl3xR0VSVqidNXac3fvX0HF+HB7SbTO4xp6/kEw1XQRVev01D9Gt1Uz3ocxXmVMkf5dBRheFJxObUCAAzeyuFNhVK1450U1rUgRQCi+1LhLmN5l1+x93b7fRgB9NMSaDG4JLUjfyL6g1j+X23JvPB8CgBOmvoXpLIR7T7HJKipCm9LcIduLWgyhG5TGesHiBij6ssnfc/k5tpulS0Ne5BjSiclF6W1wamYBFB+bgf7rsh3BFAVfSOEBswZTmgEWd+LxQJ+Cm+ADr3yCFE0jNgyISvn81sb/UNoWHs2k7PhhWU5W5Hu1+H+yn5cUTjarQYqp7HyI/ktD2KtjZtzpzl6ITQErM2vGHrAfiAkAK25LaQIbng9yFBn3QX6oLEwlbDbSc1h8DgzFxhnMp4NEbqfA2cQp+5Cl7OfgoMtPy0HRlIzsBujw8v72xbGrsf145LDw67mr5eWQPbdydHb7Lff5esdlsRzeRb0EHfqJGo9xtAbgnhA7wDST8FVtfaXybWMY7mdGcKFfpKtBzfQuS7XzMXlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UoDSKvGfKCd5ty7UnhYVrY",
      "input": {
        "note": "Stepped out; the red block dropped in the frame as predicted. Now lowering ~2 cm: contact at the 4.3 cm level means the cube has landed on the red block.",
        "targets": {
          "right_j1": 2.063,
          "right_j2": 1.556,
          "right_j3": -1.064
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UoDSKvGfKCd5ty7UnhYVrY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1423 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0418 right_j2=1.581 right_j3=-1.1221 right_j4=0.0437 right_j5=-0.1879 right_gripper=0.4485\nstate[joint_eff]: [-0.1436, 1.4564, 5.2308, 1.7314, -0.0611, -0.0513, -0.0122, -0.1846, -8.9231, 5.641, 0.2759, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 572):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dcc74c7394e49d9f50415370ba4445c940bd8c2cec64d5b52faaf413e3ef05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 572):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f29c73d5ec280c200aeadcad887b3799416fda4ae70ca5de179b43a67eb4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 572):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05c6d7b6f66efbeb7f54e7c635a05165efa730da28697a2206aabfb180fe7785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 80 attempt 0 · /messages · status 200 · 11.78 s

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

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6552 left_j2=1.1896 left_j3=-1.1351 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=1.9526 right_j2=1.4044 right_j3=-1.0676 right_j4=0.0444 right_j5=-0.1848 right_gripper=0.4485\nstate[joint_eff]: [-0.1983, 1.6068, 5.2581, 1.9267, -0.0611, -0.022, -0.0171, -0.335, -8.8821, 7.2547, 0.2271, 0.022, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 235 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1419 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0319 right_j2=1.5997 right_j3=-1.1481 right_j4=0.0441 right_j5=-0.1886 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.4974, 5.2444, 1.7558, -0.0464, -0.0366, -0.0122, -0.1846, -9.5795, 7.5556, 0.1099, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 238 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1423 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0418 right_j2=1.581 right_j3=-1.1221 right_j4=0.0437 right_j5=-0.1879 right_gripper=0.4485\nstate[joint_eff]: [-0.1436, 1.4564, 5.2308, 1.7314, -0.0611, -0.0513, -0.0122, -0.1846, -8.9231, 5.641, 0.2759, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 572):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dcc74c7394e49d9f50415370ba4445c940bd8c2cec64d5b52faaf413e3ef05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 572):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f29c73d5ec280c200aeadcad887b3799416fda4ae70ca5de179b43a67eb4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 572):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05c6d7b6f66efbeb7f54e7c635a05165efa730da28697a2206aabfb180fe7785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0dcc74c7394e]

[blob 58f29c73d5ec]

[blob 05c6d7b6f66e]

{
  "content": [
    {
      "signature": "CAISiwgKjAEIEBgCKkBEcH7dqlMrVrO3GY6xIiIhp1ov5OikSJYg5Tl892a0kCbNm+I85IdBHIQYiW+EGDH8rcWUHefumzgDqMPoTDChMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTF1nayvHM7rcR/SNGgyR0nwUvxcSSKlweYMiMGkPdljqdRKcRJkxb31QRcEu63hrCJWVGi5c+dvGQtfed6eUu4ON9cLvdSzmiawXmiqrBuFOg+ia58JflJ82+6e+I/06q4HxZnH4o/Z4CnxCDRaXQRK4St3KFefj/29lQsRen+fqm0WTHg2m95oCMPHUDYXYkBwZOtFaFPQdsqgKxYCV71dGIDG1yrOpfc9qwoPAVshE3sZaLarGSiwHc85r8LeTIwnDkfV+adGtDOofShUy3nZ1hN8xG0H0L7JtYLCrQFdoahj/6h4SAjsHSaBlgkIE5fQskibyWyDChelIWrvEBSC9fYRUNlRSCl6XfZaoUICsA6oy+ay70php3LP2VGyUqo3QrvokiT4LKGSaB8cHR8TCD5i46PwkGGcITompU/Ayrkh8Tx08u43qFZb+6ynWXFbIOprjmZhbV1Io3y6045ucCr+vg1jDMTObsdWIwGZxCSch/Al7ak+6m2YULXq9XiZy6qdT5tCPkI3dx3IkgkKPznfK8A1eBI0D5wWrZ+4Mzf0b93XP1taWTqlN4oZuTzpQEtgVtDs/C6ZlUyjcgEr1mqvwOCS0+cXrOrtF5KhpTf3SP4wLWW3WaPrBPTg0EUYAVccq9/djQyFbUV4HXG+gOA+GrBuaW0pMYsNPXuHnUH4iLq1i0MGswT+viYCzVyRPa8ZK4yycx4djLa8Zxc1p02WKx3ylq2vYizN1Uya4YZlkYgWBlO2pnxJyelaAGh+feNDp6ojmn6Npn3uy6Nh1pnniEw4pSG851DnPzFexkEZfju2Jt+Q0PwtfDPjCK7iNJnjjpXIRZQFbADoXXAigE/rchdg7B51/7R7+T3vYvV5PcD/XtC/VgrzUFLpbCVP6iEVPr703AbWNKKqCHLbjdS7JGuwK2oiEghIBHLBVCXqYlJVZVuuLd0MFTSGIK39JCPhavYEXVbO1nA69447efki8TbIbQq+0Dco8WJJjUPOaxpyk29wjjAaicpWqw72x/Z02QMxAVKAtxYJHqJDtTNkCBX/qch9BS811lip6zvEmqocWJz7Qm4x3GhpgsADXPe3UljGZSsL0CRoyZma2w5DKA1cROuKn8PCjZIb6YdTMtfc4fq17bvVriE1iw4EIlMrYfj8GWP2yhauBVVV3g2n+0WXj9cEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqrJ5gX6Nmaa8yZksv9LTB",
      "input": {
        "note": "The cube's underside is now level with the red block's top and the block is right under the jaws in the wrist view. Pressing down another ~1.5 cm; if it seats on the block, j1 will stall with its effort relaxing.",
        "targets": {
          "right_j1": 2.11,
          "right_j2": 1.545,
          "right_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KqrJ5gX6Nmaa8yZksv9LTB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1477 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0747 right_j2=1.5547 right_j3=-1.0733 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.0615, 1.4427, 5.2308, 1.7607, -0.0757, -0.0659, -0.0122, -0.1846, -8.253, 4.7521, 0.3443, 0.0024, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1988f92132eb8fd371157d9514cbfb4bba4d3a2baaae763d3276929fb2ba9b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1be97ec2148bf6a218deafcd9fd60bafd3bfc807b67edac0c212a28f659793e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 574):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa8db959495463f1632ced8661334ca1b1461c6e14ecc048e387dccd3d907c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 81 attempt 0 · /messages · status 200 · 12.88 s

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

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1419 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0319 right_j2=1.5997 right_j3=-1.1481 right_j4=0.0441 right_j5=-0.1886 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.4974, 5.2444, 1.7558, -0.0464, -0.0366, -0.0122, -0.1846, -9.5795, 7.5556, 0.1099, -0.0317, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 238 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1423 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0418 right_j2=1.581 right_j3=-1.1221 right_j4=0.0437 right_j5=-0.1879 right_gripper=0.4485\nstate[joint_eff]: [-0.1436, 1.4564, 5.2308, 1.7314, -0.0611, -0.0513, -0.0122, -0.1846, -8.9231, 5.641, 0.2759, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 241 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1477 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0747 right_j2=1.5547 right_j3=-1.0733 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.0615, 1.4427, 5.2308, 1.7607, -0.0757, -0.0659, -0.0122, -0.1846, -8.253, 4.7521, 0.3443, 0.0024, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1988f92132eb8fd371157d9514cbfb4bba4d3a2baaae763d3276929fb2ba9b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1be97ec2148bf6a218deafcd9fd60bafd3bfc807b67edac0c212a28f659793e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8db959495463f1632ced8661334ca1b1461c6e14ecc048e387dccd3d907c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1988f92132eb]

[blob b1be97ec2148]

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  "content": [
    {
      "signature": 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c0biCD+VXVJ7n0ju8Z13VgTz/ETIYy21eHInfITRDWfXP+O4/W+kpXk7YILTtv/sWUET77jso4+9OyJzTHd+efeT9VIT1KeL6cJz0Vyq+9R/Qq0AljJZ18k9nvR6ZzY0LaS/vlE/JXCnW+fKL0IjImJvRtbGFxqIV5wmtm1ak0Sha1tOrvWJOcDMk4SbOfN8rHHR7ewf1xtSuZMrxGzkA3pSLUUHfVmTnt92wPgk4egyqaTsMX/jF2F3z7V0LJ9Q9boWvfnPkoq5HbTBufPa+uXYfDuXnJw6Omd9n3jqauvuQ7Ql4Pp41Sz4bONMGX9m0t++Z+BbEdrbnej6yXMmY/kCS0DxkcUlfesj4pvXQ07S6r3ydI4NtG05MV7LvEsjREviAE3/DCYJOAzVAuOelGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zToLV3c1hAnHoa57hRZW2",
      "input": {
        "note": "Descended past the block's top height again with no contact, so the red patch under my jaws may once more be my own cube's face. Running the clean test: a large pure-yaw swing (+0.35 rad, ~12 cm sideways) with the wrist pose frozen — a block on the table will sweep out of frame, my own cube will barely move.",
        "targets": {
          "right_j0": 0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_012zToLV3c1hAnHoa57hRZW2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1484 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.8997 right_j1=2.1059 right_j2=1.5425 right_j3=-1.0676 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4427, 5.4085, 1.707, -0.0708, -0.0757, -0.0122, 0.3077, -13.2308, 6.5436, 0.0806, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbca8fd80f60d80463b9b9d72b63aef41e54b6f6b572d986a6475939829f81bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085f049ce24db4ad4a33c783fa9d7c9e0dc86d4820388b94779dc31a1ebf42ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 580):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28176a598b8cf3ff36b38d66385d588ff302d5e429555254ee0b9b0fbb90807a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 82 attempt 0 · /messages · status 200 · 15.46 s

