adhoc

completed
2026-08-13T00:14:56.539124+00:00 inspect-robots 0.53.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1200
duration
1840 s
total steps
676
success_at_end
0
scenes
1
trials
1
errored
0

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

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteOverhead view shows a blue block (left) at ~(90,155) and a red/orange block (right) at ~(143,152); estimating the blue block ~21 cm right and ~13 cm forward of the left arm base. I'm swinging the left arm to a gripper-down pose about 15 cm above that spot to get a wrist-camera look.
move_joints
left_j0-1.0300left_j11.7080left_j21.1750left_j3-1.0380left_j40.0000left_j5-1.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0036 left_j1=0.0074 left_j2=0.0082 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0227 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0082 right_j5=-0.0185 right_gripper=0.999 state[joint_eff]: [0.1299, 1.0325, 6.3111, 2.2393, -0.022, 0.1636, -0.0366, -0.0068, 0.8, 6.4068, 2.1758, 0.0513, 0.1441, -0.1099] 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": -1.03, "left_j1": 1.708, "left_j2": 1.175, "left_j3": -1.038, "left_j4": 0, "left_j5": -1.03, "left_gripper": 1.0}, "note": "Overhead view shows a blue block (left) at ~(90,155) and a red/orange block (right) at ~(143,152); estimating the blue block ~21 cm right and ~13 cm forward of the left arm base. I'm swinging the left arm to a gripper-down pose about 15 cm above that spot to get a wrist-camera look."})
tool
executing move_joints over 28 steps (2.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe wrist camera sees only bare table between the jaws — the blue block isn't in view, so my position estimate is off. Raising the gripper to ~25 cm so the overhead camera can show gripper and block together for a proper calibration.
move_joints
left_j11.5830left_j21.4730left_j3-1.4600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0161 left_j1=1.6875 left_j2=1.1416 left_j3=-0.9958 left_j4=0.0032 left_j5=-0.9936 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999 state[joint_eff]: [-0.3077, -7.3368, 7.5556, 0.0611, -0.0366, -0.022, -0.0366, -0.2803, 1.4701, 7.0085, 1.9609, -0.0659, -0.0415, -0.022] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.583, "left_j2": 1.473, "left_j3": -1.46}, "note": "The wrist camera sees only bare table between the jaws \u2014 the blue block isn't in view, so my position estimate is off. Raising the gripper to ~25 cm so the overhead camera can show gripper and block together for a proper calibration."})
tool
executing move_joints over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm body is covering the area where the blue block should be, so I can't verify anything from the overhead view. Pulling the left arm back and to the side to get an unobstructed overhead look at both blocks.
move_joints
left_j0-0.6000left_j11.0000left_j21.6000left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0191 left_j1=1.6138 left_j2=1.4338 left_j3=-1.3849 left_j4=0.0063 left_j5=-1.0111 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999 state[joint_eff]: [0.212, -8.253, 7.788, 0.1441, -0.0611, 0.1294, -0.0171, -0.0342, 1.6068, 7.1043, 1.8926, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.6, "left_j1": 1.0, "left_j2": 1.6, "left_j3": -1.0}, "note": "The arm body is covering the area where the blue block should be, so I can't verify anything from the overhead view. Pulling the left arm back and to the side to get an unobstructed overhead look at both blocks."})
tool
executing move_joints over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteClear overhead view now: blue block at ~(90,158), red block at ~(143,152), both roughly 30 px above the arm bases. My pixel-to-metre scale is uncertain, so I'm putting the gripper down near the table (nominal r=0.25 m, z=0.05 m, yaw -1.0 rad) to see exactly where the jaws land in the overhead image and calibrate from that.
move_joints
left_j0-1.0000left_j12.0070left_j21.0360left_j3-0.6000left_j5-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6155 left_j1=1.0317 left_j2=1.5661 left_j3=-1.0756 left_j4=0.0067 left_j5=-1.0191 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.999 state[joint_eff]: [0.1436, -1.2513, 7.5009, 2.1905, -0.0562, 0.0269, -0.0073, -0.0889, 1.6068, 7.0085, 1.9365, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.0, "left_j1": 2.007, "left_j2": 1.036, "left_j3": -0.6, "left_j5": -1.0}, "note": "Clear overhead view now: blue block at ~(90,158), red block at ~(143,152), both roughly 30 px above the arm bases. My pixel-to-metre scale is uncertain, so I'm putting the gripper down near the table (nominal r=0.25 m, z=0.05 m, yaw -1.0 rad) to see exactly where the jaws land in the overhead image and calibrate from that."})
tool
executing move_joints over 16 steps (1.6s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent notej1 stalled with positive effort — the fingertips are touching the table, which gives me my z bias (planar-FK z=0.09 corresponds to true contact). Now I'm lifting ~7 cm and swinging the base yaw to -0.6 rad; comparing the jaws' pixel shift between these two known poses will calibrate the overhead scale.
move_joints
left_j0-0.6000left_j11.7630left_j21.2860left_j3-1.0940
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.984 left_j1=1.8885 left_j2=1.1122 left_j3=-0.6937 left_j4=-0.0551 left_j5=-1.0092 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.5128, 0.9778, -0.7043, 1.3846, 1.0916, 0.0366, -0.022, -0.2256, 1.6479, 7.0906, 2.0977, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.6, "left_j1": 1.763, "left_j2": 1.286, "left_j3": -1.094}, "note": "j1 stalled with positive effort \u2014 the fingertips are touching the table, which gives me my z bias (planar-FK z=0.09 corresponds to true contact). Now I'm lifting ~7 cm and swinging the base yaw to -0.6 rad; comparing the jaws' pixel shift between these two known poses will calibrate the overhead scale."})
tool
executing move_joints over 7 steps (0.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe blue block has appeared in the left wrist camera (upper right of frame), so I'll servo with the wrist view instead of the noisy overhead. Zeroing wrist roll first so the image axes map simply onto arm axes (image-right = arm-right, image-up = radially outward).
move_joints
left_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6228 left_j1=1.7924 left_j2=1.2587 left_j3=-1.0187 left_j4=-0.0532 left_j5=-1.0115 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.1846, -9.7162, 7.2137, 0.1929, -0.0562, 0.0024, -0.0122, -0.1436, 1.6068, 6.9949, 1.9512, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.0}, "note": "The blue block has appeared in the left wrist camera (upper right of frame), so I'll servo with the wrist view instead of the noisy overhead. Zeroing wrist roll first so the image axes map simply onto arm axes (image-right = arm-right, image-up = radially outward)."})
tool
executing move_joints over 17 steps (1.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteWrist camera now shows the blue "I" block clearly near the top of the frame, meaning it lies ~7 cm further out radially than my grasp point (bottom-centre of the image). Moving the gripper 5 cm straight outward at constant height; the resulting pixel shift also calibrates this close-up view.
move_joints
left_j11.9690left_j21.5015left_j3-1.1033
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6239 left_j1=1.7805 left_j2=1.2591 left_j3=-1.0344 left_j4=-0.0532 left_j5=-0.0891 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0342, -7.2274, 5.641, 0.4274, -0.0708, 0.2662, -0.0171, -0.335, 1.6615, 7.159, 1.9023, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.969, "left_j2": 1.5015, "left_j3": -1.1033}, "note": "Wrist camera now shows the blue \"I\" block clearly near the top of the frame, meaning it lies ~7 cm further out radially than my grasp point (bottom-centre of the image). Moving the gripper 5 cm straight outward at constant height; the resulting pixel shift also calibrates this close-up view."})
tool
executing move_joints over 4 steps (0.4s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe 4.2 cm outward move slid the block from y=60 to y=110 in the wrist view (~12 px/cm), so the block sits ~7 cm further out still. Moving another ~6.5 cm outward and 1 cm to the arm's right while rising to ~9 cm height, to hover the open jaws over the block.
move_joints
left_j0-0.6570left_j12.1246left_j21.8878left_j3-1.3340
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6239 left_j1=1.9533 left_j2=1.4593 left_j3=-1.0946 left_j4=-0.0532 left_j5=-0.0837 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.1026, -9.4154, 7.665, 0.149, -0.0317, 0.0366, -0.0122, -0.1299, 1.6068, 7.0769, 1.9316, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.657, "left_j1": 2.1246, "left_j2": 1.8878, "left_j3": -1.334}, "note": "The 4.2 cm outward move slid the block from y=60 to y=110 in the wrist view (~12 px/cm), so the block sits ~7 cm further out still. Moving another ~6.5 cm outward and 1 cm to the arm's right while rising to ~9 cm height, to hover the open jaws over the block."})
tool
executing move_joints over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteBlock is now centred laterally (x≈115) but still ~50 px above the grasp point in the wrist view, i.e. ~4 cm further out. Moving 4 cm more outward at the same ~8.5 cm height so the open jaws straddle the block.
move_joints
left_j12.2687left_j22.1037left_j3-1.4058
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6514 left_j1=2.1086 left_j2=1.8412 left_j3=-1.3083 left_j4=-0.0528 left_j5=-0.0944 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.6085, -9.9624, 8.0752, 0.1197, -0.0366, 0.0513, -0.0122, -0.212, 1.7846, 6.9949, 1.9609, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2687, "left_j2": 2.1037, "left_j3": -1.4058}, "note": "Block is now centred laterally (x\u2248115) but still ~50 px above the grasp point in the wrist view, i.e. ~4 cm further out. Moving 4 cm more outward at the same ~8.5 cm height so the open jaws straddle the block."})
tool
executing move_joints over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBlock sits just above the jaw gap in the wrist view (x≈110, y≈175 vs grasp point 115,200) — nearly aligned. Moving 2 cm further out and descending from ~8 cm to ~3 cm so the open jaws come down around the block.
move_joints
left_j12.3792left_j22.0666left_j3-1.2582
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.2532 left_j2=2.0575 left_j3=-1.4014 left_j4=-0.0528 left_j5=-0.1017 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999 state[joint_eff]: [0.0068, -11.0427, 8.5402, 0.2613, -0.0611, 0.022, -0.0122, -0.1573, 1.6068, 7.0769, 1.9219, -0.022, -0.0708, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3792, "left_j2": 2.0666, "left_j3": -1.2582}, "note": "Block sits just above the jaw gap in the wrist view (x\u2248110, y\u2248175 vs grasp point 115,200) \u2014 nearly aligned. Moving 2 cm further out and descending from ~8 cm to ~3 cm so the open jaws come down around the block."})
tool
executing move_joints over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe block is now framed right between the two jaw silhouettes at the bottom of the wrist view, but the descent undershot (fingertips ~4.8 cm up). Commanding a bit past the target to bring the fingertips down to ~2 cm, where the jaws will straddle the lower half of the block.
move_joints
left_j12.4200left_j22.1000left_j3-1.2800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.3394 left_j2=2.0697 left_j3=-1.3361 left_j4=-0.0525 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0479, -12.1368, 5.5179, 0.4322, -0.0611, -0.022, -0.0171, -0.0889, 1.6205, 7.1726, 1.8779, -0.0659, -0.0562, -0.0122] 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_j1": 2.42, "left_j2": 2.1, "left_j3": -1.28}, "note": "The block is now framed right between the two jaw silhouettes at the bottom of the wrist view, but the descent undershot (fingertips ~4.8 cm up). Commanding a bit past the target to bring the fingertips down to ~2 cm, where the jaws will straddle the lower half of the block."})
tool
executing move_joints over 2 steps (0.2s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteFingertips are down at ~2 cm and the blue block shows as a sliver right in the jaw gap at the bottom of the wrist frame. Closing the gripper fully; the residual opening will tell me the block's thickness and confirm the grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.4001 left_j2=2.0632 left_j3=-1.2903 left_j4=-0.0532 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.1573, -11.0154, 8.9915, 0.2173, -0.0708, -0.0708, -0.0122, 0.0068, 1.5932, 7.0085, 1.8926, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are down at ~2 cm and the blue block shows as a sliver right in the jaw gap at the bottom of the wrist frame. Closing the gripper fully; the residual opening will tell me the block's thickness and confirm the grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe close came back at 0.008 — the jaws shut on air, so the block was not where the wrist view suggested. Re-opening and lifting to ~15 cm to get a wide wrist view that shows the jaws and both blocks so I can re-locate properly.
move_joints
left_gripper1.0000left_j12.3059left_j22.4336left_j3-1.6985
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.4107 left_j2=2.0674 left_j3=-1.2968 left_j4=-0.0532 left_j5=-0.1139 left_gripper=0.0078 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0889, -14.0513, 5.3265, 0.1832, -0.0513, 0.0513, 0.569, -0.1846, 1.6068, 6.9949, 1.9072, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.3059, "left_j2": 2.4336, "left_j3": -1.6985}, "note": "The close came back at 0.008 \u2014 the jaws shut on air, so the block was not where the wrist view suggested. Re-opening and lifting to ~15 cm to get a wide wrist view that shows the jaws and both blocks so I can re-locate properly."})
tool
executing move_joints over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteFrom 12 cm up the wrist camera clearly shows the blue "I" block just left of and above the jaw gap, so it is still in place and slightly to the arm's left. Descending ~6 cm straight down at constant radius, with a 1 cm lateral correction, keeping the block in view this time.
move_joints
left_j0-0.6300left_j12.3585left_j22.1558left_j3-1.3681
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.3569 left_j2=2.3962 left_j3=-1.6573 left_j4=-0.0528 left_j5=-0.1207 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.2667, -15.788, 7.3641, 0.1783, -0.0024, 0.0024, -0.1343, -0.1299, 1.5932, 7.2274, 1.8974, -0.0415, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.63, "left_j1": 2.3585, "left_j2": 2.1558, "left_j3": -1.3681}, "note": "From 12 cm up the wrist camera clearly shows the blue \"I\" block just left of and above the jaw gap, so it is still in place and slightly to the arm's left. Descending ~6 cm straight down at constant radius, with a 1 cm lateral correction, keeping the block in view this time."})
tool
executing move_joints over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe block now fills the jaw gap in the wrist view at ~6 cm height, slightly left of centre. Descending another 3 cm straight down with a small leftward correction, without changing radius this time.
move_joints
left_j0-0.6150left_j12.3668left_j22.0445left_j3-1.2485
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.635 left_j1=2.3642 left_j2=2.1654 left_j3=-1.4418 left_j4=-0.0532 left_j5=-0.1207 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.3487, -12.9983, 6.4342, 0.2808, -0.0415, -0.0513, 0.0757, -0.0889, 1.5932, 7.2, 1.9463, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.615, "left_j1": 2.3668, "left_j2": 2.0445, "left_j3": -1.2485}, "note": "The block now fills the jaw gap in the wrist view at ~6 cm height, slightly left of centre. Descending another 3 cm straight down with a small leftward correction, without changing radius this time."})
tool
executing move_joints over 4 steps (0.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteBlock is sitting in the jaw gap at the bottom of the wrist frame with fingertips ~3.5 cm up. Descending to table contact (watching j1 effort) so the jaws are guaranteed to be alongside the block's lower half before I close.
move_joints
left_j12.4200left_j21.9800left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6224 left_j1=2.3661 left_j2=2.0567 left_j3=-1.3067 left_j4=-0.0532 left_j5=-0.1238 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.5402, -12.7521, 5.5453, 0.3883, -0.0415, -0.0122, -0.0122, -0.0205, 1.6205, 7.2, 1.9512, -0.0708, -0.0269, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.42, "left_j2": 1.98, "left_j3": -1.15}, "note": "Block is sitting in the jaw gap at the bottom of the wrist frame with fingertips ~3.5 cm up. Descending to table contact (watching j1 effort) so the jaws are guaranteed to be alongside the block's lower half before I close."})
tool
executing move_joints over 3 steps (0.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteFingertips are now essentially at table level with the block visible right at the bottom jaw gap. Closing fully — a residual near 0.4 (≈4 cm) would mean the block is captured, near zero means another miss.
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=-0.6189 left_j1=2.3856 left_j2=1.9949 left_j3=-1.2057 left_j4=-0.0536 left_j5=-0.1238 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.294, -10.988, 5.6, 0.3492, -0.0464, -0.0073, -0.0073, -0.0615, 1.6068, 6.9949, 1.8974, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are now essentially at table level with the block visible right at the bottom jaw gap. Closing fully \u2014 a residual near 0.4 (\u22484 cm) would mean the block is captured, near zero means another miss."})
tool
executing move_joints over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteSecond miss (residual 0.008) — the overhead view clearly shows the closed gripper up and to the right of the blue block, so the wrist view was fooling me. Keeping the jaws closed as a sharp marker, I'm making a deliberate ~8 cm move toward the block (inward and to the arm's left) at 4 cm height; the resulting pixel shift will finally calibrate the overhead scale.
move_joints
left_j0-0.6039left_j12.0247left_j21.5107left_j3-1.0568
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6189 left_j1=2.4004 left_j2=1.9873 left_j3=-1.1999 left_j4=-0.0502 left_j5=-0.128 left_gripper=0.0075 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0639 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0342, -14.0786, 6.2838, 0.1441, -0.0757, 0.0171, 0.5495, 0.0068, 1.6068, 7.0496, 1.9365, -0.0415, -0.0122, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.6039, "left_j1": 2.0247, "left_j2": 1.5107, "left_j3": -1.0568}, "note": "Second miss (residual 0.008) \u2014 the overhead view clearly shows the closed gripper up and to the right of the blue block, so the wrist view was fooling me. Keeping the jaws closed as a sharp marker, I'm making a deliberate ~8 cm move toward the block (inward and to the arm's left) at 4 cm height; the resulting pixel shift will finally calibrate the overhead scale."})
tool
executing move_joints over 8 steps (0.8s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe overhead view now shows the closed jaws right beside the blue block, and the wrist view shows the block at the jaw tips — the ~8 cm correction was about right. Lifting 5 cm and opening the jaws so I can see the block between them before making the final alignment.
move_joints
left_j11.9694left_j21.6087left_j3-1.2101left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6086 left_j1=2.0647 left_j2=1.5291 left_j3=-1.0775 left_j4=-0.0502 left_j5=-0.1284 left_gripper=0.0095 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.2667, -12.2325, 5.8051, 0.4322, -0.0513, -0.0366, 0.1929, -0.0342, 1.9897, 7.1726, 1.9121, -0.0317, -0.0611, -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": 1.9694, "left_j2": 1.6087, "left_j3": -1.2101, "left_gripper": 1.0}, "note": "The overhead view now shows the closed jaws right beside the blue block, and the wrist view shows the block at the jaw tips \u2014 the ~8 cm correction was about right. Lifting 5 cm and opening the jaws so I can see the block between them before making the final alignment."})
tool
executing move_joints over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent notePerfect view: the blue "I" block sits centred between the two open jaws in the wrist camera. Descending 4 cm straight down (no radial change) and watching whether the block stays between the jaws.
move_joints
left_j12.0325left_j21.5232left_j3-1.0615
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6075 left_j1=2.0102 left_j2=1.5818 left_j3=-1.1938 left_j4=-0.0498 left_j5=-0.1326 left_gripper=0.9943 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.1846, -13.0256, 8.1299, 0.0708, -0.0806, 0.0415, -0.0366, -0.1709, 1.6752, 7.0085, 1.8974, -0.0611, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0325, "left_j2": 1.5232, "left_j3": -1.0615}, "note": "Perfect view: the blue \"I\" block sits centred between the two open jaws in the wrist camera. Descending 4 cm straight down (no radial change) and watching whether the block stays between the jaws."})
tool
executing move_joints over 3 steps (0.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteBlock stayed nicely between the jaws as I dropped to ~5 cm. Descending the last ~3.5 cm to table level (commanding a bit past the target to beat controller undershoot) before closing.
move_joints
left_j12.1100left_j21.4500left_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6075 left_j1=2.0144 left_j2=1.5337 left_j3=-1.1229 left_j4=-0.0502 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.1983, -8.8821, 5.5726, 0.3932, -0.0464, -0.0708, 0.0855, -0.1846, 1.6068, 7.0085, 1.8779, -0.0562, -0.0464, -0.0122] 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": 2.11, "left_j2": 1.45, "left_j3": -0.93}, "note": "Block stayed nicely between the jaws as I dropped to ~5 cm. Descending the last ~3.5 cm to table level (commanding a bit past the target to beat controller undershoot) before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteFingertips are at table level with the pale block filling the jaw gap in the wrist view and the overhead showing the gripper right on the blue block. Closing fully to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6075 left_j1=2.0914 left_j2=1.459 left_j3=-0.9836 left_j4=-0.0467 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0615, -9.6889, 5.4496, 0.3346, -0.2027, -0.0317, -0.0171, -0.212, 1.6342, 7.159, 1.8828, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are at table level with the pale block filling the jaw gap in the wrist view and the overhead showing the gripper right on the blue block. Closing fully to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThird miss, and the overhead shows the block got nudged inward-left — so the wrist camera's "block in the jaw gap" is misleading: the block is actually ~6 cm inward of the fingertips when it looks like that. Sizing the blocks against the overhead scale says they are ~6 cm cubes. Opening up, lifting to ~12 cm and moving 6 cm inward to hover directly over the block, and I'll trust the overhead view for the final alignment.
move_joints
left_gripper1.0000left_j0-0.6023left_j11.6229left_j21.3472left_j3-1.2951
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6075 left_j1=2.093 left_j2=1.4582 left_j3=-0.9825 left_j4=-0.0425 left_j5=-0.1322 left_gripper=0.008 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.0068, -10.7419, 5.3675, 0.149, -0.0757, -0.0269, 0.5641, -0.0342, 1.7436, 7.3915, 1.9023, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.6023, "left_j1": 1.6229, "left_j2": 1.3472, "left_j3": -1.2951}, "note": "Third miss, and the overhead shows the block got nudged inward-left \u2014 so the wrist camera's \"block in the jaw gap\" is misleading: the block is actually ~6 cm inward of the fingertips when it looks like that. Sizing the blocks against the overhead scale says they are ~6 cm cubes. Opening up, lifting to ~12 cm and moving 6 cm inward to hover directly over the block, and I'll trust the overhead view for the final alignment."})
tool
executing move_joints over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteKey realisation: a block visible at the bottom of the wrist frame is still ~6 cm short of the jaws — at correct alignment it must be out of frame. I've moved 6 cm inward, and the block now sits mid-frame at 12 cm height; descending ~9 cm to table level with a 1 cm inward correction, expecting the block to disappear from view as it enters the jaws.
move_joints
left_j11.8700left_j21.1000left_j3-0.8400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6075 left_j1=1.6592 left_j2=1.3552 left_j3=-1.2533 left_j4=-0.0414 left_j5=-0.139 left_gripper=0.9947 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.3761, -8.335, 5.2991, 0.359, -0.0806, 0.022, -0.1099, -0.1162, 1.8256, 7.3641, 1.9121, -0.0073, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.87, "left_j2": 1.1, "left_j3": -0.84}, "note": "Key realisation: a block visible at the bottom of the wrist frame is still ~6 cm short of the jaws \u2014 at correct alignment it must be out of frame. I've moved 6 cm inward, and the block now sits mid-frame at 12 cm height; descending ~9 cm to table level with a 1 cm inward correction, expecting the block to disappear from view as it enters the jaws."})
tool
executing move_joints over 7 steps (0.7s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteAfter the inward correction the block looms large right at the bottom of the wrist frame with fingertips at table level — it should now be inside the jaws. Closing; I expect a residual near 0.6 (≈6 cm cube) if it is caught.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6067 left_j1=1.8538 left_j2=1.1145 left_j3=-0.9092 left_j4=-0.0422 left_j5=-0.1394 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.253, -7.8838, 5.4496, 0.1734, -0.0122, -0.0562, 0.1099, -0.1299, 1.6068, 7.0085, 1.8584, -0.0708, -0.0708, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "After the inward correction the block looms large right at the bottom of the wrist frame with fingertips at table level \u2014 it should now be inside the jaws. Closing; I expect a residual near 0.6 (\u22486 cm cube) if it is caught."})
tool
executing move_joints over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteGrasped! The gripper closed to 0.58 (≈5.5 cm) with high effort, and the wrist camera shows the block's face filling the jaws. Lifting straight up to ~15 cm before swinging across to the red block.
move_joints
left_j11.5876left_j21.4363left_j3-1.4195
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6067 left_j1=1.858 left_j2=1.108 left_j3=-0.9112 left_j4=-0.0311 left_j5=-0.1463 left_gripper=0.5837 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0068, -8.5675, 5.4496, 0.0952, -0.1636, 0.0415, 1.0281, -0.0068, 1.6752, 7.0222, 1.8632, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.5876, "left_j2": 1.4363, "left_j3": -1.4195}, "note": "Grasped! The gripper closed to 0.58 (\u22485.5 cm) with high effort, and the wrist camera shows the block's face filling the jaws. Lifting straight up to ~15 cm before swinging across to the red block."})
tool
executing move_joints over 9 steps (0.9s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteBlock is lifted to ~13 cm and held firmly. Swinging the arm to hover over the red block (estimated ~16 cm to the arm's right and 2 cm further out), rolling the wrist by the same amount as the base yaw change so the carried block keeps its world orientation.
move_joints
left_j0-0.9140left_j12.0764left_j22.0597left_j3-1.5541left_j5-0.4540
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6067 left_j1=1.6226 left_j2=1.401 left_j3=-1.3575 left_j4=-0.0265 left_j5=-0.1471 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0205, -8.1299, 7.5966, 0.2418, -0.1245, -0.0562, 1.0281, -0.1299, 1.6205, 7.0359, 1.9121, -0.0171, -0.0415, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.914, "left_j1": 2.0764, "left_j2": 2.0597, "left_j3": -1.5541, "left_j5": -0.454}, "note": "Block is lifted to ~13 cm and held firmly. Swinging the arm to hover over the red block (estimated ~16 cm to the arm's right and 2 cm further out), rolling the wrist by the same amount as the base yaw change so the carried block keeps its world orientation."})
tool
executing move_joints over 11 steps (1.1s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteHovering with the carried block; the overhead suggests I'm right over the red block, though the wrist view (rolled 25°) shows the red block off in the top-right corner. Descending ~5 cm to just above the red block's top so the overhead view can resolve the alignment with less parallax.
move_joints
left_j12.0860left_j21.8292left_j3-1.3140
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9028 left_j1=2.0613 left_j2=2.0186 left_j3=-1.5417 left_j4=-0.0227 left_j5=-0.4271 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.3214, -10.3179, 7.5282, 0.0708, -0.0855, 0.0122, 1.0281, -0.0752, 1.5932, 7.159, 1.8926, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.086, "left_j2": 1.8292, "left_j3": -1.314}, "note": "Hovering with the carried block; the overhead suggests I'm right over the red block, though the wrist view (rolled 25\u00b0) shows the red block off in the top-right corner. Descending ~5 cm to just above the red block's top so the overhead view can resolve the alignment with less parallax."})
tool
executing move_joints over 4 steps (0.4s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteCarried block's underside is ~2 cm above the red block's top. Descending gently: if effort rises early the blocks are stacked; if the arm keeps going down to table level I know I am not over the red block.
move_joints
left_j12.1100left_j21.7300left_j3-1.2100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9062 left_j1=2.0808 left_j2=1.8389 left_j3=-1.3849 left_j4=-0.0231 left_j5=-0.4423 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.253, -10.1402, 6.4615, 0.359, -0.0611, 0.1538, 1.0232, -0.0205, 1.853, 7.1453, 1.8926, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.11, "left_j2": 1.73, "left_j3": -1.21}, "note": "Carried block's underside is ~2 cm above the red block's top. Descending gently: if effort rises early the blocks are stacked; if the arm keeps going down to table level I know I am not over the red block."})
tool
executing move_joints over 3 steps (0.3s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteNo contact yet at a block-bottom height of ~5 cm, so I am probably not directly over the red block. Continuing the descent toward the table while watching effort — either it stops early (stacked) or the block reaches the table and the overhead will show me the exact offset to the red block.
move_joints
left_j12.1900left_j21.6100left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9051 left_j1=2.096 left_j2=1.7405 left_j3=-1.2655 left_j4=-0.0231 left_j5=-0.4431 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999 state[joint_eff]: [-0.1436, -10.0308, 6.1197, 0.525, -0.0562, -0.0171, 1.0379, 0.0068, 1.8667, 7.2137, 1.8632, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.19, "left_j2": 1.61, "left_j3": -1.0}, "note": "No contact yet at a block-bottom height of ~5 cm, so I am probably not directly over the red block. Continuing the descent toward the table while watching effort \u2014 either it stops early (stacked) or the block reaches the table and the overhead will show me the exact offset to the red block."})
tool
executing move_joints over 5 steps (0.5s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe carried block reached the table without hitting the red block, and the overhead shows the red block sitting ~6 cm to the arm's right of it. Lifting the block to ~8 cm and shifting 6 cm to the right (plus a small inward correction) to hover over the red block.
move_joints
left_j0-1.0261left_j12.1899left_j22.0014left_j3-1.3823left_j5-0.5675
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9051 left_j1=2.1757 left_j2=1.6165 left_j3=-1.063 left_j4=-0.0231 left_j5=-0.4465 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.0889, -10.6325, 5.7094, 0.2906, -0.0366, 0.0073, 1.0379, -0.1436, 1.5932, 7.0359, 1.8877, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.0261, "left_j1": 2.1899, "left_j2": 2.0014, "left_j3": -1.3823, "left_j5": -0.5675}, "note": "The carried block reached the table without hitting the red block, and the overhead shows the red block sitting ~6 cm to the arm's right of it. Lifting the block to ~8 cm and shifting 6 cm to the right (plus a small inward correction) to hover over the red block."})
tool
executing move_joints over 7 steps (0.7s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe lateral shift worked — the red block moved from the wrist view's top-right corner to top-centre, meaning it is now mainly further out radially. Moving 5 cm outward while rising a few cm so the carried block clears the red block's top.
move_joints
left_j12.4126left_j22.4583left_j3-1.6165
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0199 left_j1=2.1963 left_j2=1.9568 left_j3=-1.3411 left_j4=-0.0227 left_j5=-0.5552 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0227 right_gripper=0.999 state[joint_eff]: [-0.4991, -12.1094, 7.7744, 0.315, -0.0611, 0.0269, 1.033, -0.335, 2.1538, 7.1316, 1.8584, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4126, "left_j2": 2.4583, "left_j3": -1.6165}, "note": "The lateral shift worked \u2014 the red block moved from the wrist view's top-right corner to top-centre, meaning it is now mainly further out radially. Moving 5 cm outward while rising a few cm so the carried block clears the red block's top."})
tool
executing move_joints over 8 steps (0.8s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
right_cam
camera right_cam step 258
assistant
agent noteWrist view shows the red "a" block still near the top of the frame, so it is further out than I estimated; the overhead is useless right now because the arm occludes the blocks. Extending to near the reach limit and lowering the carried block to just above the red block's top, which should bring the red block much lower in the wrist view.
move_joints
left_j12.5943left_j22.6540left_j3-1.6305
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0229 left_j1=2.3951 left_j2=2.4138 left_j3=-1.5917 left_j4=-0.0227 left_j5=-0.5663 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [0.1846, -11.7128, 7.4872, 0.2906, -0.0708, 0.0659, 1.033, -0.0342, 1.7983, 7.0085, 1.8828, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5943, "left_j2": 2.654, "left_j3": -1.6305}, "note": "Wrist view shows the red \"a\" block still near the top of the frame, so it is further out than I estimated; the overhead is useless right now because the arm occludes the blocks. Extending to near the reach limit and lowering the carried block to just above the red block's top, which should bring the red block much lower in the wrist view."})
tool
executing move_joints over 4 steps (0.4s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
right_cam
camera right_cam step 262
assistant
agent noteAt full stretch the red block still looks far in the wrist view, but I suspect that is perspective — the carried block hides everything near the jaws. Backing in ~7 cm to the position where the overhead said I was aligned, and lowering the carried block to just below the red block's top height so a contact will register if I'm over it.
move_joints
left_j12.2052left_j21.9216left_j3-1.2872
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0229 left_j1=2.5767 left_j2=2.6076 left_j3=-1.636 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999 state[joint_eff]: [-0.3214, -14.2974, 8.212, 0.2808, -0.0757, 0.0171, 1.0281, 0.0068, 1.6342, 7.0632, 1.8779, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2052, "left_j2": 1.9216, "left_j3": -1.2872}, "note": "At full stretch the red block still looks far in the wrist view, but I suspect that is perspective \u2014 the carried block hides everything near the jaws. Backing in ~7 cm to the position where the overhead said I was aligned, and lowering the carried block to just below the red block's top height so a contact will register if I'm over it."})
tool
executing move_joints over 11 steps (1.1s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
right_cam
camera right_cam step 273
assistant
agent noteLowering the carried block to 4 cm produced no contact, so the red block is definitely not under it — the wrist view is right that it lies further out, and the overhead is too distorted to trust. Raising the idle right arm into a periscope pose aimed across the table so its wrist camera can give me a side view of the gap between the carried block and the red block.
move_joints
right_j00.8000right_j10.6000right_j21.0000right_j3-0.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0229 left_j1=2.257 left_j2=1.9377 left_j3=-1.3235 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999 state[joint_eff]: [-0.1436, -15.4872, 6.2838, 0.486, -0.0415, -0.0708, 1.033, -0.212, 1.6068, 7.0632, 1.9072, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.8, "right_j1": 0.6, "right_j2": 1.0, "right_j3": -0.3}, "note": "Lowering the carried block to 4 cm produced no contact, so the red block is definitely not under it \u2014 the wrist view is right that it lies further out, and the overhead is too distorted to trust. Raising the idle right arm into a periscope pose aimed across the table so its wrist camera can give me a side view of the gap between the carried block and the red block."})
tool
executing move_joints over 16 steps (1.6s)
step 289
top_cam
camera top_cam step 289
left_cam
camera left_cam step 289
right_cam
camera right_cam step 289
assistant
agent noteThe low periscope view was too grazing to judge anything. Raising the right arm to ~35 cm and tilting its camera down ~57° so it looks over the region beyond the left gripper, where the red block should be.
move_joints
right_j00.5500right_j11.4000right_j21.6000right_j3-1.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0229 left_j1=2.2513 left_j2=1.9247 left_j3=-1.3224 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.7845 right_j1=0.5938 right_j2=0.9539 right_j3=-0.3035 right_j4=-0.0086 right_j5=-0.0265 right_gripper=0.999 state[joint_eff]: [-0.1573, -11.6718, 6.7761, 0.0611, -0.0464, -0.022, 1.033, 0.0342, 0.6359, 8.0889, 1.8779, 0.0122, -0.0171, -0.0122] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.55, "right_j1": 1.4, "right_j2": 1.6, "right_j3": -1.2}, "note": "The low periscope view was too grazing to judge anything. Raising the right arm to ~35 cm and tilting its camera down ~57\u00b0 so it looks over the region beyond the left gripper, where the red block should be."})
tool
executing move_joints over 15 steps (1.5s)
step 304
top_cam
camera top_cam step 304
left_cam
camera left_cam step 304
right_cam
camera right_cam step 304
assistant
agent noteThe right arm swung right into the left arm's wrist (left j0 effort spiked and its camera sees the right gripper) — backing the right arm off immediately to its park pose near its own base.
move_joints
right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9947 left_j1=2.281 left_j2=1.9102 left_j3=-1.3212 left_j4=-0.0185 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.5617 right_j1=1.3338 right_j2=1.6051 right_j3=-1.116 right_j4=-0.049 right_j5=-0.0269 right_gripper=0.999 state[joint_eff]: [-2.441, -14.4205, 6.7214, 0.0317, -0.0464, -0.022, 1.0379, -0.7179, 0.1026, 4.3282, 1.4286, 0.4469, -0.0415, -0.0171] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "The right arm swung right into the left arm's wrist (left j0 effort spiked and its camera sees the right gripper) \u2014 backing the right arm off immediately to its park pose near its own base."})
tool
executing move_joints over 12 steps (1.2s)
step 316
top_cam
camera top_cam step 316
left_cam
camera left_cam step 316
right_cam
camera right_cam step 316
assistant
agent noteThe left arm cannot reach the red block even at full stretch, so I'll hand the job to the right arm: first setting the blue block down here at a spot I can compute exactly (about 32 cm from the right arm's base at bearing 0.76 rad). Lowering the last 2 cm until the block rests on the table.
move_joints
left_j12.2763left_j21.7833left_j3-1.0778
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9947 left_j1=2.2967 left_j2=1.9038 left_j3=-1.3212 left_j4=-0.0189 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.0147 right_j1=0.617 right_j2=1.2087 right_j3=-0.6842 right_j4=-0.0608 right_j5=-0.0341 right_gripper=0.9989 state[joint_eff]: [-0.0752, -13.5453, 6.1607, 0.0269, -0.0708, -0.0611, 1.0427, -0.1709, 2.6325, 5.5726, 2.4591, 0.0708, 0.0513, -0.0171] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2763, "left_j2": 1.7833, "left_j3": -1.0778}, "note": "The left arm cannot reach the red block even at full stretch, so I'll hand the job to the right arm: first setting the blue block down here at a spot I can compute exactly (about 32 cm from the right arm's base at bearing 0.76 rad). Lowering the last 2 cm until the block rests on the table."})
tool
executing move_joints over 4 steps (0.4s)
step 320
top_cam
camera top_cam step 320
left_cam
camera left_cam step 320
right_cam
camera right_cam step 320
assistant
agent noteThe block is resting on the table (fingertips at table level). Opening the gripper to release it at a spot I can compute: about 0.33 m from the right arm's base at bearing 0.80 rad.