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

message 238 changed as sent

message 241 changed as sent

message 244 changed as sent

message 238 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6548 left_j2=1.1896 left_j3=-1.1423 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0418 right_j2=1.581 right_j3=-1.1221 right_j4=0.0437 right_j5=-0.1879 right_gripper=0.4485\nstate[joint_eff]: [-0.1436, 1.4564, 5.2308, 1.7314, -0.0611, -0.0513, -0.0122, -0.1846, -8.9231, 5.641, 0.2759, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 241 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1477 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0747 right_j2=1.5547 right_j3=-1.0733 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.0615, 1.4427, 5.2308, 1.7607, -0.0757, -0.0659, -0.0122, -0.1846, -8.253, 4.7521, 0.3443, 0.0024, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 244 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1484 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.8997 right_j1=2.1059 right_j2=1.5425 right_j3=-1.0676 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4427, 5.4085, 1.707, -0.0708, -0.0757, -0.0122, 0.3077, -13.2308, 6.5436, 0.0806, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbca8fd80f60d80463b9b9d72b63aef41e54b6f6b572d986a6475939829f81bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085f049ce24db4ad4a33c783fa9d7c9e0dc86d4820388b94779dc31a1ebf42ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28176a598b8cf3ff36b38d66385d588ff302d5e429555254ee0b9b0fbb90807a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob dbca8fd80f60]

[blob 085f049ce24d]

[blob 28176a598b8c]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xv985per4uLpoj4CiaFasT",
      "input": {
        "note": "Decisive result: the red patch swept out of frame with the yaw, so it really is the block lying on the table just beyond my fingertips. Returning to that bearing, lifting to 5.5 cm clearance and reaching 5 cm further out to get over it.",
        "targets": {
          "right_j0": 0.569,
          "right_j1": 2.191,
          "right_j2": 1.875,
          "right_j3": -1.255
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Xv985per4uLpoj4CiaFasT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6563 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5873 right_j1=2.1807 right_j2=1.8324 right_j3=-1.2289 right_j4=0.0444 right_j5=-0.2031 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.388, 5.2171, 1.6874, -0.0269, -0.0757, -0.0122, -0.3077, -10.7692, 8.0752, 0.2027, 0.0366, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 586):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b7ce9df690351826ee29224b396fc81148d5751f52698daf7e84b92748363f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 586):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f0cf3a0c6032c2496379995465b1045e95236d2cda1240d72957b28584b5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 586):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04eb4033abe77243d15b1c2c6653824aa93690a665ecca71af7d4ecc528105ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 83 attempt 0 · /messages · status 200 · 6.552 s

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

message 241 changed as sent

message 244 changed as sent

message 247 changed as sent

message 241 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1477 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5694 right_j1=2.0747 right_j2=1.5547 right_j3=-1.0733 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.0615, 1.4427, 5.2308, 1.7607, -0.0757, -0.0659, -0.0122, -0.1846, -8.253, 4.7521, 0.3443, 0.0024, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 244 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1484 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.8997 right_j1=2.1059 right_j2=1.5425 right_j3=-1.0676 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4427, 5.4085, 1.707, -0.0708, -0.0757, -0.0122, 0.3077, -13.2308, 6.5436, 0.0806, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 247 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6563 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5873 right_j1=2.1807 right_j2=1.8324 right_j3=-1.2289 right_j4=0.0444 right_j5=-0.2031 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.388, 5.2171, 1.6874, -0.0269, -0.0757, -0.0122, -0.3077, -10.7692, 8.0752, 0.2027, 0.0366, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 586):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b7ce9df690351826ee29224b396fc81148d5751f52698daf7e84b92748363f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 586):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f0cf3a0c6032c2496379995465b1045e95236d2cda1240d72957b28584b5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 586):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04eb4033abe77243d15b1c2c6653824aa93690a665ecca71af7d4ecc528105ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 37b7ce9df690]

[blob 73f0cf3a0c60]

[blob 04eb4033abe7]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EonKX6n6kPWbJ7W9ZvKJBK",
      "input": {
        "note": "The block is visible right at the bottom of the jaw gap and the wrist camera sees past the fingertips, so it must be a few cm further out than I am. Stepping 3 cm outward at 5 cm clearance, then I'll probe straight down.",
        "targets": {
          "right_j1": 2.286,
          "right_j2": 2.038,
          "right_j3": -1.323
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EonKX6n6kPWbJ7W9ZvKJBK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5949 right_j1=2.2742 right_j2=1.993 right_j3=-1.3087 right_j4=0.0441 right_j5=-0.2096 right_gripper=0.4485\nstate[joint_eff]: [-0.0205, 1.4154, 5.2855, 1.6581, -0.0317, -0.0806, -0.0122, -0.5538, -11.5897, 8.6769, 0.0659, 0.0415, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 590):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5af5bf8c76e5bf895b1a95df2b4c007c553ad07b9ec6af2ff846eb2a3d4818c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 590):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ccfb01d17f0aa5f5e1b9a02e00ae62629f4be11c16390b872e5711b638e8eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 590):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49ea93d27ceb45024a7832fe7d14be2019613f768242f04551ca28b3e302b455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 84 attempt 0 · /messages · status 200 · 16.35 s

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

message 244 changed as sent

message 247 changed as sent

message 250 changed as sent

message 244 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6556 left_j2=1.1896 left_j3=-1.1484 left_j4=-0.0006 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.8997 right_j1=2.1059 right_j2=1.5425 right_j3=-1.0676 right_j4=0.0441 right_j5=-0.1921 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4427, 5.4085, 1.707, -0.0708, -0.0757, -0.0122, 0.3077, -13.2308, 6.5436, 0.0806, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 247 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6563 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5873 right_j1=2.1807 right_j2=1.8324 right_j3=-1.2289 right_j4=0.0444 right_j5=-0.2031 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.388, 5.2171, 1.6874, -0.0269, -0.0757, -0.0122, -0.3077, -10.7692, 8.0752, 0.2027, 0.0366, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 250 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5949 right_j1=2.2742 right_j2=1.993 right_j3=-1.3087 right_j4=0.0441 right_j5=-0.2096 right_gripper=0.4485\nstate[joint_eff]: [-0.0205, 1.4154, 5.2855, 1.6581, -0.0317, -0.0806, -0.0122, -0.5538, -11.5897, 8.6769, 0.0659, 0.0415, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 590):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5af5bf8c76e5bf895b1a95df2b4c007c553ad07b9ec6af2ff846eb2a3d4818c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 590):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ccfb01d17f0aa5f5e1b9a02e00ae62629f4be11c16390b872e5711b638e8eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 590):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ea93d27ceb45024a7832fe7d14be2019613f768242f04551ca28b3e302b455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a5af5bf8c76e]

[blob 5ccfb01d17f0]

[blob 49ea93d27ceb]

{
  "content": [
    {
      "signature": "CAISpQkKjAEIEBgCKkCY3D4w3F4sSNCYaGFL6dpQUoHmIoCz+w2jUPioSru3aplmyqRD5GbQsGzZuNGNOeA5flb+SFMgUjlSENAhvNbfMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMByfyJdXpY7CNRP8AGgy22vNcx7zK7iOoMxYiMOm/1U3DkDfWCtEIwcH0JXmMSkwDs6SHuD6EUh/NQq4ChXCKStd313sHKSiRtqvc+yrFBwbIQlAPSRvBQb7Koakxl9gVZjyJqH/FgRvPtlHTiUyJlN6aJimXodvy+7zL1sA4JQnpLYGYZawz8ByfVNp24QvSADgR3/iVP9DZAIVofiVGryTHENvBY5z6Vux3Hk5yx7bRcjDbaqbaHj1rX0JONuVjYEPjmyqR55HMpThw6RC+gP1f1gdnshH3WLd3zFUly82D2F8azzfVgY534FYjhDN3psx/gXjcJNCm2LS7ODTQRauex5Wl4DFlljDhHUg80UEp2sP77wzOu3RYGMwIrimRbA8N/vOtU4td8aqZDFbAN4W86bWhhqhsRgRVKASLit5jmNrjKvOeisz2r9mj383USU57Pac7rqUp1yH9cLptE1ZkDatf08VFZv/7xG8OAUTEtNRnMkR24FtZ6fEIT4PIqdninfyaygOE09a8jON4b9dPiLTCkD1LZ91jG96cal/2Sp2qOsJdRtBFIM/lFNYtvv1oVgmU6HwD4RQu//9Pa9xyOBLNih7fWBOXaxu9X6I0DmkoIf9NuwajD9SnorZlwQ3lc4lNlZbWWj1LqdJUBHhszluYyE+sXRNcDho8xZdZMkGxgb7sFoyUluIH5GILxPc3iJ23OwdwHYfp7Lh6ekaogTVHc9BZWlZ2tnB0NG2U/+uI4b8mchFx+Q/Ee/didLNJgJnjfMEOSDDGs/IMvgSXY3EEEE1Swrr7XmbOxAQJ7AZR0eg5G8MXBWs0UTV6vtE9F2QQNaQPVx3PsOh6WUMZe4+IJqiaJ808u8hZXhH77f2K1JhYurURc1edg/3pEFZRxPggRgDT/a+dSh9rGG42BnLw1w0kQg5wohKQncLdX6NNGXzouLfnaNkKplVfzePZ9jUGTiY/UGuRRhTteXyT1anWyoIsn5a0yF7B4i9Tyb0t/y4tlEyqXMr3stDlA/leW98yi7P6gcp9tdZVd2HvSxxFKciB4kZFKZn4Zd8VZ5TI42+9TCVMY3AQMUdfsrDG5CnF+g1rOVpNg9ilrAZQa2EMPJw01OQZ3Qk9ecsDc3sTWRLjIdBtlDAp1FoBJK31e0329vNtLxgPXuc/ZEriVKYyQ9MyOPSpQZAxnbgYgiEnA++jqKaDhTyB0zsljuveUYLvYdAlc+k9Ec+4dWQg0dY1j24sE3aIejdv2vTFbqjslvyy0aKhT8sufAbsV04HqwLicpMmFKZBLa1gQfFdfhXYlkHFEIjL+y1gJY9nPYxMPS0ixabQagKcvrIhZ3yMcwSRJkKFA8sW1u4r86bm4Hs+HOjNv5VRRfVr7+imCnswGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KFpp2bMKjsa7KtQTKgBKjh",
      "input": {
        "note": "Probing straight down 2 cm at this new radius — a stall with j1's effort relaxing means the cube has seated on the red block.",
        "targets": {
          "right_j1": 2.292,
          "right_j2": 1.941,
          "right_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_01KFpp2bMKjsa7KtQTKgBKjh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5945 right_j1=2.2765 right_j2=1.9652 right_j3=-1.2842 right_j4=0.0441 right_j5=-0.2104 right_gripper=0.4485\nstate[joint_eff]: [-0.0889, 1.4564, 5.2171, 1.7216, -0.0513, -0.0171, -0.0122, 0.0205, -10.906, 5.9282, 0.1978, 0.0073, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81ff519d685035d28c66b502aac63934c33768b585f2eef191901f1509bf1244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd86a8df26d666905b93880d6838acdf4d0d2ad277921350992c0d58522246f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 592):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:732e862a0e50607416245ff74b266bcf47c218481d5b6984a1f0748c41190d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 85 attempt 0 · /messages · status 200 · 8.844 s

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

message 247 changed as sent

message 250 changed as sent

message 253 changed as sent

message 247 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6563 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5873 right_j1=2.1807 right_j2=1.8324 right_j3=-1.2289 right_j4=0.0444 right_j5=-0.2031 right_gripper=0.4485\nstate[joint_eff]: [-0.1846, 1.388, 5.2171, 1.6874, -0.0269, -0.0757, -0.0122, -0.3077, -10.7692, 8.0752, 0.2027, 0.0366, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 250 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5949 right_j1=2.2742 right_j2=1.993 right_j3=-1.3087 right_j4=0.0441 right_j5=-0.2096 right_gripper=0.4485\nstate[joint_eff]: [-0.0205, 1.4154, 5.2855, 1.6581, -0.0317, -0.0806, -0.0122, -0.5538, -11.5897, 8.6769, 0.0659, 0.0415, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 253 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5945 right_j1=2.2765 right_j2=1.9652 right_j3=-1.2842 right_j4=0.0441 right_j5=-0.2104 right_gripper=0.4485\nstate[joint_eff]: [-0.0889, 1.4564, 5.2171, 1.7216, -0.0513, -0.0171, -0.0122, 0.0205, -10.906, 5.9282, 0.1978, 0.0073, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81ff519d685035d28c66b502aac63934c33768b585f2eef191901f1509bf1244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd86a8df26d666905b93880d6838acdf4d0d2ad277921350992c0d58522246f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732e862a0e50607416245ff74b266bcf47c218481d5b6984a1f0748c41190d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 81ff519d6850]

[blob 5bd86a8df26d]

[blob 732e862a0e50]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01271Scq8PQoC11a5yfx6Aiv",
      "input": {
        "note": "The last two descents barely executed, so the probe was inconclusive — the cube's underside is still right at the block's top height. Commanding a firmer 3 cm push down: it will either stall on the red block or sink to the table, which tells me definitively.",
        "targets": {
          "right_j1": 2.36,
          "right_j2": 1.9,
          "right_j3": -1.16
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01271Scq8PQoC11a5yfx6Aiv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6575 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5953 right_j1=2.3096 right_j2=1.924 right_j3=-1.2133 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.2393, 1.4564, 5.2308, 1.7118, -0.022, -0.0757, -0.0171, -0.294, -9.265, 4.5744, 0.3101, 0.0073, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 594):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b514b38b921031c1dcbd9dc195786578875bcc39f92b8177b43708ac26d5f5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 594):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799de1da270a69009bab1514c6de34fb2284edd80505b9b4176ac3a96abc82a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 594):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad304f538af091c08db55eb52e6ba52976ef4cb18d5fad6734078a3198b72826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 86 attempt 0 · /messages · status 200 · 7.143 s

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

message 250 changed as sent

message 253 changed as sent

message 256 changed as sent

message 250 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5949 right_j1=2.2742 right_j2=1.993 right_j3=-1.3087 right_j4=0.0441 right_j5=-0.2096 right_gripper=0.4485\nstate[joint_eff]: [-0.0205, 1.4154, 5.2855, 1.6581, -0.0317, -0.0806, -0.0122, -0.5538, -11.5897, 8.6769, 0.0659, 0.0415, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 253 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5945 right_j1=2.2765 right_j2=1.9652 right_j3=-1.2842 right_j4=0.0441 right_j5=-0.2104 right_gripper=0.4485\nstate[joint_eff]: [-0.0889, 1.4564, 5.2171, 1.7216, -0.0513, -0.0171, -0.0122, 0.0205, -10.906, 5.9282, 0.1978, 0.0073, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 256 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6575 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5953 right_j1=2.3096 right_j2=1.924 right_j3=-1.2133 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.2393, 1.4564, 5.2308, 1.7118, -0.022, -0.0757, -0.0171, -0.294, -9.265, 4.5744, 0.3101, 0.0073, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 594):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b514b38b921031c1dcbd9dc195786578875bcc39f92b8177b43708ac26d5f5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 594):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799de1da270a69009bab1514c6de34fb2284edd80505b9b4176ac3a96abc82a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 594):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad304f538af091c08db55eb52e6ba52976ef4cb18d5fad6734078a3198b72826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b514b38b9210]

[blob 799de1da270a]

[blob ad304f538af0]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WPdn57zhQfVouuCQy1owWC",
      "input": {
        "note": "Definitive: the cube sank to 1.9 cm with no contact and the red block vanished off the bottom of the wrist frame as I descended — it is inside my fingertip radius, as the overhead view kept saying. Lifting to 5.5 cm and pulling back ~8 cm (and 5 cm right) onto it.",
        "targets": {
          "right_j0": 0.607,
          "right_j1": 1.912,
          "right_j2": 1.448,
          "right_j3": -1.106
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WPdn57zhQfVouuCQy1owWC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6594 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6018 right_j1=1.9636 right_j2=1.4631 right_j3=-1.1244 right_j4=0.0444 right_j5=-0.2134 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4291, 5.2581, 1.6728, -0.0122, -0.0562, -0.0122, 0.4171, -12.0547, 6.2291, 0.4811, 0.0024, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b668c5139da060c004e7a497c6a91e3aafde40e763576d72506ff063ab8355b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f502b8b031fac428cea90d99a0c8dc96134c52591cc6396f76e79f5dd5a06048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 602):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc2a3af6a70a99ff008d63774f6b6e253d5b8d7238d44be6695edeb66ea02d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 87 attempt 0 · /messages · status 200 · 10.41 s

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

message 253 changed as sent

message 256 changed as sent

message 259 changed as sent

message 253 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6567 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5945 right_j1=2.2765 right_j2=1.9652 right_j3=-1.2842 right_j4=0.0441 right_j5=-0.2104 right_gripper=0.4485\nstate[joint_eff]: [-0.0889, 1.4564, 5.2171, 1.7216, -0.0513, -0.0171, -0.0122, 0.0205, -10.906, 5.9282, 0.1978, 0.0073, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 256 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6575 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5953 right_j1=2.3096 right_j2=1.924 right_j3=-1.2133 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.2393, 1.4564, 5.2308, 1.7118, -0.022, -0.0757, -0.0171, -0.294, -9.265, 4.5744, 0.3101, 0.0073, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 259 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6594 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6018 right_j1=1.9636 right_j2=1.4631 right_j3=-1.1244 right_j4=0.0444 right_j5=-0.2134 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4291, 5.2581, 1.6728, -0.0122, -0.0562, -0.0122, 0.4171, -12.0547, 6.2291, 0.4811, 0.0024, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b668c5139da060c004e7a497c6a91e3aafde40e763576d72506ff063ab8355b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f502b8b031fac428cea90d99a0c8dc96134c52591cc6396f76e79f5dd5a06048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2a3af6a70a99ff008d63774f6b6e253d5b8d7238d44be6695edeb66ea02d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b668c5139da0]

[blob f502b8b031fa]

[blob cc2a3af6a70a]