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=-0.9947 left_j1=2.2929 left_j2=1.7958 left_j3=-1.161 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5913 right_j0=0.012 right_j1=0.6174 right_j2=1.1961 right_j3=-0.6945 right_j4=-0.0608 right_j5=-0.0414 right_gripper=0.9989 state[joint_eff]: [-0.1436, -13.6, 4.7385, 0.6422, -0.0464, -0.0611, 1.0037, 0.1436, 2.0444, 6.2154, 2.1368, -0.0171, 0.0415, -0.0073] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "The block is resting on the table (fingertips at table level). Opening the gripper to release it at a spot I can compute: about 0.33 m from the right arm's base at bearing 0.80 rad."})
tool
executing move_joints over 5 steps (0.5s)
step 325
top_cam
camera top_cam step 325
left_cam
camera left_cam step 325
right_cam
camera right_cam step 325
assistant
agent noteBlock released on the table. Parking the left arm back near its own base so it is out of the way before I bring the right arm across.
move_joints
left_j0-0.3000left_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=-0.9947 left_j1=2.291 left_j2=1.7931 left_j3=-1.1587 left_j4=-0.0193 left_j5=-0.5739 left_gripper=0.9959 right_j0=0.012 right_j1=0.617 right_j2=1.1957 right_j3=-0.7067 right_j4=-0.0612 right_j5=-0.0486 right_gripper=0.999 state[joint_eff]: [-0.2667, -12.0684, 5.7504, 0.0952, -0.0611, -0.0464, -0.1197, -0.0205, 1.7026, 5.2581, 2.0195, -0.0562, 0.0171, -0.0073] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.3, "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 it is out of the way before I bring the right arm across."})
tool
executing move_joints over 27 steps (2.7s)
step 352
top_cam
camera top_cam step 352
left_cam
camera left_cam step 352
right_cam
camera right_cam step 352
assistant
agent noteClean overhead at last: the placed blue block at (128,175) and the red block at (143,155), which calibrates the top camera at 2.96 px/cm with image-right = arm-right. That puts the red block at 0.35 m / 0.56 rad from the right arm's base — easily reachable. Moving the right arm to hover ~12 cm above the blue block, wrist rolled to keep the jaws square to the world.
move_joints
right_j00.8040right_j11.7761right_j21.5233right_j3-1.3180right_j50.8040
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3096 left_j1=0.6201 left_j2=1.2079 left_j3=-0.6487 left_j4=-0.02 left_j5=-0.5743 left_gripper=0.9967 right_j0=0.012 right_j1=0.617 right_j2=1.1946 right_j3=-0.7288 right_j4=-0.0616 right_j5=-0.0566 right_gripper=0.999 state[joint_eff]: [0.335, 2.4821, 5.1897, 2.2442, -0.0513, -0.0464, 0.0708, -0.212, 1.6615, 5.3128, 2.1319, -0.0562, 0.0024, -0.0171] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.804, "right_j1": 1.7761, "right_j2": 1.5233, "right_j3": -1.318, "right_j5": 0.804}, "note": "Clean overhead at last: the placed blue block at (128,175) and the red block at (143,155), which calibrates the top camera at 2.96 px/cm with image-right = arm-right. That puts the red block at 0.35 m / 0.56 rad from the right arm's base \u2014 easily reachable. Moving the right arm to hover ~12 cm above the blue block, wrist rolled to keep the jaws square to the world."})
tool
executing move_joints over 19 steps (1.9s)
step 371
top_cam
camera top_cam step 371
left_cam
camera left_cam step 371
right_cam
camera right_cam step 371
assistant
agent noteThe right wrist camera sees the blue block just ahead of the jaws and the red block beyond it, and forward kinematics says the fingertips are within 1 cm of the blue block's computed position. Descending straight down ~11 cm to table level for the grasp.
move_joints
right_j00.8200right_j11.9900right_j21.2600right_j3-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6228 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0231 left_j5=-0.577 left_gripper=0.9968 right_j0=0.7895 right_j1=1.7588 right_j2=1.4906 right_j3=-1.2797 right_j4=-0.0647 right_j5=0.7433 right_gripper=0.9989 state[joint_eff]: [-0.3214, 1.4427, 5.6137, 2.0977, 0.0073, 0.0171, -0.0024, 0.0889, -8.6769, 8.7453, 0.0708, -0.0317, 0.1685, -0.0171] camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.82, "right_j1": 1.99, "right_j2": 1.26, "right_j3": -0.85}, "note": "The right wrist camera sees the blue block just ahead of the jaws and the red block beyond it, and forward kinematics says the fingertips are within 1 cm of the blue block's computed position. Descending straight down ~11 cm to table level for the grasp."})
tool
executing move_joints over 7 steps (0.7s)
step 378
top_cam
camera top_cam step 378
left_cam
camera left_cam step 378
right_cam
camera right_cam step 378
assistant
agent noteThe blue block fills the jaw gap in the right wrist view with the fingertips at table level. Closing to grasp; expecting a residual near 0.58.
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=-0.3069 left_j1=0.6231 left_j2=1.203 left_j3=-0.6762 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8165 right_j1=1.9732 right_j2=1.2728 right_j3=-0.9222 right_j4=-0.0685 right_j5=0.7406 right_gripper=0.9989 state[joint_eff]: [-0.1162, 1.6479, 5.5179, 2.0244, -0.0366, -0.022, -0.0122, 0.3077, -8.9231, 5.4359, 0.2564, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue block fills the jaw gap in the right wrist view with the fingertips at table level. Closing to grasp; expecting a residual near 0.58."})
tool
executing move_joints over 10 steps (1.0s)
step 388
top_cam
camera top_cam step 388
left_cam
camera left_cam step 388
right_cam
camera right_cam step 388
assistant
agent noteMissed again (residual 0.008) — comparing with my one successful grasp, a block that fills the wrist frame is actually ~4 cm beyond the jaws; it needs to sit at the very bottom edge. Re-opening and lifting to 12 cm to re-acquire the block before correcting inward.
move_joints
right_gripper1.0000right_j11.7559right_j21.4981right_j3-1.3130
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6231 left_j2=1.2026 left_j3=-0.6765 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.9823 right_j2=1.2636 right_j3=-0.9195 right_j4=-0.0719 right_j5=0.7368 right_gripper=0.0083 state[joint_eff]: [-0.0342, 1.6752, 5.2718, 1.8632, -0.0415, -0.0562, -0.0122, -0.2393, -10.1812, 5.8325, 0.1197, -0.022, 0.0562, 0.652] camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 1.7559, "right_j2": 1.4981, "right_j3": -1.313}, "note": "Missed again (residual 0.008) \u2014 comparing with my one successful grasp, a block that fills the wrist frame is actually ~4 cm beyond the jaws; it needs to sit at the very bottom edge. Re-opening and lifting to 12 cm to re-acquire the block before correcting inward."})
tool
executing move_joints over 10 steps (1.0s)
step 398
top_cam
camera top_cam step 398
left_cam
camera left_cam step 398
right_cam
camera right_cam step 398
assistant
agent noteAt 12 cm the block now sits high in the wrist frame (y≈30) where a correctly aligned block should read y≈105, so it is roughly 6 cm further out and 2 cm to the +y side — the failed close shoved it. Translating 6 cm outward and 2.5 cm sideways at constant height before descending again.
move_joints
right_j00.8611right_j12.0680right_j21.8420right_j3-1.3448right_j50.8611
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6231 left_j2=1.2022 left_j3=-0.6769 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.7947 right_j2=1.4605 right_j3=-1.2747 right_j4=-0.0715 right_j5=0.7292 right_gripper=0.9949 state[joint_eff]: [-0.1709, 1.6889, 5.2855, 1.8828, -0.0464, -0.0611, -0.0122, -0.3214, -10.2769, 8.3624, 0.2466, -0.0611, 0.0122, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.8611, "right_j1": 2.068, "right_j2": 1.842, "right_j3": -1.3448, "right_j5": 0.8611}, "note": "At 12 cm the block now sits high in the wrist frame (y\u224830) where a correctly aligned block should read y\u2248105, so it is roughly 6 cm further out and 2 cm to the +y side \u2014 the failed close shoved it. Translating 6 cm outward and 2.5 cm sideways at constant height before descending again."})
tool
executing move_joints over 7 steps (0.7s)
step 405
top_cam
camera top_cam step 405
left_cam
camera left_cam step 405
right_cam
camera right_cam step 405
assistant
agent noteGood progress: the block dropped to y≈60 in the wrist frame but is now 35 px right of the jaw column, so I overshot sideways. Applying a 3 cm sideways correction back and 3.5 cm more outward, still at 10 cm height.
move_joints
right_j00.8143right_j12.0861right_j21.8615right_j3-1.3462right_j50.8143
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.688 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8616 right_j1=2.0476 right_j2=1.8019 right_j3=-1.3533 right_j4=-0.0689 right_j5=0.8234 right_gripper=0.9953 state[joint_eff]: [-0.0889, 1.5932, 5.2444, 1.9951, -0.022, -0.0415, -0.0122, -0.1162, -9.8393, 7.9248, 0.2466, -0.0611, 0.1929, 0.022] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.8143, "right_j1": 2.0861, "right_j2": 1.8615, "right_j3": -1.3462, "right_j5": 0.8143}, "note": "Good progress: the block dropped to y\u224860 in the wrist frame but is now 35 px right of the jaw column, so I overshot sideways. Applying a 3 cm sideways correction back and 3.5 cm more outward, still at 10 cm height."})
tool
executing move_joints over 1 steps (0.1s)
step 406
top_cam
camera top_cam step 406
left_cam
camera left_cam step 406
right_cam
camera right_cam step 406
assistant
agent noteThe previous command only executed one step and the arm barely moved; re-issuing the same sideways-and-outward correction.
move_joints
right_j00.8143right_j12.0861right_j21.8615right_j3-1.3462right_j50.8143
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8631 right_j1=2.0609 right_j2=1.8141 right_j3=-1.3575 right_j4=-0.0692 right_j5=0.8421 right_gripper=0.9953 state[joint_eff]: [-0.1436, 1.6068, 5.2444, 2.0391, -0.0073, -0.022, -0.0122, -0.5402, -10.1812, 8.1709, 0.3785, -0.1343, 0.1636, 0.022] camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.8143, "right_j1": 2.0861, "right_j2": 1.8615, "right_j3": -1.3462, "right_j5": 0.8143}, "note": "The previous command only executed one step and the arm barely moved; re-issuing the same sideways-and-outward correction."})
tool
executing move_joints over 1 steps (0.1s)
step 407
top_cam
camera top_cam step 407
left_cam
camera left_cam step 407
right_cam
camera right_cam step 407
assistant
agent noteBlock now reads (155,85) in the wrist frame; it needs to come 40 px left and 20 px down to sit at the grasp point, which is a 4.7 cm move in world -y and ~1.7 cm outward. Commanding that translation at constant height.
move_joints
right_j00.6981right_j11.9935right_j21.7041right_j3-1.2814right_j50.6981
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6956 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8177 right_j1=2.0781 right_j2=1.8313 right_j3=-1.3609 right_j4=-0.0715 right_j5=0.8116 right_gripper=0.9953 state[joint_eff]: [-0.0205, 1.6479, 5.2171, 1.9414, -0.0513, -0.022, -0.0122, -0.335, -10.2222, 8.1709, 0.3834, -0.0757, 0.0171, -0.0073] 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_j0": 0.6981, "right_j1": 1.9935, "right_j2": 1.7041, "right_j3": -1.2814, "right_j5": 0.6981}, "note": "Block now reads (155,85) in the wrist frame; it needs to come 40 px left and 20 px down to sit at the grasp point, which is a 4.7 cm move in world -y and ~1.7 cm outward. Commanding that translation at constant height."})
tool
executing move_joints over 3 steps (0.3s)
step 410
top_cam
camera top_cam step 410
left_cam
camera left_cam step 410
right_cam
camera right_cam step 410
assistant
agent noteThe block now sits at (130,105) in the wrist view, essentially at the aim point. Making a final ~1 cm sideways nudge and descending the last 7 cm to table level for the grasp.
move_joints
right_j00.6910right_j12.1700right_j21.5397right_j3-0.9731right_j50.6910
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7025 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.7277 right_j1=2.0418 right_j2=1.7149 right_j3=-1.3167 right_j4=-0.0834 right_j5=0.7361 right_gripper=0.9953 state[joint_eff]: [-0.0479, 2.2085, 5.2171, 1.9805, -0.0464, -0.0415, -0.0122, -0.1846, -13.9282, 6.6667, 0.525, 0.0366, -0.0269, -0.0122] camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.691, "right_j1": 2.17, "right_j2": 1.5397, "right_j3": -0.9731, "right_j5": 0.691}, "note": "The block now sits at (130,105) in the wrist view, essentially at the aim point. Making a final ~1 cm sideways nudge and descending the last 7 cm to table level for the grasp."})
tool
executing move_joints over 6 steps (0.6s)
step 416
top_cam
camera top_cam step 416
left_cam
camera left_cam step 416
right_cam
camera right_cam step 416
assistant
agent noteThe block fills the jaw gap at the bottom of the wrist view with fingertips at table level — the same picture as my one successful grasp. Closing.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7193 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6975 right_j1=2.1563 right_j2=1.5497 right_j3=-1.0492 right_j4=-0.0872 right_j5=0.6968 right_gripper=0.9953 state[joint_eff]: [-0.1573, 1.8256, 5.2308, 2.1123, -0.0611, -0.0611, -0.0122, -0.6906, -10.0991, 5.2581, 0.3297, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The block fills the jaw gap at the bottom of the wrist view with fingertips at table level \u2014 the same picture as my one successful grasp. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 426
top_cam
camera top_cam step 426
left_cam
camera left_cam step 426
right_cam
camera right_cam step 426
assistant
agent noteGrasped — residual 0.44 with high gripper effort, the block is held. Carrying it to hover ~9 cm over the red block, whose position (0.35 m, 0.56 rad from this base) came from the calibrated overhead measurement.
move_joints
right_j00.5580right_j11.8816right_j21.5475right_j3-1.2367right_j50.5580
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7223 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6983 right_j1=2.1605 right_j2=1.5425 right_j3=-1.0489 right_j4=-0.094 right_j5=0.691 right_gripper=0.4374 state[joint_eff]: [-0.1026, 1.6342, 5.3949, 1.9072, -0.022, -0.0513, -0.0122, -0.4034, -11.4393, 5.8051, 0.0952, -0.0171, -0.0073, 1.033] camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.558, "right_j1": 1.8816, "right_j2": 1.5475, "right_j3": -1.2367, "right_j5": 0.558}, "note": "Grasped \u2014 residual 0.44 with high gripper effort, the block is held. Carrying it to hover ~9 cm over the red block, whose position (0.35 m, 0.56 rad from this base) came from the calibrated overhead measurement."})
tool
executing move_joints over 5 steps (0.5s)
step 431
top_cam
camera top_cam step 431
left_cam
camera left_cam step 431
right_cam
camera right_cam step 431
assistant
agent noteHovering with the block, the red target reads (155,70) in the wrist view while it needs to be near (115,105); that means ~7 cm more in -y and a bit outward. Applying half of that correction (3.5 cm sideways, 1 cm out) and re-checking to avoid overshooting.
move_joints
right_j00.4666right_j11.8813right_j21.4865right_j3-1.1760right_j50.4666
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7292 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5663 right_j1=1.9198 right_j2=1.5387 right_j3=-1.2041 right_j4=-0.0944 right_j5=0.5816 right_gripper=0.4431 state[joint_eff]: [-0.1436, 1.6342, 5.2171, 1.9365, -0.0269, -0.0562, -0.0122, -0.1983, -9.9077, 6.612, 0.3785, -0.1001, 0.0171, 0.9353] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 431): [image omitted: streamed camera frame] camera 'left_cam' (step 431): [image omitted: streamed camera frame] camera 'right_cam' (step 431): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4666, "right_j1": 1.8813, "right_j2": 1.4865, "right_j3": -1.176, "right_j5": 0.4666}, "note": "Hovering with the block, the red target reads (155,70) in the wrist view while it needs to be near (115,105); that means ~7 cm more in -y and a bit outward. Applying half of that correction (3.5 cm sideways, 1 cm out) and re-checking to avoid overshooting."})
tool
executing move_joints over 2 steps (0.2s)
step 433
top_cam
camera top_cam step 433
left_cam
camera left_cam step 433
right_cam
camera right_cam step 433
assistant
agent noteRed block has come down-left to (130,60) in the wrist view; it needs another ~1 cm sideways and mainly ~3 cm outward to sit under the jaws. Applying that.
move_joints
right_j00.4966right_j11.9639right_j21.6182right_j3-1.2251right_j50.4966
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.73 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.519 right_j1=1.8812 right_j2=1.5055 right_j3=-1.2125 right_j4=-0.104 right_j5=0.5129 right_gripper=0.4461 state[joint_eff]: [-0.1573, 1.6752, 5.3949, 1.9316, -0.0366, -0.0122, -0.0122, -1.9624, -9.2103, 5.8188, 0.4371, 0.0122, -0.0513, 0.7888] camera 'top_cam' (step 433): [image omitted: streamed camera frame] camera 'left_cam' (step 433): [image omitted: streamed camera frame] camera 'right_cam' (step 433): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4966, "right_j1": 1.9639, "right_j2": 1.6182, "right_j3": -1.2251, "right_j5": 0.4966}, "note": "Red block has come down-left to (130,60) in the wrist view; it needs another ~1 cm sideways and mainly ~3 cm outward to sit under the jaws. Applying that."})
tool
executing move_joints over 2 steps (0.2s)
step 435
top_cam
camera top_cam step 435
left_cam
camera left_cam step 435
right_cam
camera right_cam step 435
assistant
agent noteRed block now reads (105,75), just left of the jaw column and still ~30 px high, so I need roughly 3 cm more outward and a few mm back sideways. Applying that, keeping the carried block 2 cm above the red block's top.
move_joints
right_j00.4998right_j12.0392right_j21.7132right_j3-1.2448right_j50.4998
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6247 left_j2=1.2018 left_j3=-0.7425 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4843 right_j1=1.9331 right_j2=1.5578 right_j3=-1.2335 right_j4=-0.0948 right_j5=0.4747 right_gripper=0.4479 state[joint_eff]: [0.0068, 1.5932, 5.2171, 2.0488, -0.0513, -0.0708, -0.0122, 0.5812, -8.9504, 7.6923, 0.1978, -0.1783, 0.1978, 0.8278] camera 'top_cam' (step 435): [image omitted: streamed camera frame] camera 'left_cam' (step 435): [image omitted: streamed camera frame] camera 'right_cam' (step 435): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4998, "right_j1": 2.0392, "right_j2": 1.7132, "right_j3": -1.2448, "right_j5": 0.4998}, "note": "Red block now reads (105,75), just left of the jaw column and still ~30 px high, so I need roughly 3 cm more outward and a few mm back sideways. Applying that, keeping the carried block 2 cm above the red block's top."})
tool
executing move_joints over 3 steps (0.3s)
step 438
top_cam
camera top_cam step 438
left_cam
camera left_cam step 438
right_cam
camera right_cam step 438
assistant
agent noteRed block is nearly under the jaws now at (128,90). Making a last small correction — 1 cm sideways and 1.5 cm outward — before the vertical probe.
move_joints
right_j00.4790right_j12.0425right_j21.7090right_j3-1.2373right_j50.4790
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7486 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5022 right_j1=2.0182 right_j2=1.6711 right_j3=-1.2591 right_j4=-0.0956 right_j5=0.4778 right_gripper=0.4495 state[joint_eff]: [-0.2393, 1.5658, 5.2308, 1.9658, -0.0659, -0.0464, -0.0122, -0.0889, -9.7846, 7.8838, 0.1783, -0.1001, 0.2076, 0.6862] camera 'top_cam' (step 438): [image omitted: streamed camera frame] camera 'left_cam' (step 438): [image omitted: streamed camera frame] camera 'right_cam' (step 438): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.479, "right_j1": 2.0425, "right_j2": 1.709, "right_j3": -1.2373, "right_j5": 0.479}, "note": "Red block is nearly under the jaws now at (128,90). Making a last small correction \u2014 1 cm sideways and 1.5 cm outward \u2014 before the vertical probe."})
tool
executing move_joints over 1 steps (0.1s)
step 439
top_cam
camera top_cam step 439
left_cam
camera left_cam step 439
right_cam
camera right_cam step 439
assistant
agent noteAlignment looks as good as I can read it, so I'm probing: lowering the carried block 2.5 cm, which should bring its underside just below the red block's top — contact (stalled j1 with rising effort) means I'm stacked.
move_joints
right_j12.0644right_j21.6097right_j3-1.1161
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7555 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5037 right_j1=2.0403 right_j2=1.6825 right_j3=-1.2533 right_j4=-0.0948 right_j5=0.4782 right_gripper=0.4486 state[joint_eff]: [0.0615, 1.5385, 5.3128, 1.9902, -0.0513, -0.0806, -0.0122, -0.5402, -10.5915, 8.0752, 0.3101, -0.1197, 0.1685, 0.8181] camera 'top_cam' (step 439): [image omitted: streamed camera frame] camera 'left_cam' (step 439): [image omitted: streamed camera frame] camera 'right_cam' (step 439): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.0644, "right_j2": 1.6097, "right_j3": -1.1161}, "note": "Alignment looks as good as I can read it, so I'm probing: lowering the carried block 2.5 cm, which should bring its underside just below the red block's top \u2014 contact (stalled j1 with rising effort) means I'm stacked."})
tool
executing move_joints over 3 steps (0.3s)
step 442
top_cam
camera top_cam step 442
left_cam
camera left_cam step 442
right_cam
camera right_cam step 442
assistant
agent noteNo contact yet with the block's underside at ~5 cm, so I'm probably alongside rather than on top of the red block. Continuing down; if it reaches the table I'll read the remaining offset from the wrist view with both blocks side by side.
move_joints
right_j12.1300right_j21.5311right_j3-1.0057
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6258 left_j2=1.2018 left_j3=-0.7631 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.503 right_j1=2.0487 right_j2=1.6157 right_j3=-1.1778 right_j4=-0.094 right_j5=0.4713 right_gripper=0.4484 state[joint_eff]: [-0.0068, 2.1675, 5.2308, 2.0586, -0.0513, -0.0806, -0.0122, 0.0479, -8.9915, 6.1607, 0.5006, -0.0757, 0.0708, 0.6129] 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": 2.13, "right_j2": 1.5311, "right_j3": -1.0057}, "note": "No contact yet with the block's underside at ~5 cm, so I'm probably alongside rather than on top of the red block. Continuing down; if it reaches the table I'll read the remaining offset from the wrist view with both blocks side by side."})
tool
executing move_joints over 3 steps (0.3s)
step 445
top_cam
camera top_cam step 445
left_cam
camera left_cam step 445
right_cam
camera right_cam step 445
assistant
agent noteNow I can see both blocks side by side in the wrist view: the red block is about one block-width further out and ~1 cm to the right of the carried block. Lifting to 7 cm clearance and translating 4.5 cm outward / 1 cm sideways to sit over it.
move_joints
right_j00.4859right_j12.1522right_j21.8638right_j3-1.2824right_j50.4859
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6273 left_j2=1.2018 left_j3=-0.7776 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5076 right_j1=2.0716 right_j2=1.573 right_j3=-1.1011 right_j4=-0.0948 right_j5=0.4709 right_gripper=0.4516 state[joint_eff]: [-0.0342, 2.0308, 5.4222, 2.1074, -0.0611, -0.0659, -0.0122, -0.3214, -6.0239, 2.1949, 1.2039, -0.0952, -0.0024, 0.6374] camera 'top_cam' (step 445): [image omitted: streamed camera frame] camera 'left_cam' (step 445): [image omitted: streamed camera frame] camera 'right_cam' (step 445): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4859, "right_j1": 2.1522, "right_j2": 1.8638, "right_j3": -1.2824, "right_j5": 0.4859}, "note": "Now I can see both blocks side by side in the wrist view: the red block is about one block-width further out and ~1 cm to the right of the carried block. Lifting to 7 cm clearance and translating 4.5 cm outward / 1 cm sideways to sit over it."})
tool
executing move_joints over 5 steps (0.5s)
step 450
top_cam
camera top_cam step 450
left_cam
camera left_cam step 450
right_cam
camera right_cam step 450
assistant
agent noteThe red block has come closer in the wrist view but still sits up and to the right of the carried block. Nudging 3 cm further out and 1.5 cm sideways before the next probe.
move_joints
right_j00.4691right_j12.2207right_j21.9604right_j3-1.3105right_j50.4691
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7853 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4992 right_j1=2.1342 right_j2=1.8202 right_j3=-1.2621 right_j4=-0.0948 right_j5=0.4706 right_gripper=0.4507 state[joint_eff]: [-0.1573, 1.4974, 5.3538, 1.9365, -0.0806, -0.0659, -0.0122, -1.2786, -9.5658, 7.5009, 0.1929, -0.1148, 0.0806, 0.3346] camera 'top_cam' (step 450): [image omitted: streamed camera frame] camera 'left_cam' (step 450): [image omitted: streamed camera frame] camera 'right_cam' (step 450): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4691, "right_j1": 2.2207, "right_j2": 1.9604, "right_j3": -1.3105, "right_j5": 0.4691}, "note": "The red block has come closer in the wrist view but still sits up and to the right of the carried block. Nudging 3 cm further out and 1.5 cm sideways before the next probe."})
tool
executing move_joints over 3 steps (0.3s)
step 453
top_cam
camera top_cam step 453
left_cam
camera left_cam step 453
right_cam
camera right_cam step 453
assistant
agent noteThe overhead close-up shows the red block right at the gripper's fingertips now. Probing down 2.5 cm — contact here would mean the carried block is resting on the red one.
move_joints
right_j12.2224right_j21.8375right_j3-1.1859
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7925 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4873 right_j1=2.2024 right_j2=1.9137 right_j3=-1.3159 right_j4=-0.0948 right_j5=0.4667 right_gripper=0.4525 state[joint_eff]: [-0.0068, 1.7983, 5.2718, 1.9707, -0.0611, -0.0611, -0.0122, -1.5385, -11.1385, 8.6222, 0.2369, -0.0855, -0.022, 0.442] 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_j1": 2.2224, "right_j2": 1.8375, "right_j3": -1.1859}, "note": "The overhead close-up shows the red block right at the gripper's fingertips now. Probing down 2.5 cm \u2014 contact here would mean the carried block is resting on the red one."})
tool
executing move_joints over 3 steps (0.3s)
step 456
top_cam
camera top_cam step 456
left_cam
camera left_cam step 456
right_cam
camera right_cam step 456
assistant
agent noteCloser view shows the red block sitting just to the -y side of the carried block, roughly 3 cm right and 3 cm further out. Lifting to 7 cm clearance and moving 3 cm outward first (away from the red block) so the sideways move can then be made safely above it.
move_joints
right_j12.2684right_j22.0584right_j3-1.3608
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6289 left_j2=1.2018 left_j3=-0.8013 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.485 right_j1=2.2208 right_j2=1.8458 right_j3=-1.2495 right_j4=-0.0944 right_j5=0.4667 right_gripper=0.4529 state[joint_eff]: [-0.0615, 2.0991, 5.4632, 1.9902, -0.0513, -0.0415, -0.0122, 0.1573, -11.412, 6.1607, 0.442, -0.0904, -0.0317, 0.6325] camera 'top_cam' (step 456): [image omitted: streamed camera frame] camera 'left_cam' (step 456): [image omitted: streamed camera frame] camera 'right_cam' (step 456): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2684, "right_j2": 2.0584, "right_j3": -1.3608}, "note": "Closer view shows the red block sitting just to the -y side of the carried block, roughly 3 cm right and 3 cm further out. Lifting to 7 cm clearance and moving 3 cm outward first (away from the red block) so the sideways move can then be made safely above it."})
tool
executing move_joints over 4 steps (0.4s)
step 460
top_cam
camera top_cam step 460
left_cam
camera left_cam step 460
right_cam
camera right_cam step 460
assistant
agent noteNow clear of the red block and 6.4 cm above the table, sliding 3.2 cm sideways so the carried block sits over the red one.
move_joints
right_j00.4210right_j12.1980right_j21.9134right_j3-1.2862right_j50.4210
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8085 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4889 right_j1=2.2574 right_j2=2.0125 right_j3=-1.3403 right_j4=-0.0944 right_j5=0.4622 right_gripper=0.4542 state[joint_eff]: [-0.3487, 1.6342, 5.2308, 1.9512, -0.0171, -0.0513, -0.0122, -0.4855, -11.2068, 8.1436, 0.1538, -0.0806, 0.0073, 0.5885] camera 'top_cam' (step 460): [image omitted: streamed camera frame] camera 'left_cam' (step 460): [image omitted: streamed camera frame] camera 'right_cam' (step 460): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.421, "right_j1": 2.198, "right_j2": 1.9134, "right_j3": -1.2862, "right_j5": 0.421}, "note": "Now clear of the red block and 6.4 cm above the table, sliding 3.2 cm sideways so the carried block sits over the red one."})
tool
executing move_joints over 2 steps (0.2s)
step 462
top_cam
camera top_cam step 462
left_cam
camera left_cam step 462
right_cam
camera right_cam step 462
assistant
agent noteThe last command only partly executed; commanding the base yaw alone to slide the carried block ~2.8 cm toward the red block (and 1.3 cm further out) in one clean motion.
move_joints
right_j00.4000right_j50.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8097 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.469 right_j1=2.2292 right_j2=1.9511 right_j3=-1.3235 right_j4=-0.0986 right_j5=0.4412 right_gripper=0.4561 state[joint_eff]: [-0.1162, 1.5932, 5.2308, 1.9365, -0.0562, -0.0415, -0.0122, -2.7829, -13.9145, 5.9692, 0.7253, -0.0562, -0.0611, 0.3687] 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": 0.4, "right_j5": 0.4}, "note": "The last command only partly executed; commanding the base yaw alone to slide the carried block ~2.8 cm toward the red block (and 1.3 cm further out) in one clean motion."})
tool
executing move_joints over 2 steps (0.2s)
step 464
top_cam
camera top_cam step 464
left_cam
camera left_cam step 464
right_cam
camera right_cam step 464
assistant
agent noteLateral alignment now looks right — the red block sits directly above the carried block in the wrist frame. Lifting 2 cm and moving 2.5 cm further out to close the remaining depth gap.
move_joints
right_j12.2843right_j22.0892right_j3-1.3757
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6296 left_j2=1.2018 left_j3=-0.8268 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4187 right_j1=2.2299 right_j2=1.9133 right_j3=-1.3163 right_j4=-0.0948 right_j5=0.4072 right_gripper=0.4583 state[joint_eff]: [-0.1162, 1.4838, 5.2308, 2.0537, -0.0611, -0.0708, -0.0122, -1.3607, -12.041, 8.8274, 0.1978, -0.1538, 0.0024, 0.2027] camera 'top_cam' (step 464): [image omitted: streamed camera frame] camera 'left_cam' (step 464): [image omitted: streamed camera frame] camera 'right_cam' (step 464): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2843, "right_j2": 2.0892, "right_j3": -1.3757}, "note": "Lateral alignment now looks right \u2014 the red block sits directly above the carried block in the wrist frame. Lifting 2 cm and moving 2.5 cm further out to close the remaining depth gap."})
tool
executing move_joints over 3 steps (0.3s)
step 467
top_cam
camera top_cam step 467
left_cam
camera left_cam step 467
right_cam
camera right_cam step 467
assistant
agent noteRed block is directly ahead of and just beyond the carried block. Probing down 2.5 cm again, watching for the early contact that would mean the blocks are stacked.
move_joints
right_j12.3100right_j21.9518right_j3-1.2369
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6304 left_j2=1.2018 left_j3=-0.8345 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4198 right_j1=2.2745 right_j2=2.0369 right_j3=-1.3758 right_j4=-0.0944 right_j5=0.392 right_gripper=0.4596 state[joint_eff]: [-0.0479, 1.7709, 5.3402, 1.9805, -0.022, -0.0464, -0.0122, -0.335, -11.1521, 8.3761, 0.1734, -0.0806, 0.0904, 0.1245] camera 'top_cam' (step 467): [image omitted: streamed camera frame] camera 'left_cam' (step 467): [image omitted: streamed camera frame] camera 'right_cam' (step 467): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.31, "right_j2": 1.9518, "right_j3": -1.2369}, "note": "Red block is directly ahead of and just beyond the carried block. Probing down 2.5 cm again, watching for the early contact that would mean the blocks are stacked."})
tool
executing move_joints over 3 steps (0.3s)
step 470
top_cam
camera top_cam step 470
left_cam
camera left_cam step 470
right_cam
camera right_cam step 470
assistant
agent noteThe red block has vanished from the wrist view, which means it is now directly under the carried block. Lowering another 1.5 cm to seat the block on top of it.
move_joints
right_j12.3200right_j21.8900right_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8364 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.2906 right_j2=1.9633 right_j3=-1.3033 right_j4=-0.094 right_j5=0.3916 right_gripper=0.4611 state[joint_eff]: [-0.2256, 2.0718, 5.2444, 1.9512, -0.0464, -0.0562, -0.0122, -0.6222, -11.2479, 6.2838, 0.4567, -0.1001, 0.0073, 0.1392] camera 'top_cam' (step 470): [image omitted: streamed camera frame] camera 'left_cam' (step 470): [image omitted: streamed camera frame] camera 'right_cam' (step 470): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.32, "right_j2": 1.89, "right_j3": -1.17}, "note": "The red block has vanished from the wrist view, which means it is now directly under the carried block. Lowering another 1.5 cm to seat the block on top of it."})
tool
executing move_joints over 3 steps (0.3s)
step 473
top_cam
camera top_cam step 473
left_cam
camera left_cam step 473
right_cam
camera right_cam step 473
assistant
agent noteThe block descended to within ~1.5 cm of the table without ever touching the red block, so it is still beside it, not on it. Lifting 10 cm so the overhead camera can show both blocks and give me a calibrated offset.
move_joints
right_j12.1864right_j22.1066right_j3-1.4910
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6312 left_j2=1.2018 left_j3=-0.8444 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.3127 right_j2=1.898 right_j3=-1.2171 right_j4=-0.0944 right_j5=0.3847 right_gripper=0.4625 state[joint_eff]: [-0.0889, 2.0991, 5.2308, 1.9805, -0.0806, -0.0757, -0.0122, -0.3624, -12.0547, 5.9692, 0.4127, -0.1294, 0.022, 0.1392] camera 'top_cam' (step 473): [image omitted: streamed camera frame] camera 'left_cam' (step 473): [image omitted: streamed camera frame] camera 'right_cam' (step 473): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.1864, "right_j2": 2.1066, "right_j3": -1.491}, "note": "The block descended to within ~1.5 cm of the table without ever touching the red block, so it is still beside it, not on it. Lifting 10 cm so the overhead camera can show both blocks and give me a calibrated offset."})
tool
executing move_joints over 5 steps (0.5s)
step 478
top_cam
camera top_cam step 478
left_cam
camera left_cam step 478
right_cam
camera right_cam step 478
assistant
agent noteThe overhead now shows both the gripper and the red block, and with the calibrated 2.96 px/cm mapping (validated against forward kinematics to within a pixel) the carried block is 10 cm too far out. Pulling back 10 cm to hover directly over the red block at 6.5 cm.
move_joints
right_j00.5211right_j11.9010right_j21.4636right_j3-1.1334right_j50.5211
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8539 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4252 right_j1=2.2471 right_j2=2.0594 right_j3=-1.4406 right_j4=-0.0944 right_j5=0.3767 right_gripper=0.4638 state[joint_eff]: [-0.3077, 1.5521, 5.2991, 1.9414, -0.0611, -0.0269, -0.0122, -0.4991, -15.6513, 8.4855, 0.315, -0.0806, 0.0611, 0.1245] camera 'top_cam' (step 478): [image omitted: streamed camera frame] camera 'left_cam' (step 478): [image omitted: streamed camera frame] camera 'right_cam' (step 478): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5211, "right_j1": 1.901, "right_j2": 1.4636, "right_j3": -1.1334, "right_j5": 0.5211}, "note": "The overhead now shows both the gripper and the red block, and with the calibrated 2.96 px/cm mapping (validated against forward kinematics to within a pixel) the carried block is 10 cm too far out. Pulling back 10 cm to hover directly over the red block at 6.5 cm."})
tool
executing move_joints over 10 steps (1.0s)
step 488
top_cam
camera top_cam step 488
left_cam
camera left_cam step 488
right_cam
camera right_cam step 488
assistant
agent noteOverhead now puts the gripper and the red block at the same pixel — aligned — and the wrist camera sees the red block dead ahead. Lowering 2.5 cm to set the carried block down on top of it.
move_joints
right_j11.9709right_j21.4012right_j3-1.0011
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.8764 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9446 right_j2=1.4807 right_j3=-1.1721 right_j4=-0.0914 right_j5=0.498 right_gripper=0.4646 state[joint_eff]: [-0.1162, 1.4291, 5.2444, 2.1074, -0.0611, -0.0513, -0.0122, 0.2803, -12.0547, 5.9692, 0.5592, -0.105, 0.0171, 0.0708] camera 'top_cam' (step 488): [image omitted: streamed camera frame] camera 'left_cam' (step 488): [image omitted: streamed camera frame] camera 'right_cam' (step 488): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9709, "right_j2": 1.4012, "right_j3": -1.0011}, "note": "Overhead now puts the gripper and the red block at the same pixel \u2014 aligned \u2014 and the wrist camera sees the red block dead ahead. Lowering 2.5 cm to set the carried block down on top of it."})
tool
executing move_joints over 3 steps (0.3s)
step 491
top_cam
camera top_cam step 491
left_cam
camera left_cam step 491
right_cam
camera right_cam step 491
assistant
agent noteWrist effort on the wrist-pitch joint is rising, which hints the carried block is touching down on the red one. Pressing 1 cm further to confirm firm contact before I open the jaws.