{
  "content": [
    {
      "signature": "CAISiwwKjAEIEBgCKkBIwGZRWLVxFpQC4/sAtOwOqSKgc82nsptKJiU8J/B/NyCSJOUbUABtfUpRuZpnKK2iMJYdybVH7lgonTA8DBT0MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMuaP/q5jQGZqHiCAGgzlLdYrHOGe6IVZEX8iMLAVwrjU9rnLwTggCib5AKyjqbYG66EIrkAZ5tY7mR9MHuxyykTIQg53YqJ7xTLjsyqrCvIsMvgxkj+JuBUyVT+QDoK3toNMQPLwVWZ8oyNUBYK0oaBGdURUigoOF368injXTCAjYZSGYfxIZhHA4UZMcqIFbjC4aLk6rPXCO9qgNK+6m4kmkhO2g3B/aKRCRhiPOA3vtj98BjgpzDrTlu04JwzMKTZV7v5VQwSRiRzsrCCpXDJ2t/ti4d8BeIOL9x+pq/eQju38x6jRRbsCDyFoL87Dz43ZQedYnXl64qlZPB7SobYG8v8lQ3TeAdfaP4Qptk3dTp9QvxOhd1hsy1ivEvQguOMRja2V4/4RE5NIheqKjmjWLvXi3wHpCcDKlOuxJ3oxCkrtlHEGb0Z2/dDplLdRw1DZwFO20a9Q7DwLgrAnwkj57YHmWMMFSyVSPFHWVXhrGz7ab+LbuqjDjpdKvH00GgzJred98I9eOStKKmRc/ZuSEX4bUtL2joNxGuyvMSJIRj1mQ8ga+F5Jk0Vt3Mj/w1SmCuSePDCs4WSFezbQO0h5AyU3J20IO+BY5nzAxXcxVsYQQAWGVo40LgYV8SWClVQ1vSjDweP6F2z0XQlyvDjsOUScW8ut9Jsyt8iBMRoPs8OAQQLHXvPv86UuNVOS8c75bx38+2sCzYdV+rOuqJoefz0l/FxZYh1dFEp93tf3Qfo7rS0MUcSXF6h7m9IiRIr4SA9Qtbras2miUGxZ2qzBGyF/yQoy2nqVZgqnehMB8vYOUfA6J2LzWzWw5sVDiqqJTFdbqrwmumRcmJcb6l10rQmcTfb44GqvGbgeEwh50+Ng9GjO16xWQ3f1uXwedL5EPuSfyabAwy6tMUKerYmvcNcH2YbvUPAhFkjaCgHcxxJrAKXuEfZiDGeXnYQQx9XTKMySqLZxvDbl8AVlIbYsbQ8hlwxe5EjcjN4K25cYPvHrFpS2znnD3wkXO0ktFJ8le8pB3ULPeAUiCpAsHh9FiZQaMNkLaYv7gBAuuwXXBAurMH21f68Qn7/pBv7mT952s3q4qfro9l6OY3Ign5PD8OS952YYmq/jZbN7/3w6NFlGq+Y7+a7vcyEFJVwxj6KPcVuVzFQiQhxrDtxwOygVt/38TBXKzLSWnnKxE0F9KQWvff6V4spwE9dsrj7tqd2RZylv8fFpUPd/PwEDopaMV6VjVexIegD6RrI+2G6D4HVe2laYeqs2E1OgO/nz/E+jauAUkVmuESpx0H6GXHTD2WaB0f+jjC5M3dixFa8ivSOjd8al9WoBuiL9YqC6wt3abRr64jUqtO/HAj4UwWAaZNgXhLUqg2aM4/ako6oB0SEtjCo4BP/C6IXW+ZP2VOePnR1PqIXE9rmWckpgflz5tMKm02xVqJra+tVoeS5GztvLUinklCBHhLsPsA6BC3h1FmBjG9wvPSTpTDqiuYFgSOyKPILf7NRpiwEBRSFW53uCLneuoa/z1ng/uhRyn4KGWWqWJFx9AK9PNBstBuloVTAjTuzSxtPpymZfoVWDunqmcUF+KVveIPbcEf1//mRvz5BVJAIgmkP4tThCGMmavWUDqC/n4460dppy+Ko25tRF9TN0qyKEZjiybgfIOGkqJXRTGVRsfRJhD5EdeQvp2Ykzk8mUXdrkuZSlMFUG/fnHycGAs6oD4UI2wxv0yWon6n1IreNNyAc87bktElKikiLJqgw0BuA0yz00qvPKqAP7nELmVt0W4AT1FBofbQpAh/xpTL3WlfrREklHLvKuC+ZdXdhafxK7+UnoLd5ZtnXffc0qXx+7LDOq5sQQn0wzLnXOICXZ8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L993aD6uEa7mWR3ve7Ljkh",
      "input": {
        "note": "Now the red '1' block sits right in the jaw gap in the wrist view and right at the gripper tip overhead. Lowering ~3 cm to set the cube down onto it.",
        "targets": {
          "right_j1": 2.05,
          "right_j2": 1.38,
          "right_j3": -0.94
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01L993aD6uEa7mWR3ve7Ljkh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6609 left_j2=1.1896 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.0247 right_j2=1.3987 right_j3=-1.0039 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.1026, 1.812, 5.3265, 1.7656, -0.0171, -0.0659, -0.0171, -0.3761, -10.0581, 5.3402, 0.1197, 0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b2e1f2e4aadc6759596e26c3f1cc7b8b733c9439c2898a6fcc64a21aaf72bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3231aeb46897c3f24c2da294f2a4d6cc4012036161169a46bd81501ba56cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 605):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b76fdb60fcb24a79222b3d923251e6ec263f2952fa9a517c80ee6daa1eeaf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 88 attempt 0 · /messages · status 200 · 14.39 s

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

message 256 changed as sent

message 259 changed as sent

message 262 changed as sent

message 256 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6575 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5953 right_j1=2.3096 right_j2=1.924 right_j3=-1.2133 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.2393, 1.4564, 5.2308, 1.7118, -0.022, -0.0757, -0.0171, -0.294, -9.265, 4.5744, 0.3101, 0.0073, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 259 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6594 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6018 right_j1=1.9636 right_j2=1.4631 right_j3=-1.1244 right_j4=0.0444 right_j5=-0.2134 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4291, 5.2581, 1.6728, -0.0122, -0.0562, -0.0122, 0.4171, -12.0547, 6.2291, 0.4811, 0.0024, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 262 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6609 left_j2=1.1896 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.0247 right_j2=1.3987 right_j3=-1.0039 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.1026, 1.812, 5.3265, 1.7656, -0.0171, -0.0659, -0.0171, -0.3761, -10.0581, 5.3402, 0.1197, 0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b2e1f2e4aadc6759596e26c3f1cc7b8b733c9439c2898a6fcc64a21aaf72bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3231aeb46897c3f24c2da294f2a4d6cc4012036161169a46bd81501ba56cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b76fdb60fcb24a79222b3d923251e6ec263f2952fa9a517c80ee6daa1eeaf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f6b2e1f2e4aa]

[blob 1a3231aeb468]

[blob 1b76fdb60fcb]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P7eLmFy8MCypzS29YDr6kX",
      "input": {
        "note": "Again no contact — the block keeps sitting just inside my fingertips. With my last moves I'm pulling back 5 cm and holding the cube's underside at ~4.5 cm, the exact height of the red block's top, so that releasing here drops it onto the block if it is there.",
        "targets": {
          "right_j1": 1.762,
          "right_j2": 1.207,
          "right_j3": -1.015
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01P7eLmFy8MCypzS29YDr6kX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6636 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.7943 right_j2=1.2274 right_j3=-1.0096 right_j4=0.0444 right_j5=-0.2142 right_gripper=0.4484\nstate[joint_eff]: [-0.1846, 1.4974, 5.3402, 1.6679, -0.0366, -0.0366, -0.0171, -0.1299, -8.8957, 5.2855, 0.4908, -0.0171, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 610):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ed3e3eb2d10d24bb6962d4f808fe8e1289ed06697eaa596c5a0e74a5bcb6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 610):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf1dfcee3387b1a5bf2a74b7337978f22165abe4a08c4f128d71d3a141e0bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 610):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab033686d02d07964c6587f1975971e8305be47c36cda5fd7497e4f511a79ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 89 attempt 0 · /messages · status 200 · 9.344 s

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

message 259 changed as sent

message 262 changed as sent

message 265 changed as sent

message 259 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6594 left_j2=1.1896 left_j3=-1.1488 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6018 right_j1=1.9636 right_j2=1.4631 right_j3=-1.1244 right_j4=0.0444 right_j5=-0.2134 right_gripper=0.4485\nstate[joint_eff]: [-0.212, 1.4291, 5.2581, 1.6728, -0.0122, -0.0562, -0.0122, 0.4171, -12.0547, 6.2291, 0.4811, 0.0024, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 262 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6609 left_j2=1.1896 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.0247 right_j2=1.3987 right_j3=-1.0039 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.1026, 1.812, 5.3265, 1.7656, -0.0171, -0.0659, -0.0171, -0.3761, -10.0581, 5.3402, 0.1197, 0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 265 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6636 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.7943 right_j2=1.2274 right_j3=-1.0096 right_j4=0.0444 right_j5=-0.2142 right_gripper=0.4484\nstate[joint_eff]: [-0.1846, 1.4974, 5.3402, 1.6679, -0.0366, -0.0366, -0.0171, -0.1299, -8.8957, 5.2855, 0.4908, -0.0171, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 610):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ed3e3eb2d10d24bb6962d4f808fe8e1289ed06697eaa596c5a0e74a5bcb6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 610):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf1dfcee3387b1a5bf2a74b7337978f22165abe4a08c4f128d71d3a141e0bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 610):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab033686d02d07964c6587f1975971e8305be47c36cda5fd7497e4f511a79ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 94ed3e3eb2d1]

[blob 3cf1dfcee338]

[blob ab033686d02d]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGtFJT77unpo3RzHpgwZXZ",
      "input": {
        "note": "I have more budget than I feared, so instead of gambling on a blind release I'll localise the block by touch: dropping the carried cube to 2 cm — below the red block's top — so that sliding sideways or inward will physically bump it and register in the joint efforts.",
        "targets": {
          "right_j1": 1.844,
          "right_j2": 1.185,
          "right_j3": -0.911
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XGtFJT77unpo3RzHpgwZXZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6632 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.8065 right_j2=1.2026 right_j3=-0.9844 right_j4=0.0345 right_j5=-0.2138 right_gripper=0.4484\nstate[joint_eff]: [-0.0752, 1.4974, 5.3128, 1.6972, -0.0708, -0.0757, -0.0122, 0.1846, -6.0239, 2.865, 1.116, 0.7497, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 612):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17ac8fb1b2313171a82b4baa4ff7b62f207339515d3310cd09d6b6b5b013313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 612):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f45b2793b604e3b868ca646ac445aeaf8f25de201861c7f6ebe31cbd252604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 612):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:862d7bd7eb469e9463b39f930edc3264f412b4cb0e60f8c682eb32007e537143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 90 attempt 0 · /messages · status 200 · 8.294 s

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

message 262 changed as sent

message 265 changed as sent

message 268 changed as sent

message 262 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6609 left_j2=1.1896 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=2.0247 right_j2=1.3987 right_j3=-1.0039 right_j4=0.0441 right_j5=-0.2142 right_gripper=0.4485\nstate[joint_eff]: [-0.1026, 1.812, 5.3265, 1.7656, -0.0171, -0.0659, -0.0171, -0.3761, -10.0581, 5.3402, 0.1197, 0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 265 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6636 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.7943 right_j2=1.2274 right_j3=-1.0096 right_j4=0.0444 right_j5=-0.2142 right_gripper=0.4484\nstate[joint_eff]: [-0.1846, 1.4974, 5.3402, 1.6679, -0.0366, -0.0366, -0.0171, -0.1299, -8.8957, 5.2855, 0.4908, -0.0171, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 268 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6632 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.8065 right_j2=1.2026 right_j3=-0.9844 right_j4=0.0345 right_j5=-0.2138 right_gripper=0.4484\nstate[joint_eff]: [-0.0752, 1.4974, 5.3128, 1.6972, -0.0708, -0.0757, -0.0122, 0.1846, -6.0239, 2.865, 1.116, 0.7497, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 612):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17ac8fb1b2313171a82b4baa4ff7b62f207339515d3310cd09d6b6b5b013313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 612):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f45b2793b604e3b868ca646ac445aeaf8f25de201861c7f6ebe31cbd252604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 612):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862d7bd7eb469e9463b39f930edc3264f412b4cb0e60f8c682eb32007e537143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b17ac8fb1b23]

[blob d4f45b2793b6]