move_joints
right_j11.9900right_j21.3743right_j3-0.9789
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.889 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5205 right_j1=1.9594 right_j2=1.4117 right_j3=-1.0702 right_j4=-0.0906 right_j5=0.4988 right_gripper=0.4647 state[joint_eff]: [-0.1162, 1.9077, 5.2308, 2.0342, -0.0855, -0.0366, -0.0122, -0.6496, -8.841, 4.7932, 0.989, -0.188, -0.0513, 0.0024] camera 'top_cam' (step 491): [image omitted: streamed camera frame] camera 'left_cam' (step 491): [image omitted: streamed camera frame] camera 'right_cam' (step 491): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.99, "right_j2": 1.3743, "right_j3": -0.9789}, "note": "Wrist effort on the wrist-pitch joint is rising, which hints the carried block is touching down on the red one. Pressing 1 cm further to confirm firm contact before I open the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 493
top_cam
camera top_cam step 493
left_cam
camera left_cam step 493
right_cam
camera right_cam step 493
assistant
agent notej1 stopped tracking while its holding torque relaxed — the classic contact signature — so the carried block is resting on something at the aligned position. Opening the jaws to release it.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.8928 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5209 right_j1=1.9579 right_j2=1.4059 right_j3=-1.0538 right_j4=-0.0906 right_j5=0.4976 right_gripper=0.4653 state[joint_eff]: [-0.2667, 1.853, 5.4769, 2.0098, -0.0562, -0.0562, -0.0122, -0.3761, -7.0906, 2.9607, 0.9792, -0.1001, -0.0513, 0.0464] camera 'top_cam' (step 493): [image omitted: streamed camera frame] camera 'left_cam' (step 493): [image omitted: streamed camera frame] camera 'right_cam' (step 493): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "j1 stopped tracking while its holding torque relaxed \u2014 the classic contact signature \u2014 so the carried block is resting on something at the aligned position. Opening the jaws to release it."})
tool
executing move_joints over 6 steps (0.6s)
step 499
top_cam
camera top_cam step 499
left_cam
camera left_cam step 499
right_cam
camera right_cam step 499
assistant
agent noteThe wrist view shows the blue block released on the table right next to the red one, not on top — so the contact I felt was the table (the right arm's height bias is ~12 cm, not 9). Swinging the arm up and aside for a clean overhead of the two blocks so I can measure their offset directly in pixels.
move_joints
right_j00.1500right_j11.4000right_j21.8000right_j3-1.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.9058 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5217 right_j1=1.9575 right_j2=1.4059 right_j3=-1.0641 right_j4=-0.091 right_j5=0.4965 right_gripper=0.9954 state[joint_eff]: [-0.212, 1.6342, 5.4085, 1.9658, -0.0708, -0.0415, -0.0122, -0.0889, -9.3744, 5.5316, 0.3004, -0.0659, 0.0317, -0.1001] camera 'top_cam' (step 499): [image omitted: streamed camera frame] camera 'left_cam' (step 499): [image omitted: streamed camera frame] camera 'right_cam' (step 499): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.15, "right_j1": 1.4, "right_j2": 1.8, "right_j3": -1.4}, "note": "The wrist view shows the blue block released on the table right next to the red one, not on top \u2014 so the contact I felt was the table (the right arm's height bias is ~12 cm, not 9). Swinging the arm up and aside for a clean overhead of the two blocks so I can measure their offset directly in pixels."})
tool
executing move_joints over 9 steps (0.9s)
step 508
top_cam
camera top_cam step 508
left_cam
camera left_cam step 508
right_cam
camera right_cam step 508
assistant
agent noteClean overhead: red block at (145,152), blue block at (140,172) — about 20 px apart, i.e. the blue one sits ~6 cm inward of the red. Moving back to hover ~10 cm above the blue block to pick it up again.
move_joints
right_j00.6870right_j11.7183right_j21.3854right_j3-1.2379right_j50.6870
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6342 left_j2=1.2018 left_j3=-0.9249 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1635 right_j1=1.4429 right_j2=1.7557 right_j3=-1.3777 right_j4=-0.0906 right_j5=0.49 right_gripper=0.9967 state[joint_eff]: [-0.1162, 1.7709, 5.4222, 2.0293, -0.0708, -0.0415, -0.0122, -0.1709, -5.559, 7.788, 1.3162, -0.0855, 0.0611, 0.1197] 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_j0": 0.687, "right_j1": 1.7183, "right_j2": 1.3854, "right_j3": -1.2379, "right_j5": 0.687}, "note": "Clean overhead: red block at (145,152), blue block at (140,172) \u2014 about 20 px apart, i.e. the blue one sits ~6 cm inward of the red. Moving back to hover ~10 cm above the blue block to pick it up again."})
tool
executing move_joints over 9 steps (0.9s)
step 517
top_cam
camera top_cam step 517
left_cam
camera left_cam step 517
right_cam
camera right_cam step 517
assistant
agent noteWrist view puts the blue block just above the aim point, so it's within a couple of centimetres. Nudging 1.5 cm inward and 1 cm sideways while descending to table level for the re-grasp.
move_joints
right_j00.7000right_j11.9000right_j21.1012right_j3-0.7984right_j50.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9401 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6678 right_j1=1.71 right_j2=1.3949 right_j3=-1.2594 right_j4=-0.091 right_j5=0.6556 right_gripper=0.9969 state[joint_eff]: [-0.0889, 1.5111, 5.2855, 2.0195, -0.0562, -0.0757, -0.0122, -0.0752, -8.1709, 6.5983, 0.3541, -0.0757, 0.1294, 0.0073] camera 'top_cam' (step 517): [image omitted: streamed camera frame] camera 'left_cam' (step 517): [image omitted: streamed camera frame] camera 'right_cam' (step 517): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7, "right_j1": 1.9, "right_j2": 1.1012, "right_j3": -0.7984, "right_j5": 0.7}, "note": "Wrist view puts the blue block just above the aim point, so it's within a couple of centimetres. Nudging 1.5 cm inward and 1 cm sideways while descending to table level for the re-grasp."})
tool
executing move_joints over 8 steps (0.8s)
step 525
top_cam
camera top_cam step 525
left_cam
camera left_cam step 525
right_cam
camera right_cam step 525
assistant
agent noteThe blue block fills the jaw gap with the fingertips at table level. 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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9581 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8854 right_j2=1.1172 right_j3=-0.8768 right_j4=-0.094 right_j5=0.6849 right_gripper=0.9969 state[joint_eff]: [-0.0479, 1.5795, 5.2718, 2.0391, -0.0757, -0.0757, -0.0122, 0.1983, -7.665, 3.959, 0.9353, -0.1099, 0.0464, -0.0122] camera 'top_cam' (step 525): [image omitted: streamed camera frame] camera 'left_cam' (step 525): [image omitted: streamed camera frame] camera 'right_cam' (step 525): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue block fills the jaw gap with the fingertips at table level. Closing to re-grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 535
top_cam
camera top_cam step 535
left_cam
camera left_cam step 535
right_cam
camera right_cam step 535
assistant
agent noteRe-grasped the blue block (residual 0.43, high effort). Carrying it to hover ~6 cm up over the red block using the overhead offset of 20 rows / 5 columns; next I'll compare the carried block's pixel against the red block's directly, which needs no scale.
move_joints
right_j00.5245right_j11.8720right_j21.4012right_j3-1.1000right_j50.5245
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9653 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8839 right_j2=1.1175 right_j3=-0.8822 right_j4=-0.0982 right_j5=0.6804 right_gripper=0.4335 state[joint_eff]: [-0.3487, 1.7026, 5.2171, 1.8926, -0.0806, -0.0513, -0.0122, -0.0479, -8.3624, 4.9026, 0.2027, -0.0855, -0.0122, 1.0281] camera 'top_cam' (step 535): [image omitted: streamed camera frame] camera 'left_cam' (step 535): [image omitted: streamed camera frame] camera 'right_cam' (step 535): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5245, "right_j1": 1.872, "right_j2": 1.4012, "right_j3": -1.1, "right_j5": 0.5245}, "note": "Re-grasped the blue block (residual 0.43, high effort). Carrying it to hover ~6 cm up over the red block using the overhead offset of 20 rows / 5 columns; next I'll compare the carried block's pixel against the red block's directly, which needs no scale."})
tool
executing move_joints over 5 steps (0.5s)
step 540
top_cam
camera top_cam step 540
left_cam
camera left_cam step 540
right_cam
camera right_cam step 540
assistant
agent noteHovering with the block's underside right at the red block's top height; the red block shows just beyond the carried one in the wrist view. Lowering 2 cm and watching effort — contact at this height means I'm resting on the red block rather than the table.
move_joints
right_j11.9253right_j21.3086right_j3-0.9541
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9699 left_j4=-0.0227 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5392 right_j1=1.8889 right_j2=1.3552 right_j3=-1.0576 right_j4=-0.1062 right_j5=0.5541 right_gripper=0.437 state[joint_eff]: [-0.212, 1.6205, 5.2308, 1.9072, -0.0269, -0.0659, -0.0122, -0.4171, -10.2496, 7.7607, 0.2418, -0.022, -0.0024, 0.8474] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 540): [image omitted: streamed camera frame] camera 'left_cam' (step 540): [image omitted: streamed camera frame] camera 'right_cam' (step 540): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9253, "right_j2": 1.3086, "right_j3": -0.9541}, "note": "Hovering with the block's underside right at the red block's top height; the red block shows just beyond the carried one in the wrist view. Lowering 2 cm and watching effort \u2014 contact at this height means I'm resting on the red block rather than the table."})
tool
executing move_joints over 2 steps (0.2s)
step 542
top_cam
camera top_cam step 542
left_cam
camera left_cam step 542
right_cam
camera right_cam step 542
assistant
agent noteContact came at a block-underside height of ~4 cm — that is the red block's top, not the table, so I am resting on it but evidently only partly overlapping (last time the block tipped inward when released). Lifting 2 cm and shifting 2 cm further out to centre the overlap.
move_joints
right_j11.9070right_j21.4768right_j3-1.1406
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9787 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5327 right_j1=1.8969 right_j2=1.3357 right_j3=-1.0328 right_j4=-0.1081 right_j5=0.5312 right_gripper=0.4378 state[joint_eff]: [-0.0205, 1.7299, 5.2034, 1.9658, -0.0415, -0.0269, -0.0122, 0.4581, -7.3504, 5.2855, 0.4274, -0.0317, 0.1832, 0.8278] 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": 1.907, "right_j2": 1.4768, "right_j3": -1.1406}, "note": "Contact came at a block-underside height of ~4 cm \u2014 that is the red block's top, not the table, so I am resting on it but evidently only partly overlapping (last time the block tipped inward when released). Lifting 2 cm and shifting 2 cm further out to centre the overlap."})
tool
executing move_joints over 3 steps (0.3s)
step 545
top_cam
camera top_cam step 545
left_cam
camera left_cam step 545
right_cam
camera right_cam step 545
assistant
agent noteShifted 2 cm outward; the red block is now just behind the carried block in the wrist view. Descending 2 cm to settle the block onto the red block's top.
move_joints
right_j11.9489right_j21.3832right_j3-1.0051
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9859 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5385 right_j1=1.9156 right_j2=1.43 right_j3=-1.103 right_j4=-0.1135 right_j5=0.5289 right_gripper=0.4394 state[joint_eff]: [-0.1573, 1.6615, 5.2171, 1.9365, -0.0562, -0.0366, -0.0122, -0.7863, -10.0855, 7.1726, 0.232, -0.0317, 0.0122, 0.4274] camera 'top_cam' (step 545): [image omitted: streamed camera frame] camera 'left_cam' (step 545): [image omitted: streamed camera frame] camera 'right_cam' (step 545): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9489, "right_j2": 1.3832, "right_j3": -1.0051}, "note": "Shifted 2 cm outward; the red block is now just behind the carried block in the wrist view. Descending 2 cm to settle the block onto the red block's top."})
tool
executing move_joints over 2 steps (0.2s)
step 547
top_cam
camera top_cam step 547
left_cam
camera left_cam step 547
right_cam
camera right_cam step 547
assistant
agent noteContact again, this time 1 cm higher than before — the block is sitting flatter on the red block's top. Opening the jaws to release it.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9916 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5377 right_j1=1.9202 right_j2=1.4143 right_j3=-1.0832 right_j4=-0.1143 right_j5=0.5266 right_gripper=0.441 state[joint_eff]: [-0.0615, 1.7026, 5.2034, 1.873, -0.0513, -0.0366, -0.0122, 0.2667, -7.5282, 5.2171, 0.2662, -0.1001, 0.0171, 0.1587] camera 'top_cam' (step 547): [image omitted: streamed camera frame] camera 'left_cam' (step 547): [image omitted: streamed camera frame] camera 'right_cam' (step 547): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "Contact again, this time 1 cm higher than before \u2014 the block is sitting flatter on the red block's top. Opening the jaws to release it."})
tool
executing move_joints over 6 steps (0.6s)
step 553
top_cam
camera top_cam step 553
left_cam
camera left_cam step 553
right_cam
camera right_cam step 553
assistant
agent noteBlock released. Pulling the arm up and aside again for a clean overhead to check whether the blue block is actually sitting on top of the red one.
move_joints
right_j00.1500right_j11.4000right_j21.8000right_j3-1.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-0.992 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5373 right_j1=1.9488 right_j2=1.3876 right_j3=-1.0767 right_j4=-0.1143 right_j5=0.522 right_gripper=0.9954 state[joint_eff]: [-0.1573, 1.5795, 5.2718, 1.8242, -0.0611, -0.0513, -0.0122, -0.0889, -11.7949, 7.5145, 0.0806, -0.105, -0.022, -0.2076] camera 'top_cam' (step 553): [image omitted: streamed camera frame] camera 'left_cam' (step 553): [image omitted: streamed camera frame] camera 'right_cam' (step 553): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.15, "right_j1": 1.4, "right_j2": 1.8, "right_j3": -1.4}, "note": "Block released. Pulling the arm up and aside again for a clean overhead to check whether the blue block is actually sitting on top of the red one."})
tool
executing move_joints over 9 steps (0.9s)
step 562
top_cam
camera top_cam step 562
left_cam
camera left_cam step 562
right_cam
camera right_cam step 562
assistant
agent noteClean overhead confirms they are still side by side: red at (145,152), blue at (145,170) — the blue block is ~6 cm inward of the red, and my earlier "contact" was the table (this arm's height bias is bigger than assumed). Returning to the exact pose where I released the blue block so the open jaws land around it again.
move_joints
right_j00.5373right_j11.9488right_j21.3876right_j3-1.0767right_j50.5220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0027 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1658 right_j1=1.4445 right_j2=1.7535 right_j3=-1.3781 right_j4=-0.12 right_j5=0.5194 right_gripper=0.9968 state[joint_eff]: [-0.1983, 2.0991, 5.2171, 1.956, -0.0366, -0.0366, -0.0122, -0.253, -5.8462, 7.8017, 1.326, -0.0415, -0.0024, 0.1294] camera 'top_cam' (step 562): [image omitted: streamed camera frame] camera 'left_cam' (step 562): [image omitted: streamed camera frame] camera 'right_cam' (step 562): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5373, "right_j1": 1.9488, "right_j2": 1.3876, "right_j3": -1.0767, "right_j5": 0.522}, "note": "Clean overhead confirms they are still side by side: red at (145,152), blue at (145,170) \u2014 the blue block is ~6 cm inward of the red, and my earlier \"contact\" was the table (this arm's height bias is bigger than assumed). Returning to the exact pose where I released the blue block so the open jaws land around it again."})
tool
executing move_joints over 9 steps (0.9s)
step 571
top_cam
camera top_cam step 571
left_cam
camera left_cam step 571
right_cam
camera right_cam step 571
assistant
agent noteThe blue block is centred between the open jaws in the wrist view with the red block beyond it. Dropping 2.5 cm so the jaws straddle the block's lower half before closing.
move_joints
right_j11.9616right_j21.3209right_j3-0.9301
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0153 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.524 right_j1=1.9335 right_j2=1.4002 right_j3=-1.1152 right_j4=-0.1207 right_j5=0.5198 right_gripper=0.9969 state[joint_eff]: [-0.0889, 1.6068, 5.4906, 1.9707, -0.0317, -0.0708, -0.0122, 0.0615, -10.2222, 6.2291, 0.3443, -0.0904, 0.0122, 0.0024] camera 'top_cam' (step 571): [image omitted: streamed camera frame] camera 'left_cam' (step 571): [image omitted: streamed camera frame] camera 'right_cam' (step 571): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9616, "right_j2": 1.3209, "right_j3": -0.9301}, "note": "The blue block is centred between the open jaws in the wrist view with the red block beyond it. Dropping 2.5 cm so the jaws straddle the block's lower half before closing."})
tool
executing move_joints over 3 steps (0.3s)
step 574
top_cam
camera top_cam step 574
left_cam
camera left_cam step 574
right_cam
camera right_cam step 574
assistant
agent noteBlock is in the jaw gap; closing to grasp it for the final placement attempt.
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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0176 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5304 right_j1=1.9648 right_j2=1.3281 right_j3=-1.0107 right_j4=-0.1207 right_j5=0.519 right_gripper=0.9969 state[joint_eff]: [-0.1573, 1.9487, 5.4906, 1.8242, -0.0269, -0.0464, -0.0122, -0.4581, -9.6615, 5.6547, 0.2613, -0.0806, -0.0317, -0.0122] 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_gripper": 0.0}, "note": "Block is in the jaw gap; closing to grasp it for the final placement attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 584
top_cam
camera top_cam step 584
left_cam
camera left_cam step 584
right_cam
camera right_cam step 584
assistant
agent noteRe-grasped (residual 0.44). Carrying the block 6.1 cm straight outward — the offset the clean overhead measured between the two blocks — while holding it high enough to clear the red block's top.
move_joints
right_j00.4477right_j11.9838right_j21.7158right_j3-1.3028right_j50.4477
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0214 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5289 right_j1=1.9648 right_j2=1.3201 right_j3=-1.0164 right_j4=-0.1207 right_j5=0.5194 right_gripper=0.443 state[joint_eff]: [-0.1573, 1.5795, 5.1897, 1.8584, -0.0806, -0.0757, -0.0122, -0.1162, -9.4427, 5.9009, 0.1538, -0.1197, -0.0269, 1.0281] camera 'top_cam' (step 584): [image omitted: streamed camera frame] camera 'left_cam' (step 584): [image omitted: streamed camera frame] camera 'right_cam' (step 584): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4477, "right_j1": 1.9838, "right_j2": 1.7158, "right_j3": -1.3028, "right_j5": 0.4477}, "note": "Re-grasped (residual 0.44). Carrying the block 6.1 cm straight outward \u2014 the offset the clean overhead measured between the two blocks \u2014 while holding it high enough to clear the red block's top."})
tool
executing move_joints over 7 steps (0.7s)
step 591
top_cam
camera top_cam step 591
left_cam
camera left_cam step 591
right_cam
camera right_cam step 591
assistant
agent noteIn position 6 cm outward with the red block visible just beyond the carried one. Descending 2 cm; contact this high up means the block has landed on the red block's top.
move_joints
right_j12.0023right_j21.6174right_j3-1.1859
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0351 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4587 right_j1=1.9766 right_j2=1.6695 right_j3=-1.2705 right_j4=-0.1207 right_j5=0.4515 right_gripper=0.4436 state[joint_eff]: [-0.1436, 1.7299, 5.2171, 1.9316, -0.0513, -0.0171, -0.0122, -0.7453, -9.3744, 7.8154, 0.3199, -0.105, 0.1099, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 591): [image omitted: streamed camera frame] camera 'left_cam' (step 591): [image omitted: streamed camera frame] camera 'right_cam' (step 591): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.0023, "right_j2": 1.6174, "right_j3": -1.1859}, "note": "In position 6 cm outward with the red block visible just beyond the carried one. Descending 2 cm; contact this high up means the block has landed on the red block's top."})
tool
executing move_joints over 2 steps (0.2s)
step 593
top_cam
camera top_cam step 593
left_cam
camera left_cam step 593
right_cam
camera right_cam step 593
assistant
agent noteContact at a height a full block higher than the earlier table contacts — the carried block is genuinely resting on top of the red one this time. Opening the jaws to release it.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4545 right_j1=1.9766 right_j2=1.6455 right_j3=-1.2533 right_j4=-0.1207 right_j5=0.4446 right_gripper=0.4436 state[joint_eff]: [-0.1162, 1.8393, 5.1897, 1.8486, -0.0611, -0.0366, -0.0122, 0.1983, -7.9248, 5.8735, 0.3297, -0.0904, 0.0269, 1.0232] camera 'top_cam' (step 593): [image omitted: streamed camera frame] camera 'left_cam' (step 593): [image omitted: streamed camera frame] camera 'right_cam' (step 593): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "Contact at a height a full block higher than the earlier table contacts \u2014 the carried block is genuinely resting on top of the red one this time. Opening the jaws to release it."})
tool
executing move_joints over 6 steps (0.6s)
step 599
top_cam
camera top_cam step 599
left_cam
camera left_cam step 599
right_cam
camera right_cam step 599
assistant
agent noteThe wrist view shows the block tipped off inward again — so it was resting on the red block's inner edge with too little overlap. Moving to hover over where it has fallen (~x=0.29) to pick it up for one more try, this time aiming ~2.5 cm further out.
move_joints
right_j00.5297right_j11.8472right_j21.4846right_j3-1.2082right_j50.5297
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6376 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4572 right_j1=2.0071 right_j2=1.6169 right_j3=-1.2541 right_j4=-0.1207 right_j5=0.4435 right_gripper=0.995 state[joint_eff]: [0.0752, 1.5248, 5.2581, 1.7753, -0.0659, -0.0806, -0.0122, -0.2667, -12.6017, 7.8427, 0.1392, -0.0806, 0.0562, -0.0122] camera 'top_cam' (step 599): [image omitted: streamed camera frame] camera 'left_cam' (step 599): [image omitted: streamed camera frame] camera 'right_cam' (step 599): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5297, "right_j1": 1.8472, "right_j2": 1.4846, "right_j3": -1.2082, "right_j5": 0.5297}, "note": "The wrist view shows the block tipped off inward again \u2014 so it was resting on the red block's inner edge with too little overlap. Moving to hover over where it has fallen (~x=0.29) to pick it up for one more try, this time aiming ~2.5 cm further out."})
tool
executing move_joints over 3 steps (0.3s)
step 602
top_cam
camera top_cam step 602
left_cam
camera left_cam step 602
right_cam
camera right_cam step 602
assistant
agent noteBlue block is visible between the jaws, 2 cm to the -y side. Correcting sideways and descending 2 cm to grasp height.
move_joints
right_j00.4626right_j11.8863right_j21.3744right_j3-1.0589right_j50.4626
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6392 left_j2=1.2018 left_j3=-1.0401 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9045 right_j2=1.4914 right_j3=-1.2293 right_j4=-0.1184 right_j5=0.4934 right_gripper=0.996 state[joint_eff]: [-0.1026, 1.8667, 5.4906, 1.8388, -0.0611, -0.0415, -0.0122, 0.1026, -11.5214, 6.3932, 0.5348, -0.1245, 0.0659, 0.0904] 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_j0": 0.4626, "right_j1": 1.8863, "right_j2": 1.3744, "right_j3": -1.0589, "right_j5": 0.4626}, "note": "Blue block is visible between the jaws, 2 cm to the -y side. Correcting sideways and descending 2 cm to grasp height."})
tool
executing move_joints over 3 steps (0.3s)
step 605
top_cam
camera top_cam step 605
left_cam
camera left_cam step 605
right_cam
camera right_cam step 605
assistant
agent noteFingertips are at block mid-height with the block in 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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4751 right_j1=1.8832 right_j2=1.3834 right_j3=-1.1282 right_j4=-0.1215 right_j5=0.4778 right_gripper=0.9961 state[joint_eff]: [-0.2393, 1.8667, 5.2034, 1.8388, -0.0806, -0.0659, -0.0122, -0.1709, -8.8137, 6.6667, 0.4615, -0.0855, -0.0269, 0.0024] 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_gripper": 0.0}, "note": "Fingertips are at block mid-height with the block in the jaw gap; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 615
top_cam
camera top_cam step 615
left_cam
camera left_cam step 615
right_cam
camera right_cam step 615
assistant
agent noteJaws closed just short of the block (residual 0.009) — it needs to be ~2.5 cm further out. Re-opening and shifting outward at the same height for another grasp attempt.
move_joints
right_gripper1.0000right_j11.9451right_j21.4440right_j3-1.0697
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.8912 right_j2=1.3651 right_j3=-1.1282 right_j4=-0.1204 right_j5=0.4747 right_gripper=0.0087 state[joint_eff]: [-0.1709, 1.6342, 5.3265, 1.8339, -0.0562, -0.0757, -0.0122, -0.0205, -9.5795, 7.0359, 0.1099, -0.1148, -0.0269, 0.6325] camera 'top_cam' (step 615): [image omitted: streamed camera frame] camera 'left_cam' (step 615): [image omitted: streamed camera frame] camera 'right_cam' (step 615): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 1.9451, "right_j2": 1.444, "right_j3": -1.0697}, "note": "Jaws closed just short of the block (residual 0.009) \u2014 it needs to be ~2.5 cm further out. Re-opening and shifting outward at the same height for another grasp attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 625
top_cam
camera top_cam step 625
left_cam
camera left_cam step 625
right_cam
camera right_cam step 625
assistant
agent noteThe block now sits squarely between the two open jaws in the wrist view. 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.9388 right_j2=1.4071 right_j3=-1.0966 right_j4=-0.1207 right_j5=0.4709 right_gripper=0.9954 state[joint_eff]: [-0.1436, 1.5658, 5.1897, 1.8242, -0.0611, -0.0513, -0.0122, -0.1709, -8.6632, 8.6222, 0.4225, -0.1001, -0.0269, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 0.0}, "note": "The block now sits squarely between the two open jaws in the wrist view. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 635
top_cam
camera top_cam step 635
left_cam
camera left_cam step 635
right_cam
camera right_cam step 635
assistant
agent noteThe close shoved the block ~2.5 cm to the -y side. Re-opening and shifting the gripper 2.5 cm that way to line the jaws up with it again.
move_joints
right_gripper1.0000right_j00.4028right_j11.8853right_j21.3326right_j3-1.0181right_j50.4028
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4709 right_j1=1.9404 right_j2=1.4097 right_j3=-1.1019 right_j4=-0.1207 right_j5=0.4702 right_gripper=0.008 state[joint_eff]: [-0.0615, 1.6205, 5.2308, 1.7998, -0.0464, -0.0464, -0.0122, -0.3214, -9.5932, 5.2308, 0.2125, -0.0757, 0.022, 0.5836] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 635): [image omitted: streamed camera frame] camera 'left_cam' (step 635): [image omitted: streamed camera frame] camera 'right_cam' (step 635): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j0": 0.4028, "right_j1": 1.8853, "right_j2": 1.3326, "right_j3": -1.0181, "right_j5": 0.4028}, "note": "The close shoved the block ~2.5 cm to the -y side. Re-opening and shifting the gripper 2.5 cm that way to line the jaws up with it again."})
tool
executing move_joints over 10 steps (1.0s)
step 645
top_cam
camera top_cam step 645
left_cam
camera left_cam step 645
right_cam
camera right_cam step 645
assistant
agent noteBlock is centred between the jaws. 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.411 right_j1=1.9247 right_j2=1.3403 right_j3=-1.0431 right_j4=-0.1211 right_j5=0.4065 right_gripper=0.9949 state[joint_eff]: [-0.1846, 1.5658, 5.3812, 1.8193, -0.0317, -0.0366, -0.0122, -0.759, -12.0821, 4.7521, 0.4029, -0.1001, 0.0269, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 645): [image omitted: streamed camera frame] camera 'left_cam' (step 645): [image omitted: streamed camera frame] camera 'right_cam' (step 645): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Block is centred between the jaws. Closing to grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 655
top_cam
camera top_cam step 655
left_cam
camera left_cam step 655
right_cam
camera right_cam step 655
assistant
agent noteAnother near-miss that nudged the block outward again — the jaws consistently close ~2 cm short. Re-opening and moving 2.5 cm further out for one more grasp attempt.
move_joints
right_gripper1.0000right_j11.9826right_j21.4339right_j3-1.0221
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.919 right_j2=1.3396 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3992 right_gripper=0.0086 state[joint_eff]: [-0.2803, 1.6068, 5.2034, 1.8437, -0.0464, -0.0366, -0.0122, -0.4034, -8.7726, 5.4496, 0.1978, -0.0757, 0.0757, 0.6374] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 1.0, "right_j1": 1.9826, "right_j2": 1.4339, "right_j3": -1.0221}, "note": "Another near-miss that nudged the block outward again \u2014 the jaws consistently close ~2 cm short. Re-opening and moving 2.5 cm further out for one more grasp attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 665
top_cam
camera top_cam step 665
left_cam
camera left_cam step 665
right_cam
camera right_cam step 665
assistant
agent noteThe blue block is now right down in the jaw gap at the bottom of the wrist frame. 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4122 right_j1=1.9682 right_j2=1.3972 right_j3=-1.0424 right_j4=-0.1211 right_j5=0.3912 right_gripper=0.9955 state[joint_eff]: [-0.0479, 1.5521, 5.3949, 1.7802, -0.0757, -0.0757, -0.0122, 0.0752, -8.1709, 8.3077, 0.4274, -0.0904, -0.0024, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 665): [image omitted: streamed camera frame] camera 'left_cam' (step 665): [image omitted: streamed camera frame] camera 'right_cam' (step 665): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue block is now right down in the jaw gap at the bottom of the wrist frame. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 675
top_cam
camera top_cam step 675
left_cam
camera left_cam step 675
right_cam
camera right_cam step 675
assistant
agent noteOut of call budget with the two blocks still side by side. I picked up the blue block four times and got it resting on the red block once, but each release let it tip off inward, and the final re-grasp attempts kept nudging the block instead of catching it.
give_up
hindsightHard-won facts about this rig (rig with the two YAM arms and ~4.2 cm letter cubes): 1. TOP CAMERA IS NOT A CLEAN ORTHOGRAPHIC OVERHEAD. Its columns are trustworthy (I measured 2.96 px/cm horizontally by moving a grasped block a known 18.9 cm), but its ROW scale is unverified and appears to compress depth very differently — a 6 cm radial move barely changed the row. Never convert row differences to centimetres without calibrating rows explicitly (move the arm a known distance in +x and measure the row shift). 2. WRIST CAMERA DEPTH IS DEEPLY MISLEADING. An object that appears "just beyond the jaws, filling the bottom of the frame" is typically 2-5 cm beyond the fingertips; a block resting at mid-frame (y≈105) at 10-12 cm height is roughly under the grasp point. I lost ~30 calls oscillating because I kept re-deriving contradictory rules. The reliable procedure that worked three times: hover ~10 cm up, put the block at (x≈115, y≈105), descend straight down without changing radius, then close. If the close returns a residual of ~0.008 the jaws shut in front of the block — move 2-3 cm FURTHER OUT, not inward. 3. Z BIAS DIFFERS PER ARM AND POSE and is much larger than the doc's 7-10 cm: the left arm read table contact at planar-FK z=0.093, the right arm's true table contact was near z_formula=0.13. Measure it per arm with a deliberate effort-verified touch before trusting any absolute height. Contact while descending shows as j1 refusing to track while its (negative) holding effort relaxes — that signature is reliable. 4. REACH: with the gripper pointing straight down the left arm topped out at ~0.50 m fingertip radius; a block at 0.50 m at the wrong bearing is effectively unreachable. Check both arms' radii to every object at the start and assign the task to the arm with the shorter radius — I wasted ~20 calls discovering the left arm could not reach the red block. 5. The idle arm's "periscope" view is dangerous: at j0=0.55, j1=1.4 the right arm collided with the left arm's wrist. Park the idle arm at its base and keep it there. 6. Stacking 4.2 cm cubes needs better than ±1.5 cm. Resting-contact height is the best discriminator: contact at a fingertip height one block above your measured table height = you are on the target block; contact at table height = you missed. But contact alone is not enough — I got contact on the red block's edge twice and the cube tipped off on release. Aim 2 cm past the first contact position and verify overlap before opening.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.9697 right_j2=1.3968 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3882 right_gripper=0.0085 state[joint_eff]: [-0.2256, 1.5658, 5.3128, 1.8388, -0.0464, -0.0464, -0.0122, -0.3214, -9.6342, 5.4906, 0.2173, -0.0952, 0.0317, 0.6325] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 675): [image omitted: streamed camera frame] camera 'left_cam' (step 675): [image omitted: streamed camera frame] camera 'right_cam' (step 675): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of call budget with the two blocks still side by side. I picked up the blue block four times and got it resting on the red block once, but each release let it tip off inward, and the final re-grasp attempts kept nudging the block instead of catching it.", "hindsight": "Hard-won facts about this rig (rig with the two YAM arms and ~4.2 cm letter cubes):\n\n1. TOP CAMERA IS NOT A CLEAN ORTHOGRAPHIC OVERHEAD. Its columns are trustworthy (I measured 2.96 px/cm horizontally by moving a grasped block a known 18.9 cm), but its ROW scale is unverified and appears to compress depth very differently \u2014 a 6 cm radial move barely changed the row. Never convert row differences to centimetres without calibrating rows explicitly (move the arm a known distance in +x and measure the row shift).\n\n2. WRIST CAMERA DEPTH IS DEEPLY MISLEADING. An object that appears \"just beyond the jaws, filling the bottom of the frame\" is typically 2-5 cm beyond the fingertips; a block resting at mid-frame (y\u2248105) at 10-12 cm height is roughly under the grasp point. I lost ~30 calls oscillating because I kept re-deriving contradictory rules. The reliable procedure that worked three times: hover ~10 cm up, put the block at (x\u2248115, y\u2248105), descend straight down without changing radius, then close. If the close returns a residual of ~0.008 the jaws shut in front of the block \u2014 move 2-3 cm FURTHER OUT, not inward.\n\n3. Z BIAS DIFFERS PER ARM AND POSE and is much larger than the doc's 7-10 cm: the left arm read table contact at planar-FK z=0.093, the right arm's true table contact was near z_formula=0.13. Measure it per arm with a deliberate effort-verified touch before trusting any absolute height. Contact while descending shows as j1 refusing to track while its (negative) holding effort relaxes \u2014 that signature is reliable.\n\n4. REACH: with the gripper pointing straight down the left arm topped out at ~0.50 m fingertip radius; a block at 0.50 m at the wrong bearing is effectively unreachable. Check both arms' radii to every object at the start and assign the task to the arm with the shorter radius \u2014 I wasted ~20 calls discovering the left arm could not reach the red block.\n\n5. The idle arm's \"periscope\" view is dangerous: at j0=0.55, j1=1.4 the right arm collided with the left arm's wrist. Park the idle arm at its base and keep it there.\n\n6. Stacking 4.2 cm cubes needs better than \u00b11.5 cm. Resting-contact height is the best discriminator: contact at a fingertip height one block above your measured table height = you are on the target block; contact at table height = you missed. But contact alone is not enough \u2014 I got contact on the red block's edge twice and the cube tipped off on release. Aim 2 cm past the first contact position and verify overlap before opening."})
tool
give_up: Out of call budget with the two blocks still side by side. I picked up the blue block four times and got it resting on the red block once, but each release let it tip off inward, and the final re-grasp attempts kept nudging the block instead of catching it.
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 · 21.48 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=-0.0036 left_j1=0.0074 left_j2=0.0082 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0227 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0082 right_j5=-0.0185 right_gripper=0.999\nstate[joint_eff]: [0.1299, 1.0325, 6.3111, 2.2393, -0.022, 0.1636, -0.0366, -0.0068, 0.8, 6.4068, 2.1758, 0.0513, 0.1441, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9e3df6c130928f5f301811f74a0d459769f3e1c27437692f88a50299716d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685dd2b8c3304fb8117b38666b79c588758c8ed9e25e5d4f136e305c57e789ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1f3054b649b3cc301fef3aa53c2bff638ba7d115f2280c55ce70932634c9f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0b9e3df6c130
wire blob 685dd2b8c330
wire blob e1f3054b649b
call 1 attempt 0 · /messages · status 200 · 7.813 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=-0.0036 left_j1=0.0074 left_j2=0.0082 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0227 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0082 right_j5=-0.0185 right_gripper=0.999\nstate[joint_eff]: [0.1299, 1.0325, 6.3111, 2.2393, -0.022, 0.1636, -0.0366, -0.0068, 0.8, 6.4068, 2.1758, 0.0513, 0.1441, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9e3df6c130928f5f301811f74a0d459769f3e1c27437692f88a50299716d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685dd2b8c3304fb8117b38666b79c588758c8ed9e25e5d4f136e305c57e789ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f3054b649b3cc301fef3aa53c2bff638ba7d115f2280c55ce70932634c9f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0b9e3df6c130]
[blob 685dd2b8c330]
[blob e1f3054b649b]
{
  "content": [
    {
      "signature": "CAISz0oKjAEIEBgCKkCw89JmwS2RkylfgDdrvqb+qoLtYsV/sl9fZHMvmz9WRYOZcDV46/xQ5nKCNVkxWcdv4ElTGvFq6gI0PfXG45GBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZHy8pF13ZPXfqVNWGgxEPM9Eps6H8mn9VhoiMLHVLw2a+bafmAOnRXqOqwmDjKE+MoxkEbl8JDrDUI5FaYIgwif4KV1frPgNRUJx9irvSL3ABkJut331caoYA9HM+sv9Ey1tXFCM6Q6sivRt6f/xV2Hm6dPxsYB3VdB0orGUdHwCuv/jA30X/Obsp7it61QC6yFNkgkHjeb+Qnshjw+zrB9KM00r0hWLjV2vwdMNs4kHLY2wX2X7sn2nZZZaRpE3S9NaiZdKu+s71msk/Lww0O8h5ugVjlGizAoDwrIO1UGNoBWxL2IVP3s0zKo9A2pFqq8zJhq841YmzGAeyenF/76BvZIAh+k/uUPwiTsyILDGc6ujkXJsCN7IhdIkWG5PoHUzocZePeiytC22ZHmVNwjgHXSs2TtHbT8XnwGsufFWaPRRKclqrGQie5b3GF6d+JCoIEKWkD0yJQv6qnJcK/fhSXnvOAHyDJ7WUwho3aPlms7FnAMiqo4pzL82EYqkUfoYVJ0wIqUsFretxRINackiutBH/w9FR0QG9k95v5t0dpDzNkWYbDmP6AhyPDZm38g8gyY3Zpwp2eQ8cNr+LdHGhSqs5xF9INyfkDTWLykDHO+HHn2a44XVtCMTKCEQ86qdyKDjb61Yr38bSqLt1hqKgZrErhSM3+3SeJzmMqVGHRxYRN3f9IcDyJg/TOqlHPNSG/6SyJZCPB1nOK/n3XwFW0nqVQoFoopcg5KkiQkfCCoRRGSS6AbuLJ6S4FWj82r1VaTVkhFdoVaHXC4me9/qQsMIOJxc3FZ+VNKrU8Ae72waMLXcopTo08WTjeoLzHsxDSEy0i7ZzeU7NNte0ZczXvkei87m7UUPFbt2n7sO7AM19boKPP1SIgA0WBJty7GPtyDj8ZxY3RHX8gI80FdITMbapBEHxFJ0DRui4avsuetjv+XMDTjRAvElGn/d7ChetWeUD0yDaZHe8EH3zowEVe4SV/Xp2m7etyjHgV08A+VsqdbyBhLM9+CW/InKu9k9yxiwltYD34PXTSBsKsvVvbL6mblvRJJeoWkoLf1Qa6F6PnAfDzrrNriPk7mUqBTj+A4CYE7xtYK8chH94eBpRUCj1+fx325fZBknloIlBxEU+xJLmBEn2ASCdR9PZ0Nh6RVegzM1/zKozz7TAZ1oftHqabzswGpr7ANZ3KgnKu0CI9X/SNtbaxcgMKYWO591amxdSfTb5QVzTM+q8GQw9d3zPQYXjDGyijwcMc68p74eYFkOCVjzy+muNR8RLvUjI+rN3A+GvJraVsizSsDosBBvL7NMUXDVW7fZ2xJC4/mUnNGhPWoBTLKGt5Pwe2pt1c9Hfr2k1JyCEw3hGU9b00Q0jbiZVA0OyQh7uPqedGuVOewaJnZ9SwRBl3EcxwHMk7jaV6WqahetMBOObqniBswZS/8YX3SfQX/WNEyKb2Z4Vbre0WPc1aTtYvsOVg9f7hiuG1z8aFQqGjcTd04PlXIBvN6UsLt2rZb55dPFben5b7kTuRl9D7Io0uFR3B9unXXtiUPeB+xb3EyfFupvyDr0PNmqifBYoRAxAzoFub7dKQQVtWOF7YpUCEgr36T96OQ6aFjMdn0OWv9KSY9xIxB3RpARPE2/ErEPX/hfneS21rzMnfD5Nzxj0ZQZf94mOOaxMcFhkkUHe2EsBvlSemhol0cODwR0/UoKGpg/uSaJPa3ttMjgOHs3FYOrcfaPCJ1pIGphATIEfSSt1V+49wzM5/Gpt4vL0lwoSuGrOT8oPecr9y2JAEyfLnPpHJM/PW9gsA+CjygDAjRKDJixvPVso6NssWVE6+np8Il+NAL+RRqN+azobUo1UCuZ62UUEKv4KtS9gEHa6810RA1NjlTx8Kl27JyQtKhm0YkwvuRa3Q61swonrA6RnKOE7U8r5ldkh5ZMpiud7FqkLcptQP+BLaDE7yHGCYiT5x/Av7yKeRg5NzXM5HPUEO/8a7clhCXiLSJjlPohvrMIeevtzPMNbkiTj8HEnXz2UlTas5SfW+Mcfee/dAqVTUX72E0TTflKKmV2qHCSmeElZg54cAabB3LZhNZ8scTdF9KgqBaF77zgVuqg0inwWsDvBak1umobNE5VqxdnGCk9cYZqH4SUP9sY0DHrqMT/gmbQT+ARYKkpOdoacvhMkYKLWFQqN4KDtOWS+B5Y5e8Uz65HnEaApQwzKcEgx2Hajg4AVwsQKWMWZntMWHKzR73FBYGFMaH66ndSvEOvTewN9yMPCQ2masWmlGrNglfipSUBrOvX+cq9YQBvGbX47X34exB/QoSOmSIdRFRScP69PhpmvtJt/vDcDdQYHVk5nyUGqGdOZA9Hsab9tKTVxFY0odOBLHZkap9nkv6lRa5ozNz13NnsOSBJo8/iE2VvKa91JtTXMRCk6biaZS9KEho33KEH98fR8TLaz3+ekSOic5Pl715nPYoOBCi56/xItRzpjhpPtvggYONsNrFE1MKUSi3+s79WrOQrrTa1kZpsp2CnrRnsGmp/G1Z86RBpQnvYj+saIOiwJE/yj9E3CaUaN3ZoH8rsXE9u2/uLg73tQlcqKhHhuVosJxYK7JQw0Q4qj1EqHsC9aC6zUgp3PQ3X8xLfF2Lba+dMfo6k8ucTNUIgRqd+0qz7lU8x/F4FxI5nhWMNr/ekTsriC7VyGOT6rNyC+T8PNWxkddD23ih4iP243YO/EEr1dWMgkLDQx21qwLTMqZp/maGAz970nh/rVpfkkZBSby93WzczjBFprPSV8iM+/jS1pmDWjGFUxjPRtkR6QTOWO7L5H5l0sGiikoTBx228kNnjylydF5Xrx/RHj7RKePQ1XU4VS3BAcxNs01EAeZSoeE7Dis5Oi6jxm+zll+7jl8Fsq/S25wdnGE6SgASfa7vqpBeVbqZlTxVWDAPslgamPkJOUEFhruf40AReM0NwkMgfCao5/9IPbcBBHAfn45SjOuXgZULx7VmxgU1A66EkPC/cL3LzvDEkj40F6SxLNj/Y0g1rxIHn1ChHihhleMKJbM95jqa1wQnJQzbROLnPSDYeRx/9kHQuFctqk+bH/60s77fqLUixapapUKEQ6LjxgErIOUdmSxCn0/GLx7v6qJ7DYl+ctk2Q71luDmVcu1/h0MO7z2rNY8lFANIFnhI78HdSzeEBKFljul2Z8GISPDsfI+K2u0io+a/+G7AqMiFNr4UZPO+W/SN+0mbbP50b8dIX8lQqbk6Cuvb7CLJvANBGpNYakKr4UhQCLiAQ/GETYBuG/GCJSmNKTtKqx1E/RX0K24+FbPbu1ANs+AaXmdDjDbQDzg3/xtoNMSpp3Xq8UJVr5LYvbnD8fzqOSsHNymYFz8U11ZvMtVH+uwt/dyukT1mU0gXHiEC56ByhpsKM/sCJ1lrK1V7WWA9Zd8ye3B7dVPknbd/xGpc80l0Mvgt9gXo2L694pVzrsUlrMjfUNFJy51kEXJobkWJtzNIQFrkakI2t8aRKkBK3AybJsvhv0Th8Ug9gqGEpKLrHRdpk1Zg7EJSxyDYdNlsC9QbmA9mCBqKV7KD9NitMyi9qxXkPGSmB4dtKIAFfwpTW6y6cf/evWpoCRRq3+xisLA0Go2xqab6k5N5PAA5Z7P7pDUomtpSstxWgDTneS7qvX29BvK5dop4bXQuWrCa0MaBMfaOTStO7QSXwBslZG/AWfdLgRdVnTOhljJbnmV7z4sUQbUJolH4Xr51SQGqAAZRXn9AQHNmrePmjaNCS0vUP2bcDpMzJ8mahhsY6nnt8CLmEu3EqL/34Qp9wDJutZ2ehpzLApwdjivy9FLYGrEjTzhb2ZYxUnV+vA6nhBEC5jMDMrlump5nkqPfQ0xV552Wma9RWxXVA3bZnoPGmrOe2UFab+nAPXG93555m9pK9xdrZMSoLUcV+mWMbUjK3eZqDSdzXFL/Run24EwvH9XdoCOP9Gcb7ynWaASY4x/IYcGfFZyEfc92fAACgBxi6MG31vtB4cw/yhLYCTJKCCX7iRpa4BnDeCfQl/Mr+o+kz4qin8hSsRvE5PYC5FePkZao45zd3UxCLeFHtpTwsHEDXcUX+aFSPMPxx6j5gvtK18fnvzQcirJOltqnFYwEC4cIL5wUUoZv1RXXksQn+owgisRG35EjnCn4C6BtZYeYJha5rFZpJH6i1eynGY8Jt9H3jmJEuQHh7R2sthfXz22DkJrH1eZqURRR/sNXyc62PL5gMmiTn3DcOrQUczfGMBPXYJLGcRMmZIt4TQNBqt48/k7xK1HbvpXWuGfrSqZtFnpikpvnbwumm9ZAqjEHCBxr7YEnALzhjuHfqorNSq1rd6wp5r+zsKJRZWWauUn4KYagse7nPqpquUaUPbbWoSteaoJoZucWz+vhjsQbbd5d9lXwU8snruiCqHZz3JR2mAxqfyx9ufLdllnESYr0cU/pCwPFoqdOh/i4rXlSUFUkPLkO7ZxQhsv1N7/zdxruL9MBEyaZcYfEd+IsCWiOn/hDWvK43G7Ob37LjFubqgEXmqQNC4N8RzdDeBmWbiZhVMiGei6Z0iq5qZvpMfWZLkAZoV/hcpRuoYD7CzLp33DGS2F6VcdSHhBvQA3JiX/f6IqwW/yIDSRJ9VIai256yCfmWo257FfOYheB3q2mrnLFlDb+iqi4Aoby81NvH2agSzMKtnGZZ5mvvoROAJDO+C+UpXPHk3qkKrvfMFNNdWhBPQm4GPFvz/qnYUipsmcRuUML2uOAWApWfjfukyjEIdeg/4xMc2u5PR6mjO6+EbiHHtv0EgRvJv8U55pVIAT556hg4WeeEXeJZkeENBRl/d/9xtGNxciZaa3dzrhnfFJX5f6hzyjOCcj6STcl15kfVvDq0Et0oowrA5/bhnvqYM1oSG+icp6I7U4gukbpVbgUIarOorSngkj1QeXub4h6B4OZaFoXTkejM/AG/qZY4ga5AYVzKy3DyEU6bI4w/88HD4cbmxHyBWPqVvXo90KU/myZF5iO9QO41a/P06HcaZf0k24X6Ok7LToDoXk2a4GLKDJ6hWXtIO6qisZ2+lL53xUdlNN4G7NXth5VOgZbyts4/fQJojaAb8mAzyhYyog7+SSw0o2stJk6VMaIXNSJzHk5GHzA1yv0mHF1XnZnJK+iLDY/LQK68uxcYqrWmQOtmp68MALvfO+Zng3RCQPD6/KUIUVHQ1GBIYhl8V9RXpCOFtFyINRpvXQ6GVXjVyuxHC875dPQcxeg6ros4i4tW+XTNU1SQm0Qm1FdxLJDA9qOtHJ7VzZZkSJw52ynjtLA3g3VtmwsOleWRUrPVC9qf+CWOeYtisrSTUoRiyjbShqGA40sDlXrRRNAk8Tl9YPMiphaoYosfPQrmliOQLgksokg7K7DSZrYoNoj4dzsPYvOqCjGD7HsMCrcVLZdPjFk+FbH5yUkW/ojthf09Qs3b+1ADaaCjwz/K22ghO73tsqRZUsnvjZaNc7T/+RZa+LmYCQiwvC6BMKwn09WMXKB8VwUQiBxQvZctpjzhJARljltrxxxPi+u8hNWftXYtEznwSkySMkrRPy2HaKkJrHpXVCO4MXRcHJDQozf62vPWtR2xXa3t7we1cr67Fsa6U4gjjJ3y5ihjc56KdKLCfeWBCvwqLHM34R2GQU2RMUbSVcJxcCCmwxg4RAoWs3wJ9JHRKpzWXOcdyuooyjSJkx6Vh0g+dN/GYDj/fELkOgPXf4a23LrRzK7r9eIaP0AHbLysUDyI2U2/BIgFBEQ1FmhEXQwkexOT8jFCmme4ZhICIobUW5uQn26juzrPkBMeXkPVTh5ZnQyJWZ9/H3M1EQoW4AinAmpCQJ+1zCeEv6952GbgmGl9fbCU0ir7Uyni04vg7sYbzO2Y8qmaKMH+9VvLk8E4LG+ussKSN3W2rKGjQt0lYpfmtwEfyh7p0tiw04tXvVNFSI/FnjJDLZeZv8ef6Vjp9P4/fuF0KzDkMFdAlBKj/gZ6JxaEV54U9rSYrrY+a09NU/jajky/PBzXnZKvZkBSWHPTF2td0KLh8gV4Hx4oX/zAX1LU/s9cwrzGLHj1c8fNhx+hE2CPZLk5Sk1ZOTxvF2oY7FDduYvjjKXzo/yt+aZwpeagQtp9rCZEt6a9yhVCD4ZM0DVMZ/WY+K23xFufhPRxcMRP6xEqjIlRKsSJ03PJVpVhy7eF9FYKbVTHnehzN5UYFrf94iCtwrB19+SU4YpSdxgEP3/GnAPeYIcdedooeBtIz6j/uWZTFFwYDzC0I7t4BFSpx3XVWbKc5IjFFIPED9y07i+hcgf69cI4X0hm9U7lpvTGaXQO8UFZ5bm4kvZTWye8aIuYaUSS8QUeDgfBGu/afy15A+ju0I7qzZIucvTAAvyVlL/eahqK2aujBPmCM8QOmD8SMgjP3XSjZszPB3qSO+Q1pLAVNZOKI3Vndzo4jlLsSSaRrrg0sw+Bjb7NWCaeXDCpeV7j8YgaLrvVZWOhLvST6UZE6HLKnlpSVQH8hXo2mkHzD1tom06gt/fAJPtgID2xh/G+fyqYCoX81mWnCaCYYojHM8+sU+GolE1hd7sL222dMgcll8Keqd0fKFnsi9PsRKC8yW9n5y81u78X2kCW7JW3dJHPY/fCiNXBRHo7WfxR/Q0BqXbMtcawtUnzJMbpkA5jD7SbZ5X7jvVWIINhRqPEd/6VWU8CV3IXIdcvfUHYz33GWMhEhKuqkk/NWxgMK+CKYsboy8N8+HLX64jno4RBEvjQWZYDMn5fDvEriDzvWt7kXKvepLCpZTgcTQXjXooZPSleArONzXOmF2ZoyNQkuh9oSm9qiOHIFdfgoVZjhkX791/DYfewYLaC4D+ZDq3sZWLPUpAPvTcxVv+9ThCxYxW2ICHkksi3lh0uRQEe1icq2mmppCIl/DlvScXz9+vh3SR2C9XN7rj2PkgkdaSVqBRzlKhoBnAI8S09EAaj0CURjzLTgwrJ/yk4eRwjE3fnYZPhRFLlqpXG3gcGZxmR3ZNQrfi4w7VggjR0gOy8V53L1ntDVDUfeDy7UKdgCfZyKEmW32Kh98iJX6tlBiCnoGGjfBiubcV8+n+FoMZ/4jOi8sVwmdkH0QmJNAihrbNRJ7C35d9rf5kz0bleLgHOKopUD2uzxrattS8oxbFrwpp1fAMKh1doKcOe9ii3+r2KxT5Tz87irB7MEHl+CF6Ysg8jV5Ptg/MdvpXIHPAqCMDxX79BjttS/JijUbNFwVrDylqz/wHAJdtJu1SAMjQ2E5ynYH/2UwiY7CZugX25r1Kvb2L8G1zjb/CSE0Wljv9Wi1X0LuA3T5z2/bkKD2whs6jM/aUxlrtpTNbxwgMh4Rny8qSKXXIKfgNWrZFGHaF8FIbuj7LhXsC+48NmqQaORuCpfQAqbc7CiwXrq9t5U6Erfi2PW/jZBSbG160QmujEUfSwkwpdjs+dIVwVyJOnfNPtfPv7UCeEwIjlbyDH/GKVopGclnuOCEUENt1AyyAoy+RslII0+m7dqnAQVxt0HFSIz7MEqCPpwN75bmsUFhDjKm1e+F3sbNMxsU4vpQDKcGYdDHinM7StnTn1B4hiIa6RABF/b1ZwqG2Ib4yVae534Qa82MHS5zz7SwL7+prR6RdAGLMvwBVv6uicwjufjfDVDOQrhnlSOJjXOG1aTj7kydqTptadWMsc48ePCRa9P55TNDAByLZlquIi0J/NZ2nCAIjkL+EHwxql9KLl146O+HTu19g/pLGptBbToTn5/C0cGDg+Z6hPMw7jhDPBS0HtsnL2GJZpoqKtCueY+j/YMzTGBaLwyAGGKJa3Kj+ZSYY2IIADV3/csvXtRu+eUDldPYatpi/vSDGfZMyb8jOTu+zG2/9DWAiDgv9HDPl5F60n9uvLWk3s1PftRHX6PQSA2eu60JTUam9UEeGICSejf0h3O+LOTgd44WGjXu13p9oS6Owd2cm5EE60jlsrnZG0J/SaPtH9wfOoALFkkpVPWTRIAy3m1K59z46Vd3PC2Pn3qyGDQtUagzNSa28wkaKkZvD5tt9G0W9OJIZX0vuE97pocWLnNyag9x4xeqG+rZwSCDW/uLQpb7jg3cix5sYLdN7sO+E5Gm/TM7d7ceNcrDNrJ4alh+84bg0yYw0bvFBn2wPDkWTRYTSunxM0K9oSNf/yiavcAWqWMr1VE9R6vUc5Lnd81c2Xa50Y4dMfC5M0N+tNjo+GUT226PIAvN4Kn2W7y113eSOE93IQqae8sCXoHZhXSFucqYzrIYXENJhD3rhSwSAFLBrkxF+dSdFH3rdNRFbvFyOh3k+8ll5vqoBJNSc1TocS3vCeZOZI7V5fG6UJjnIYPIQrP9VTJJPuJOzjdG1h4DwtUP/FKWNOy0iuZXNzSghl8uxhijWNe+8A915uXpNoKxPgFeup+jRgNsaaA9PyrN2zad7SANGVO26/s22raZK5hJVLI1XNTbOSlL68kPFqX+X4aEN1K3VRcdf+RjLjBVBzw723JvKRDhbvTSXLah09vq9fidC3EQcE0W1jLxauxfjMaTBb9kEsxrTVanCQaOOx5xCibDVvtGFZ6RCCgsf7swOdEWSqjuYZ2SddRDQnoSz3ciTl9+pciBpOPMDsCWPFnoLnCvBd3VLA8KNejCE00HwGBaZPWJuPuHvcDvki4BFA/ODGXRo3GX1rzSKW77srYzPsYiVMDHyniZ0y+3tacsKwCGp+ButzQZaWZ2xrqsBKyAbE0oU1AS8iwVMCEBwoHZHQ/1dgwMRLiYBzbjP5p1v+HRMC3biblCkQBmts33PLNKnigNYMFjuQo/1tfOpKihfuz6xZ6GFUUMiRWUSLDr5S7oF3m0UcFL547Wa3UOz8S76KEFmIDgMAt25uUpfJ9E7k1udROAwGEe93ia+MbDB9FcxWtGlzBSvkyXTXX5fXWNGy3+Tc3PzSc99yPJ9tZtza+55lcOz4LF43C/VKV9S5u/eRfpXq4/xvmRZ02npCJfsmpzRUi2AyLngPgH9f5cqtdoBT8C0+WlYrSoO3JEig41Nhmh9QZmP1oXSm7ONpe8cFzRmlDeHe7lgK8DdKXjtKPnzuJJwQwkoLBE3bniXzrtKHpPUYFMzBoNMPUIWaY2QUdcavuiQq0evMOE+nL6feiyc1LCsglM2rh9enyZRtg+Mq58X6pSSWvrVnuSxDW1ra9TUeuBqUbMZnHwoaCK3uce4ZZkgu8XH4soe8Um5u6yf8vFFmI5mPTjHMrcTlZJbzA+qjXVIpy4wIyeEbhHN7N3NkA+1BKZ4PvZtADY7nzjJ7mdOywYg0SsA3LFK5PAhZ0detqat/eK8HpDjgT1DtfBRInk2eQ3e08uPeLe0eEMpWwU1zbwYmsdjTd9kBpump2j5xLVPSq6XXVxjWwipqaQkj5YgKGy3bz0aAjnTEWWX78b17VKWW62Fotf29/Ozgy3lHiHnHF50HzagtoZxbPa7iRinFU+mWv3EenRRo6kG4ygp3WMH3d1Va1NdnIU+tDxrzHdqqEahPBrhx+zO9l3kY3RHRc08SBO7dcuRib9RdhgW6ML01411CavxGllV0ibNXCvOPT8PQ3uzlJZ78KNIk2hDIGu7Fr4aAzUs/nGgp+uJt8wH7qkA95H03aCwrBE0CciPhO9R0KQk3A5gghf9rbOUZGLYwm+a9taoy8Pjc8sNBc7ElSBr8iEeY5kmK6kLMFKFGiGtwMgm2XgpNjYtE1krgUsFrkzUZT3SUwphlYD7TFCSDfJ/fzpfvBnjWiFqJ+XGJQB00KEnn44AUTrhMiVouEniVgMrsBHk9L+EdjmzqIADf/kCcQOHrLcBqWGmqdrV7ZCZz5gsiQvEB8Tu6QWXW/mikS0SSAQhsPGSTHlI7CoEicu+lStASq0WiW7vTyT63xqp+IRe/SlDqjVhOB0A+NZUFmv28piYWZuBrAdKGaYpQ3W/CRD0DEkWfi9Myw6OtSh/1b+M19LGZZ8SHm7qSUJ6wVnB6VOfqcSKV1nzJ1VTloTtfG0FtYYCFktKlji/sDg6dSthJnO+/172uLYQBA5h8HFoAVm/QO9MlloxRBrN/sWJjBb0s/nVP0Ml+EgCQ63z0Xm1l+v2Lyr9WvsVsu5aEbAXLem5gcQUchx9DaY0kHe82E0YPT6MfDjbP3ctpI5xgbDOFhERSlaqtcu/wIbNCf74x/ORNJ4bD11T6HRGu4fTQQpTWI1a9GllFjiGkGJxlOKNkXRJtZ1cSVA3sxVm4gA8OuqN1ToZBtzaEp3CRY4hZxAoH2tKjYir7F5VsPj8x7u8tJS9s6X9cTigPjastb9szGG6GJeJ6cEe+/3TeEqkC6gte+ZuqSkjgb+M3/D5NgREC53Fy0yY0EZrQkIkZdmJKD7CLsa5uGcNytLP/RPHeCYudr5BlDneytZvDUQRu1UTMsGwBcJrWebDuTjY/AeDPCvWBmQnhqgs66/g8vADiNVhRs58AxYYlzYHeirq8xyqTcxJ3YyXspyAiQyemt7mCO5QhVdivf5jSOm2boIO6LitEI97V3GAGNIQQWAo+Ib5Y0RER8TlV82R3ljFjYOGproDmzZUtJjJJkvGLxpAjbnxBmfKpVLZJL7ReBUOgLSgp+yGSZTd9aQl+mzjNSK/EDjReoe6Sl54gneQeQwegxUKG00ajt73uVOittnJHZaj7SfIrrsJneGbmWJvGoRxTKqIbnRy1+O6msqwCAPuD+e0iYwISPG+pdxMGnnVV9kXBUBqNCw12WhZi/OQFs7BvUxHSRfXpQ17qzgpLxsmXrpch/h6ZsR+pqWtWUP/j6lIJX6oTaPgJ8x5TSI5Fy1Ay0xkWkCtk7lU34hUAHQPl4rKVZslytusJzWilhP5cnmZz0Pn6ZFAP0uUEWxJLisZSv+GKK/uEbl9KUHw4AorucH/y460puLuoDROG7n0HfAj6YMKtrAXzkSZp1/ym3G56DI5fE9xAS+SyZZIxVaUrr4sYKUjcVnEsW/h7EA9qGnrPoJFkIQblRuP6+0WH9SNwvPw4PzY+Z+ertvzN8rTjQGKAVp45J5apwwxxFhuMrq2uIS2R5P0twAlRrCt8Oh5dlafhP173okXoCMTsDb0NgZBQYDUngvccgCmsmMFYEYBoRrtZ2ZPv8IK9dN+0ebJM2Q5xuCvFDzjXqxxmFnJfMw/Y3StalTCcTenQNWnPWRmqi0nwrZraS0pi5TWevvh5PpsJ2fslt4KIaWeNBHlOcD/unXHXc6JLeQgMO8Lc9rnFYpn2gwyVWqpB1cB7BR/agoVEqbxO3EQ50ldwUary9aBvjhaoo7d0JLPhH21afSV+7E1ukMvdgYK98o+iSFhfl8OUbfrjcgXIm12Eb5fkX3paM7NxwsEIoapI9icQ7+tBoFrDE8Njc49dmdjpBj9Fitz/pHyovTkGQyBOpWrvQjNExMpzF5q3QEQIYXQ0KXzOP/uilZBrDleI4+qfG3OZv4zIkP6ja6B5sSTQV6Tk3zU1qv9WAJ3vY5RSV/qsds5zQG2/o5sSxmbx7GTuMGbTUcuX0Wd3/FIhSLRpbC8G79hQ5QjB95bDjQTvHgATlKJPAE2fIYBZz8a1w5kA1kYz0okrQxfVAaaXHBpubqMwPSVtatb95oeN5foOaicN+oLX000fFa0RfommYLY5Io8Um2WbFdA0g72BGGSvbUeN7KmEieL/c5G5BUbcPFYyEpB0xNcCjr6mfeLo7P1z62Cx8GaqMThcTl2GlqK5RMgfmIWdX/mPQQKtYjEtR49A6F9hEKF1izeaWd4e1/jWqavepcV0yh9mXQOP17nN22YeUyfbJXB2RwxAsRr4sVRIIotCbKG85ifOrgLpsHyWr1wsi6eLrE/58IzbiSrtdNeYx3egSXFDrRiunLdXu7/HwnzKXYmxDAQVLcgOWGHLYbsRqb2cloxuQ+yMSqiC2iiYxUuQs6G8mguwGzEgEOxya4MUtvTp0WddIZolJGP8UNitz0aWamxiLeLvMEpKRAxksSFswsWtckFwly2mw84WtVF+m8zZYfaSa2XvPIUgrFU/udECQFtkLUTNR7M3vLdRDZYYb1aAYgvscpBQSLjNa61endzkzSMH5s2Y0lI9l7lOEMy3h8j0SojwUsM2DP/lnnObFNfF6zPWZfgUlXVnDuppZx8RQsw5thZuqrVlP2rqOVg+Ec1odriS6jSTZVHhwgAPbfYfPjIjvySnAr2O/YY7IYl1PQy/855Dpwn2ToCgeCMH3yG4/ns684S5A1X35lZTJx+hD/mRhMDww1cc4zbEshmHQFJpfC3rvLzjLQ3BAtV+OfEd4b4ksxXpni879k7ISwLy0InYPkg0iE8L1+sivqPSY4JJhVY25un4/OeDisx+6Ufe65CDtzZ9ykrdYKPSnlij2HxIezBvDQzmxSI7xYpI0jIqQFlWzaWVBzCMjXVQnshPaqP5d50iWkP4mSbqJ5vC1Ra8yXV4OEXe4KrHVH3SR7Q+zR77pn51w1n9ApNkuVV+bf9VHTcQKqDpjktM201EUG9Cwg8f1Ni+jrbVrW25iqE5lg6cgl4KcxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lz367YvfNbhydzG4Pm8jBK",
      "input": {
        "note": "Overhead view shows a blue block (left) at ~(90,155) and a red/orange block (right) at ~(143,152); estimating the blue block ~21 cm right and ~13 cm forward of the left arm base. I'm swinging the left arm to a gripper-down pose about 15 cm above that spot to get a wrist-camera look.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -1.03,
          "left_j1": 1.708,
          "left_j2": 1.175,
          "left_j3": -1.038,
          "left_j4": 0,
          "left_j5": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 28 steps (2.8s)",
      "tool_use_id": "toolu_01Lz367YvfNbhydzG4Pm8jBK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0161 left_j1=1.6875 left_j2=1.1416 left_j3=-0.9958 left_j4=0.0032 left_j5=-0.9936 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.3368, 7.5556, 0.0611, -0.0366, -0.022, -0.0366, -0.2803, 1.4701, 7.0085, 1.9609, -0.0659, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b37f2a5c8739e9307ad49774d70d2cf9846c399875f6e6509997b18d4abad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f1f4e881e5da227ea71bee065d2b61dafc92b379a533588fad5ec4b3b9bfd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd42fc14fe3e26f7ff61ea8ef126f006c39ecb5154fafecf5c302f9e5451e845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 19b37f2a5c87
wire blob 86f1f4e881e5
wire blob dd42fc14fe3e
call 2 attempt 0 · /messages · status 200 · 6.926 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=-0.0036 left_j1=0.0074 left_j2=0.0082 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0227 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0082 right_j5=-0.0185 right_gripper=0.999\nstate[joint_eff]: [0.1299, 1.0325, 6.3111, 2.2393, -0.022, 0.1636, -0.0366, -0.0068, 0.8, 6.4068, 2.1758, 0.0513, 0.1441, -0.1099]",
      "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=-1.0161 left_j1=1.6875 left_j2=1.1416 left_j3=-0.9958 left_j4=0.0032 left_j5=-0.9936 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.3368, 7.5556, 0.0611, -0.0366, -0.022, -0.0366, -0.2803, 1.4701, 7.0085, 1.9609, -0.0659, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b37f2a5c8739e9307ad49774d70d2cf9846c399875f6e6509997b18d4abad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f1f4e881e5da227ea71bee065d2b61dafc92b379a533588fad5ec4b3b9bfd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd42fc14fe3e26f7ff61ea8ef126f006c39ecb5154fafecf5c302f9e5451e845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 19b37f2a5c87]
[blob 86f1f4e881e5]
[blob dd42fc14fe3e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ch4YcY45z3uU9B7B5GSX5V",
      "input": {
        "note": "The wrist camera sees only bare table between the jaws — the blue block isn't in view, so my position estimate is off. Raising the gripper to ~25 cm so the overhead camera can show gripper and block together for a proper calibration.",
        "targets": {
          "left_j1": 1.583,
          "left_j2": 1.473,
          "left_j3": -1.46
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ch4YcY45z3uU9B7B5GSX5V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0191 left_j1=1.6138 left_j2=1.4338 left_j3=-1.3849 left_j4=0.0063 left_j5=-1.0111 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [0.212, -8.253, 7.788, 0.1441, -0.0611, 0.1294, -0.0171, -0.0342, 1.6068, 7.1043, 1.8926, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b038d688c8b150cb2bd41d9d5c8ea981c0e1f38a1fe272f2ac5486f614400a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f8b6d2b3a1eefdaf212336db544a77d1593142ff6f2b3e486a557389021353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44a1fb2410fb27f6623ddf812387aa333c95266b521cab241441daeec42ed208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b038d688c8b1
wire blob f0f8b6d2b3a1
wire blob 44a1fb2410fb
call 3 attempt 0 · /messages · status 200 · 19.62 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=-0.0036 left_j1=0.0074 left_j2=0.0082 left_j3=-0.0353 left_j4=-0.0006 left_j5=-0.0227 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0082 right_j5=-0.0185 right_gripper=0.999\nstate[joint_eff]: [0.1299, 1.0325, 6.3111, 2.2393, -0.022, 0.1636, -0.0366, -0.0068, 0.8, 6.4068, 2.1758, 0.0513, 0.1441, -0.1099]",
      "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=-1.0161 left_j1=1.6875 left_j2=1.1416 left_j3=-0.9958 left_j4=0.0032 left_j5=-0.9936 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.3368, 7.5556, 0.0611, -0.0366, -0.022, -0.0366, -0.2803, 1.4701, 7.0085, 1.9609, -0.0659, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0191 left_j1=1.6138 left_j2=1.4338 left_j3=-1.3849 left_j4=0.0063 left_j5=-1.0111 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [0.212, -8.253, 7.788, 0.1441, -0.0611, 0.1294, -0.0171, -0.0342, 1.6068, 7.1043, 1.8926, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b038d688c8b150cb2bd41d9d5c8ea981c0e1f38a1fe272f2ac5486f614400a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f8b6d2b3a1eefdaf212336db544a77d1593142ff6f2b3e486a557389021353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a1fb2410fb27f6623ddf812387aa333c95266b521cab241441daeec42ed208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b038d688c8b1]
[blob f0f8b6d2b3a1]
[blob 44a1fb2410fb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AQ3V3vprNdteSbYDhLHEdL",
      "input": {
        "note": "The arm body is covering the area where the blue block should be, so I can't verify anything from the overhead view. Pulling the left arm back and to the side to get an unobstructed overhead look at both blocks.",
        "targets": {
          "left_j0": -0.6,
          "left_j1": 1.0,
          "left_j2": 1.6,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AQ3V3vprNdteSbYDhLHEdL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6155 left_j1=1.0317 left_j2=1.5661 left_j3=-1.0756 left_j4=0.0067 left_j5=-1.0191 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.2513, 7.5009, 2.1905, -0.0562, 0.0269, -0.0073, -0.0889, 1.6068, 7.0085, 1.9365, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a33759eef589e49dfe84dd3b807d51b457b57d6fc89986fa63f5f0b1f587f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920329ca744f54846613f7b6f4330f796681938e74d8d560d689f5e363fe399c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84199cd2082127ad2faa842ca8aeee890c78870dff82dea752696bba66e93cb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 12a33759eef5
wire blob 920329ca744f
wire blob 84199cd20821
call 4 attempt 0 · /messages · status 200 · 16.97 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=-1.0161 left_j1=1.6875 left_j2=1.1416 left_j3=-0.9958 left_j4=0.0032 left_j5=-0.9936 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.3368, 7.5556, 0.0611, -0.0366, -0.022, -0.0366, -0.2803, 1.4701, 7.0085, 1.9609, -0.0659, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0191 left_j1=1.6138 left_j2=1.4338 left_j3=-1.3849 left_j4=0.0063 left_j5=-1.0111 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [0.212, -8.253, 7.788, 0.1441, -0.0611, 0.1294, -0.0171, -0.0342, 1.6068, 7.1043, 1.8926, -0.0269, -0.022, -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=-0.6155 left_j1=1.0317 left_j2=1.5661 left_j3=-1.0756 left_j4=0.0067 left_j5=-1.0191 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.2513, 7.5009, 2.1905, -0.0562, 0.0269, -0.0073, -0.0889, 1.6068, 7.0085, 1.9365, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a33759eef589e49dfe84dd3b807d51b457b57d6fc89986fa63f5f0b1f587f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920329ca744f54846613f7b6f4330f796681938e74d8d560d689f5e363fe399c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84199cd2082127ad2faa842ca8aeee890c78870dff82dea752696bba66e93cb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 12a33759eef5]
[blob 920329ca744f]
[blob 84199cd20821]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Exr7qRTiGYhNNhPb2hkWA2",
      "input": {
        "note": "Clear overhead view now: blue block at ~(90,158), red block at ~(143,152), both roughly 30 px above the arm bases. My pixel-to-metre scale is uncertain, so I'm putting the gripper down near the table (nominal r=0.25 m, z=0.05 m, yaw -1.0 rad) to see exactly where the jaws land in the overhead image and calibrate from that.",
        "targets": {
          "left_j0": -1.0,
          "left_j1": 2.007,
          "left_j2": 1.036,
          "left_j3": -0.6,
          "left_j5": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01Exr7qRTiGYhNNhPb2hkWA2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.984 left_j1=1.8885 left_j2=1.1122 left_j3=-0.6937 left_j4=-0.0551 left_j5=-1.0092 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.5128, 0.9778, -0.7043, 1.3846, 1.0916, 0.0366, -0.022, -0.2256, 1.6479, 7.0906, 2.0977, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4b54a20d3649c313f16f92907db252c79d8a982d36dd6347efb4a1301d03ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40dc18e9a70c575a74620952d8be1126a09f46cd21e9ad5af1872d23aa894b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38314a4a352b40c0bc2b19597218bb501554e40c376e58d2e6899bab7489d01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af4b54a20d36
wire blob 40dc18e9a70c
wire blob 38314a4a352b
call 5 attempt 0 · /messages · status 200 · 11.18 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0191 left_j1=1.6138 left_j2=1.4338 left_j3=-1.3849 left_j4=0.0063 left_j5=-1.0111 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.999\nstate[joint_eff]: [0.212, -8.253, 7.788, 0.1441, -0.0611, 0.1294, -0.0171, -0.0342, 1.6068, 7.1043, 1.8926, -0.0269, -0.022, -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=-0.6155 left_j1=1.0317 left_j2=1.5661 left_j3=-1.0756 left_j4=0.0067 left_j5=-1.0191 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.2513, 7.5009, 2.1905, -0.0562, 0.0269, -0.0073, -0.0889, 1.6068, 7.0085, 1.9365, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.984 left_j1=1.8885 left_j2=1.1122 left_j3=-0.6937 left_j4=-0.0551 left_j5=-1.0092 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.5128, 0.9778, -0.7043, 1.3846, 1.0916, 0.0366, -0.022, -0.2256, 1.6479, 7.0906, 2.0977, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4b54a20d3649c313f16f92907db252c79d8a982d36dd6347efb4a1301d03ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40dc18e9a70c575a74620952d8be1126a09f46cd21e9ad5af1872d23aa894b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38314a4a352b40c0bc2b19597218bb501554e40c376e58d2e6899bab7489d01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af4b54a20d36]
[blob 40dc18e9a70c]
[blob 38314a4a352b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017eS5z1CH1j7xSCwgcnixaQ",
      "input": {
        "note": "j1 stalled with positive effort — the fingertips are touching the table, which gives me my z bias (planar-FK z=0.09 corresponds to true contact). Now I'm lifting ~7 cm and swinging the base yaw to -0.6 rad; comparing the jaws' pixel shift between these two known poses will calibrate the overhead scale.",
        "targets": {
          "left_j0": -0.6,
          "left_j1": 1.763,
          "left_j2": 1.286,
          "left_j3": -1.094
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_017eS5z1CH1j7xSCwgcnixaQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6228 left_j1=1.7924 left_j2=1.2587 left_j3=-1.0187 left_j4=-0.0532 left_j5=-1.0115 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.7162, 7.2137, 0.1929, -0.0562, 0.0024, -0.0122, -0.1436, 1.6068, 6.9949, 1.9512, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46beb386672a1e493d3aed49a3776b8c7330571d1edbcb51a29319cf0759263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b64bef13288eb5964a60b98072ad8bf63ff209cebcf455ab957f8c0d3f5795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c207c95aaea34cf9797c749b3719f92c7385a1d8867483399e08b07fc12101e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f46beb386672
wire blob 77b64bef1328
wire blob 8c207c95aaea
call 6 attempt 0 · /messages · status 200 · 9.873 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=-0.6155 left_j1=1.0317 left_j2=1.5661 left_j3=-1.0756 left_j4=0.0067 left_j5=-1.0191 left_gripper=0.9998 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.2513, 7.5009, 2.1905, -0.0562, 0.0269, -0.0073, -0.0889, 1.6068, 7.0085, 1.9365, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.984 left_j1=1.8885 left_j2=1.1122 left_j3=-0.6937 left_j4=-0.0551 left_j5=-1.0092 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.5128, 0.9778, -0.7043, 1.3846, 1.0916, 0.0366, -0.022, -0.2256, 1.6479, 7.0906, 2.0977, -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=-0.6228 left_j1=1.7924 left_j2=1.2587 left_j3=-1.0187 left_j4=-0.0532 left_j5=-1.0115 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.7162, 7.2137, 0.1929, -0.0562, 0.0024, -0.0122, -0.1436, 1.6068, 6.9949, 1.9512, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46beb386672a1e493d3aed49a3776b8c7330571d1edbcb51a29319cf0759263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b64bef13288eb5964a60b98072ad8bf63ff209cebcf455ab957f8c0d3f5795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c207c95aaea34cf9797c749b3719f92c7385a1d8867483399e08b07fc12101e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f46beb386672]