[blob 862d7bd7eb46]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AcWnmbn46UjZ9mD6xZh4CH",
      "input": {
        "note": "Touchdown: the descent stalled with j1's effort relaxing and j3/j4 efforts rising, with the cube's underside about 3.5-4 cm above the table — that can only be the top of the red block. Opening the jaws to release the cube onto it.",
        "targets": {
          "right_gripper": 0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AcWnmbn46UjZ9mD6xZh4CH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1492 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6041 right_j1=1.8324 right_j2=1.1893 right_j3=-0.9791 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8962\nstate[joint_eff]: [-0.0342, 1.1556, 5.3812, 1.6777, -0.0464, -0.0464, -0.0122, -0.3487, -10.441, 6.4752, 0.1832, 0.0366, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aff3f8e3372165998eeff137f31d9479f04cb4a4c5b8082b288d4f44693859a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e30763d5cfbdce606f909ebedafa3a62839960399877ec55fbc1133fd5ae25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 617):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:454056d692487fc8f6e94810478b15a8997b5abd33aa46e146f35fb2aa19144b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 91 attempt 0 · /messages · status 200 · 8.622 s

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

message 265 changed as sent

message 268 changed as sent

message 271 changed as sent

message 265 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6636 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.7943 right_j2=1.2274 right_j3=-1.0096 right_j4=0.0444 right_j5=-0.2142 right_gripper=0.4484\nstate[joint_eff]: [-0.1846, 1.4974, 5.3402, 1.6679, -0.0366, -0.0366, -0.0171, -0.1299, -8.8957, 5.2855, 0.4908, -0.0171, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 268 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6632 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.8065 right_j2=1.2026 right_j3=-0.9844 right_j4=0.0345 right_j5=-0.2138 right_gripper=0.4484\nstate[joint_eff]: [-0.0752, 1.4974, 5.3128, 1.6972, -0.0708, -0.0757, -0.0122, 0.1846, -6.0239, 2.865, 1.116, 0.7497, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 271 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1492 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6041 right_j1=1.8324 right_j2=1.1893 right_j3=-0.9791 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8962\nstate[joint_eff]: [-0.0342, 1.1556, 5.3812, 1.6777, -0.0464, -0.0464, -0.0122, -0.3487, -10.441, 6.4752, 0.1832, 0.0366, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aff3f8e3372165998eeff137f31d9479f04cb4a4c5b8082b288d4f44693859a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e30763d5cfbdce606f909ebedafa3a62839960399877ec55fbc1133fd5ae25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 617):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454056d692487fc8f6e94810478b15a8997b5abd33aa46e146f35fb2aa19144b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1aff3f8e3372]

[blob 8e30763d5cfb]

[blob 454056d69248]

{
  "content": [
    {
      "signature": "CAIS0wcKjAEIEBgCKkB02fHBpXNu2Z0QIlaBpmhuXN3YT8mJ33Hh4FEVYGgddw76rw1eaEBrGL3mYEO/5C1LmrikA49D0o/KJ68N7gxWMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMj2z9fuXPjcXjuQVhGgwo8RzRZV9wowVNFlAiMMc+Ot3+rz68ma2QUZRqALX+5b+yUixN8j72nLpKLQ9Y37qdbYRVt8ex7i4NjH4j4yrzBZmIinomycVS6jmmDAOIYYeANZFZpmxza9E5gLWzSnLLc/zgFTJn0qIbGgCjcS67UlrIib6WK3rXXuIP5R68mZpn35snM7c8vOkDgK5Se2vOOO2vqyGS1VBXYE1ub/HG+HiH+FZlNaIQWAhyFXP415ZDBZ95180bavipXSDWyoZst19TGojhfd43PQ5aR/Z0GuRk8XzG8CxdsYtUMCzTZ7pwyDtC9ZegFmZOXTbtB31Zjsf14BBHsz4INrrlVBLNbVxygozuNqXkTkGOi6yywJAFll1cVLwkRGpeRYHMFyQu+V1mm//Q+PmwAVVM5PPy5YYzjNDOa2gpN9sCmN0OiINs+7tCcN9eSVKwetsq1eOyOJ9J8TWhX78P7NtwT5mEwwB9r4SOPuPSOiXmBg+O9vxOs3nVYbefAIuq0oNwbdVKK9S4zcRfSi/8kJp/3LqXLgS18t0KFnoiVW0YWT8hHal1p3/+Kpy2cy8GZOJ1AJ2kVDBGpznJsYP4IDJajxPWP8Icwl3uVBael0n2jcqc11zLhy5Cy8I0vQ6UBYTT8SVABlTcbCZBL4RmfED0wgSmgcM7ZM3k1VnTxe6D6Qy1Y3qz5Dh0ET2KRXbzBY4QKkqHH516W7o3qgCpocx5jKDBsqrsFkmB66jsx9kp/+Q9WxndaCJtf8SALTZ4yu06KAlfEr6GeeQMBGrxKSUrjkvxikSmyn/0VbGMvZLKNrFISTdW3cEgNkp2GvPNc/fgacHBv5GSffCuZLWtqDOJCkFRCJ6RE4aYR3c7T3UHI7SkEqo3TZoKBBEwZY9tSfhlbdAetYk8hlR1AT5qaupR4Hq8bJ++yIfdnRCqew6D6iCA4V9fnoDbC83CWyzmxNohIT6Mi5OPXgzAK+vWgNMWx0TtEqZwaamSwxfVxmyDN8aSRcsP3qDGDAD7/yBuBcySjXiDoGg/iaJXxTLXH4lfw2zlLP1U73KxXmwk2C3ODO9wLHkE3tJZa1ns6/rfccTe92aOsVDBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gS2Ue6K3as6WKgrX6dr6X",
      "input": {
        "note": "Cube released. Lifting the arm ~12 cm straight up to clear the area and let the cameras show whether the blue cube is sitting on top of the red one.",
        "targets": {
          "right_j1": 1.55,
          "right_j2": 1.45,
          "right_j3": -1.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_018gS2Ue6K3as6WKgrX6dr6X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6048 right_j1=1.5887 right_j2=1.4105 right_j3=-1.3827 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8973\nstate[joint_eff]: [-0.1709, 1.4974, 5.4769, 1.6532, -0.0757, -0.0562, -0.0171, -0.4171, -8.1983, 8.3487, 0.2613, 0.022, -0.0366, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b151f83521722be9611cea8fe2b5a5196b42b7405f03be8bbdff5916f978d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7047e2854d8709767ddc2b6f0c2afb2a1614dc16d3981b640110a250cb7d21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 625):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05530e2d2510f2a0782a45768bf48ada99bfd161425df6bad4bcc65d1f40f263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 92 attempt 0 · /messages · status 200 · 15.12 s

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

message 268 changed as sent

message 271 changed as sent

message 274 changed as sent

message 268 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6632 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6022 right_j1=1.8065 right_j2=1.2026 right_j3=-0.9844 right_j4=0.0345 right_j5=-0.2138 right_gripper=0.4484\nstate[joint_eff]: [-0.0752, 1.4974, 5.3128, 1.6972, -0.0708, -0.0757, -0.0122, 0.1846, -6.0239, 2.865, 1.116, 0.7497, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 271 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1492 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6041 right_j1=1.8324 right_j2=1.1893 right_j3=-0.9791 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8962\nstate[joint_eff]: [-0.0342, 1.1556, 5.3812, 1.6777, -0.0464, -0.0464, -0.0122, -0.3487, -10.441, 6.4752, 0.1832, 0.0366, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 274 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6048 right_j1=1.5887 right_j2=1.4105 right_j3=-1.3827 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8973\nstate[joint_eff]: [-0.1709, 1.4974, 5.4769, 1.6532, -0.0757, -0.0562, -0.0171, -0.4171, -8.1983, 8.3487, 0.2613, 0.022, -0.0366, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b151f83521722be9611cea8fe2b5a5196b42b7405f03be8bbdff5916f978d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7047e2854d8709767ddc2b6f0c2afb2a1614dc16d3981b640110a250cb7d21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05530e2d2510f2a0782a45768bf48ada99bfd161425df6bad4bcc65d1f40f263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5b151f835217]

[blob a7047e2854d8]

[blob 05530e2d2510]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HfXuPf7qCdKfXhmX1gqbmV",
      "input": {
        "note": "The wrist view suggests the blue cube is sitting slightly closer to the camera than the red one, hinting at a stack. Parking the right arm back near its base so the overhead camera can give an unobstructed verdict.",
        "targets": {
          "right_j0": 0.2,
          "right_j1": 0.75,
          "right_j2": 1.25,
          "right_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01HfXuPf7qCdKfXhmX1gqbmV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.2104 right_j1=0.7776 right_j2=1.2541 right_j3=-0.7948 right_j4=0.0189 right_j5=-0.2287 right_gripper=0.8975\nstate[joint_eff]: [-0.1162, 1.5111, 5.4085, 1.6728, -0.0611, -0.0611, -0.0122, -0.2393, -0.0752, 5.7368, 2.2442, 0.0708, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 639):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1396be29e9afe51c17be1c6f02b125ede4dbfbe8adb64692db5794a451703b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 639):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c4d55d24f5f090e994a1f8043dd1d662e5021965b2f5e09f5784a3cca11601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 639):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51386507cf1af3e301b9d2013bf44ce1b313e0652d1a21b6336285fc787090e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 93 attempt 0 · /messages · status 200 · 7.211 s

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

message 271 changed as sent

message 274 changed as sent

message 277 changed as sent

message 271 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1492 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6041 right_j1=1.8324 right_j2=1.1893 right_j3=-0.9791 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8962\nstate[joint_eff]: [-0.0342, 1.1556, 5.3812, 1.6777, -0.0464, -0.0464, -0.0122, -0.3487, -10.441, 6.4752, 0.1832, 0.0366, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 274 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6048 right_j1=1.5887 right_j2=1.4105 right_j3=-1.3827 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8973\nstate[joint_eff]: [-0.1709, 1.4974, 5.4769, 1.6532, -0.0757, -0.0562, -0.0171, -0.4171, -8.1983, 8.3487, 0.2613, 0.022, -0.0366, 0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 277 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.2104 right_j1=0.7776 right_j2=1.2541 right_j3=-0.7948 right_j4=0.0189 right_j5=-0.2287 right_gripper=0.8975\nstate[joint_eff]: [-0.1162, 1.5111, 5.4085, 1.6728, -0.0611, -0.0611, -0.0122, -0.2393, -0.0752, 5.7368, 2.2442, 0.0708, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 639):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1396be29e9afe51c17be1c6f02b125ede4dbfbe8adb64692db5794a451703b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 639):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c4d55d24f5f090e994a1f8043dd1d662e5021965b2f5e09f5784a3cca11601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 639):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51386507cf1af3e301b9d2013bf44ce1b313e0652d1a21b6336285fc787090e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1396be29e9af]