[blob 77b64bef1328]
[blob 8c207c95aaea]
{
  "content": [
    {
      "signature": "CAISxyIKjAEIEBgCKkD5gcmYX1/zWunZ9pKcFduBxLaRNGciinHb9lKm9tvDGfC+e1NdAfVmRm2jDGVn73cCO8DTfhsDRx15ZQCM2YPhMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZMUvXDWewUYqJlDcGgzZRsZNx7nf3573j8ciMPcN/OmK0vsixxasXI7cG+eNbc/a2JU5LEa4YEjq4F7iIcPZglb8YwSyX7ElhlVFESrnIOEUVwlvZWRkF+ffXLp2FrqvSh0qDdYFKqBfitGS8XioIKHvsJ5c/TlwofYrY1ck/Ds1c3A9Z7Vff5ucHz/5D0E9vWh9m3KWVQSRyxx5Ptb5cCaeZRabLJdlU8lD3lrqAtSrJVnmzjboFOvMvZKSNRHfgEBmPpAIvhagzU38wB7+/IJD2EXPtIBjfTf+W6iiEFglc2NqIQGSnvz58L1ql8Hhwa3uHtecPtHm7Mp6TEAMbuGPEvfnU0hz5F/cgd83lBkKrS0/LNsFM0bGkwzGFsSrb7roJ4E5wduweI0stbJQpjOtB4aHI8Xv+xTj2+x6n3/kXkPnksdpeL1fc03Sw/4/Uza6Twqjc1MtQLjYZMUAmoQjfMw5951VbClGufMGLEUJ1sN9mN9G2gPbYTVdEOi0i3p8JtFAA54r2ynH6+hwhuOZiKObe2YSfAAmA8s1dGcFdskDvVNf7CoqlQiPrGVJzKt9prLXUccMmx6xj8TJafGoh/huh1+Ot0nHBcrsugNaqa/9t9hr+EecSM8oNPG6hM+JyBHZGGgTE6Phj2mK2uzITQAIB1YiT1fnswihu6MRpVIfv3GvYVyd9qSQZ3vrvpds7noGvOusZamYbbDGDJwP7QYVyaA4bC22avQ/vHhghM9iwGCXOvvoXagTD7xXMgpZBN5kTSLRl8Y4shPSstefaxrphDj2rH9ESARb/2qXD48MKuHDazs+uBPBp+hVXs8sh17vb2u3tegkQKFNfbgI51DeWK+IoKys7jqSs2GoD++iv6IDvNVp4Weq29utvCDGbnSLch3q28RAeEL8XPx2k9270V97rRBi8a1n/pRZeDFExUfrQCJzy98D/ACQZdDlzmCIGAJQPHurCq2vUwdFyb9ToMVwf+Cgw4h7oJ3bWw/wbJo3DDyXgqOP6gjsnbd90n82r61e8xLXZquJnfBWrIUuwoFn7P6gQ6Yvc+XVGHyhb5j4cc6R7HZVeLndzyaoLLTA/LaKlhsu5OUgMyqyTrgnvGLpdfdBecPYV+QgpLw0et+4gPLwIQPDKpO6hXoH6qf+AxNIQYA49oc+LxtyRIqtN1kcdy6TzPxW1H90rzaH5z65xAtU4XMiLXtgNGB8mfuOIU7QdgOAdTB9dSZgWDQ4oUdd8zECFa5M7+o7jGTUUcMidWxK5RLoSl3UALcNanFeyentKdgYMtOoRoLw4LYJ3tTrIpH4pUfMqmmhX5wqXV8JRfkXYbXieZZ7KqXLP8bohE8uAR5e4e10kb0BAArUGYutZsO6OdnX/6MWE2yW/RaSnEJ2ATxHwOfZKEXrryMGdJoG+kLTC5KPAbt6YykGCe/k73tnu1ZY/t32gDuiOxsIY5aigdSPw+qlCPDVHMIPfcoZmXiA1iBzaru1H57RPcdKwW5HKaCfoK1wDxCIGT3i0vr6o5P1lA/Kc7EJqE0o8C537caM3iFp5eEp2sUUxhz6na3Ur+OZL1hBlF2JybTP42oyX+SiZPyhsZVKZw+fl9qhtxK5ggZhNQTLzZIMGz/aUQw7IiY1xA4MkPhlw0CuNXWrNbF5VuEPFQPhhGzOBx6M/6ViKjgOQEIIEZOyP+ieworCkEUoywz8GCxCWwogwgdiSRTi7ijYKNOOpPmfwCMP+9pXKwdJuTZUxTjYkUPsrLPTkEo+eDypDo0P+7/aO8irk/TXb1Z5TqSrU/TtNjE0QW5u8/8rkrKNBzL/VooCQCspNofCWni/9s13sZZE31NhWVPhKKJ5gs0zrLUleIFqZUHdcgoNLU8+ulHBnXrLbs6g0AiH+wz9D/CKUsT+qsYGA0dVUR8SsjV2QIDW0ofcJIEQGyGkkI7PH879qmTUandzf8xjgBt9++XGfUY5RAlbHHbj+0jThX5RKiTTLqVgAQh7M8D9s+Fro4YaXe5ulurzEAmU3v/STo9Gu5p/npAn3FlUzJW6La//dz+hVgRgmqsRPuNgGveBd6xiKvOGlcs1RPy93H0EA/Xj0HJ+Zgg1bHwqaadsRoHCOsz/BAVGFRBt9OA/HjM66jScmh4p210+/36aY9oTdk34RxZbKBSTd8Lx+ptYeXP2aavrj2n6extKJ7Uz1LIl6cteyJnuVoF8pnQNZ5qv1xp3WTWzHwydO/xQItkEz7iek5HaNqlM9n7ctRt075rdboODuhiEw3VTFRqmFAuYTmPGR+hWHzPk5sMg9IJcn30PyDB4g2Ysk93z+fw4H5aIhI06EOvbQaCJnJdKXDFLRWMZfxgoSrbZ9JUoY1i/MD3/gX5STe92EPeUhnI30WLK9eBLdJRcYFQOQVDLo7TiqzHSY4thNUaYjM0QXwWYO9/E2Bqv4WdYctd2UlZ2g+pb0f6BZ3Jjv+mrVWNJc20zArNfK3OQgtX4pY0p3mfYFkErMPsn2fY9UiG9B2TIAGhUGOYras7CfH3NfWhlBkFmQFDp5cvMUFLVThYMIJcNizztkoEWY8bfnczKHAtcenGx7D/6Goi4UeKZB5PFfe8aAbuYo8CX22I9U0rawJxgU1eWTxyF2B6MItsJxhFkaqfkNIZS4ZKWpPRDTlKsnh4DdFUeNYMpIRSO+LbqUtrsfnn+w9MJZVmyxhQsEEGoxBKIh9Cyu8HdEVRTXWLdHjaWVgQBchyr4jwKnhNFfMLZjh7OwV01lZXq+sa1lev1aoN++eetem1PSyAw1Me2PRwta2CgMPUfBF7tjTKkoyS7shoKzBw6Vf9uAslRll04t67P7Zy37hYKdfrNL740gAMBheY/M0ZlbMc6jQaD0udkm7GqE5bZAgG8eWA6ynGuKRr2DPTn94dyWcyIbBkDkbtzMVhZ3kjSNWN90LwyIEvJqo2vMFGN6qdZYfWryYLbuOLIchCa+nR/r7XdQbgxqtGyBMVeN8M9n7B7Gpb8G2xgykhHQ4ZTR3mzH92q5NMKPDwNu4Q3QHjqVMr9x7vmLw6Lk2HmcPBMr0N839WPwlWAyztvYt0qHsOq475RpuTWk3D94maK4AMssTEJGQT2sDudphIlynFOhMV5AzqVD+g7xOFzWfZWH995mvZVeIR6aZtmFBwqDYI2LQzxAgQw1f449eQe/hLi3eE8oEqYJ88G73IvjaoNUG9Rp1rHlsIzlnkDLVXHr4AlnsDpT+9D++aR97qiUHzgihxzn6bpcSsirCCIn6P50VBLx/yyEVbjVsfZB+QxjuV3TH6dAYm6M04APPT2OECWUI+ek/ccYaagss6OsLRB/lAqy0IRZlsbZ9CoaqlXEFiNFsmjB0vQENmSt8mI+aFQT35cT+tOAMY6LTo09CKSexW5ZlLSd8nMqq3lDRkyW73iyVxYrq1cBgRkZ0f4qsbdw06fZd/67WeSEaM8z1HsnuFICDIBK7eCezGdu2ROrzmZWQsk3zkN62mb/z3zIsxVd89+arACOMFZntZgKZjbxKwaIABOm4Oo6Erc3n7pA/MQFiXxSxRBaK4SJlKqBTNK6imJMCNw80bRFiTTA+7cd5X3OrPVBlb/1QJZf+wohzjdjB/IKje0/ksllSem2m2hGGIDgoAg+ay+oj6Td4CXY9BZbISAkHOxW+vJoRif8QFLKP+oWizLT3Hv5A98KeYf8Q8U4SXa2JjYAnLVgKR+vxGTLNcYC+O2xX66GYb951UF2BIf1Yt984zbIfdkhS4/7WQtEgounZaU4b8ZPUBVcwYnJAC4GYinj+8LNm2MQGBrImwWgWNI8V+lbNxY6a6RTJE8r7HF2ibqb8wdllv9gjL3YwjoNYUdysVyJFBqZNsf/gNUzh+joWh26noRJ1pPW1BqPWoU6YBwhswThz8tC/G555VuxXfkWQsWMa2NEUXzUyHyALElZ9nahl/2qtoAzkTDxacdrHvGNGG1JyeK+qGkklenUEZGFDBOhHWLPMh54d5rkHaQL3U1aaMNdWD2mK7QvsdmY/enciM1j8vXSqtQKPJC4A2zxJTzBnu9bp9n88eZDP7I+T8ihlaym/MXXiRcKH/PE6xTgAYFSBdT8lwbHEjaW4osmwYRTe3WIc/LDzu609iAkvtoHy5kirV3/AAwehuvK6QnnP913ttbFUp0u1x/FyIPzHtRWAtkbO8zSb7vjGAsyJrv/0XxX/C3MCq3sXPj9paRJy1vaVQGK9VeO8AYr34W7kJ0Q9K9XEwqKDNtRKLjx/MaDfelzDCRnHlN90ceQn8xGf8ka08WrzV+1oNa4wcyeW2RdXGrrOzIqunCGTZmwdEffuNDlD4i365oBaOsSla/XeQDz//7VQjznPVLAhi9FLWkwUoWAUM/25EXOq+dE06xTI7im6Q1CQ/4br0eU3btelfxxf34mzAWqyzLlIG34k8oO5qbWTleGo1vQab+Ioya15CCb05cUS3NvwGmhyBIMWiElpiIBFFi/5miA01obEKlluLbQSw/ur/iI/fqvygKVb34DAt5we04v6AO+fdfIl0qA455PfvoPtdk2J12vg6A7gC0uoX7ZWMzHR6zdAdlSaC/zO9QgjICKRTD+j5YTLTtAb/4IA2VgaT1/Ws/sQxksAuMB47cqShlTK6E/SKHIJzkRFdChqm/3GRBuJirU/W9MpEV5KilTELGkqr47SfztIzuctAQsgUux54A9u+ssaiuIjhLmFh4gVFvaD2XL5zgb0iwBsg/SKQWRXX8p+a4F1wob8xxJiXNCjKDzoO2sHMIbHCcx6pDsx/o4SA8J3F8AhPzj4T6xJnqVekhPFa0h1AyFpBk0IyUlmeYMeER0/QEDZ0Dj2p+qUyu3n2u5aOU+0QxwOjsCRrxHSjKtGDSwl8bzYfWbG0RwomgRIs3O6KkxfeTNww59kcUH+TseBAq3AKw30aCDyJ1f67GlMqr1fWT13mkRVLj7PUnFK6DwAs8V6DDriZ0Ow6NDIKHgm/7hHuKdSzJrnTxe3i/wXlvegZs/s1GGGxMhwz0536HAhKRScuVUxBEnctG35+QrNycKI9UHFeCavMnRkFyku4Jl6lVjDU1n8BLaCVcnhsrhdstKXm0v8q0Xwg+7xC+n/LfHs6/lck5ey4Q1qYE+Rutu7kyeYnIulllaIZLWmxOSgifzdJNlHd6HTmJtw1oRTaJrCzxDUI55ZtPRidATceB/A+vg6fr0/KT2PybLIhFNOsHSRb0dt0AXi3C2IPm+zIJWhniUk4GqffgRe63W9c4jnveqdFs3RkQW3aumMNJUAjpS4/doepZ8YlLhwJP+fohwCAzpJYPPzanQiqDwFd4QA3EY8SnidKFbsvojflGzE4buVztvEdx12Toeu6JPHmvzmlSA5muHuXJmbD2MT24c9nuQeh53fLQLMrjeb7guDJ2zPHk4BZpBvVYYnqdw65c8mvvjLMOBo1IMH7dp6+gNB10m36iEVtxqGlyLNcxfPmwRDwvCBdgyTObRCFG42S2WDaflReIi5M7I+sc8Aj6RW/RyQu14lhWV9bVdjuo5lXRH9fO//+Y9t439XaSvV7PRG0hSFiifhpS8oXIukmTS8vMF4214qbmAJrWNK2C020TZZxHxeQUFgQzrxA2PmtVExEObr6UqNczApRH+oIlq6PWwTNfvZsI2FTaBPEA8pxNUHuzxfpXfIV1sM7oHaFqhmVmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KijMf1XDLYhozC5tJRcraT",
      "input": {
        "note": "The blue block has appeared in the left wrist camera (upper right of frame), so I'll servo with the wrist view instead of the noisy overhead. Zeroing wrist roll first so the image axes map simply onto arm axes (image-right = arm-right, image-up = radially outward).",
        "targets": {
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01KijMf1XDLYhozC5tJRcraT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6239 left_j1=1.7805 left_j2=1.2591 left_j3=-1.0344 left_j4=-0.0532 left_j5=-0.0891 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.2274, 5.641, 0.4274, -0.0708, 0.2662, -0.0171, -0.335, 1.6615, 7.159, 1.9023, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b7535bfd70ac0240e3f4cf50c86f6b3f9bf4b25a3e321711744cbebdac7fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1ab1fe60b0b923265142875e23d857ccabedbef5991e3089f07201c9448d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8908e953b6dc8dbfec9360e17895b62051684e48281fb984ce1b50166323769d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 15b7535bfd70
wire blob 5d1ab1fe60b0
wire blob 8908e953b6dc
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=-0.984 left_j1=1.8885 left_j2=1.1122 left_j3=-0.6937 left_j4=-0.0551 left_j5=-1.0092 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.5128, 0.9778, -0.7043, 1.3846, 1.0916, 0.0366, -0.022, -0.2256, 1.6479, 7.0906, 2.0977, -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=-0.6228 left_j1=1.7924 left_j2=1.2587 left_j3=-1.0187 left_j4=-0.0532 left_j5=-1.0115 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.7162, 7.2137, 0.1929, -0.0562, 0.0024, -0.0122, -0.1436, 1.6068, 6.9949, 1.9512, -0.022, -0.0611, -0.0171]",
      "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=-0.6239 left_j1=1.7805 left_j2=1.2591 left_j3=-1.0344 left_j4=-0.0532 left_j5=-0.0891 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.2274, 5.641, 0.4274, -0.0708, 0.2662, -0.0171, -0.335, 1.6615, 7.159, 1.9023, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b7535bfd70ac0240e3f4cf50c86f6b3f9bf4b25a3e321711744cbebdac7fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1ab1fe60b0b923265142875e23d857ccabedbef5991e3089f07201c9448d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8908e953b6dc8dbfec9360e17895b62051684e48281fb984ce1b50166323769d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 15b7535bfd70]
[blob 5d1ab1fe60b0]
[blob 8908e953b6dc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BB1eKhPHoueNPbeuLZL6Jv",
      "input": {
        "note": "Wrist camera now shows the blue \"I\" block clearly near the top of the frame, meaning it lies ~7 cm further out radially than my grasp point (bottom-centre of the image). Moving the gripper 5 cm straight outward at constant height; the resulting pixel shift also calibrates this close-up view.",
        "targets": {
          "left_j1": 1.969,
          "left_j2": 1.5015,
          "left_j3": -1.1033
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BB1eKhPHoueNPbeuLZL6Jv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6239 left_j1=1.9533 left_j2=1.4593 left_j3=-1.0946 left_j4=-0.0532 left_j5=-0.0837 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -9.4154, 7.665, 0.149, -0.0317, 0.0366, -0.0122, -0.1299, 1.6068, 7.0769, 1.9316, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a1df17990a1acfd834084f4c2a2e446368119620cde94ace8329a6604e0ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6159b3ee033490209520e85fe03e7a9bebddebbeadc0a4e5cda04bb48812d387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c95ac6bd8163710cfc30ed3b921ead9cc2995c1539c652b8364f06da5afa04ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e9a1df17990a
wire blob 6159b3ee0334
wire blob c95ac6bd8163
call 8 attempt 0 · /messages · status 200 · 8.537 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=-0.6228 left_j1=1.7924 left_j2=1.2587 left_j3=-1.0187 left_j4=-0.0532 left_j5=-1.0115 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.7162, 7.2137, 0.1929, -0.0562, 0.0024, -0.0122, -0.1436, 1.6068, 6.9949, 1.9512, -0.022, -0.0611, -0.0171]",
      "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=-0.6239 left_j1=1.7805 left_j2=1.2591 left_j3=-1.0344 left_j4=-0.0532 left_j5=-0.0891 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.2274, 5.641, 0.4274, -0.0708, 0.2662, -0.0171, -0.335, 1.6615, 7.159, 1.9023, -0.0757, -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=-0.6239 left_j1=1.9533 left_j2=1.4593 left_j3=-1.0946 left_j4=-0.0532 left_j5=-0.0837 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -9.4154, 7.665, 0.149, -0.0317, 0.0366, -0.0122, -0.1299, 1.6068, 7.0769, 1.9316, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a1df17990a1acfd834084f4c2a2e446368119620cde94ace8329a6604e0ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6159b3ee033490209520e85fe03e7a9bebddebbeadc0a4e5cda04bb48812d387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95ac6bd8163710cfc30ed3b921ead9cc2995c1539c652b8364f06da5afa04ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e9a1df17990a]
[blob 6159b3ee0334]
[blob c95ac6bd8163]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AFWkt6U5pdAzFMecfLfQQU",
      "input": {
        "note": "The 4.2 cm outward move slid the block from y=60 to y=110 in the wrist view (~12 px/cm), so the block sits ~7 cm further out still. Moving another ~6.5 cm outward and 1 cm to the arm's right while rising to ~9 cm height, to hover the open jaws over the block.",
        "targets": {
          "left_j0": -0.657,
          "left_j1": 2.1246,
          "left_j2": 1.8878,
          "left_j3": -1.334
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AFWkt6U5pdAzFMecfLfQQU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6514 left_j1=2.1086 left_j2=1.8412 left_j3=-1.3083 left_j4=-0.0528 left_j5=-0.0944 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -9.9624, 8.0752, 0.1197, -0.0366, 0.0513, -0.0122, -0.212, 1.7846, 6.9949, 1.9609, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479155ff87eb0560995f8f1141ee2a1667bb1ce02db6fafac7671ece3c23492c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32272752c7023216a4da94ea9383485d9b788a3e3929666d36844f200647252a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a902eff06daba85e07bda8ee8fbdfe7ef0be7ebc8543e682d15cd4d29eee747f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 479155ff87eb
wire blob 32272752c702
wire blob a902eff06dab
call 9 attempt 0 · /messages · status 200 · 7.798 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=-0.6239 left_j1=1.7805 left_j2=1.2591 left_j3=-1.0344 left_j4=-0.0532 left_j5=-0.0891 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.2274, 5.641, 0.4274, -0.0708, 0.2662, -0.0171, -0.335, 1.6615, 7.159, 1.9023, -0.0757, -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=-0.6239 left_j1=1.9533 left_j2=1.4593 left_j3=-1.0946 left_j4=-0.0532 left_j5=-0.0837 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -9.4154, 7.665, 0.149, -0.0317, 0.0366, -0.0122, -0.1299, 1.6068, 7.0769, 1.9316, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6514 left_j1=2.1086 left_j2=1.8412 left_j3=-1.3083 left_j4=-0.0528 left_j5=-0.0944 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -9.9624, 8.0752, 0.1197, -0.0366, 0.0513, -0.0122, -0.212, 1.7846, 6.9949, 1.9609, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479155ff87eb0560995f8f1141ee2a1667bb1ce02db6fafac7671ece3c23492c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32272752c7023216a4da94ea9383485d9b788a3e3929666d36844f200647252a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a902eff06daba85e07bda8ee8fbdfe7ef0be7ebc8543e682d15cd4d29eee747f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 479155ff87eb]
[blob 32272752c702]
[blob a902eff06dab]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XM1wLDFrfVB29CFHY4CSQ",
      "input": {
        "note": "Block is now centred laterally (x≈115) but still ~50 px above the grasp point in the wrist view, i.e. ~4 cm further out. Moving 4 cm more outward at the same ~8.5 cm height so the open jaws straddle the block.",
        "targets": {
          "left_j1": 2.2687,
          "left_j2": 2.1037,
          "left_j3": -1.4058
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_019XM1wLDFrfVB29CFHY4CSQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.2532 left_j2=2.0575 left_j3=-1.4014 left_j4=-0.0528 left_j5=-0.1017 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [0.0068, -11.0427, 8.5402, 0.2613, -0.0611, 0.022, -0.0122, -0.1573, 1.6068, 7.0769, 1.9219, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b0029a4db02f0a397c27878f68b4dd1bffdddafb13985cd0400db1b145b8f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cd127427d9cd10c67df3eecc232c4a975f347360d9d292d0d1cf6cf46048814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e6d0082556d80b1d57bc751e0f735a6095bdd9c5efdb00a31b268173c5aa0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6b0029a4db02
wire blob 7cd127427d9c
wire blob 5e6d0082556d
call 10 attempt 0 · /messages · status 200 · 6.527 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=-0.6239 left_j1=1.9533 left_j2=1.4593 left_j3=-1.0946 left_j4=-0.0532 left_j5=-0.0837 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -9.4154, 7.665, 0.149, -0.0317, 0.0366, -0.0122, -0.1299, 1.6068, 7.0769, 1.9316, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6514 left_j1=2.1086 left_j2=1.8412 left_j3=-1.3083 left_j4=-0.0528 left_j5=-0.0944 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -9.9624, 8.0752, 0.1197, -0.0366, 0.0513, -0.0122, -0.212, 1.7846, 6.9949, 1.9609, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.2532 left_j2=2.0575 left_j3=-1.4014 left_j4=-0.0528 left_j5=-0.1017 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [0.0068, -11.0427, 8.5402, 0.2613, -0.0611, 0.022, -0.0122, -0.1573, 1.6068, 7.0769, 1.9219, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b0029a4db02f0a397c27878f68b4dd1bffdddafb13985cd0400db1b145b8f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cd127427d9cd10c67df3eecc232c4a975f347360d9d292d0d1cf6cf46048814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e6d0082556d80b1d57bc751e0f735a6095bdd9c5efdb00a31b268173c5aa0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6b0029a4db02]
[blob 7cd127427d9c]
[blob 5e6d0082556d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J75CroPsousrDVuWfrVKdh",
      "input": {
        "note": "Block sits just above the jaw gap in the wrist view (x≈110, y≈175 vs grasp point 115,200) — nearly aligned. Moving 2 cm further out and descending from ~8 cm to ~3 cm so the open jaws come down around the block.",
        "targets": {
          "left_j1": 2.3792,
          "left_j2": 2.0666,
          "left_j3": -1.2582
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01J75CroPsousrDVuWfrVKdh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3394 left_j2=2.0697 left_j3=-1.3361 left_j4=-0.0525 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -12.1368, 5.5179, 0.4322, -0.0611, -0.022, -0.0171, -0.0889, 1.6205, 7.1726, 1.8779, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64bf9f8623b89cd76ce21fae55c97361d6bd43e174599507b765c1133dcf1db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b6c01a3643812a7efe66da489e5a43ccaa7058d489e761ba5201898f0af297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c1ea0bb87c2320d31bbabc77de58b2678c3b400c8a689637efa82e983cc579e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 64bf9f8623b8
wire blob c0b6c01a3643
wire blob 2c1ea0bb87c2
call 11 attempt 0 · /messages · status 200 · 5.095 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=-0.6514 left_j1=2.1086 left_j2=1.8412 left_j3=-1.3083 left_j4=-0.0528 left_j5=-0.0944 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -9.9624, 8.0752, 0.1197, -0.0366, 0.0513, -0.0122, -0.212, 1.7846, 6.9949, 1.9609, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.2532 left_j2=2.0575 left_j3=-1.4014 left_j4=-0.0528 left_j5=-0.1017 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [0.0068, -11.0427, 8.5402, 0.2613, -0.0611, 0.022, -0.0122, -0.1573, 1.6068, 7.0769, 1.9219, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3394 left_j2=2.0697 left_j3=-1.3361 left_j4=-0.0525 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -12.1368, 5.5179, 0.4322, -0.0611, -0.022, -0.0171, -0.0889, 1.6205, 7.1726, 1.8779, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64bf9f8623b89cd76ce21fae55c97361d6bd43e174599507b765c1133dcf1db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b6c01a3643812a7efe66da489e5a43ccaa7058d489e761ba5201898f0af297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c1ea0bb87c2320d31bbabc77de58b2678c3b400c8a689637efa82e983cc579e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 64bf9f8623b8]
[blob c0b6c01a3643]
[blob 2c1ea0bb87c2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015TXNFAx7TZV8c5oLxZm8LP",
      "input": {
        "note": "The block is now framed right between the two jaw silhouettes at the bottom of the wrist view, but the descent undershot (fingertips ~4.8 cm up). Commanding a bit past the target to bring the fingertips down to ~2 cm, where the jaws will straddle the lower half of the block.",
        "targets": {
          "left_j1": 2.42,
          "left_j2": 2.1,
          "left_j3": -1.28
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015TXNFAx7TZV8c5oLxZm8LP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.4001 left_j2=2.0632 left_j3=-1.2903 left_j4=-0.0532 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.0154, 8.9915, 0.2173, -0.0708, -0.0708, -0.0122, 0.0068, 1.5932, 7.0085, 1.8926, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbd2030e7dbceb65c7c5d7e6e22e65db578253449737f3b2fb6f05f7a66d2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c515f37643a10f15254c355805f4b58a3ab82b4248144605824c4a501a0919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dc31f53bd64f7f274147a88903c720b99bb8093494c85a2193dac9ee18ac31b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8cbd2030e7db
wire blob 35c515f37643
wire blob 1dc31f53bd64
call 12 attempt 0 · /messages · status 200 · 16.21 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=-0.6537 left_j1=2.2532 left_j2=2.0575 left_j3=-1.4014 left_j4=-0.0528 left_j5=-0.1017 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [0.0068, -11.0427, 8.5402, 0.2613, -0.0611, 0.022, -0.0122, -0.1573, 1.6068, 7.0769, 1.9219, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3394 left_j2=2.0697 left_j3=-1.3361 left_j4=-0.0525 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -12.1368, 5.5179, 0.4322, -0.0611, -0.022, -0.0171, -0.0889, 1.6205, 7.1726, 1.8779, -0.0659, -0.0562, -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=-0.6537 left_j1=2.4001 left_j2=2.0632 left_j3=-1.2903 left_j4=-0.0532 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.0154, 8.9915, 0.2173, -0.0708, -0.0708, -0.0122, 0.0068, 1.5932, 7.0085, 1.8926, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbd2030e7dbceb65c7c5d7e6e22e65db578253449737f3b2fb6f05f7a66d2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c515f37643a10f15254c355805f4b58a3ab82b4248144605824c4a501a0919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc31f53bd64f7f274147a88903c720b99bb8093494c85a2193dac9ee18ac31b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8cbd2030e7db]
[blob 35c515f37643]
[blob 1dc31f53bd64]
{
  "content": [
    {
      "signature": "CAISzAYKjAEIEBgCKkB0dJLjIgfHrGFYb9+EL33oD7OD3xDA10BDngf51gPBZx+/1wrYtYwRQKbBfQaQQVfA8gBtKbrWXqAPe75s0KKGMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwTWMMbwyUqUoSOMmGgw+C/dOjveC/6e3UqwiMN88SMcAZ1jb+E7oLPwziZFVqEYzCjC4NUUfQsXOWoA1qgZ2f7TQX6mvtiHFXVcXwSrsBFnfBtp/oYPNHp/GqlVoWn9fZjU/UE+Prwi1x0q+qFSH1bmCIju1n4GotVsOcJXFLNZjlXvrNGhdLIM6av+KroYrT4a3iqA93gKyedgyLs9mL3NQMH9Eb4fTKuNEiKWClwYbYGSK2zdRdtK7Cnw4j49yF1aWcGqI6wQFoSeqT7XjIYZ4NC60AVWr60oFa4zGPiWML/J+jsTdgRYgwveX8WC/9xYkazRyEtuc4OTR4Ck4L6z6Xi0TF4GezkF5IbrvFh9u/7jQSur4AcShgH0WNZSL7mq/9CaFypf9uN4a9GEzU+yje4siBX/l5ztsS5lety10NJ1xlooExJ9i4Y7niw+2KcWDNVAAjOA8yxb/VPu/LoGVP+ewNYJtGZxUjSe+xvVbZ8JRhBmXJ6yheYWGdAPgWaDpxAHqc/W+PBsm8lqddWjbe/9E8XPsWSkNGIelgugowlXyfXkOfgvgfYHQgJ3Smvg1K0HL5F/pKskkB77E5Dc4oDp3OtXnJU/n3DzmMk68Q+E5Ebi6cww3jGuOxal5ywESNN++jgRzoisafCRgMnNPHb1dSNjzKL/P0kgGYwrNpphSx0qCChmz4ZOvCsmlJBPM2pSSwy7L2bGhOfUyrBpJfb+u4ZaPlij2T1XqTAbn3WRPLbEXkoctLrvkGmezszoI7ylH7YCXnPHsSqSS62cZ32djQyXXGl8582DOjP/JR7nX04n1zENGQ4Pacvf0ZL6GU2Ux8Au079RCY7B/Ca4Ad65R1XZZ5tfEBeGYH5I0kkaG8PK+p2glJr5vubJVsW909L4OQB8lR7cH+3cdZQeNhsULMXM4+Rp0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ks8LfnfzYzWyDarcsfE9VZ",
      "input": {
        "note": "Fingertips are down at ~2 cm and the blue block shows as a sliver right in the jaw gap at the bottom of the wrist frame. Closing the gripper fully; the residual opening will tell me the block's thickness and confirm the grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ks8LfnfzYzWyDarcsfE9VZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.4107 left_j2=2.0674 left_j3=-1.2968 left_j4=-0.0532 left_j5=-0.1139 left_gripper=0.0078 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -14.0513, 5.3265, 0.1832, -0.0513, 0.0513, 0.569, -0.1846, 1.6068, 6.9949, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3565ab371320035c9b8f59ae8ac7936b6ecdef4a16e305d4784c35708cfd9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd82af8579b1cb51fe610ee28a9f555f0bc387f2c9d3a76b789bd30e9dfa81e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa30e19e53fab18d00aeca51991092590f10ec6d57a8c876ce67df6835435266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b3565ab37132
wire blob cd82af8579b1
wire blob aa30e19e53fa
call 13 attempt 0 · /messages · status 200 · 11.5 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=-0.6537 left_j1=2.3394 left_j2=2.0697 left_j3=-1.3361 left_j4=-0.0525 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -12.1368, 5.5179, 0.4322, -0.0611, -0.022, -0.0171, -0.0889, 1.6205, 7.1726, 1.8779, -0.0659, -0.0562, -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=-0.6537 left_j1=2.4001 left_j2=2.0632 left_j3=-1.2903 left_j4=-0.0532 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.0154, 8.9915, 0.2173, -0.0708, -0.0708, -0.0122, 0.0068, 1.5932, 7.0085, 1.8926, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.4107 left_j2=2.0674 left_j3=-1.2968 left_j4=-0.0532 left_j5=-0.1139 left_gripper=0.0078 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -14.0513, 5.3265, 0.1832, -0.0513, 0.0513, 0.569, -0.1846, 1.6068, 6.9949, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3565ab371320035c9b8f59ae8ac7936b6ecdef4a16e305d4784c35708cfd9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd82af8579b1cb51fe610ee28a9f555f0bc387f2c9d3a76b789bd30e9dfa81e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa30e19e53fab18d00aeca51991092590f10ec6d57a8c876ce67df6835435266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b3565ab37132]
[blob cd82af8579b1]
[blob aa30e19e53fa]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S878SXnov5y7p7xrsbmFmi",
      "input": {
        "note": "The close came back at 0.008 — the jaws shut on air, so the block was not where the wrist view suggested. Re-opening and lifting to ~15 cm to get a wide wrist view that shows the jaws and both blocks so I can re-locate properly.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.3059,
          "left_j2": 2.4336,
          "left_j3": -1.6985
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S878SXnov5y7p7xrsbmFmi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3569 left_j2=2.3962 left_j3=-1.6573 left_j4=-0.0528 left_j5=-0.1207 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -15.788, 7.3641, 0.1783, -0.0024, 0.0024, -0.1343, -0.1299, 1.5932, 7.2274, 1.8974, -0.0415, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02fac4c16089b764aae2573eb7e6ed236e775e3255625c05fee6a6a26c14818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd3320f8c8a42030c83cf07d5a49cb572ac434ed6328970e165e8ec087809e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec668876a947b741c7d01a2eba7adfab060e00b9abc2bd60ceca981dc1516bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e02fac4c1608
wire blob 8dd3320f8c8a
wire blob ec668876a947
call 14 attempt 0 · /messages · status 200 · 8.008 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=-0.6537 left_j1=2.4001 left_j2=2.0632 left_j3=-1.2903 left_j4=-0.0532 left_j5=-0.1055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.0154, 8.9915, 0.2173, -0.0708, -0.0708, -0.0122, 0.0068, 1.5932, 7.0085, 1.8926, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.4107 left_j2=2.0674 left_j3=-1.2968 left_j4=-0.0532 left_j5=-0.1139 left_gripper=0.0078 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -14.0513, 5.3265, 0.1832, -0.0513, 0.0513, 0.569, -0.1846, 1.6068, 6.9949, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3569 left_j2=2.3962 left_j3=-1.6573 left_j4=-0.0528 left_j5=-0.1207 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -15.788, 7.3641, 0.1783, -0.0024, 0.0024, -0.1343, -0.1299, 1.5932, 7.2274, 1.8974, -0.0415, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02fac4c16089b764aae2573eb7e6ed236e775e3255625c05fee6a6a26c14818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd3320f8c8a42030c83cf07d5a49cb572ac434ed6328970e165e8ec087809e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec668876a947b741c7d01a2eba7adfab060e00b9abc2bd60ceca981dc1516bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e02fac4c1608]
[blob 8dd3320f8c8a]
[blob ec668876a947]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016KeDrDNhFaVgosrvg9FLDh",
      "input": {
        "note": "From 12 cm up the wrist camera clearly shows the blue \"I\" block just left of and above the jaw gap, so it is still in place and slightly to the arm's left. Descending ~6 cm straight down at constant radius, with a 1 cm lateral correction, keeping the block in view this time.",
        "targets": {
          "left_j0": -0.63,
          "left_j1": 2.3585,
          "left_j2": 2.1558,
          "left_j3": -1.3681
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_016KeDrDNhFaVgosrvg9FLDh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.635 left_j1=2.3642 left_j2=2.1654 left_j3=-1.4418 left_j4=-0.0532 left_j5=-0.1207 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3487, -12.9983, 6.4342, 0.2808, -0.0415, -0.0513, 0.0757, -0.0889, 1.5932, 7.2, 1.9463, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7b85965c57a8b58f170bc158fd09380884ceb69eb956067da6806ab0f56c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62876b5e0fc25a35ee27b67b7e37e782c91991e9c07551fa2d151aafbc983541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d77f322ab1ea1650921b68466e9f2ac32e7657eb40cb4cd470c82b64b35c6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ce7b85965c57
wire blob 62876b5e0fc2
wire blob 5d77f322ab1e
call 15 attempt 0 · /messages · status 200 · 15.94 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=-0.6537 left_j1=2.4107 left_j2=2.0674 left_j3=-1.2968 left_j4=-0.0532 left_j5=-0.1139 left_gripper=0.0078 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -14.0513, 5.3265, 0.1832, -0.0513, 0.0513, 0.569, -0.1846, 1.6068, 6.9949, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.3569 left_j2=2.3962 left_j3=-1.6573 left_j4=-0.0528 left_j5=-0.1207 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -15.788, 7.3641, 0.1783, -0.0024, 0.0024, -0.1343, -0.1299, 1.5932, 7.2274, 1.8974, -0.0415, -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 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=-0.635 left_j1=2.3642 left_j2=2.1654 left_j3=-1.4418 left_j4=-0.0532 left_j5=-0.1207 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3487, -12.9983, 6.4342, 0.2808, -0.0415, -0.0513, 0.0757, -0.0889, 1.5932, 7.2, 1.9463, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7b85965c57a8b58f170bc158fd09380884ceb69eb956067da6806ab0f56c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62876b5e0fc25a35ee27b67b7e37e782c91991e9c07551fa2d151aafbc983541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d77f322ab1ea1650921b68466e9f2ac32e7657eb40cb4cd470c82b64b35c6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ce7b85965c57]
[blob 62876b5e0fc2]
[blob 5d77f322ab1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GMhjjexYRy831nk7Sam3va",
      "input": {
        "note": "The block now fills the jaw gap in the wrist view at ~6 cm height, slightly left of centre. Descending another 3 cm straight down with a small leftward correction, without changing radius this time.",
        "targets": {
          "left_j0": -0.615,
          "left_j1": 2.3668,
          "left_j2": 2.0445,
          "left_j3": -1.2485
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GMhjjexYRy831nk7Sam3va",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6224 left_j1=2.3661 left_j2=2.0567 left_j3=-1.3067 left_j4=-0.0532 left_j5=-0.1238 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.5402, -12.7521, 5.5453, 0.3883, -0.0415, -0.0122, -0.0122, -0.0205, 1.6205, 7.2, 1.9512, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f5121a01b2e5b3aa2048140eaca88b7fdd3142326d5e5c9507e8e384efa13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0180cf41f92e16abc858149dbb3b1e38f89a8fc648bf35e5797ed4e8d92736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bb93d6a8beaff7a995621ccab29c831c1191aac9a420bc33e890649714d9de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 60f5121a01b2
wire blob 7d0180cf41f9
wire blob 5bb93d6a8bea
call 16 attempt 0 · /messages · status 200 · 5.784 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=-0.6537 left_j1=2.3569 left_j2=2.3962 left_j3=-1.6573 left_j4=-0.0528 left_j5=-0.1207 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -15.788, 7.3641, 0.1783, -0.0024, 0.0024, -0.1343, -0.1299, 1.5932, 7.2274, 1.8974, -0.0415, -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 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=-0.635 left_j1=2.3642 left_j2=2.1654 left_j3=-1.4418 left_j4=-0.0532 left_j5=-0.1207 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3487, -12.9983, 6.4342, 0.2808, -0.0415, -0.0513, 0.0757, -0.0889, 1.5932, 7.2, 1.9463, -0.0366, -0.0611, -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=-0.6224 left_j1=2.3661 left_j2=2.0567 left_j3=-1.3067 left_j4=-0.0532 left_j5=-0.1238 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.5402, -12.7521, 5.5453, 0.3883, -0.0415, -0.0122, -0.0122, -0.0205, 1.6205, 7.2, 1.9512, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f5121a01b2e5b3aa2048140eaca88b7fdd3142326d5e5c9507e8e384efa13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0180cf41f92e16abc858149dbb3b1e38f89a8fc648bf35e5797ed4e8d92736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bb93d6a8beaff7a995621ccab29c831c1191aac9a420bc33e890649714d9de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 60f5121a01b2]
[blob 7d0180cf41f9]
[blob 5bb93d6a8bea]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MvHV2r8MwZec3MUxtMb5wo",
      "input": {
        "note": "Block is sitting in the jaw gap at the bottom of the wrist frame with fingertips ~3.5 cm up. Descending to table contact (watching j1 effort) so the jaws are guaranteed to be alongside the block's lower half before I close.",
        "targets": {
          "left_j1": 2.42,
          "left_j2": 1.98,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MvHV2r8MwZec3MUxtMb5wo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6189 left_j1=2.3856 left_j2=1.9949 left_j3=-1.2057 left_j4=-0.0536 left_j5=-0.1238 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.294, -10.988, 5.6, 0.3492, -0.0464, -0.0073, -0.0073, -0.0615, 1.6068, 6.9949, 1.8974, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e849234fd7878467fb90be53102549b15ef87ced2dcdafb7eeb9549f21b071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7927cc1d641efb8138aa5ac28f8e16e33552236310dff8ff57ff6baf76d154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b58cbf734917a3bcbe649e68b538e2ab3ffd0ee30045f3cc1b908eeeecc9ab7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a1e849234fd7
wire blob 6c7927cc1d64
wire blob b58cbf734917
call 17 attempt 0 · /messages · status 200 · 17.02 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=-0.635 left_j1=2.3642 left_j2=2.1654 left_j3=-1.4418 left_j4=-0.0532 left_j5=-0.1207 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3487, -12.9983, 6.4342, 0.2808, -0.0415, -0.0513, 0.0757, -0.0889, 1.5932, 7.2, 1.9463, -0.0366, -0.0611, -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=-0.6224 left_j1=2.3661 left_j2=2.0567 left_j3=-1.3067 left_j4=-0.0532 left_j5=-0.1238 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.5402, -12.7521, 5.5453, 0.3883, -0.0415, -0.0122, -0.0122, -0.0205, 1.6205, 7.2, 1.9512, -0.0708, -0.0269, -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=-0.6189 left_j1=2.3856 left_j2=1.9949 left_j3=-1.2057 left_j4=-0.0536 left_j5=-0.1238 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.294, -10.988, 5.6, 0.3492, -0.0464, -0.0073, -0.0073, -0.0615, 1.6068, 6.9949, 1.8974, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e849234fd7878467fb90be53102549b15ef87ced2dcdafb7eeb9549f21b071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7927cc1d641efb8138aa5ac28f8e16e33552236310dff8ff57ff6baf76d154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b58cbf734917a3bcbe649e68b538e2ab3ffd0ee30045f3cc1b908eeeecc9ab7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a1e849234fd7]
[blob 6c7927cc1d64]
[blob b58cbf734917]
{
  "content": [
    {
      "signature": "CAIS1QoKjAEIEBgCKkBfzj1sWwBBrQZuLubwX24tHFyaOokXDAaaBvu5FdbljiFSCw8l1Cohvsn3pvsrHbPRyD5hN1803N/f4ZmbuYvSMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBpxcJVZW1wWDB42pGgy2I5izislNAzSzFtciMB62/ayR+rYTOna0ELFT78PujNts8wOFIbDr7OYpwgD6oR8eic26njZBsZiS/HS0uir1CCyFurQ24CqR2lNNLjALsQVgU0liF/wVUon5CzqX3bhz5II9VwhsHhBGhsGBai/CXj9+aEN7QnLuB3zAQp7e064CrcWUOtW7PAY/5CsRvqrFB9pYxezfkdt6l9RQTJA4BVY6U5dU/dvTyCLnlpl7Dsr7UaSxBRvMYjBHsFbOfcSquABFc1/MKsddjfuCttvsQVDEGvgAM4nRL6PbArwZC7zhwcS5ej5WTNzn9XjYQ+h4L++7Kja2gFwoew7QrzsZTZUSpMnkMjahowyhjTCYyDsPRp+Mq8ceEedi3SLaP8MGttUE3LfBMAf+BCAFX23Mkj/5esoaFb3LjNM4oUhMnulDEFYiN2mBTdgNycFoy1NDuD6d/tUgFRYVbz2l49MRmLT952M1lU2Xrb6z0+fiUWBhj7lxIf1ZQmI7X5ORq56E4doLqO3MHlAKZZjij9mNyMsGEXwH8oCgzQhhWvw/eS9iDT5dM44VNNGBhNEAftoNOB7OdnfgN1ffAdcatHQi73lZTbldN2HX40LoK3ErShUGal2aE6mh0hqNkg+O4cNT9v5YI3ZxL/+V5bmXiB2i1nCcNHBKgAEUhtzZjQ9zArlUkWItw8pmW8dpdVZDYiS3QF86/Hl6DPgTJnlHiHP3wPcHSLEVEQUqD3h7MYGiydd52Sj8g4QSmgtu7UdzAKCKTVtxLa6SfxHKHVCGIv0htR6cms1pyUhSkm6Nw5duxyfdqDZdbupoqqngWyQDzmIHerusgVNxZM7NRl5qk91b7bNE42Nbi1o+HJA65UbLkLnvT/R515fXozkn40oHh9BTfJ+yN+npR1kIwd250PTLGovORziM7/93MOfSgv+nSE8YnkMekz2h96V85mnl9tcwtSKRlLoNHZVJ7aKAGMNkrkrN6l6hikCm65tmuWqKlsQuCOIdaUGeKcEGCctU+uhAa2Z1gU9WOmmdiRhslcaKjrvVEzQeFHfOytUBLZFNcjDHsktvtRmMcpgc3FkPU+kapEmQS6Y8BedXP2A2mDL7viPiZUtOAfdZ0vS4o+7Pw7q6biNbL2Zw3X0e+1AjFMtFGwiXI8KQlfOGdunpHHz6WwwmT2pmsa42hq9bXVIoJHrbLRXtw/N1qMV66S1nUaEAs6ZkHelY0Juh/SyBvJXfKDnRQSoa2I5epWaQUN9dav/B6PO17Qub7ODWYM1UgNnUNESjHhWtYUNaBNWJuAq2qHg8rGI3cyU5MvgjGVzP8LVpfzK39oe++Vf+5hAY+aK9Eqce8uOIJprAzgTcmDFaH1TlqcEDGGiy1u4At2O8P+fJjiJEFtFgei04XIUw6OdZOnBrDrAb0bhMmnck1v2iSlmTj7RQSsJKJyQ7LlTD9vlP7uK/9mO6TqQbQtFrTHyEaK3poXho0KS9nb2orB9thKFdTP0kOlQhUi21CjZKQIag/dGY65qbUqvAL9h+W5G/rZ4gc3G7oAmg5RVTtfJ1kLhSMFeal67COaulWRMg2D9/Uhx2OuActzvCrIzk6ncgyVuvgs8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YbvLdguK7VZx1p2e8shoaD",
      "input": {
        "note": "Fingertips are now essentially at table level with the block visible right at the bottom jaw gap. Closing fully — a residual near 0.4 (≈4 cm) would mean the block is captured, near zero means another miss.",
        "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_01YbvLdguK7VZx1p2e8shoaD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6189 left_j1=2.4004 left_j2=1.9873 left_j3=-1.1999 left_j4=-0.0502 left_j5=-0.128 left_gripper=0.0075 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0639 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -14.0786, 6.2838, 0.1441, -0.0757, 0.0171, 0.5495, 0.0068, 1.6068, 7.0496, 1.9365, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b1ff1aad29dc83dc2c82e9e92dc5e85c15a30cf80888e86628fd29bf96b354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0d32238a87ca4f79baedbd503cd8b22888708e056238e7e6156435f59a1c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b458c8c75f9ceda7499dad6bbb668b257817b5e40e73f3235c968ceeeb9030d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 16b1ff1aad29
wire blob da0d32238a87
wire blob 9b458c8c75f9
call 18 attempt 0 · /messages · status 200 · 10.17 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=-0.6224 left_j1=2.3661 left_j2=2.0567 left_j3=-1.3067 left_j4=-0.0532 left_j5=-0.1238 left_gripper=0.996 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.5402, -12.7521, 5.5453, 0.3883, -0.0415, -0.0122, -0.0122, -0.0205, 1.6205, 7.2, 1.9512, -0.0708, -0.0269, -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=-0.6189 left_j1=2.3856 left_j2=1.9949 left_j3=-1.2057 left_j4=-0.0536 left_j5=-0.1238 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.294, -10.988, 5.6, 0.3492, -0.0464, -0.0073, -0.0073, -0.0615, 1.6068, 6.9949, 1.8974, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6189 left_j1=2.4004 left_j2=1.9873 left_j3=-1.1999 left_j4=-0.0502 left_j5=-0.128 left_gripper=0.0075 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0639 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -14.0786, 6.2838, 0.1441, -0.0757, 0.0171, 0.5495, 0.0068, 1.6068, 7.0496, 1.9365, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b1ff1aad29dc83dc2c82e9e92dc5e85c15a30cf80888e86628fd29bf96b354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0d32238a87ca4f79baedbd503cd8b22888708e056238e7e6156435f59a1c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b458c8c75f9ceda7499dad6bbb668b257817b5e40e73f3235c968ceeeb9030d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 16b1ff1aad29]
[blob da0d32238a87]
[blob 9b458c8c75f9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tnjtZrxvgf3GtBMxfFhX6",
      "input": {
        "note": "Second miss (residual 0.008) — the overhead view clearly shows the closed gripper up and to the right of the blue block, so the wrist view was fooling me. Keeping the jaws closed as a sharp marker, I'm making a deliberate ~8 cm move toward the block (inward and to the arm's left) at 4 cm height; the resulting pixel shift will finally calibrate the overhead scale.",
        "targets": {
          "left_j0": -0.6039,
          "left_j1": 2.0247,
          "left_j2": 1.5107,
          "left_j3": -1.0568
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_018tnjtZrxvgf3GtBMxfFhX6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6086 left_j1=2.0647 left_j2=1.5291 left_j3=-1.0775 left_j4=-0.0502 left_j5=-0.1284 left_gripper=0.0095 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.2667, -12.2325, 5.8051, 0.4322, -0.0513, -0.0366, 0.1929, -0.0342, 1.9897, 7.1726, 1.9121, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c638c777e06b0d7153adc98a9c6b3a0fae9809ff1ad29b71e14aacfa472a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2b86f3668948d5707820a0c14a93be48d116124f46454bb93cf9943840cc0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92a553df931c1ff3fa6e905d1da25c55cd04cce631ab73ca30582148b516dd31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 19c638c777e0
wire blob fd2b86f36689
wire blob 92a553df931c
call 19 attempt 0 · /messages · status 200 · 10.71 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=-0.6189 left_j1=2.3856 left_j2=1.9949 left_j3=-1.2057 left_j4=-0.0536 left_j5=-0.1238 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.294, -10.988, 5.6, 0.3492, -0.0464, -0.0073, -0.0073, -0.0615, 1.6068, 6.9949, 1.8974, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6189 left_j1=2.4004 left_j2=1.9873 left_j3=-1.1999 left_j4=-0.0502 left_j5=-0.128 left_gripper=0.0075 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0639 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -14.0786, 6.2838, 0.1441, -0.0757, 0.0171, 0.5495, 0.0068, 1.6068, 7.0496, 1.9365, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6086 left_j1=2.0647 left_j2=1.5291 left_j3=-1.0775 left_j4=-0.0502 left_j5=-0.1284 left_gripper=0.0095 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.2667, -12.2325, 5.8051, 0.4322, -0.0513, -0.0366, 0.1929, -0.0342, 1.9897, 7.1726, 1.9121, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c638c777e06b0d7153adc98a9c6b3a0fae9809ff1ad29b71e14aacfa472a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2b86f3668948d5707820a0c14a93be48d116124f46454bb93cf9943840cc0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a553df931c1ff3fa6e905d1da25c55cd04cce631ab73ca30582148b516dd31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 19c638c777e0]
[blob fd2b86f36689]
[blob 92a553df931c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RZnywfhUeaTxtw1s1KcqtH",
      "input": {
        "note": "The overhead view now shows the closed jaws right beside the blue block, and the wrist view shows the block at the jaw tips — the ~8 cm correction was about right. Lifting 5 cm and opening the jaws so I can see the block between them before making the final alignment.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.9694,
          "left_j2": 1.6087,
          "left_j3": -1.2101
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RZnywfhUeaTxtw1s1KcqtH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0102 left_j2=1.5818 left_j3=-1.1938 left_j4=-0.0498 left_j5=-0.1326 left_gripper=0.9943 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -13.0256, 8.1299, 0.0708, -0.0806, 0.0415, -0.0366, -0.1709, 1.6752, 7.0085, 1.8974, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735e161906bd9d82f3c7213d105de8ce9275c1d8b8101c60bc5fe99f32cc2032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e72bd5175a2ac80ed602f6503a67f4cb7e4848caabb14775fcb72c307091a602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d9b266ef619627f7b464a2061ebd01c9f118a7c74b88e6549aad91973784d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 735e161906bd
wire blob e72bd5175a2a
wire blob 7d9b266ef619
call 20 attempt 0 · /messages · status 200 · 8.723 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=-0.6189 left_j1=2.4004 left_j2=1.9873 left_j3=-1.1999 left_j4=-0.0502 left_j5=-0.128 left_gripper=0.0075 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0639 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -14.0786, 6.2838, 0.1441, -0.0757, 0.0171, 0.5495, 0.0068, 1.6068, 7.0496, 1.9365, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6086 left_j1=2.0647 left_j2=1.5291 left_j3=-1.0775 left_j4=-0.0502 left_j5=-0.1284 left_gripper=0.0095 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.2667, -12.2325, 5.8051, 0.4322, -0.0513, -0.0366, 0.1929, -0.0342, 1.9897, 7.1726, 1.9121, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0102 left_j2=1.5818 left_j3=-1.1938 left_j4=-0.0498 left_j5=-0.1326 left_gripper=0.9943 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -13.0256, 8.1299, 0.0708, -0.0806, 0.0415, -0.0366, -0.1709, 1.6752, 7.0085, 1.8974, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735e161906bd9d82f3c7213d105de8ce9275c1d8b8101c60bc5fe99f32cc2032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e72bd5175a2ac80ed602f6503a67f4cb7e4848caabb14775fcb72c307091a602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9b266ef619627f7b464a2061ebd01c9f118a7c74b88e6549aad91973784d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 735e161906bd]
[blob e72bd5175a2a]
[blob 7d9b266ef619]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MrKaJcVNJ8er58RfaszAvL",
      "input": {
        "note": "Perfect view: the blue \"I\" block sits centred between the two open jaws in the wrist camera. Descending 4 cm straight down (no radial change) and watching whether the block stays between the jaws.",
        "targets": {
          "left_j1": 2.0325,
          "left_j2": 1.5232,
          "left_j3": -1.0615
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MrKaJcVNJ8er58RfaszAvL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0144 left_j2=1.5337 left_j3=-1.1229 left_j4=-0.0502 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.8821, 5.5726, 0.3932, -0.0464, -0.0708, 0.0855, -0.1846, 1.6068, 7.0085, 1.8779, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fed5360006d2bcc9298a2a7038ee634d22e35093155d8c1713a6470100df68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca08705ee3eccdf59be9057a0db830fc9d1ed9e0e77eee8ad07f4249b2f5def7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:549095a50846478145bc558a5ac20d5d1ef1c3a40f55dc3e3bf4a9749025175c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a2fed5360006
wire blob ca08705ee3ec
wire blob 549095a50846
call 21 attempt 0 · /messages · status 200 · 5.076 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=-0.6086 left_j1=2.0647 left_j2=1.5291 left_j3=-1.0775 left_j4=-0.0502 left_j5=-0.1284 left_gripper=0.0095 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0689 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.2667, -12.2325, 5.8051, 0.4322, -0.0513, -0.0366, 0.1929, -0.0342, 1.9897, 7.1726, 1.9121, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0102 left_j2=1.5818 left_j3=-1.1938 left_j4=-0.0498 left_j5=-0.1326 left_gripper=0.9943 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -13.0256, 8.1299, 0.0708, -0.0806, 0.0415, -0.0366, -0.1709, 1.6752, 7.0085, 1.8974, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6075 left_j1=2.0144 left_j2=1.5337 left_j3=-1.1229 left_j4=-0.0502 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.8821, 5.5726, 0.3932, -0.0464, -0.0708, 0.0855, -0.1846, 1.6068, 7.0085, 1.8779, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fed5360006d2bcc9298a2a7038ee634d22e35093155d8c1713a6470100df68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca08705ee3eccdf59be9057a0db830fc9d1ed9e0e77eee8ad07f4249b2f5def7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549095a50846478145bc558a5ac20d5d1ef1c3a40f55dc3e3bf4a9749025175c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a2fed5360006]
[blob ca08705ee3ec]
[blob 549095a50846]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016PjJ74aXgZBZ1vhkSgWaB1",
      "input": {
        "note": "Block stayed nicely between the jaws as I dropped to ~5 cm. Descending the last ~3.5 cm to table level (commanding a bit past the target to beat controller undershoot) before closing.",
        "targets": {
          "left_j1": 2.11,
          "left_j2": 1.45,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_016PjJ74aXgZBZ1vhkSgWaB1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0914 left_j2=1.459 left_j3=-0.9836 left_j4=-0.0467 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -9.6889, 5.4496, 0.3346, -0.2027, -0.0317, -0.0171, -0.212, 1.6342, 7.159, 1.8828, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bfc5760d9918dc2da011d2740ff223719d5bb59d1fa6ff820239b45c123d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2921b5e33673f23bb926f0d00f26281d08e02fecff7c4512808331082c349cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73b4e20e3db20c82240f7888e625c1dc9a3d42372401df8b9c0d1db8a987224c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c7bfc5760d99
wire blob 2921b5e33673
wire blob 73b4e20e3db2
call 22 attempt 0 · /messages · status 200 · 18.05 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=-0.6075 left_j1=2.0102 left_j2=1.5818 left_j3=-1.1938 left_j4=-0.0498 left_j5=-0.1326 left_gripper=0.9943 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -13.0256, 8.1299, 0.0708, -0.0806, 0.0415, -0.0366, -0.1709, 1.6752, 7.0085, 1.8974, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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=-0.6075 left_j1=2.0144 left_j2=1.5337 left_j3=-1.1229 left_j4=-0.0502 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.8821, 5.5726, 0.3932, -0.0464, -0.0708, 0.0855, -0.1846, 1.6068, 7.0085, 1.8779, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0914 left_j2=1.459 left_j3=-0.9836 left_j4=-0.0467 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -9.6889, 5.4496, 0.3346, -0.2027, -0.0317, -0.0171, -0.212, 1.6342, 7.159, 1.8828, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bfc5760d9918dc2da011d2740ff223719d5bb59d1fa6ff820239b45c123d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2921b5e33673f23bb926f0d00f26281d08e02fecff7c4512808331082c349cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b4e20e3db20c82240f7888e625c1dc9a3d42372401df8b9c0d1db8a987224c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c7bfc5760d99]
[blob 2921b5e33673]
[blob 73b4e20e3db2]
{
  "content": [
    {
      "signature": "CAIS5QYKjAEIEBgCKkDzRKtzWIdXiqBTL63InU7WIaqo7ouxai3b9a/paHWOSqddOvczs1utGKR/LtMqMTZJL5+XklBTmgdaNtll+cvOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMi3D1DEPTcCYTjGe5Ggw6LS3BI/q0tlTph20iMBGhcrVXojSdtKjUNuQ4OdTKWovRu1Wu0F91bJxoHOnRZ0tynTY0uRis51p6c/aU7yqFBeWmBm+ywHfYNCqCFq97UimXSVTeS/HbOahUDglaiBdFhwYqqmNdLO4A1Jfdxc1cWQ+T8Wfo1ammTr7Zo8Q/RQK/dZtNlWqQGfF401CCHpRaFLolPaDn4BfEFv/KjYUEELNWF9g73wQxlKhzVHId8Q0i2FUCYuKckZyi8NBhSqV/wHdN23pjbumpXT1GSxQb8wwEtK7JWC+YmQD5HotMMHGw3i6M9jFq4BTJqK5Qq1Wx+X/UtOwJPxuCBDPC2I3RLzX7aaSEqKgZORoXLI2GfcoVCUp0eZL4DRKwPEf/OSkhpBLdbdxUJOgKeEr0WW4NjyML3V557ZEJrzlfMx0eD8f3OmOmEHivj9n0PS+0I7dPAQkoOR/rMfair+MFS1QlDw+CS2R3hX7W3yNK6Cw5jfrKYTEEmOm4E4a3Xq2+S1sEAlortIlJDBlyeVEFMo63SoLpx68WnvhZMLYqvrZ68J0jq/UzVkt4C/eRyVS4aGxtd8yxUtIPRt5WEBg/Vp+5n5fpjrA651xwc/S4MQdf9wNxwBZ4y02p+tfulzT/hcBYlxzxwuNa8ULmf2abJomXAb5oAX8TsOzFcCD4vubDRUBtdZPrKZGexIzPLEaUyE3UdaWZDe3aAmUr3cXX/c/LgV/Y1qgNeRBH9HOJnxZ7HK9P3E1YVdhMs0n8tWf7+dRy4fXHL4S5MSCPFQv/2owlb9WTMvMLExu+OS/4Y5m7UZG5N0jA3z/flL2V7UcbB69Ll8YaFKO88MbnGv8GTnKTTivdvzXIHgbZnhzQtRO8K8AbvQPgRNezt49p2GFXqM9t0dSSFR2hcdnwrnIMwdkthombk5dhhrw0hPptr6aMlaPFGyKPVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PhAwtqz5z2jaVtWunZiFc9",
      "input": {
        "note": "Fingertips are at table level with the pale block filling the jaw gap in the wrist view and the overhead showing the gripper right on the blue block. Closing fully to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PhAwtqz5z2jaVtWunZiFc9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.093 left_j2=1.4582 left_j3=-0.9825 left_j4=-0.0425 left_j5=-0.1322 left_gripper=0.008 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.0068, -10.7419, 5.3675, 0.149, -0.0757, -0.0269, 0.5641, -0.0342, 1.7436, 7.3915, 1.9023, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84e86ed55e7bb0abeb6c9042e32326c9642e467db480fa0f5578204da3e55bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3f5b36f183cc73e0401f8357d71d7ed56633da5407fab6c0a4d5602c96b9f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cab81a862a2bb0bd5bba06f3b2feba71484793681eb5c97ba02286a6336cddce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b84e86ed55e7
wire blob 2e3f5b36f183
wire blob cab81a862a2b
call 23 attempt 0 · /messages · status 200 · 19.28 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=-0.6075 left_j1=2.0144 left_j2=1.5337 left_j3=-1.1229 left_j4=-0.0502 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.8821, 5.5726, 0.3932, -0.0464, -0.0708, 0.0855, -0.1846, 1.6068, 7.0085, 1.8779, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=2.0914 left_j2=1.459 left_j3=-0.9836 left_j4=-0.0467 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -9.6889, 5.4496, 0.3346, -0.2027, -0.0317, -0.0171, -0.212, 1.6342, 7.159, 1.8828, -0.0415, -0.022, -0.0171]",
      "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=-0.6075 left_j1=2.093 left_j2=1.4582 left_j3=-0.9825 left_j4=-0.0425 left_j5=-0.1322 left_gripper=0.008 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.0068, -10.7419, 5.3675, 0.149, -0.0757, -0.0269, 0.5641, -0.0342, 1.7436, 7.3915, 1.9023, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84e86ed55e7bb0abeb6c9042e32326c9642e467db480fa0f5578204da3e55bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3f5b36f183cc73e0401f8357d71d7ed56633da5407fab6c0a4d5602c96b9f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cab81a862a2bb0bd5bba06f3b2feba71484793681eb5c97ba02286a6336cddce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b84e86ed55e7]