[blob e6c4d55d24f5]

[blob 51386507cf1a]

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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ef3eUUkUemT6mhT3bvZPaC",
      "input": {
        "note": "Overhead confirms the cubes ended up side by side, not stacked — the cube slid off the block's edge. New tactic: re-grasp the blue cube and then apply the small blue→red displacement I can measure directly overhead (~4.5 cm to the arm's right). Hovering over the blue cube's spot with jaws open.",
        "targets": {
          "right_gripper": 0.95,
          "right_j0": 0.604,
          "right_j1": 1.753,
          "right_j2": 1.229,
          "right_j3": -1.047
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01Ef3eUUkUemT6mhT3bvZPaC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6666 left_j2=1.187 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5964 right_j1=1.7359 right_j2=1.2282 right_j3=-1.0252 right_j4=0.0185 right_j5=-0.2363 right_gripper=0.949\nstate[joint_eff]: [-0.212, 1.2786, 5.6137, 1.707, -0.0415, -0.0464, -0.0122, 0.2393, -8.6085, 5.7504, 0.2759, -0.0024, 0.0464, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108636cd3fb12266c5dbe0d0c016669f10379b60458664a31e19a7eae48f97ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb7e4be10a727172ebeeb851d87a59bdd87b4b7fbc1e4f85ddbc2786c4b0885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:769d05f2a47a2b71475ba272e17cbdd0f371424c3a185ab4fa2238b3665a9af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 94 attempt 0 · /messages · status 200 · 5.027 s

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

message 274 changed as sent

message 277 changed as sent

message 280 changed as sent

message 274 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1496 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6048 right_j1=1.5887 right_j2=1.4105 right_j3=-1.3827 right_j4=0.0288 right_j5=-0.2142 right_gripper=0.8973\nstate[joint_eff]: [-0.1709, 1.4974, 5.4769, 1.6532, -0.0757, -0.0562, -0.0171, -0.4171, -8.1983, 8.3487, 0.2613, 0.022, -0.0366, 0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 277 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.2104 right_j1=0.7776 right_j2=1.2541 right_j3=-0.7948 right_j4=0.0189 right_j5=-0.2287 right_gripper=0.8975\nstate[joint_eff]: [-0.1162, 1.5111, 5.4085, 1.6728, -0.0611, -0.0611, -0.0122, -0.2393, -0.0752, 5.7368, 2.2442, 0.0708, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 280 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6666 left_j2=1.187 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5964 right_j1=1.7359 right_j2=1.2282 right_j3=-1.0252 right_j4=0.0185 right_j5=-0.2363 right_gripper=0.949\nstate[joint_eff]: [-0.212, 1.2786, 5.6137, 1.707, -0.0415, -0.0464, -0.0122, 0.2393, -8.6085, 5.7504, 0.2759, -0.0024, 0.0464, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108636cd3fb12266c5dbe0d0c016669f10379b60458664a31e19a7eae48f97ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb7e4be10a727172ebeeb851d87a59bdd87b4b7fbc1e4f85ddbc2786c4b0885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769d05f2a47a2b71475ba272e17cbdd0f371424c3a185ab4fa2238b3665a9af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 108636cd3fb1]

[blob dbb7e4be10a7]

[blob 769d05f2a47a]

{
  "content": [
    {
      "signature": "CAIS4woKjAEIEBgCKkDafQfwAwGSG9OI/0yxZ1EWlo2vOQTTdW2FkS+ei02Iy+z+Tp4gAejulNGapawizD6nPqAJOWR+9+KGTSrDw1CDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfF5vmOPprI0q2ERbGgy//bZQGKXMYZC8Wf8iMLMjkvINPw35MCgrk633q/PGNAPaIXv6nsP2lBVHM2cSIpM7NEpvJlpZSergaDXBBiqDCb/3xTn8F/osTTdTOLTHBIa6U+QDYgqF/63ZEdyvfXOpjCsc5Yy8F4bemcjSALhlFakOff60oH2sL/cTO5pV1iMQuCt3qfLKYxPzq9q8kbrhX+l7foUqRxu8F0+WI7j77byWKTHyR+O1U524n0QM8iWPlDS7mhy+5SC9u1v94Cyl1bEt8jVfX7M1M/iLy9opw+g3zDZwHFdKhVsQVzW2cACBjtD/ZR8sjjRps9meC2ecBWvM2TPEKVb2IkbXsssbL0UTh7WFK37iO/mTzsU6wJGO7y9cq+ExJFVGnGW5OA7MMSmirH3QfGI+mMiCBOlgoN6bQTGgc9WG8IEV+wSNGnw32u1FRPGIjwNEMpaxwo8WlfRu4hyto5vsELPh03/DY7IAosyGdUc1W3ElDB7nbu2XMlO1g9rDuHH1pMJXFwFpJMif85TmKHkTv9612km12BEfp1yQZ8J48c9x0+RKvBy6uoJ4q6DFSGF9fRGkFWRd35IBQFQKjTKM8dNY1viI87d+GIZYKCNkky9PAls8+69DUBDoKx6aXdHJ89NedTx/wyuAemhFa1N0WMKdd7jVjpckDfkeAVu4PIKxhPXCYTV5rPuFeAztRN5lUf4Vj30wl1UaJYL6iz8t+Ffa/7jYzeDPx6mTuLhfqCorCxL8NoUs04Y97M6KGW8GgMAqWdf9GCsGOJjfw3Pal9npEoUkzMat+fv8oFZyz8YFYjLFN0jqHwDZCRaXJxdxidjcnNt0PWHR02zsDG3cuFeCNhpsHSoUDCwBp6RlMTgTVUqg0dC/VW+a/kW0ZqUtKk7s0RE0nmGmp/NsdWLLSI9RY3+zensgPUmQPIqYgqPzQki+Fb9PlHrzWimXCvBVDdLAyJLQ+8WBEVQN6PQeim34qOwKLSKvrkZ7bM5uYjGFlYDagXynABpGiz2UzswGtLv1TZmxmeLTzDcya8Rj+Xf8Y2yAoF1A+zD4Csafpj3Jg3dElcEOQsRMIGiUjCycOcB7jj/COBxn30rhWL/dBPbuTd9BsgHiL//JEOw7oEQP0LFdqgcY3VR5zNlYdRX510aaBfVmTMLI1rzAKKqYkbmYWFoZ/96bD2h6dvRVoEa+EwFWJ7tGUr/F6uLor5c0PWsaIAp8yU4TOE08e8rJwHaevs9ObjaBKxnURiBX2hrYxZWwgGImJr0tAomU3giDFGK7IxjACZin+MRqoBM14n2+6RStF8pjSXS6HJlMKGEbTvIAxslW3TcSkL1Ct9YosIhiiI7TEVVqKEgVQUZCxgpn4d+SPXijlGnZubxCXt+PdnTYcGia2Q6+JqhnvQpO7G8kBH6ZuQPyduQSGPjfQSwM8uL7wPcKgjo1YGqKRByy2D6maeTaWftUi8osbsCK62w48h6QPlh6qdJW5nrCFo1cQzIrRWJu7dqzeUFDi8MqLXaS7E8omJTJyje7vD8cYPHr3M5lcMlF++W4Kse+SxKie/294qbIA4V3F1Gbs3Rufr3T7OUOOwE6O/++ljWB/LOw0OEcoOxjF2qnSAxj9EPVBfzJ5iZo9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BYfHN7RQHxb9TP1SUtVxp5",
      "input": {
        "note": "Wrist view shows the blue cube centred in the jaw gap with the red block just beyond it. Descending to the tabletop to re-grasp the blue cube.",
        "targets": {
          "right_j1": 1.93,
          "right_j2": 1.13,
          "right_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BYfHN7RQHxb9TP1SUtVxp5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6666 left_j2=1.1866 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5995 right_j1=1.9072 right_j2=1.1481 right_j3=-0.8848 right_j4=0.0105 right_j5=-0.2367 right_gripper=0.9488\nstate[joint_eff]: [-0.0479, 1.6068, 5.5179, 1.7802, -0.0122, -0.0317, -0.0122, -0.294, -6.5983, 3.6171, 1.0427, 0.2076, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bd7b3836e1690f1617f5699c035ab029b6f7594be78cfbb8a96b8f8b7241e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb43c89dff6cb826b8a56ed246e5455cbb5553a8c2aad50382b0514dc879c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9035b6d2d444337fc970db974ba3b3f31f4b0d99189749726e7292d6ecee2b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 95 attempt 0 · /messages · status 200 · 10.37 s

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

message 277 changed as sent

message 280 changed as sent

message 283 changed as sent

message 277 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6659 left_j2=1.1889 left_j3=-1.1488 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.2104 right_j1=0.7776 right_j2=1.2541 right_j3=-0.7948 right_j4=0.0189 right_j5=-0.2287 right_gripper=0.8975\nstate[joint_eff]: [-0.1162, 1.5111, 5.4085, 1.6728, -0.0611, -0.0611, -0.0122, -0.2393, -0.0752, 5.7368, 2.2442, 0.0708, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 280 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6666 left_j2=1.187 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5964 right_j1=1.7359 right_j2=1.2282 right_j3=-1.0252 right_j4=0.0185 right_j5=-0.2363 right_gripper=0.949\nstate[joint_eff]: [-0.212, 1.2786, 5.6137, 1.707, -0.0415, -0.0464, -0.0122, 0.2393, -8.6085, 5.7504, 0.2759, -0.0024, 0.0464, -0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 283 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6666 left_j2=1.1866 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5995 right_j1=1.9072 right_j2=1.1481 right_j3=-0.8848 right_j4=0.0105 right_j5=-0.2367 right_gripper=0.9488\nstate[joint_eff]: [-0.0479, 1.6068, 5.5179, 1.7802, -0.0122, -0.0317, -0.0122, -0.294, -6.5983, 3.6171, 1.0427, 0.2076, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bd7b3836e1690f1617f5699c035ab029b6f7594be78cfbb8a96b8f8b7241e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb43c89dff6cb826b8a56ed246e5455cbb5553a8c2aad50382b0514dc879c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9035b6d2d444337fc970db974ba3b3f31f4b0d99189749726e7292d6ecee2b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 56bd7b3836e1]

[blob 0eb43c89dff6]

[blob c9035b6d2d44]

{
  "content": [
    {
      "signature": "CAISiwUKjAEIEBgCKkDqND3plI4dFm+4IJHgNMZcAgEg68MqI4si7p2yvHD8sATGlEac7rk4C9d425Hy7nR82UJVMkhtXCBYIWr82TS/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMeuYMLtzPITk1nErlGgy/4ePZE2BRJhDyuxUiMG45qlAFs6J6zvctIZXHZHQ3vSI6zW/zcBVcG7ixS2M0tg+Y4O53qlakZE7oEI9fjSqrA9T+mlf2I0YXzzvxTKigdZpmKsoGACh0JcBzyo61D0O6uAUjqdYOgQRBynMXOPEihBDW2qxt0s/XS4lnqqlaONKProZHfV0nFhGM3U2rq6LrEBNlp0iNbevTkpdiRuZuFSND5AfDDp5NZ6cTt6d7ITpscZ6l1kP/7zI38x0Po+4n1Yo3TDBe3fdvYAzOI/Jy7OKjQ0Sp1R757kPyGrlhvyAAcwM9hFvlbMQrnUjAw55ipnlHpsQR/UCkEEOthseG32VEuXElxhykgIRh10yABqpLf9lqgx0oGq9ODIxUb9C17V0xSUmDn55WHgLzMt786IAWkPCLzuNMm0D87D4MgwN/wT9XE8KhVdUvRJ/QmC33q8g+il/0GWX8tuI8YNS6MuXf9q5kBXHD15hyTIr6oXzKclaTe7UxoAynS9y6eeQvNp5g8uUYja5fLPhFolASbX5hD9Be/yTCewDyg7yi9cF7vcHcfsnkuRJwHd2GxZfT9VXsrcKV7pbArb971AvRRqt1Hcz4HV+s5APjgXwRiVdAsO295xHTE1KEzUaJOifDCJNsIMpe670kLwgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EUF1nymPXqZZQFbEvkR5TZ",
      "input": {
        "note": "Fingertips are on the table with the blue cube filling the jaw gap. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EUF1nymPXqZZQFbEvkR5TZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6678 left_j2=1.1854 left_j3=-1.1645 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6003 right_j1=1.9038 right_j2=1.1461 right_j3=-0.8886 right_j4=0.0063 right_j5=-0.2398 right_gripper=0.5962\nstate[joint_eff]: [-0.1573, 1.3607, 5.3812, 1.8144, -0.0464, -0.0269, -0.0122, -0.2667, -8.3624, 5.4632, 0.1734, 0.0024, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 669):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed53b70227c1e99cf1a15ec537b385cf1162b6ee39299016194d52a4f62cdab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 669):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a293e97ecb4cf7dd5f24d8182188d6eb348668e936e8a642c3867f8e2eceb12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 669):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91ac1d68e24556dad8316bc27b03fc2393d384434e9fde700bd7339f031be7a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 96 attempt 0 · /messages · status 200 · 7.721 s

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

message 280 changed as sent

message 283 changed as sent

message 286 changed as sent

message 280 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6666 left_j2=1.187 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.5964 right_j1=1.7359 right_j2=1.2282 right_j3=-1.0252 right_j4=0.0185 right_j5=-0.2363 right_gripper=0.949\nstate[joint_eff]: [-0.212, 1.2786, 5.6137, 1.707, -0.0415, -0.0464, -0.0122, 0.2393, -8.6085, 5.7504, 0.2759, -0.0024, 0.0464, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 283 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6666 left_j2=1.1866 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5995 right_j1=1.9072 right_j2=1.1481 right_j3=-0.8848 right_j4=0.0105 right_j5=-0.2367 right_gripper=0.9488\nstate[joint_eff]: [-0.0479, 1.6068, 5.5179, 1.7802, -0.0122, -0.0317, -0.0122, -0.294, -6.5983, 3.6171, 1.0427, 0.2076, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 286 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6678 left_j2=1.1854 left_j3=-1.1645 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6003 right_j1=1.9038 right_j2=1.1461 right_j3=-0.8886 right_j4=0.0063 right_j5=-0.2398 right_gripper=0.5962\nstate[joint_eff]: [-0.1573, 1.3607, 5.3812, 1.8144, -0.0464, -0.0269, -0.0122, -0.2667, -8.3624, 5.4632, 0.1734, 0.0024, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 669):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed53b70227c1e99cf1a15ec537b385cf1162b6ee39299016194d52a4f62cdab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 669):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a293e97ecb4cf7dd5f24d8182188d6eb348668e936e8a642c3867f8e2eceb12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 669):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ac1d68e24556dad8316bc27b03fc2393d384434e9fde700bd7339f031be7a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ed53b70227c1]

[blob 5a293e97ecb4]

[blob 91ac1d68e245]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZ2H98duggQs9F4nzbir3u",
      "input": {
        "note": "Cube re-grasped (residual 0.60 — it is held across its diagonal, but firmly). Now applying the measured blue→red offset from the overhead frame: ~4.3 cm to the arm's right and ~1.7 cm back, carried at 6 cm height.",
        "targets": {
          "right_j0": 0.482,
          "right_j1": 1.599,
          "right_j2": 1.087,
          "right_j3": -1.059
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GZ2H98duggQs9F4nzbir3u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6697 left_j2=1.1854 left_j3=-1.1721 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4911 right_j1=1.6314 right_j2=1.0954 right_j3=-1.0225 right_j4=-0.0002 right_j5=-0.2436 right_gripper=0.596\nstate[joint_eff]: [-0.0889, 1.5932, 5.3128, 1.7558, -0.0513, -0.0366, -0.0171, -0.294, -6.8855, 5.1077, 0.5201, 0.0171, 0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 674):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28cd92b5064ad94612b9d6189256d676424a5fe9b336dd0f06f79e48aedb5da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 674):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973bf3462aca6318f438cf596b1a3493852d536f987be53b993dcae68f0574b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 674):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:968594965d68c7cd27bb7ecfa3380e6755914296a709858bc43399ecb6f32d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 97 attempt 0 · /messages · status 200 · 7.884 s

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

message 283 changed as sent

message 286 changed as sent

message 289 changed as sent

message 283 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6666 left_j2=1.1866 left_j3=-1.1492 left_j4=-0.0002 left_j5=-0.0792 left_gripper=0.9966 right_j0=0.5995 right_j1=1.9072 right_j2=1.1481 right_j3=-0.8848 right_j4=0.0105 right_j5=-0.2367 right_gripper=0.9488\nstate[joint_eff]: [-0.0479, 1.6068, 5.5179, 1.7802, -0.0122, -0.0317, -0.0122, -0.294, -6.5983, 3.6171, 1.0427, 0.2076, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 286 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6678 left_j2=1.1854 left_j3=-1.1645 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6003 right_j1=1.9038 right_j2=1.1461 right_j3=-0.8886 right_j4=0.0063 right_j5=-0.2398 right_gripper=0.5962\nstate[joint_eff]: [-0.1573, 1.3607, 5.3812, 1.8144, -0.0464, -0.0269, -0.0122, -0.2667, -8.3624, 5.4632, 0.1734, 0.0024, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 289 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6697 left_j2=1.1854 left_j3=-1.1721 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4911 right_j1=1.6314 right_j2=1.0954 right_j3=-1.0225 right_j4=-0.0002 right_j5=-0.2436 right_gripper=0.596\nstate[joint_eff]: [-0.0889, 1.5932, 5.3128, 1.7558, -0.0513, -0.0366, -0.0171, -0.294, -6.8855, 5.1077, 0.5201, 0.0171, 0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 674):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28cd92b5064ad94612b9d6189256d676424a5fe9b336dd0f06f79e48aedb5da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 674):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973bf3462aca6318f438cf596b1a3493852d536f987be53b993dcae68f0574b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 674):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968594965d68c7cd27bb7ecfa3380e6755914296a709858bc43399ecb6f32d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 28cd92b5064a]

[blob 973bf3462aca]

[blob 968594965d68]

{
  "content": [
    {
      "signature": "CAIS5QkKjAEIEBgCKkDo8KF6WhZMN1FHKMzxIlj7H2gGnhUAlucf1E1dBM64Py6VVWof/JYZGhIJQfvB196LlxFPQ5zZ9ytVWhHk8LsNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGOLVeTsXeTlr+jEkGgxrLeO3rIB5P2mO0UYiMK9bPqjS/bzi5+IN4S0ywTic+AvSZnyF7L0DEMuMp3aKey2/8TS6P3sIFY+gsS5PhiqFCKjyT+smIu1EJr0ClHzrGjBdvH5GrY3pnnN9uQxq6f644kx7/pw82qUdkuDG8h8B7eDp+FkWGCiZ4xGY3UacVCAZPcfatVl8CVjAmh3a/cNPQoBpWenvyBZfx9xUOtVHPbYlgrvaA88qZnmF3Iv245XBtrGaUWgDRfowkG0zhc+QymkhG+1x7TsEIGVKVYj/OIXpXNRAPHXpq4uifY2uxZzbNPhFe6+vZgQwr3BenIG5PE3EPxOCDuFqK51ADRBJGOKZ4EapsbUePhdaQ4vzWeoX/MN9vK0RSfsuerwbdiJgii7i03kOqw981e7s0/5pF31gZPP6/BQA09OqtfjpOilHGz+6PZnhapoitXaO/oQrxrMq7LmQOHzoEMnUdrDD9It6W7xsj/JKIgkVekMPIoKH5l6BlatqBIKgRzL3bjoefra/AdUfMzASUtZctoACmeQEMHKgSxiPEcjYcOf9+ei6m4nclcy43CUn2QwnclR4A8LO5YoS15BUiBkVs83J2+gy51h28izLLwnhxmJRdCTxwmc8NXtC2yMyWhgmaC7S8QgtnIHcOjX/XfgJjGGwxyMJv0Y55ckGojjSFcpYzRwEjbVAAfYpY+pX5X1tyu6ydE6EMyXiT53DFwqpfmc2Dq/QDJy9CW29dG41zp4ePmtVbL3MXBS1jbyQdjkwWE1TMbfezGA44FraksPi3C9AWM2rAdfYwdvOtRUX3AxnW2cXlHkJNdzqW7ZreJKsuufcD0Y7vwUtapUc1LMlnf98F6hVmTMT3qyjb9cH9UADGgmKApmWTXWYQUalYl9a26DE99NwXSl3PoFjV6YPbq06B3W53+lw8o3gm9fpDPetZpmj/Xwud4B5QysJCUhSKZUW/JVK22HzLGXbL5lLvQqTapjL9AM4/grI7OLM6EgA4/WGKAQPYUOVMhrhYp6ovvpBh1s4QAYkHkRV8DNmEL1hGWr0B8lN6ABBwxDkYbIxxo+WliedBUFulj5qw7wGBw3jXDOsTbgoAENWi5zaLHeyJljhMkMFUxNsI0a8sUWADvEzsJNdgygqCBdnjl+gUIEDmZncdRwSOh76sGehECDTd6gjXkTLEZ9RXGUI0jfNS/qXQpCb2vxRWXaZEksUWrwNuMysDgKZWxYQNLJbrdeWeDyvUhG+U+hOSH55RUQZ3NshstsJN7Y8d35IGfyYqn2E+P8U8Jz0+xnr3DevRyOnNMq3Bu4puk3tbABVIa6Ac2bRKGJq9IWVkC+AO5ft8IbECTxkqBpuSrJ3gTE6eHmQYvkGXSQGcQBUWQpGkyQNLyAXOSu645YvHHg22VcGBQSkniDSly0sQT1GFViM7ewN74kvPv1QOuXJ4jaGXqO5szb/oNUASRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AnJ2ibubx3tt1DygYxjRb6",
      "input": {
        "note": "In position over the red block's measured spot with the cube 5.5 cm up. Lowering until the effort shows the cube seating on the block's top.",
        "targets": {
          "right_j1": 1.76,
          "right_j2": 1.02,
          "right_j3": -0.86
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AnJ2ibubx3tt1DygYxjRb6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6712 left_j2=1.1854 left_j3=-1.1782 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4957 right_j1=1.7206 right_j2=1.0595 right_j3=-0.9276 right_j4=-0.001 right_j5=-0.2451 right_gripper=0.599\nstate[joint_eff]: [-0.1709, 1.6068, 5.2991, 1.79, -0.0757, -0.0122, -0.0171, -0.5812, -3.9179, 2.6188, 0.0024, 0.0171, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 677):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289d2ee0737a5005287be56178351ec9d9b53f2d9ce200ec108dc62201871e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 677):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d4bdac9317e6b1d3c5d3380f52bb1abcf5b9c59ef262fc0e207ff784c77721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 677):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06402fccd20ddf7495b36db96ef7eec64e8ff4ba8b37397e82c15036650f70b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 98 attempt 0 · /messages · status 200 · 6.429 s