[blob 2e3f5b36f183]
[blob cab81a862a2b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RdjhRnHf9axgca54AtLmaA",
      "input": {
        "note": "Third miss, and the overhead shows the block got nudged inward-left — so the wrist camera's \"block in the jaw gap\" is misleading: the block is actually ~6 cm inward of the fingertips when it looks like that. Sizing the blocks against the overhead scale says they are ~6 cm cubes. Opening up, lifting to ~12 cm and moving 6 cm inward to hover directly over the block, and I'll trust the overhead view for the final alignment.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.6023,
          "left_j1": 1.6229,
          "left_j2": 1.3472,
          "left_j3": -1.2951
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RdjhRnHf9axgca54AtLmaA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=1.6592 left_j2=1.3552 left_j3=-1.2533 left_j4=-0.0414 left_j5=-0.139 left_gripper=0.9947 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3761, -8.335, 5.2991, 0.359, -0.0806, 0.022, -0.1099, -0.1162, 1.8256, 7.3641, 1.9121, -0.0073, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0988a4ebfab01a463c810b0b4ed55a235c8f37afc6f89cf546fc55976d5e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c05a1b433ec09b73ee314a509649af3f678aad3e00a4a0aada02aa9f6e885ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:242f07e2063b9d42d8f2f05b4368227b757795861f98368b6c3266edfb4b7b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1e0988a4ebfa
wire blob 0c05a1b433ec
wire blob 242f07e2063b
call 24 attempt 0 · /messages · status 200 · 6.877 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=-0.6075 left_j1=2.0914 left_j2=1.459 left_j3=-0.9836 left_j4=-0.0467 left_j5=-0.1318 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -9.6889, 5.4496, 0.3346, -0.2027, -0.0317, -0.0171, -0.212, 1.6342, 7.159, 1.8828, -0.0415, -0.022, -0.0171]",
      "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=-0.6075 left_j1=2.093 left_j2=1.4582 left_j3=-0.9825 left_j4=-0.0425 left_j5=-0.1322 left_gripper=0.008 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.0068, -10.7419, 5.3675, 0.149, -0.0757, -0.0269, 0.5641, -0.0342, 1.7436, 7.3915, 1.9023, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=1.6592 left_j2=1.3552 left_j3=-1.2533 left_j4=-0.0414 left_j5=-0.139 left_gripper=0.9947 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3761, -8.335, 5.2991, 0.359, -0.0806, 0.022, -0.1099, -0.1162, 1.8256, 7.3641, 1.9121, -0.0073, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0988a4ebfab01a463c810b0b4ed55a235c8f37afc6f89cf546fc55976d5e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c05a1b433ec09b73ee314a509649af3f678aad3e00a4a0aada02aa9f6e885ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242f07e2063b9d42d8f2f05b4368227b757795861f98368b6c3266edfb4b7b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1e0988a4ebfa]
[blob 0c05a1b433ec]
[blob 242f07e2063b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jxk7EiFBMbNiGNs5o1Z4MX",
      "input": {
        "note": "Key realisation: a block visible at the bottom of the wrist frame is still ~6 cm short of the jaws — at correct alignment it must be out of frame. I've moved 6 cm inward, and the block now sits mid-frame at 12 cm height; descending ~9 cm to table level with a 1 cm inward correction, expecting the block to disappear from view as it enters the jaws.",
        "targets": {
          "left_j1": 1.87,
          "left_j2": 1.1,
          "left_j3": -0.84
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Jxk7EiFBMbNiGNs5o1Z4MX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6067 left_j1=1.8538 left_j2=1.1145 left_j3=-0.9092 left_j4=-0.0422 left_j5=-0.1394 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.8838, 5.4496, 0.1734, -0.0122, -0.0562, 0.1099, -0.1299, 1.6068, 7.0085, 1.8584, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f354bec308047e34f86f00d0a0c2e77cff9dce4ae715640c01f00a55c3ab57e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d34cf374e0c91967a5289ecc6c0f8287781b7fd67b77281a8a68feaa1dafba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fb4653128f4344a792685e9f206bac8398dec522c427a9ab8784af7d7b55b50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f354bec30804
wire blob 8d34cf374e0c
wire blob 4fb4653128f4
call 25 attempt 0 · /messages · status 200 · 14.55 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=-0.6075 left_j1=2.093 left_j2=1.4582 left_j3=-0.9825 left_j4=-0.0425 left_j5=-0.1322 left_gripper=0.008 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.0068, -10.7419, 5.3675, 0.149, -0.0757, -0.0269, 0.5641, -0.0342, 1.7436, 7.3915, 1.9023, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6075 left_j1=1.6592 left_j2=1.3552 left_j3=-1.2533 left_j4=-0.0414 left_j5=-0.139 left_gripper=0.9947 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3761, -8.335, 5.2991, 0.359, -0.0806, 0.022, -0.1099, -0.1162, 1.8256, 7.3641, 1.9121, -0.0073, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6067 left_j1=1.8538 left_j2=1.1145 left_j3=-0.9092 left_j4=-0.0422 left_j5=-0.1394 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.8838, 5.4496, 0.1734, -0.0122, -0.0562, 0.1099, -0.1299, 1.6068, 7.0085, 1.8584, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f354bec308047e34f86f00d0a0c2e77cff9dce4ae715640c01f00a55c3ab57e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d34cf374e0c91967a5289ecc6c0f8287781b7fd67b77281a8a68feaa1dafba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb4653128f4344a792685e9f206bac8398dec522c427a9ab8784af7d7b55b50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f354bec30804]
[blob 8d34cf374e0c]
[blob 4fb4653128f4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GtAePrzknBJBW9YZ2jF1iD",
      "input": {
        "note": "After the inward correction the block looms large right at the bottom of the wrist frame with fingertips at table level — it should now be inside the jaws. Closing; I expect a residual near 0.6 (≈6 cm cube) if it is caught.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GtAePrzknBJBW9YZ2jF1iD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6067 left_j1=1.858 left_j2=1.108 left_j3=-0.9112 left_j4=-0.0311 left_j5=-0.1463 left_gripper=0.5837 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -8.5675, 5.4496, 0.0952, -0.1636, 0.0415, 1.0281, -0.0068, 1.6752, 7.0222, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9ff662d461d7d10bc14b602dc5212f8554f8ad4ab8d6d9e3324e694cdf64ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d064b7cc12d72242c05f60c6b2c9ddd5ed140fd783d05e1719eebff0a38cad29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b99cff079653557e7d841ed57a507f6b815de8363404f58fceb92b65554cab32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7c9ff662d461
wire blob d064b7cc12d7
wire blob b99cff079653
call 26 attempt 0 · /messages · status 200 · 8.606 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=-0.6075 left_j1=1.6592 left_j2=1.3552 left_j3=-1.2533 left_j4=-0.0414 left_j5=-0.139 left_gripper=0.9947 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.3761, -8.335, 5.2991, 0.359, -0.0806, 0.022, -0.1099, -0.1162, 1.8256, 7.3641, 1.9121, -0.0073, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.6067 left_j1=1.8538 left_j2=1.1145 left_j3=-0.9092 left_j4=-0.0422 left_j5=-0.1394 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.8838, 5.4496, 0.1734, -0.0122, -0.0562, 0.1099, -0.1299, 1.6068, 7.0085, 1.8584, -0.0708, -0.0708, -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=-0.6067 left_j1=1.858 left_j2=1.108 left_j3=-0.9112 left_j4=-0.0311 left_j5=-0.1463 left_gripper=0.5837 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -8.5675, 5.4496, 0.0952, -0.1636, 0.0415, 1.0281, -0.0068, 1.6752, 7.0222, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9ff662d461d7d10bc14b602dc5212f8554f8ad4ab8d6d9e3324e694cdf64ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d064b7cc12d72242c05f60c6b2c9ddd5ed140fd783d05e1719eebff0a38cad29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99cff079653557e7d841ed57a507f6b815de8363404f58fceb92b65554cab32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7c9ff662d461]
[blob d064b7cc12d7]
[blob b99cff079653]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CcvpH9sxiqTaj3FnQyjfMq",
      "input": {
        "note": "Grasped! The gripper closed to 0.58 (≈5.5 cm) with high effort, and the wrist camera shows the block's face filling the jaws. Lifting straight up to ~15 cm before swinging across to the red block.",
        "targets": {
          "left_j1": 1.5876,
          "left_j2": 1.4363,
          "left_j3": -1.4195
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CcvpH9sxiqTaj3FnQyjfMq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6067 left_j1=1.6226 left_j2=1.401 left_j3=-1.3575 left_j4=-0.0265 left_j5=-0.1471 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -8.1299, 7.5966, 0.2418, -0.1245, -0.0562, 1.0281, -0.1299, 1.6205, 7.0359, 1.9121, -0.0171, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3adac317e16d89541e8086757edb2d1343480d784defb0200ccf7359b15d2ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d0c1457eab2bba13e1ebb150f44461b3c5f04f92caa53d7d44ef34ec2584c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3641494379481d34e42dffe88cab32007ff8183b32f9f7caaba2c7bc4cbaefc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3adac317e16d
wire blob 1d0c1457eab2
wire blob 364149437948
call 27 attempt 0 · /messages · status 200 · 14.86 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=-0.6067 left_j1=1.8538 left_j2=1.1145 left_j3=-0.9092 left_j4=-0.0422 left_j5=-0.1394 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.8838, 5.4496, 0.1734, -0.0122, -0.0562, 0.1099, -0.1299, 1.6068, 7.0085, 1.8584, -0.0708, -0.0708, -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=-0.6067 left_j1=1.858 left_j2=1.108 left_j3=-0.9112 left_j4=-0.0311 left_j5=-0.1463 left_gripper=0.5837 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -8.5675, 5.4496, 0.0952, -0.1636, 0.0415, 1.0281, -0.0068, 1.6752, 7.0222, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6067 left_j1=1.6226 left_j2=1.401 left_j3=-1.3575 left_j4=-0.0265 left_j5=-0.1471 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -8.1299, 7.5966, 0.2418, -0.1245, -0.0562, 1.0281, -0.1299, 1.6205, 7.0359, 1.9121, -0.0171, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3adac317e16d89541e8086757edb2d1343480d784defb0200ccf7359b15d2ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d0c1457eab2bba13e1ebb150f44461b3c5f04f92caa53d7d44ef34ec2584c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3641494379481d34e42dffe88cab32007ff8183b32f9f7caaba2c7bc4cbaefc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3adac317e16d]
[blob 1d0c1457eab2]
[blob 364149437948]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SJr3Zy3PAa2hvE4J6626S5",
      "input": {
        "note": "Block is lifted to ~13 cm and held firmly. Swinging the arm to hover over the red block (estimated ~16 cm to the arm's right and 2 cm further out), rolling the wrist by the same amount as the base yaw change so the carried block keeps its world orientation.",
        "targets": {
          "left_j0": -0.914,
          "left_j1": 2.0764,
          "left_j2": 2.0597,
          "left_j3": -1.5541,
          "left_j5": -0.454
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SJr3Zy3PAa2hvE4J6626S5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9028 left_j1=2.0613 left_j2=2.0186 left_j3=-1.5417 left_j4=-0.0227 left_j5=-0.4271 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -10.3179, 7.5282, 0.0708, -0.0855, 0.0122, 1.0281, -0.0752, 1.5932, 7.159, 1.8926, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369d7d13f15f1cfb8bafebfe3cd778ae628388563710229c1a36c48dd83581a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca1718fbb746fa69728d363eef6e987f03b52de42f7ec5f8c7fcb06cd544303c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:902917a27614a97aec6c933ac287ac537dbe0dabd12a0d3e443bd20607527cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 369d7d13f15f
wire blob ca1718fbb746
wire blob 902917a27614
call 28 attempt 0 · /messages · status 200 · 14 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=-0.6067 left_j1=1.858 left_j2=1.108 left_j3=-0.9112 left_j4=-0.0311 left_j5=-0.1463 left_gripper=0.5837 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -8.5675, 5.4496, 0.0952, -0.1636, 0.0415, 1.0281, -0.0068, 1.6752, 7.0222, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6067 left_j1=1.6226 left_j2=1.401 left_j3=-1.3575 left_j4=-0.0265 left_j5=-0.1471 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -8.1299, 7.5966, 0.2418, -0.1245, -0.0562, 1.0281, -0.1299, 1.6205, 7.0359, 1.9121, -0.0171, -0.0415, -0.0122]\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 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=-0.9028 left_j1=2.0613 left_j2=2.0186 left_j3=-1.5417 left_j4=-0.0227 left_j5=-0.4271 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -10.3179, 7.5282, 0.0708, -0.0855, 0.0122, 1.0281, -0.0752, 1.5932, 7.159, 1.8926, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369d7d13f15f1cfb8bafebfe3cd778ae628388563710229c1a36c48dd83581a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca1718fbb746fa69728d363eef6e987f03b52de42f7ec5f8c7fcb06cd544303c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:902917a27614a97aec6c933ac287ac537dbe0dabd12a0d3e443bd20607527cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 369d7d13f15f]
[blob ca1718fbb746]
[blob 902917a27614]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mhi5TcqNYVi2uUQNZTU493",
      "input": {
        "note": "Hovering with the carried block; the overhead suggests I'm right over the red block, though the wrist view (rolled 25°) shows the red block off in the top-right corner. Descending ~5 cm to just above the red block's top so the overhead view can resolve the alignment with less parallax.",
        "targets": {
          "left_j1": 2.086,
          "left_j2": 1.8292,
          "left_j3": -1.314
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Mhi5TcqNYVi2uUQNZTU493",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9062 left_j1=2.0808 left_j2=1.8389 left_j3=-1.3849 left_j4=-0.0231 left_j5=-0.4423 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.1402, 6.4615, 0.359, -0.0611, 0.1538, 1.0232, -0.0205, 1.853, 7.1453, 1.8926, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b3817ca13828712abebc36d5b6841db90ca78fe39975cf0f0449fb24ff52ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aab4d8d3dc31e7a3c3bc41ea570b51404ff692cc98eaa08ee01420c1a8f8945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f333c4171fd30be9590377c5f4dfbecb75eec364961ef79ea3a71200a6815640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d7b3817ca138
wire blob 9aab4d8d3dc3
wire blob f333c4171fd3
call 29 attempt 0 · /messages · status 200 · 16.15 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=-0.6067 left_j1=1.6226 left_j2=1.401 left_j3=-1.3575 left_j4=-0.0265 left_j5=-0.1471 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -8.1299, 7.5966, 0.2418, -0.1245, -0.0562, 1.0281, -0.1299, 1.6205, 7.0359, 1.9121, -0.0171, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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=-0.9028 left_j1=2.0613 left_j2=2.0186 left_j3=-1.5417 left_j4=-0.0227 left_j5=-0.4271 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -10.3179, 7.5282, 0.0708, -0.0855, 0.0122, 1.0281, -0.0752, 1.5932, 7.159, 1.8926, -0.0464, -0.0513, -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=-0.9062 left_j1=2.0808 left_j2=1.8389 left_j3=-1.3849 left_j4=-0.0231 left_j5=-0.4423 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.1402, 6.4615, 0.359, -0.0611, 0.1538, 1.0232, -0.0205, 1.853, 7.1453, 1.8926, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b3817ca13828712abebc36d5b6841db90ca78fe39975cf0f0449fb24ff52ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aab4d8d3dc31e7a3c3bc41ea570b51404ff692cc98eaa08ee01420c1a8f8945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f333c4171fd30be9590377c5f4dfbecb75eec364961ef79ea3a71200a6815640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d7b3817ca138]
[blob 9aab4d8d3dc3]
[blob f333c4171fd3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019TRhgoJVKtNnLEgjcz41x5",
      "input": {
        "note": "Carried block's underside is ~2 cm above the red block's top. Descending gently: if effort rises early the blocks are stacked; if the arm keeps going down to table level I know I am not over the red block.",
        "targets": {
          "left_j1": 2.11,
          "left_j2": 1.73,
          "left_j3": -1.21
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_019TRhgoJVKtNnLEgjcz41x5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9051 left_j1=2.096 left_j2=1.7405 left_j3=-1.2655 left_j4=-0.0231 left_j5=-0.4431 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -10.0308, 6.1197, 0.525, -0.0562, -0.0171, 1.0379, 0.0068, 1.8667, 7.2137, 1.8632, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8b1b91a7ad90668cce8e329a534c2887a8f69bba14bb8bd0de06a120577301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926f828827783e1315aed2d9119ef8ae95f32712c6697cb23346aaccbbaf35dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:090794d55901f7ae0ecbc0f9b1e647184dde56e02928f0b3fcc27001dd3a0a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df8b1b91a7ad
wire blob 926f82882778
wire blob 090794d55901
call 30 attempt 0 · /messages · status 200 · 12.51 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=-0.9028 left_j1=2.0613 left_j2=2.0186 left_j3=-1.5417 left_j4=-0.0227 left_j5=-0.4271 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -10.3179, 7.5282, 0.0708, -0.0855, 0.0122, 1.0281, -0.0752, 1.5932, 7.159, 1.8926, -0.0464, -0.0513, -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=-0.9062 left_j1=2.0808 left_j2=1.8389 left_j3=-1.3849 left_j4=-0.0231 left_j5=-0.4423 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.1402, 6.4615, 0.359, -0.0611, 0.1538, 1.0232, -0.0205, 1.853, 7.1453, 1.8926, -0.0464, -0.022, -0.0122]",
      "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=-0.9051 left_j1=2.096 left_j2=1.7405 left_j3=-1.2655 left_j4=-0.0231 left_j5=-0.4431 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -10.0308, 6.1197, 0.525, -0.0562, -0.0171, 1.0379, 0.0068, 1.8667, 7.2137, 1.8632, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8b1b91a7ad90668cce8e329a534c2887a8f69bba14bb8bd0de06a120577301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926f828827783e1315aed2d9119ef8ae95f32712c6697cb23346aaccbbaf35dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090794d55901f7ae0ecbc0f9b1e647184dde56e02928f0b3fcc27001dd3a0a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df8b1b91a7ad]
[blob 926f82882778]
[blob 090794d55901]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RWsEB7xCM8cpFfwebWKmhA",
      "input": {
        "note": "No contact yet at a block-bottom height of ~5 cm, so I am probably not directly over the red block. Continuing the descent toward the table while watching effort — either it stops early (stacked) or the block reaches the table and the overhead will show me the exact offset to the red block.",
        "targets": {
          "left_j1": 2.19,
          "left_j2": 1.61,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RWsEB7xCM8cpFfwebWKmhA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9051 left_j1=2.1757 left_j2=1.6165 left_j3=-1.063 left_j4=-0.0231 left_j5=-0.4465 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.6325, 5.7094, 0.2906, -0.0366, 0.0073, 1.0379, -0.1436, 1.5932, 7.0359, 1.8877, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22c3d76caf7242aaaeef6248a1c7ab886c2a345ab8eb0dc9d3322fcb890fcc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea72f3fe351527fa5a462a5f11762ad1cc3663f07c2349f7a0faf9f6528a178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4e6ae6201fc194e08820aed608f1da2225e5a101be10fa5a184d04c4270e5d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 22c3d76caf72
wire blob 6ea72f3fe351
wire blob a4e6ae6201fc
call 31 attempt 0 · /messages · status 200 · 11.33 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=-0.9062 left_j1=2.0808 left_j2=1.8389 left_j3=-1.3849 left_j4=-0.0231 left_j5=-0.4423 left_gripper=0.5884 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.1402, 6.4615, 0.359, -0.0611, 0.1538, 1.0232, -0.0205, 1.853, 7.1453, 1.8926, -0.0464, -0.022, -0.0122]",
      "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=-0.9051 left_j1=2.096 left_j2=1.7405 left_j3=-1.2655 left_j4=-0.0231 left_j5=-0.4431 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -10.0308, 6.1197, 0.525, -0.0562, -0.0171, 1.0379, 0.0068, 1.8667, 7.2137, 1.8632, -0.0513, -0.0366, -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=-0.9051 left_j1=2.1757 left_j2=1.6165 left_j3=-1.063 left_j4=-0.0231 left_j5=-0.4465 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.6325, 5.7094, 0.2906, -0.0366, 0.0073, 1.0379, -0.1436, 1.5932, 7.0359, 1.8877, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22c3d76caf7242aaaeef6248a1c7ab886c2a345ab8eb0dc9d3322fcb890fcc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea72f3fe351527fa5a462a5f11762ad1cc3663f07c2349f7a0faf9f6528a178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4e6ae6201fc194e08820aed608f1da2225e5a101be10fa5a184d04c4270e5d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 22c3d76caf72]
[blob 6ea72f3fe351]
[blob a4e6ae6201fc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018HgncGjDey2L2m61wyn42G",
      "input": {
        "note": "The carried block reached the table without hitting the red block, and the overhead shows the red block sitting ~6 cm to the arm's right of it. Lifting the block to ~8 cm and shifting 6 cm to the right (plus a small inward correction) to hover over the red block.",
        "targets": {
          "left_j0": -1.0261,
          "left_j1": 2.1899,
          "left_j2": 2.0014,
          "left_j3": -1.3823,
          "left_j5": -0.5675
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_018HgncGjDey2L2m61wyn42G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0199 left_j1=2.1963 left_j2=1.9568 left_j3=-1.3411 left_j4=-0.0227 left_j5=-0.5552 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.1094, 7.7744, 0.315, -0.0611, 0.0269, 1.033, -0.335, 2.1538, 7.1316, 1.8584, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:696cbe6b9e6389b603aea9bd5ce991c283bb449616c2dce997265ee2bbcb426b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41e87fcafc995887a54e881b4e92266ff4579d376fa3ddc8e3a5fa586def25f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3837aeba4b2b159d519402e3f581fbda38ad0266ec9a8b91cd065693d49d1c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 696cbe6b9e63
wire blob 41e87fcafc99
wire blob 3837aeba4b2b
call 32 attempt 0 · /messages · status 200 · 39.75 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=-0.9051 left_j1=2.096 left_j2=1.7405 left_j3=-1.2655 left_j4=-0.0231 left_j5=-0.4431 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -10.0308, 6.1197, 0.525, -0.0562, -0.0171, 1.0379, 0.0068, 1.8667, 7.2137, 1.8632, -0.0513, -0.0366, -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=-0.9051 left_j1=2.1757 left_j2=1.6165 left_j3=-1.063 left_j4=-0.0231 left_j5=-0.4465 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.6325, 5.7094, 0.2906, -0.0366, 0.0073, 1.0379, -0.1436, 1.5932, 7.0359, 1.8877, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0199 left_j1=2.1963 left_j2=1.9568 left_j3=-1.3411 left_j4=-0.0227 left_j5=-0.5552 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.1094, 7.7744, 0.315, -0.0611, 0.0269, 1.033, -0.335, 2.1538, 7.1316, 1.8584, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:696cbe6b9e6389b603aea9bd5ce991c283bb449616c2dce997265ee2bbcb426b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41e87fcafc995887a54e881b4e92266ff4579d376fa3ddc8e3a5fa586def25f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3837aeba4b2b159d519402e3f581fbda38ad0266ec9a8b91cd065693d49d1c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 696cbe6b9e63]
[blob 41e87fcafc99]
[blob 3837aeba4b2b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QR1sW2Sg8tJVZun5GKx2zJ",
      "input": {
        "note": "The lateral shift worked — the red block moved from the wrist view's top-right corner to top-centre, meaning it is now mainly further out radially. Moving 5 cm outward while rising a few cm so the carried block clears the red block's top.",
        "targets": {
          "left_j1": 2.4126,
          "left_j2": 2.4583,
          "left_j3": -1.6165
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QR1sW2Sg8tJVZun5GKx2zJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.3951 left_j2=2.4138 left_j3=-1.5917 left_j4=-0.0227 left_j5=-0.5663 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -11.7128, 7.4872, 0.2906, -0.0708, 0.0659, 1.033, -0.0342, 1.7983, 7.0085, 1.8828, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d40a4d65e5bb251ee99fcf2a001e5d17856da8ead7049505e4eb4c0ac0a132e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0892a69728766bc0c6134b74e5fe732780967c2a0ebfb62d53d72579d18ee689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97f9c8f934fd7961ad9aa1499b8908f3f683a9604b1028256cbd98192756e3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4d40a4d65e5b
wire blob 0892a6972876
wire blob 97f9c8f934fd
call 33 attempt 0 · /messages · status 200 · 18.9 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=-0.9051 left_j1=2.1757 left_j2=1.6165 left_j3=-1.063 left_j4=-0.0231 left_j5=-0.4465 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.6325, 5.7094, 0.2906, -0.0366, 0.0073, 1.0379, -0.1436, 1.5932, 7.0359, 1.8877, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0199 left_j1=2.1963 left_j2=1.9568 left_j3=-1.3411 left_j4=-0.0227 left_j5=-0.5552 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.1094, 7.7744, 0.315, -0.0611, 0.0269, 1.033, -0.335, 2.1538, 7.1316, 1.8584, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.3951 left_j2=2.4138 left_j3=-1.5917 left_j4=-0.0227 left_j5=-0.5663 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -11.7128, 7.4872, 0.2906, -0.0708, 0.0659, 1.033, -0.0342, 1.7983, 7.0085, 1.8828, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d40a4d65e5bb251ee99fcf2a001e5d17856da8ead7049505e4eb4c0ac0a132e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0892a69728766bc0c6134b74e5fe732780967c2a0ebfb62d53d72579d18ee689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f9c8f934fd7961ad9aa1499b8908f3f683a9604b1028256cbd98192756e3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4d40a4d65e5b]
[blob 0892a6972876]
[blob 97f9c8f934fd]
{
  "content": [
    {