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

message 286 changed as sent

message 289 changed as sent

message 292 changed as sent

message 286 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6678 left_j2=1.1854 left_j3=-1.1645 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.6003 right_j1=1.9038 right_j2=1.1461 right_j3=-0.8886 right_j4=0.0063 right_j5=-0.2398 right_gripper=0.5962\nstate[joint_eff]: [-0.1573, 1.3607, 5.3812, 1.8144, -0.0464, -0.0269, -0.0122, -0.2667, -8.3624, 5.4632, 0.1734, 0.0024, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 289 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6697 left_j2=1.1854 left_j3=-1.1721 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4911 right_j1=1.6314 right_j2=1.0954 right_j3=-1.0225 right_j4=-0.0002 right_j5=-0.2436 right_gripper=0.596\nstate[joint_eff]: [-0.0889, 1.5932, 5.3128, 1.7558, -0.0513, -0.0366, -0.0171, -0.294, -6.8855, 5.1077, 0.5201, 0.0171, 0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 292 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6712 left_j2=1.1854 left_j3=-1.1782 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4957 right_j1=1.7206 right_j2=1.0595 right_j3=-0.9276 right_j4=-0.001 right_j5=-0.2451 right_gripper=0.599\nstate[joint_eff]: [-0.1709, 1.6068, 5.2991, 1.79, -0.0757, -0.0122, -0.0171, -0.5812, -3.9179, 2.6188, 0.0024, 0.0171, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 677):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289d2ee0737a5005287be56178351ec9d9b53f2d9ce200ec108dc62201871e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 677):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d4bdac9317e6b1d3c5d3380f52bb1abcf5b9c59ef262fc0e207ff784c77721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 677):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06402fccd20ddf7495b36db96ef7eec64e8ff4ba8b37397e82c15036650f70b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 289d2ee0737a]

[blob 33d4bdac9317]

[blob 06402fccd20d]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ZzkYu4e4DghJ5fmvsuQbi",
      "input": {
        "note": "The descent stalled again with the efforts relaxing while the fingertips are still ~4 cm above the table, so the cube is resting on the red block. Opening the jaws to release it.",
        "targets": {
          "right_gripper": 0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_014ZzkYu4e4DghJ5fmvsuQbi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6708 left_j2=1.1854 left_j3=-1.1908 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4946 right_j1=1.7393 right_j2=1.0378 right_j3=-0.9199 right_j4=-0.0048 right_j5=-0.2447 right_gripper=0.9457\nstate[joint_eff]: [-0.0752, 1.388, 5.2991, 1.746, -0.0366, -0.0562, -0.0122, 0.1709, -8.6906, 6.8581, 0.1538, -0.0171, -0.0708, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 681):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64982c5bb21252caef295a5d3679b1720377de1e1c7f8bbe16e5acff339911a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 681):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b452153dfb187d76da0d843eff516ac04660f3df26a7f7f69b1866be5a0ea6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 681):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2da2fd1dcedf436d4f1d7ae21a3b0c693c40ec6108a7e453dbc3c0ea93c0a187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 99 attempt 0 · /messages · status 200 · 12.22 s

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

message 289 changed as sent

message 292 changed as sent

message 295 changed as sent

message 289 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6697 left_j2=1.1854 left_j3=-1.1721 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4911 right_j1=1.6314 right_j2=1.0954 right_j3=-1.0225 right_j4=-0.0002 right_j5=-0.2436 right_gripper=0.596\nstate[joint_eff]: [-0.0889, 1.5932, 5.3128, 1.7558, -0.0513, -0.0366, -0.0171, -0.294, -6.8855, 5.1077, 0.5201, 0.0171, 0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 292 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6712 left_j2=1.1854 left_j3=-1.1782 left_j4=-0.0002 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4957 right_j1=1.7206 right_j2=1.0595 right_j3=-0.9276 right_j4=-0.001 right_j5=-0.2451 right_gripper=0.599\nstate[joint_eff]: [-0.1709, 1.6068, 5.2991, 1.79, -0.0757, -0.0122, -0.0171, -0.5812, -3.9179, 2.6188, 0.0024, 0.0171, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 295 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.6708 left_j2=1.1854 left_j3=-1.1908 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.4946 right_j1=1.7393 right_j2=1.0378 right_j3=-0.9199 right_j4=-0.0048 right_j5=-0.2447 right_gripper=0.9457\nstate[joint_eff]: [-0.0752, 1.388, 5.2991, 1.746, -0.0366, -0.0562, -0.0122, 0.1709, -8.6906, 6.8581, 0.1538, -0.0171, -0.0708, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 681):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64982c5bb21252caef295a5d3679b1720377de1e1c7f8bbe16e5acff339911a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 681):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b452153dfb187d76da0d843eff516ac04660f3df26a7f7f69b1866be5a0ea6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 681):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da2fd1dcedf436d4f1d7ae21a3b0c693c40ec6108a7e453dbc3c0ea93c0a187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 64982c5bb212]

[blob b452153dfb18]

[blob 2da2fd1dcedf]

{
  "content": [
    {
      "signature": "CAISkAYKjAEIEBgCKkA1XY9Lvyb8TxzJA7lCg58W8RTERU0RBdhHnuDqPST+SkYF+LGMm1UQtCo16ZYuJXil06FMVBL9mlihvTGHmZrKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMiwVO2jokEP5CrPmPGgyKROOyVpIGa2l6eWoiMJ4qI5Fvlpb4PjXQostF3IvEZsyAEat5ZOk0QUYMeYOgUw9wnQLYLVcD8iRNUoT3USqwBIOIuWxkdh17UAayDx+wfltpsHIemRu6YCYQnkysEQylDmQm6Cr6M7ETT8feP8WlIdW3EuVPpEW7hudv+0A8yhHKe0Twt4iz7vCCW6jKb7LL1bBIwU2p5q2VZA4AXovDTflSK2oP3Ua1Vc0Yd4UmjezmQPkne9SlEZq1QabzdW1Rgpa20sXrx4Oqkohy0Vsl0rJJTodQ2H6UoU6ynITXNgDNbqmIzLM8/GPCqZyuRBV3aO2g3Tm2P6ywWundMuv7lq5sb4/NgVDuHY+8fFMOn4gBFJ6azRpbqAXw/4eKp/fMlXBAKs/uNo7yzvznAhEgQUX/HrU4i+TwMtIqXwni8fqgOOJUFC2FUNfdwaRKBsXkvRpdp+28PQefCeyQkAn6178YZ7ANiwKGBymHXejQslCCzrV2SjatPB5uclfyNtR0lrsO5FYM4PJR6HqSp/fEHSUDsgsS9abp4E0dImdNJxpSVUOCQBd1utE95qJVCr7OxJ1zZtNUgXpulAhjqYb+25vi1Qk7WSL4+JXAFAw2OtjstigJfQTfnf2ZVecgbqwT5t6rk9in8aYpw/4IZnLwUSVuCiEGt6m+bQNmwvnSJsh7SctYhA8KFjxBCvjDUmhieX7sU+Pk1CzG8tFLeVMQ73eJ0qR2YhgYF3a5oXuIDM3qCd4cmhluPskV2luO/TOqdiHNacxVZI9vEr6vbWgpaMkM3kZDK1Vu41il8/XDUPWq+5DddWJmlOs1DVo+SfedGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G9LvorYkFW3oLfGCzQr9RT",
      "input": {
        "note": "Released. Parking the arm back by its base again to get a clean overhead look at whether the cubes are stacked this time.",
        "targets": {
          "right_j0": 0.2,
          "right_j1": 0.75,
          "right_j2": 1.25,
          "right_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01G9LvorYkFW3oLfGCzQr9RT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0116 left_j1=0.6727 left_j2=1.1851 left_j3=-1.2007 left_j4=-0.0006 left_j5=-0.0788 left_gripper=0.9966 right_j0=0.207 right_j1=0.7788 right_j2=1.2121 right_j3=-0.7547 right_j4=-0.0078 right_j5=-0.2558 right_gripper=0.9466\nstate[joint_eff]: [-0.1573, 1.2923, 5.4222, 1.7118, -0.0513, -0.0464, -0.0171, -0.212, -0.1162, 8.7453, 2.3077, 0.0269, 0.0659, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee168445cdf6e15c7ff754476452c4df84c7998fa698b9ca1298fdd11686b25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 697):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575b88d87d3f39f21ed74d2247af15c42e9515a0a4aa18305ed21f562668f1f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 697):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4879f704fbee974b3f73dfe8ebcf57c14594851d1cc537d48608cbca486e17ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}