      "signature": "CAISyI8BCowBCBAYAipApHovxBtLenUfIfGpC89VrIFHvPZRpKjeWlH9OzFpqGyvdSAYjYwDI59Ot2DoGIkLb6sG1Bc6wIlXQ9dYVwgbYDISY2xhdWRlLW9wdXMtNS1mYXN0OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2YSDGtn3Kwtjg1XnPfIZBoMDfqLWD3w2qojO8DAIjAIyEXiktpnDPI1Plk8E98xwMS2uQ/jCZUh39jIhXBaJYAw3p98kHvCVSL5OC0pqhEq540BrVSTXTlojVfbU6qTCxlmdOFA5kGW+ewrwHNqp59ttxyCTmybl/wnRbgfluC8BpsyIrLCe+tEkNH2biiIXYSpfnp2CJh14Y04Rr0KOa42nFAZbIh5O7X7f9l5M3MglzmFyFADYnmxzPfOCDHRtracq+5XLs7GJn4v+4/rIaIYjFz2EHmKmfnVI3iGVGL34qO/M+gr5EP1giuQVZ7yv0sL0X2BrASxIpMTuESWs1cvYyNs0YZ8MZ/znC16WwAU9gPK3hN0dHl76Piuwq+FqnIukSwibYtSoSZsKMD5qqwFHGjfH+T5qjbGS5F8FDKkEC8tYO+88CICZ9RJv54FOrLy9tZLDFTNm7GcLgHpfgGNVsoAS27AhjvIjLgmGXwVJ0gzAy4HaAlk8ULdF2izNGBG4mMacoqM0KYq/pL45Kl+ALuXK2AR1uTM7SYJnrC9kfkBmWXnteqNA/ACJm9YEoqP6hgA//9PHB5zdoMjqhPYNQa6xIcoUg6VpcjQVx2IHhsTNCtULrlMseyCWJp/QZ/Ihmq2bRA7wlJrY8UOhZPtLMcWk/r2JxSfv2fw9dagQuWejOlbA46aO+Lehib6f/EL8fJ25H1qFTnkFeU/qPkoH036A8g5EOkdF2nyCjExGdRf+Can39GOvVk8oKzUcM99a5ZzdKK37PYMKT5Jg5+WKiZ0YF7k3kiDiUyU100FigatZqBFcZleodN5/mF1Yf4hy1X7S9rk4ernDmBC3QuaZDZGTOEmPeVbYhUN3Ow9E6AdGlR1huNceaFvAKGShsExrQeENSNtxLCIgFSod7MGM7Hm6bkCE+W5sGNhc3C/x0wnRUQhLv4ZK/aQ51uQUv77CE3PdmoNKi8LgWQupkr+HMcOYR0hu9XQdwVm8rW3Upvv68Ckv46LK6CpS55GtWo53B1vZjfK3jlsoOPFa5snhrB2jtUX7JhGjZg9hbDnNzdySboZFVcqc4VW5lppYZzGbGXUnb8/Om9i5jjcM2BoLp1NDld2JMwOwAFRtfusv27PtuV/qKiOrkTklSBRuLih/tfJp6FlhOtlpZ+T+wSKbVEYGA5v6Ui7KHJZW6Pot4sQlWe92h6EPLqmXuLOWHYUYtzAgzZcM65F6GkYM7gpDwrJ30DUuWIgFpcTeUxy8WBbSW5P+mxWi2QmaEAH+Km9RW/ILC5Cm7wu1XUHw0RB9DkWlrzvNXBB3Pik2YZRXIuWSXA47P3nwWlFy0cJktsmMlb2nXwXHsJPo90tv3yiKB31VwLv587RSQL4fvO/a0aPT75YZ669oHSkZ6Ucj1iet2NfpNTwdBxSdtgTDqAxPDEbo8iS/xV8R7oGbt6FOKJZZribpL1q4/Mo0ijjPBmqarE57Ye5TyX73T+c6xUC8l1yGAHVuT0Ls06vx9SBnDcsWZGlmdmr0iCjI3l2ZamDP2dUPe3phLtV4/8thNKLdEh7wIRU9cKWUM8L5ktvu21u0YX+L8mg9CtczEbN4BdNcqmNPuAy0IwcPa1QGMagcyPsEfn6nbl+7aO1Dug5frxCRQgzEwHh8FsqgVZWUlC3k3R6VwJ+0nwheDylLWUX4Xbf+lmIVm5Eg5DiTB1t4+E+/scSl6pwLGgkEvqFKgUsqz39NcFTSgXmQBjc8d4eCZOhPXoTS+nslUhIWUb+Uwa8oE1KlCzF59IKqQr/AJ+6RIizxGS2KiNaePhxqMM5oPRPRtUQnD9uBxO/tgGguZWzAxnD0gWovFJB2I0g1gag3kcmJR9lSAT/3fC7S0USW58Vf3rcHNM7liFsPC3PF9aquGbP8uTVUdX+Y7UwuxvnUHm6utLaXysavIZ/mDObclZm8XSHmSNu7FQm6vdeOfsXFj/W1R9aq5Y/7O8/Y/ZTKsKvbQ4M41D58akHHrfAieduUB0YkYJyHNyevDcY+vwffBvVzPAaeNAJGnVTEnFAbjyhp4AZ92eaj0rjNuwZ8xcasvaFateSAlRHZqbYvqAp1NB7GrkyqUdGpavZLn8F0VMYvRqT1I6oEX2KK6wPCXJ3CWtFh3WYk2w7gGTbsvSFDWBvHb0IkFjUWGpYgQzqbivcNK4R7QVrToPfPck1sm4O3BbJYuSkmW0LwUPgvwLfO38oCO/9+XDFQN8Zb/jyToM8nIjBBxShirYfvZTqqkFLunoUAkldrAMKJgUjIQunDZgpqoFG5Apas4eCWD284Sg4/pJnEFXIWbFdA6VovWgrbvAkrGiq3HYpz8hBNYdEU5KuuawtvX91DPh6E9J4b474zvYOQ8mMuhtgaCnqoQ1peKF2DJ6gT9MuMTOPJtqEfbJ5C6s3v93f9m/ULRk/0zCY118YDunqaB3z2AkyoGFsoGNmHzosa78mBtOOywXi5ey3WQQlXU3BvvKFeFOKokn32NS4zRabnCKFPERDzfVLEhWG9JUUsWf8wiRc5iWZj1IDah6JIyFS7aEco32GwwagYIkm1qk+lnZsj72hPEmmpeggf7/BW4zjCMLy9A6u8LE5Eijfa3XxuNt5YKtXLI+y6/G7D9k6ha+Q+dDieTd6FHyCkvBQuVVKVXFMUHnziwGE4cM7IIIwQLuPQ3+eAoaWU7Kmv4zNeXKQ6L6vIg7qkQo40NzyBccLW58r+XGfIS4F4lcivwGIsjZcSmWjTASPzZdA7KNZ+wpHgvOOLKhrXCiOYGMP4XvlUUN26phnKKfer0LtdWS/+aVvSkiymJwrZgUGFcngOANT7xSCJISuJO0zLlPVuB7tGBVLULC6WhBwXzMLkGPNK9Rj25cny1pOhZCi/QfmCQjANbDoabFvp/3ipcDl6kefm9L/+zKwLX+tOJZJUc53EoiABGt+Z97g8lXiBIRvs/IvwSjrr9lGbkODCrYmpD5OJ2Zw3xJtnqMCMDrPn8UXakjMEIJ3MtF9VFEqG3kJJZ+hcvC9Hs7XX72FxIrmeicEcI6TiPO3x8VE5MLcVlyk7ZVrRn4FXHD/2XPsiioqEYPu52727CpBuOoG7PwaCAZnpYeOxaXfJBbMFkDZjmphm0HA5Pn2k6WIsa+QrDZuiQqBMO1AH6Zpk0ScDClVOG6puYbSR5upf2CiHtaNwa9jDZvwVegMtrPAibwEcwMcj9UjvTr+2eCulG0ePYhUeb5aGDYgkSo6tFtks7ZId5FlNs8d5T5eQ6Ov1i44Y1nU62JBujXcmsaqqmj/q9LFlERfDF52S2nYUbUoJazLtdvoeybe1id4NPDkvIXksdhUe5F8ZF8avZEeQRVOnIxsG9mNLebwpHctbejJo0h73/WTS9R8xVkJApB/3wp7nzlwYXGwU40FbA9WrrOo0vzNItUIa95Rvv4An6PHYUCQFgXxk/mje24pSZ4rVAePwF3uUp65ZohI0+X8T1IpxCvPGKujb5MwZe0vSA5UbrjGdcMwEIdSKB1gmujvyP7Dag4MnXhN8HZYM0MH2t37zThaky3N5gjPTbmbR+1Pq3hSeB6B28s5fyR3iY0TLR4otm4gTlG2UkMKlDoZgKlBG9VAFxwm4I5gPzYWrvXHyX4orEqiQKz2DQJ4MhrQG1srx8wdLVV+2jSpnXKciPiGPwFAFWIf/QBQjk4CX1atnAa09ZYF5Gjy5LpY7Qq5fRb8Ntkb81ammnIStbk5dmNGrchFQnIFHOKuzmc8sMfi36zmEnbKtzNmDEL5c8RL0IhKwt6DzP5EdbVNMs4aI9rdFEH6fZ7snQj0Lu5KOfUcsFg0VEg3XkE3dOJRPJLaZG4mfjCdsTBrK5jDxiAYKErlk2yuz60VpWi1ZI+3gYnk2lXdDh0aWVRo9HI9E1Shh9BcJLQoHkUVnqH5xHvO5L4cQR3YFTvDYu20sO/UTHPponO8USWbG2I2HwELNEEyP/nLomJjOyfcEW82Y6MxGR8S0W/r5yVrxYIaCEJm2tjB/F6BsiLweqvMvCD0LkIWKYWdm6CGXLRhQ11e9upVJwcsEIls905+87MaXfMWkwP9D+EK1Ad5UNAMrhwmDYYJdnqdcbpFvGhYGakpUGEFoyIIguPXWVQJVTmIpXBcoZkuf4F/ThHW04NU3USZ1h/2gkiLEgnwwSCzYRxnKuKAaaFBBSROzfp3avl7t9oc/dcQ4Y97GYI2hQViaYVpLkeWXzmjF4p35TTLe1KizQSeQahR9gJz0YY4TqgJS4jFvTktXMWkUyqosG4ntdwQjBpStIUbB9CJLN8qi3xvgKnkSqaBi4FYsWSizMiDdX0GBPBDZt0MgskkaJHhO5zR+Bz0BR3dfL3qKtA0LdERCbsAhXCZfjsxZevC0Yekq6D+m7JKuQu8rUjaf87OSXBfgyotU27s/C1vW8mtVzUhzAjRwbXeHMmWwZd4Wf5TX0otg50c8Op/strhaXW32DSpfndy4He1aB1JddnLPU/ZHDPlWRo7w2LJx4yAvtTiLRSDL/34uXm9+E0kH7DjxKAgLOCfO5ZO3cZaG38ht2IGlauaiVgXUS6kOD99XBiQs3okdcjXM7c6H2jyCgHOyP7pKOsrNd1OkR6PDXF2YuAb3fgDvNt6Kn9o3p3wFQGeDg2nExa3GvI2dfNqFp0N2Qgqql51wTeOSHHJUqvipKC9jfbhKfc9DftHEMDdl8UZC/cRIRu9TPorhQeBw23Ylx9J46q1qMJH3Jt6K5h56MTeGnhUAz39yBxFYGgQ9dAeQe7/qRLrO7XRDrnprIr9PYJsZ7v/wyL0h8xLKYqGVBHUxz6BJBEMk9pl6fX2HYeu+9g11q8TxjCr/fb2tOrTacbr2+Y/+dqIVNZrC8oY1x4MCyemhAYp4anuV45/8/sa0p4ewjJ871jYP4fCR5cHA224lkL5Vy23KNLpoUYYpXgy3MjjZTzIOpa2WTkPKkAljBwmDyavHE/1GSKkdDu+2WeYZaEBZ+kkjakusy99QzvNt0f577BBvzhQ2dQPXNIR8ZyJf3v/bY3VLtWb2Iry7lEEy1OycX55Xy/ZtRTo22zLd98nSBfYQlJNZU74NME7FeS0leS4NT79alDj7by1OeeSrzm1lmInESxbG+9hhaVKipcFRYQrmAGqfs1IccxLtf+R+xeLDu49x1G/C3fnOTUKgiFmSRaVM42Z2n/LoyZzlb/wL6cyboniVfCoblPbKE/dkPDkmMunrVcARKYOfgirpzDI0TcOhUh+PYcSuFIDYKHY71UxUosQKJWN2+LEsw+eMNYzbG7xffrBKuPFlmQaGAlpjafyF0m+qRIjN0ZAdE/nL6hIEnj91tdvyfqX79NZFeVzdbFAgaOxhXimGeIpm0Og9fzBk+2aKUMh1x7qPCm4ySYqIuJT6xfuGSUnorjFDPR3HsRryZSdk1i4cZZCMuR4CYXw9mKr3mg5IV1mhJ6EMT0F12M/ZsUAgYmY5Lt8xDk5o/PoTVLyfs8AMofSwBwcuI3Hj/ouMZ63ClNE2YYiVv9Cv1fnMNYYNCmI90QkG/A74av/kxm/lK5T4X8oETIibDTJXcKXoUzArz2dZ7MluuLvu6qDAHIzcVzgtMNyX01FSioeMGY+8l8SFA7+G9ctgpwEuMoiNBwm+ULTi/X45ILbshUz4tduC9CNr6Y++KX66LTqeUdD8AVXpTpa6xib+IsmWzeb+a6GtHHjCDS+lYaWpn4DjCFQH/tNQtYbL6xZe7xfnzxYJvQZvnbokvJV8xonYFQuWFOQhor5lRf4jNMSQecSCPGvdZAFMXzcBDgKwM3AgU/z1UJNV7z8Q0WkJSKMdwqcRyNWVq/fOX2G0jcgMTLuOO+wmDfL6U6cfeQ2bre98eEQM9c0+UCaHMsc9JjokPhuS90FTwXq3jumQ+ufCpxWOwaEYIQGzO0Ey7f+MfqmwcoCG/41md6aGd6xW1chUXI7R0ylsqBNeMz+GHaUJhXKCz2R6e9wSQCueMqsdOJYs6HpEAhHMcf+Gi1T1anoOJxFy/+XdKahW0POgSAYSvLp1wcQUt85PsBf+jVMY5DLbIhWLCQKviVFH4guEoc45P5jwnVCvWT2GaYFQ9v6PIVEVgvRhaR16SX3tmQbAWD/P7HSoAeIgPL1PGQ2f8x2BiOapxTBID6p2VM8WmrjcCHy2fU2O3dkk2ADyH6qY59SpVeoG/iTDliDxqQ87VQghbrkcdYhAqa9uDM+HDoSQL1zcV1xV76fYaN5+0R2loSD9Vhy0j2am7kvWe4Ro0SCrbOr3McE8wsh0b+AMaZm+PB6ZGetC7JrxWv7YbbjdkS/ZtEMT3sI0TOd/SSROhTCzlt5mQ7PU7eWCWZDCLmrVAkdemSQfT6Q/wuU1vV0XDdAiyN4ozRXScuRZBiX02o0R55yhoeV05+uXr1/DdkFHQ1nwGcXViEISRbB/+6iYiKWdKvbfa8MJEYh3wrGSzp1tpreaxkg6FyMjy2z50yi45qDnsRwW5mlhLHkSDJcPwL7/QJTkPwBZsLK8k2z1nL1M8qMgj/ozegZRA484gyaUVpGlMSAWMK7HWSteBWq/43X4nWGfaYzVpb/sDmlLg4sjLvwlId27/s5NWWKC5UsN9UMR/d5Nb4NP+zCeODAejhjTXJphKpbi4LjmMJC+jvgm+rJTLr6RZXAOFWloT7v5IYKj6J7VjSdmXIalaI0e8uJpA+Oq+iCASCAUkjsdvZnj8mb4UO7rDjGoUoV0KeoZLc+sNgBtT9V776HHdvAWssr2/5i4J0EpIhoqNs8N+aY/96w70swVWnzBv3agE7ruFjBQqpSD/QZbpdy/22qdFx1inHwsHqeV+zKIAg+M8VMbrQCQMFopE/JQb+mvsRSON0FRdL7q90W5ji4s5ksBlXOcVCvkALczB7Cc8uEdilC8qfGZ/Pb/ldj17DjyC6LcPGblJTX4UcVPlaDnGYL+PBDWLc9lD4llY7YPil1brjuJJS1/LXJeAw9WTIupj2cBMqMGm4is4CbLaknQflIi4zfrc5w4wOn3LWhUoBOa2OL+sKCmSuPCDNiPtnpmTk/L7B3hcRVuqb53p01b/OpzsNwGx9AYF+MN6D0uCvRaj60bJV2EaV2XECK6Y5fWsg6FBpHIqOfEse/TsODof7fQGnTgN1tJFaXfzy/OB/mFv3xHdr6H6kn7vPDtky9EwhzIrpio+31j37N5e4LAJmVSiEu4Zpa+fBTxkx1mvTf3uUrbVj2GMRWicKLuqnG8JZoOiQ+8QCVKwKhaDCTtO2sF1ia8KaVyD0sX6+uWbasfWG57+afSJKyvZJQ1gFmyoUTrqAYR66knxK3YuhL9ndYO9wGmV3JmKvWMDcDgEfstya6uW2Ymf4zL1aTlrkzmYyr412Sab6WSsuY7DjjogwqXJjpLwwl/K77icx2FuhHr3hhgsQchhYet+SdDyJuCpZcpE6UuDKMG07Q4beIEQ2endPLF/nGSSgFqvbQSrEtiAoIpzlMAHm2oenFKnbodwfdcxDqyQlZtl5KPTSae95b35EX72vlkrvcMdPtGvTn1ZUo9IXcC33ID6eTQxa7F/fstN0VwIknGAGNVC0n2urxMpSWvi4mhhOJxk4IKw5OgWHitGH6NCxBF7R87Cj20kb78Wr1fAFrzH78byqSUVAuIDQKf+jt4ziEQBrjtcIXwSZsQcbiMKE/kYcn+QrAHbEqcQ4+TcFpGHSppRFZMmYYT72EDP+CXMToVMBHgi301ENzJJN6rVPAXM8kdCEKZnqFSccNrww/rupVJPwiDJulQOCUEQrEFqW/ecpC9fnSI6hAk/R0irJTWsb9un01kVqt2H+xr6K05i9E1z8thFQ2pD9VLc0ZqfXEvIJhzz4/FwQgIg43EuF5QNYfRwvMSV6HI7Vl0iGbQ0BSmvfD21QHP+YXUqMmxAQUhsif2QKB3d+9F5zC1D2LKNPd0ceGxM17/4MZC5OO8v9iGBzyN45ZzECx7uI7vcp1PZvuUBoo1kJBHW2nCscjg2jxNVSSD6V6yAZP27HkcP2EltsVMj3oEtFs3/Tks4wtYtRwdRWgxcobLRDVHzPwSKzg8fywZniXtLVX+xyb2g6g0EzY9LouprclLyOTO6KdY29mI4Y8hhcHeiALFYE6Rsq45NrxlF5D5QuudRCxbqttEY5LjkvdrACMe2eHGUPJjRi3gaA8qDBDCjUtVp+0D5OpdUATs3k0pF6Kqfl+/l55HJNbJwmH28qCZjrDB5+Spt2zabWjB6u54AeSVZymHf/uVoXkFmp3OwVnGXrqe2AXjenY83YOPXfMvsy2ifoFEGfaYEpUqhVLj3NZ+1uj8nTImj8oBJqoLH691IAFMDu4spFv15oDWSirwXfR+fEFI1CuPcCnuFGFUcAO/gZtolpBb4nLnczKaD0g3KAl5TAErhPuXLQ3fp733v2S0IAcDdmisPpbQj694GgaiJgBPQRyhl92rjhRvWWurjkHMwrFVl8cr3xvkBff0RU9zPYEfPCf6SS4gY41iGKNnlW89Ci5elHRy11qZPZzWdp0aQGB48I8hj7KlccrsZsbNfl5WoumSEPdVh0NIK7t4k6+8fbN1FjLk6UnrBX/CobxtAPcUXTfVBjOiAyYuGnGKBhYz9w6N/DrVjhdSqIZSafMWn2CngFJ8X+SO3D6GIotFphl4StGS3QpDL8l9VBNSCPHo7KpXiMaNnwQV726t7mTJIs51viwqbaI6CDiCeyL8jv5KRUHUm4qwAdwRL2k/cxgQNCzU/XkWUgjhByG5Iyu4ue1twaRIbQtinOTqNMQbwE/iGCCVAAOPMRsKjuPqIigBgBxc6A2i0wvdhp9XrgBDTYsex2r+XbQuZH9wDYKv8wEQqBj9XeoAzMjnNV2A9hqb1LUCEtAc5kF+REBXXjODq+/NUfmeaz0FFPXbIGBZoAF8J3p+LqzqbFjzcr71sWFwouT7uno3vL1glm33eOj3cCwBBbqSBmdVwGiQzwr6BPfEuyW6K8x+rYAkP0QTIHrq2OZnIeqNt94StlJejaV5Cda2HdUhweI2c+Sur8Y/SZZEtIckcfXy60iDpDja9FPBo8Zm/LsgGyhxsOxjje8Gu7NzHoCU/u3nLACDAWBX2qgd8m51PkHwIirE4VoeLfEtdjPDmojqsKrKiyS8REI3CfafE38Kj/FtMXBUMVolUiZKUkuIeAOuOWHFZnqjAR759HXDOII8/qpjU3tJ5HFEGjeve71LEIK5S2HBGkUK0PZvp4wPSzDBLuMlsIOSZKKh5xpnzAhaeLQwPO84in4EqgUjHJHHGHsDcUDUM0leD+x9SX0g4Jby8emCWnj1vamX0LF95mMOAEBt6H+7GlYI2qC7sN7hrHD7QqSTXCrognEqS0l5gTlhC/2+1RWFFqnwzPAz7iL1EZY6mXDdVSzFpAoAGetFw/OaWMqAbW1jxvJrODPAwJZ9uz8X3duXnw5YfPPPZpnAQ0OkRpEtOPlO/CFwAHWgw7MKaK/sNH1Eqc4CykEzMzs+MUtTQXJzMGsg3hy3zbc2SAxDmAug58IDlBlBz5ejwD21CWEtK9dE/RHNC6KPfpBjYlVdHTi4gFenFJxia10ScVM2yrldFDMogAUiIg6ivbCCMDKtC4k3646ayYjLhqE+qRq5yEJ4IO1McQXEWSlhqqjOdBOXfJH5pcrpKXAM8GNYUUsky0Y/MXEI8MRRGlRpaVgqEMwKT7me8GP8nhYHLIx74VeYPwNXbAoSLzrZ7L+PX7Q7RVGdIZyZMxKB08lF6h4R7SpGZYMtLDjD5IfXib3W7KFAwuXGGy+lMW4ZmsGLDqnDlqDLI6kTkBhdyIX3nKQ90XAja+SqAYdtHMhIP47cezBo64bQmCtEj/dOkfLS8XDMShHbFPdperSd2a8WZ2X8WYswhkKohlDjD33cEwlN6STc5eBJ7F13xpuFKkG4ftxpD33tCyGcVNKAiK03uAc5kVM6bzV33lSrZMZPmNSotGiYNPsXvzDlTBhynVxZUKBpnaEE9HYMa05RjBMO7MP2iB8pMj1g4TQqtdj8YI79+jRaHwOEg/23sz+XaxUr+bb3+1d7+j5Wgbw6KS1hY6JBEXLXQ2ssJqNKilxSXG1y9LC+bXZ8TyzVKs2boGutYuTbS7BSY+t/aaZQq3GxqkBM9JEki7alCq5I0PJAWC3nmr/3xexq1BOT/bq/mlfw9XGWX2ncVW2mEQsYrH0v+m5zpWUP14ow1wVaflaknoEfNIc6H4DYc90qzFzCThEq1bZxhPmRMl2P7skx/CJ7mPFK5jvgJCx9axmIIChbpU1QO5MAqJ3dvt3AhO1QtPwTBTbp7ysFEWqaD+WWEdmKEpQ8Objq+G9zuGWyRi9aE4QaQbGHO5NfZiWRy77oOEGJ5D+k6gURwkteZhdb7mtTn8n8MZx3Tu0xiioiw52RriYhqXzEc6UpW0cPoRnMAQkKW1P1oNlDTiDj8PGKwk3Cb+OXWYFZOgcD2Q1f71KqKfxJMapsbnj3ayzi49y3s7xBpewk1pA0nVIy3tITXpeaK8R6uezjSn/CfvJTAL7S3UqkgmtRUdIyqJ2RiOBbjDJ8BZVmBVxMca4lwpNVBja6YvXzVaDCj+qGjd2O00X3KDNx6em9thxigZ9Pkn0/Can5oebWFVM5+b1BwD4S7Ldkfup120ZckysZAJhpaF2hutbnbXk3klKZmlGCSu9M0sQnvO2OvMZ1xU0FW6tnO5ou8I4qL2hVegeLvIaof7LEkchvWoPc8e8uOtMcX2juh42BpNpMcQ8lWsWjO6oiUWJh+sfKc9Vq1N1aApvv1rM8meY8HovHVuZQMrDbdOmSGkMTS0gbYntT1tUx+S4TE6Smj8A+NRuD+AxcKbkhwkxsbftsjP7eE5wL0AMzWwhZRTRrmd+/wX7iBYaWJt7A+qanl2gEnK1I+d5NzD1RWxQc8u8qhadlPPBB6EpckAbdQyKNLnAWzF+YtE4rhTsh4BPagtwPRBEohWvRar7ztT32XFtTg21cCpMKjbCkL46cptESP1J+jQjXPZzSmuUX+A4QquJ1Hv4IInJ/TEnUi76Vs5j5kYtsm1OKoG4PPsJ146PbedmkTzKsR1n74VXHUMuPUW2suQUz/2vc9RVMt/OpkG1owbBZpe72maDZNTK8N+Zrv36YiQhOvn+lrJ6BYioLP5Bf4pchVfBW5zVCHpkbmPP2LFqz9KTaD7mkJM+Wny3Pig9cW1C11NbKlvzZyPoP0pqlXwCsw9UeNiJvluTd7y1QnsKyYnktZY4R4/tHUlpYIzCJHJhjBTObnj0DFj2S8wRJS3kEbpkcxiKd9P369ioUj5Ez4mIT1AH0M9H/Xpnv1pjrh2ieIpurH2MHa2s60egQxO9+xWpx6wtSYsBcqwW8SDiawnCZbHTQ9HSuFQgrnnKZborqsBe1AMJPN4NIV4hA4BmJT0ugEHUwgbGGeTUKHtp6Q1CJpEzQF+fHgG3SuMVc8GTK2rLFOr/Np+o3rH42oJNM4UjN+gnbFvWjVAlrVxo7/xxTt+iamAtGTllE8h9bEOKOVk8oO0v54bF3Zg1sAsWeb0m+NHtKi4ykOkt6b77W+3WMK/F91kqu2hN0ZptvKg2e073Ad7gAuCn1TWIntEZDyIFMVbYD4u+19pDHUZdqrV2OKkdWBXs8HDE78G3oGbNPpsOmA/wCmtM/PfvvMZ8yKb/o7glBHgZnA7x3h0mqYK+6tNWSpQ3+AfJ6qCFIqNPykd0Us5PuateKPmFHA59yBcWpIXFHzyrsuqaUmc5Hu/vTwhIE+s7aOsQjkXEqnLhV/IVxNOg1It1iwbySokkuO30I1yx5c4OxybdcARQes28tAxYxheq3J4cmXcLSHPJ3eC83LLhLIRT/2hwMo4/rimvWBheqFhYuc18hWsPkXzpjlVnZ403xGMfZOPZ7dHEWsFCSIKhS721csXSuOM3++VYPuxiQVfA7vw2nmUAgWuxjfH6CS/ClPz7y4sirsx593icdrtWd7ocGoJ9TvDFerIxXMU8GYmsMNhQ5WQ12YZxh7E4a81UZbc81J2hi7L2grjJWaYBmeMEGyZ4OPTDegrPN9E+WOIcRmm2EHZEaPTjgUlLUFn0+FEfXPICbsesCxXymHosVD5XPuY+I4pM6CKp+0UG9c34GU/GVrliLEAmi9klhAM6lq+9G/Tt1RMVMFZH3GaWnCRmd+jU/s9xSins0XN/H+RbLSGBLcMCatKJUn5RkyCGVoN6J/e7auOZ0AMhGVvxcippXLYI1xJB3ZQYz/musEqBCTCRynSTDjZXEK5N/luOmfjt8LRpKwJwjnISTdSsDjYyqq0vkMuXiGAyZKXOF9aFx6acYtoO+BlJjhL5olkzgy3XAtEzb7hWlOlsvw7pKt7GuRPlXu49wsoqULtZO5KmlrQ/0OdvF8nYbQDkiN4D4oIHRAB5BPKn886Rju6QWuVhkRFc/B5I2zoOcvZosRKzIOzZ3mgwroFZtQcDMcd0pl1/NfJuHjRILej4u4wzu7n7YqXyehlnKZlQGWzwiYDlytuut+2CKp/OtZJml0fJ2HCJ2Wp55F3dcsjZKFT2dFQjZmyrD0kaeRQ8cA6riMMiewii+/D58CxX16Urq5Xu+KGUvN01y4OHqcRT/yXZmiG9PPp9VE3pQaOUivbYO7LYeAxuJNMNcl//xvQgTTBJb7IWTMJAE7vdg/RMXr6kk8Gswq25R4f/LV9OcJYbQ0Y+kbON5YubE631+7COlqDTgeIZn2uYibNPOJtV1/c667eiHtv0MTqQEqw5L1MVIY9ZA/VqsvD6MGZ6Rd/Y1zWstUYAYt+3ZJNtHIKWDwfk7/y+e1O8mcx0aoilOnKt3CfzUQQ5FHiBXmRY7qtuBg3UTTVmvbpj+Sse+gnnUIG4gFLO9wiaW1uQ38gSS1rbx4Z28kOHATBkZeA3rkBl7q9E7Y+d4MLMGUmGBw5JYs5WgEZ7zuPddkm0agTtwgzryWf2NTZRDQd/Jub1uBJxFbS7G+Z6Sw9/K1kUsPdkCH8q7r0LLLFwMGbBxqO6DgMEGOpnQGQfF++blmbWLgnKj33bOYfeVhmJXBQXS+h0miEEMdaX7mAYE/5Ka9gYLt0LRBCmp2sqpm+H52goMNDaDcz9IokLqAilIjnhBWrxCE7GnhaQQ2C0NI6naRWy2enYDwRsCmtgOTAIGu1JVk9ZnIIAQ7f0D33qLTex8kkcra77uDF1gcRVVGDnwFy79AsIEmKcrvgM6bObtRt3fFExWWMJZF62XvQxueQdG2cKi8mBD1xT+600MC5cWUyRyC1fxgOwEBxKpZsRH+OIDIJU2Q1f4bIkuloZqVkKcHjmN37L6vx7uWRPJmbhsLKS9u0xI+4IXmXJyf1zXYBVFWa3XWhEuU502vO070cIkYEDhH+c2+33wBo1qnU6f2nhASgNh5Kb7MSRMoK5VHItWGPKCD1B9umBhRZsd+T8aLvLBLjLBrffQalYVEccTUJOXtCZBCusU/xwk20QMi2UQuwsWyu0gAKvB4immMPy3Sm8V86fPK0HHZQkcbHrUlUgoK1AkrNth8cQslE5FkPt6yg//iMqACVAZYYevj0lDQ3F1AiqwGz/oomM+JqM1KEo5oi2GC5LaVyEqg/w7BB3rQ3TMVL9zyHBWs9EWx6HFNzqD2+rblVggtkgIVinDjX1DPnmVKVxZRRyc0bNPpqgbsKv8XDqPp9HZ/J0FJV2MibDMDuez1S77F+Em+MMC9V5qSieMm1uBZ4dnpJ0YbSfWIzhvjhXEnP622bD/bRc1ivv9OhD8bDjjLb/gMoUR+UXhrvi5pkZx/D69zYEDXQTuTQ4gl2RJiLupIrA6G/ETlsRbXpooW3iJ/fXixHAsG6VUXOZvniOUk9mcpr3VUplxGEk55D2Z/nDWoU+cvvjN2/fPoMIl64Z5iXJIsDLm8qOsImK28qVDZghFzdM/Htx2+6YJ3ZOVrDfSbCKH9Ex+w1kTaypxb05SMi91wwe1W/m85PujuY+OJfgXM5IlhJqXcTdPuuGZgB7/PbQfVhprlQdpLE5pdUJXD4UAq9Tg6SPPA3VgfACczmNq+BvOFFrUzQdZvw9fHpKG7g6Xu1aNLpLs6s4/LhjUkJYpRamaylWK16n+Zn7AizN7oNOGvdoxBax9bNXqR8zoAtq41CDs4h3tE0ruiML8PHZhmooVThsUPJM1PcyZI3Gjvz2/gbqYqq83fqXkwZ24xluEeKofYZNMtfqFj/krxNpaXiCwLbI7R7DEnVsG4NVjYrfurJy5E1/LmLfKeptnt3C9aEho+p2Qyk3Drs18gONdlf0RGKztcAxFHFcm2G+k0IUauXgH+lT8S8PHCr+/TK29NNI8wfDakupTnwR3pJNv294OKC2x+qO72mW/Hpg+PTA1lgzTs1KG9mIvsKyGpzeSxg8+FapzolCAPOe0uQcVlgTWXc0U3iak6WQ8pAWQllfGtDaR6qhtMqH1mlGNOj7/k5fs4QqVwv8YLf/2Ilc+jTsCvXIQ6urC2D7DLtxs9G9x+/lm7RC3odiFHBeX+vV71AVJ+zw5m2MOwJUbsLgGJ+PIue8ImIRaOrNDaHgAhQ69IRLlRWbfpMCt0CQarQCSHh1lyOn8ceDZV2gJjuEPVs+uQ/qicJzAl4nUPnBIo6CxhHB4ZI/2bsEe3QjeDk8x0ovefLb1F2U0hZFzDcpVaMLPl4g3nibWbpBF0/MTXJqGpKTpjGC1LFKINyeX9ytZAHT1b4bBuqrjsYHPd1ehR+QLLWvZ2RZYv1WtHE3zgYya8tfcq+KvWstMLzmhwnH5yvd4C41Ttua/x0hkS8jcWiQ0E1Omi6OtRBPD9DJLSTvsrTweuns80MfRjeDx3yymc0wQlMs1s4aci3tJhBdGNims3SAt1fnWYO6oLu0FAB/rPPTgLto2n/dLiK50pGWkeJUtOIqL8XL1jnxaepZ7X1uBcSDSy8x0QteRR1tJEqSIvZCzEZ4X9vZZwKzA88VXqfgauiDMezSlmqKJSEB1kBMFRUBXfo34n1ETM9Qavic8mlrDOLKrr/lhao+9sKVf/ACRUrlhNpFvCT4KO9/YwdSyMOz1mun2sol/XOqfP/mi+NPcIWC+L0hFdyvI/836e2rfxK+5Ka2WkTX6AVdIBdc+PO2pBAlCsZt3oFdnqud/DMo+0s8+XD7+iX7w+X5dhB2cj5ipyW/so89eYK7scCDBUahDr2gBKP90e+RWQ50xeA+WSAhaMT87thK3OGSzfm2cqQeVYstdlgjqW/qfPN8KCAGt/eCva0CNKdvxv/WZrWPbwmvYllSwKzVgg8BCngJi5fB3bcV5Bbo0SXg6BoLKt5+sLAijMytPRxvPfvewC7Rwg9EUc5iols9/B7wB1z3nHYb7hzE0Lv2rZKLic7WvYwnANyyo7oqn3x370FNLHPIzdUm8Cs2WySN97M4zJZIoZoz6tYF0ZU7o9gVh4WFyBET47oqhZ+FRifwnYpG/SSyzFPA3zNbPKpShdB5FxcpeAVr6FxgtS9FYvvXDykXxlwBxN1HkA4rFTQEIptGF12kMv6jJQvo5n2i+nPQTPW6Qp+FfWi6CftdBUOYMyg8seG3uHrOGZxXmUjR41jmk4lRAMAjK67lKW2badhaKK7j41p8L3lckul9KAWMWmesK/VJoM/WvvtcbfinDg/X1GhufnxF8eOUH5MKsTsdkJsr7RMd2ePWlce3YM6ECa98acRpjRXSvlQjPycddtWouL4fkCdy7DosqSi4CHLGaj0dTntBln0JqQyy2SFz0Ymp4ViLRY1g5i0ZK1GdA59Ch1yxGVHaqZ9wT6PtAYQpS5tBjpjMn0hP55d2xGPzFRbZ0zaxu10kAbgDrQ6lV6ZHC6YGwbi8bcYwEgqfh3E0pdbYs2o5fAZOqRa1dzEgoYNqEKE5vDf8Qs5OlShD/SLEj8JpJVUnhpPJ8OG5hfCwxzo6sRW8ro9LUxjtX8K3cFXALpRcdLrXeRnmmN1w0WfquEbmqcNbtu8WQcug1RQoQymGcKBevXfj7po0Fn1zGKEdwv4cF5u7mpEZ4rl+w5KCv3SiYr0gbTcBQG7kC1Yl/2J9lCmMQDf0G2dqYTXdXNH4eOjMpAb84kB8MuagvEBAAQ1jZk6VXEYzAg8W6AJN0UaF+cwxX83KJZDQV3mvFpSqs8lrWuQ92Se2zejpPsLVdPhK173drLmBACntZfN1u0chKppJKMyKhmmSkZEUU0O59Sx2GebqG1KuvrvP+u8QLs6zP1dqZQ9JrXvY1ySHhhqEOndJzV/A8JB6s/bcmuldH0fUHSqrhiHLbXDY9o0xDlbm7KkSI7I5PFw9V1tI0DhvwVk6DaDm5ZeOQY02AFaJfmVWYgBOeQJkWiOm+gSfS4Oon18tQdIiqvU3xCRfBsYYlrcDedts3YeIemn+BaHLfnn+7mBHn4C+eHPZgtjPGl4TneGYfswQChP8pZHYTMqvS1kNgk9o1rYpjpzNnVa54Yq+pi4ro6KOWb627VCNBYc/aqAz6/oWWg9Q/ReeTp3rdFuz96UOzRhikjTcqqmLzhLJhecq5pkguGzGT+8EXmbYOYAcEHI+JyjcKxeGI0CLlZ2RaQVH+kWatg0G7VsiMSNTTh3WZHiCPs4S9w0md868uYTi8W1r8040VVaadzovqewg7JUzNLWXpjKXZG3h32BrslQ68B0F8wLyKrP/Yq1KWJYqJ9UITxOJYYjVCaL5jDkbD9/15Cr2jG8SXNcBBftjzbc0ZddT3pA3RIQaQ2PYiLHKKCXl+xunWcOwu6BJvZIDCrRkxS1mUS26aQFWxWddEVU3PdV8UKpJB8AW7xlCvUoCs5ZA6JJ+df57i0V193F1DLNqSMezCBi4FVvCc7ojVvKmbJzycjb3kCeEWtrQiy1KMxn2NaRq1QNrKFV0BJ4xrpn2K8FYbyH2mkpwdoNiYUFVk/ScfsxPxxSWaA75nhsqDyAh9NIxivzI17CgPxgeldb+NSMg2lZcNWp/SlXCzxbHufqUnz1ZmJ8qhE0hYwhXYOJcZALjzYnIuBwqKdfcbublmokfD3yyw1yREvOZkJ/r4QO7zTR59m04X+0/T1pNWsQJaBqLUmVU1zuRd0IxxzEm335pgXGE4wq0/ZfDDznv9IXbYZbs+cdqU1Dk/bb5cJ3GNo7+vD25QWna6yRz7A13pWzQaScodNEDtEKtfDwNjpXOaKykXdqM8WqrtUh1hne8ww+PfdJL15DKF8J3fOn8jsew92ZSNdHTAS9e8eTi5Tm20+PntD5Pt5sCIt2NuphI1EIv1Ev3q2adhY0UnGvsJIYIInIfM++t+b/JOPn6wEIUZYn2NC9Lm+cA6GG4UEMj8UBbRSRvCtuQ9cKImLo+trKKM2WyO7C7oEa4DPmInrP5mmQfS84g3NJ5m9A2JmnaQv7OrGmcUr8caMreoISasEgsR4qyvE1jJPictpECMcHb80O2Xp/RKmVroJ4iPy5hOeX6NyOOO+nlOH3wPjFUlpkErB8+URmz8AJ+2sumHTVWsgeyHhoXG/0JpXmAGKC2Nnka/JvEBKc0gOKulMYiKOBeBF7cM6rCs1nljhXdUl6EYkxlMpMHv9vlK67OyiAXXjoHi0upZAk/r2mYjNfhKlOHqDI0+ulPhMIqW2szvDDq0G70pmdfj6fDoJSsGZcu9kCyYe9emaXRjE1H4i0d8bdkG0YZDtMKmWV/xJxjnumel1VE8niuYlMHY8EDs4gVr2TOY5gVVgIsy2nyD5EXRhLwxSAYU+2s/NZeA5aLXQ8BrrMh06mzc6/BNnstj+Swm/O7zO2vlDOyEAoSv2SGQhgytYoEjCkud/RKkhghQkuboTMv2Mzuv7Ci8CK41qrLWWQIGTGcZropl2GFkktrQHe+6bajE1Z0Mi2uTRjzmrY9QhkPSefRtNqZ1AdtMdWUCjxKDptX2osna3W/+hQo+6FIAqv0W/VaNaRMGlmeFMHb64edfKOzmnhQ53h9lhTMd9NfxnbuhfvrgP2Yyd2TrO1szkHoY2kHftSw1LQslhQ3MO7KaWW670l33JMZU+1H4puZe6FePGPC+WgD0Ct2q8Ctj9O+LyP9pApZqDPQRiGg+gpQqAuURrpAH2XXTN9iD745FmGkC9ToQeY59WREnFlvkWFUudArYDwfEg+FJ/GFJbuXlPQxnTH9/N/x95uNaNFOy0x2J6c01W53wj4GQ7Nz9aqy6+1rw/PLIJogChKRM+qBRdBz+LnSdzZ+S1W/juI8xU7o5nJ48vFTm/AYvok8AM2Os1xXGwoS1Q0zhY3sKttwq7eGS9EJyoZ3Le/Zfo9co8/QVMrThy+Km9rvUV2IipCfX9TLEFVpBTrM4vJGG9SsZNRB5otsIPvRonVvl2D749D71zHt6IY8kctmmSUA3ix8b0+eOPDyumCJvvAvHIptvPhi1oL/OEZoP8CDRfqBnR1r4oI4TMrUeagcScuU26JkSUVJ3R7R2EiqK98yttf7/vLzmefqyDeyPukkE7wfKqjFiUfwobp5wIFQYfjUyMmg99CYuhWDfdp94CImw8bQn4WWxtFuD5tWfOTdzKSzAlAege3o1/xfHQiFQNxX/CVEhaNikKCfzLCxzKkI0yJpuvkxKndEwyGhx+3QSxxqOEmuReSUt8+KjtSIJdvPXGYLVtEzNzbcLylAdQ33iPDjqlwMYy72MPpJqSyfaErPGy2S/ua3QQ033ve87/t5KqW94tcBEg/eHM1GCV3I4ClNXPdpyrE9uYZ2BXk8H5mK25HGWgyd4YBm/rpuKJDY9hgwN8uAJeJAP8NcbmTlU1H0SYmPlAPvtO3WIaunj7+iOEIYk/FOtX8HP0AkD6wAR+s1GEcAbvZk0RM8bgGvyuYcwj+dHW7X/HCuKM08At3VP++/UKhsO3GrYD3G3oSKi/zG3w8FxIb9nU8Mkomvh4B3sMQNn3HELMszmit/7k5DwIptSRRDe8vd7ADyjD0+mtI1StzVK3q27UlVLb84saEyxFPJlOyPYkBJz0UxFCl8e2B/QUrngmqjpZyD1P9jaaiYY8NEZhu+vZsWdBNevwSF1CQeqOTutX91uGbd81r03XAMVSUpbi9BamZeRc1wHslvexyVPhcQkd+Fs+AfBvcYey5tKq3bBq/2wK5qLEsuduTBTWLCXp2gq6bu2gdl+JoxNSZsHbKAv1LZ0ijIvWMvpE4dYQ2RRSp+ql1RM5oKXiBnOnxGJg9FsufCJnalJEsBYXSHchGTsbwKfpB7M7kazs97h0iuMhTMGSZsVoEc3ZV8ZEiXcagQtJhUPJIsAjpgknyD/Ys1LMA2WbZ9RF1j+nLCWh7bVAAIvmE7e81sKIfmzPGTFSUFAQYdeoqSg800rA5vLhnv5HWA9sOAhslQbJmKBfHPh91oGqTZLlxr5lGxKfcUWm0ix6NKfWgPROxMYTFKhZELBpeeJA/soZcjDCxoJ8bhPaQaSmqLs1yedzc3xjXgivolcXdkR3Knt9ZC+D5Km85zCQOWe3S8vjyzI6qP3baqClVwa7Uatvi7stH5DGXIvPovztJXn5lDro4SiRWNZje4/CYvbxkBkiC1JgQGZtQhlhnWqau52yQ6ZLDsA5vLmnjK9HxEzYqwL/GkbDZhWiI7yiw7HaxwQAUB4D56dVN2gAbcguTZyG3+wJ0MeVvOOhEkEUkxwZQ5UEhUMPbLL6TtzLu5oUPmXIy4xpEqJ3SrD4QDxrSD5lFJJZcB4CKaj4E/jw4gtat9osPS1int2uChegaz83sjCRUf84jVtReLrSI58WkuyDHwa81QtBKXLg599sxnOxF6xOFV0AuWAoenrqGm5DM14fy6bK+9xHH9dXgI7C1G2Y7fFIrCGtcJ8oNnXgWUaH1riXJNX+NLrp+bkRNAsvHIPMwhKGE2Xr4yJgK8e3Sm6XGuUyT3Vmw/OtM1JAaha0b7vLKpiMdhRc5RLZo8WuT6rxMGFxbr/OQqDpFUbADxr5xhih1I/yWu8AzIVQxToA0IdalEWicWJDfx6A392VlH71R9E5TMv4DGWAPwhoXY85+DOoYxokBMmaSvmyJejbEzUrRJO9fFmtrAwKu5YhMCOaJjsZ/lYxdusx7yh+ibD5u0r67gAh72M3wYP6v3T1aG/nepb5bXFstUuou4/uxkvIbJsgYch4k5R44qzndu1IBagipxOg0lzi/SB32c90tGCWYPscYmkcpHjmNj2XYOI+COgMKFqOgmPwaSmd2PNsB29N4xmO7kI7vaqku0Si+3mGvvVytFu8lG/ahwpPcOoU0AiHsD2ecBU1bvW8e4RLRC5fUEEyytbGM59L0lVLhozwjnd6ueefmxEjvrdaTCZuJ2LjGZD6Ou0BlCk8E2MXtrDZyjGhqV47Xp4HaLrW+yVNu2aOHPsaCGij5POC+gqShZV4XhTaonUMh+hPeIRezT72yVAQkWV0dp5Z6UT5DAw/K80mf1E6Ing9WSiu9/567M62T4f/LWRyW5khKvOq0FSoss6Wj2sUrd7RfKX9PS52y18LT69NqiqhzrvLBv4jIMBaJWNfi4tjX52VozILmhsR1+05ajfUXW1VaMfYA3pJ7TzOM/uxOwFpPpPrX/u0daZecqv4knGqFGVjkBaqSUYelFz9D6d8g6TOQ3MyIFPgv+0YnbWI0pkTGmiJ9Brxy3q/MJo+sCZSDtkMaR0yVzEXu29drsv34tVLnIk8oeBWVopdwBQpAT8ECHXJuJ31nj1gmLX1kq6wCYNzSV4tzUkjzu5sIgRTvt2S2fTufFyzH0tCOd3H+H8YF45cR65IDD/BLt91i2uy1k46QRdFXFOZQ8Hyicvgwuoub25QHf4OY11ishCUYfu/mjA7rz5O1OjQbmfq2+3HfefshAVTEH0M1zo3AAEq2MbhrkwADQm2arQQaPHdN8XhD38q24QmN8TmnmpBIDnsnk5pEQEPlJXcuqrTDFnkqh5fVFfGB7ie0kr0QP9DK8MaYAMc2QTU3pt7wltyfdYVTJuopkM82qJjcRdcrK3ee0HrUWcxdxHkBDANv9H4ONUFP1XbqKQ634DkMiisGLPjYcm1hijQsVQ1/m1tCZNIz22xXw7ODxn9FVPtXA1kwScx5+TTTt3auPSHeEhXW/jF7uZZZbi3/KdfjmaTJHc3eFkG85zF1g7v4A0FjnVWDkstd+burk76RHYZ893fN+p1uSK8Z6pg3OZPUvDyQmIu5fKY6+YM1HdxSe35c7BwsZAuUvefU3sigznJLRVSXukrRcaCwW1wa7nJzODw5n1lV0F704lL2O6iMq79UnBguZRrEtiYXsJrikv8a9Oyqo4yrjsGss+9iMErQwzgRzpyyw4r/afPv7mYPRi5+XStbZ8+I1RVGpIfaWtKIT8eaNJmQ0BSZDeZOHOYUEYL5ose4hQJ9eha3j5G4QMTVGpR4N2je6IHB/W8iEU/FYBs2tqF+WkIHNS7Zi2j0n27vAkYrW3bEQPbwXifaxS5vsGKzcE5FZUq1PiRDQxagocZOHWO145rgUoyudxbsGG/S6IzLyj/FzPBoJkiXXHn+Vznjy2rtSiq0dJwz+2LT7kKRQjPInjCm89ebJzqDFNVhTBcBX4PTbXBSqiuXIr7qLkTdnc14F3wDhaXvO/W4XPOqM6WY5PID62HY0QJs2Uw5CsBeV3MdffzYINt6MhJgDIHhZUlSGO5mf+UsvueddHjxj5TUEBTyQpYlHyfyIXMdd+7hsfMa4oynQ8vqFw4M2pNOC1t66sc1I9l4hYRTe6/yRfOzuFOSVTVYawEG/q7AYZWxzQzHIgg4nXjXepzIO6HjDnBvSG76xQEoy8v5BQW70Ys2AvJEO15TgweYxrsKXkeO/rLjE/aP7E26nkoB9mFycO5u8o0tla70Aclla+D38Te5RVD8HFzRNmmjpwyzPhl9V38G6aOYNl5BvFtWkjnwXiRtCy8K/wgTIUp20A+COAmabQttNd+xPldCcR1OWbz9OtlWmlSfCYuJObCtqQmIA2VfXxCgn+u1f0oP57hemYGbgtUjx2LxMD0N7MB51KmgUtPaPH7UsKJ/UrumxW/dZ7K1gR09CXuPleFd4Npp7XQ1h0vZSgHMFVSlrI6IzFS3mSIYj70SQdamwT0B/AYcGT6vJEipD2IQaZAMBW0jqdJRHnlsQYSUHNxBkqQo4UlfN4QE3XchV3PK0LzTymZaFnZBNzz+iEPF9D4ktBH43ErWMRTjynor0cBKX7qL2jnBf8G+M4Kyry/P7QoyDLTHbzs9FcSFfJ612ox7ftlJuZZ1OGwQqJXxy10dD7Gf54h4xPYqzhClYnX2uPRNspxG1r/V6iCV89W776eWq9scIsIVS4S2a+Z+SiAsIoIz7minG3rHhGWD27TyZVvH4TxWgG/2rDQeD/+n1WKu8hDwDbc+Pq5OknRmzXIvgMS4aVqcd55Lz4Gfc1MuTGbFGZMoQ4HtaSzFiWc7ocitpUHTDcR1KIx40tzv7w1UR+foxIVmekjWQ2SKyhdieVS0eUXSxxq5MLQNZliMGWSL26EUoX8m5FrvezGON5vc0UYgnTrUUvEWw6EWfwf7S9fXaW0qs5548QYnC5tDU0YiZP392NFua0+aasSt5XonjmhxEzt01wva/mS8x7eSfcJks2tnHhXe30T8eKb7sEvALBYxjOcIIwhGTxrtgdnE1XHzZfOg2s5BY2g1s7sNmW82U+6pUip1PPmohy2vMLiCb1K+jVwIKUAhxSY9No0Z8PqLnVbjYtaIUdr/WCON3UJXxI6vF4jsbzU9uZ8YJTZ7eaD0VX8/Ock12kb9nS8Q7t17vMjmINE9tBlONDuhR2LUy42gEKwQnuR5vhhMNJ5CUB7HtG0MxbZFBZxJh+a6xRPJRC5yl+lsuFGe9eRKPLyaqIpPkbwh+JmUhnm8AvcBNYq9UzCztNTLgSVV7z5RxZEJEyAeE3nWkcoIpSuqNOb87Hge9EBdqM0fwiKRxb7FwPJPxWpuhUu9KhzqmGJxlOuhAAnnZeEds2CK3It0B5zakupjNACFfphzeLxkaLXyLer5LVDNvgevvZKhN33HE9AEYOdFEB4tkz99N9Zcyivd2c1dOhsYL4r5JZ8IPjlA6Le5KTSMKGYhtTq7upFtBVvEihXp6C8yaEOgDE2LnzfeJyr3GMepBlHN7BdXyVBs86gsXG/Q4wiSzMI/TDPu8aWQ2lLm6MNZVIWNVcotq69rhq9V2+CEcGNFVnRK9Dn0bs6Qs+ezzm+dKZs5E2qDJFhVEPXk+DwuuDPYx2Z/VG8pj3G4hGsoE4KYqkzLjbn69yeLMxnpdVtScZXIc5ZbGhsruwknnkpfJNYuQo/R8wEv7Uq0JsKDQRZCEe5kD0aaSS2d/iFEBQ9aa+eQDioXxXZOoF7hka6EkIjV+jILaCEAkMu7E+Ge46YlnzRakcBRMcrapFsyQRBsj2LsWpk8Uz1snIEIPnBZlQPLu24+KHk/TpYgQfjov4TBmYYgZD6fXvO6gRk6QOL7Dwrr/USqqxiyN6bRuAr85eWBKRhF2M+F0+Bmfi2V5Y5Jm4xd9ilxeBKbVNap/zK7oqaHTPrpDAQNtuhizVgrYlkp8Kvg1nfzXNLZryuiHmuaCssZBmjNtYUEdRgriOUD3DmYOi5F7V1kjwABK2fVkzTmYpFQlb8mKW1vBWJRQdDPi62QQ7rI30aCSEFL3vJ3fLrTTZF66CJR/O8pktYZ7XmDLfUFhWns2Dxy5u2USO48hbO73NNvU4fsOAIhLLm5h68RF7ScgRj45H22pbF4XyI8GN7v2Ur0GWvQEZWWSImp/dJuE8vLyrgPIzv72Imc6sYc5gIU8Y4cgZMagvqleeYDuNCwCpCtTp0BJH7xPX3bhELTfGwHb2Fdpgx4FfaVCiRojnWRKyoefngZO6p7s4mzKWOFC1AS5epxQiNS2hQ+fl43pci3+t/aiHmfAW9Gc/qjveiUVzgSgO8fCEGV8AGYNUmrZ2Pej9ajkXGA+y+EAu7R+K9HaCMQzEi3VI28yOSCM3kQnZ+BRo+1frx1V8uy42I/y0lBQPltL8/5c1TmFr14ON6LyzXdSu+/K+v3RvJdobAyaZpj4ZL9UoW0FbPfJVcNfamFXujF5MVv4bpdZvPb7PxR0WYubvH26+Sng9FzpV1PUgWGKV70LaVtsxqzpQoRfdIpYkH6PbK0glTnNDHd+BM3okV/VeJyP39Kvgk0tQm2p+qVgV50sxVTAnIeZbLVSD3b0yAopY+Jse2g2ods7X9Vw2HMnEuk7vpC0q82/r3gKZRck2+Fp8e/0f5ivXAiG2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AgyfPYnkZGVm658sjrHdsg",
      "input": {
        "note": "Wrist view shows the red \"a\" block still near the top of the frame, so it is further out than I estimated; the overhead is useless right now because the arm occludes the blocks. Extending to near the reach limit and lowering the carried block to just above the red block's top, which should bring the red block much lower in the wrist view.",
        "targets": {
          "left_j1": 2.5943,
          "left_j2": 2.654,
          "left_j3": -1.6305
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AgyfPYnkZGVm658sjrHdsg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.5767 left_j2=2.6076 left_j3=-1.636 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -14.2974, 8.212, 0.2808, -0.0757, 0.0171, 1.0281, 0.0068, 1.6342, 7.0632, 1.8779, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29333ea853e38e10acc3ec074509222696d66e26e7152bfd0ce5b0a1ed399c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ad47cba72a4b8cdce52faa5ec8931d07e2a56444217c8ceb0145c9c289d8b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:030016c899697f49108917c5caa763f6a3a0777ab46a22dda1afef47ff2dd89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 29333ea853e3
wire blob 74ad47cba72a
wire blob 030016c89969
call 34 attempt 0 · /messages · status 200 · 37.81 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0199 left_j1=2.1963 left_j2=1.9568 left_j3=-1.3411 left_j4=-0.0227 left_j5=-0.5552 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.1094, 7.7744, 0.315, -0.0611, 0.0269, 1.033, -0.335, 2.1538, 7.1316, 1.8584, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.3951 left_j2=2.4138 left_j3=-1.5917 left_j4=-0.0227 left_j5=-0.5663 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -11.7128, 7.4872, 0.2906, -0.0708, 0.0659, 1.033, -0.0342, 1.7983, 7.0085, 1.8828, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.5767 left_j2=2.6076 left_j3=-1.636 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -14.2974, 8.212, 0.2808, -0.0757, 0.0171, 1.0281, 0.0068, 1.6342, 7.0632, 1.8779, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29333ea853e38e10acc3ec074509222696d66e26e7152bfd0ce5b0a1ed399c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ad47cba72a4b8cdce52faa5ec8931d07e2a56444217c8ceb0145c9c289d8b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030016c899697f49108917c5caa763f6a3a0777ab46a22dda1afef47ff2dd89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 29333ea853e3]
[blob 74ad47cba72a]
[blob 030016c89969]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K38Dee4iux846hwYTspeMP",
      "input": {
        "note": "At full stretch the red block still looks far in the wrist view, but I suspect that is perspective — the carried block hides everything near the jaws. Backing in ~7 cm to the position where the overhead said I was aligned, and lowering the carried block to just below the red block's top height so a contact will register if I'm over it.",
        "targets": {
          "left_j1": 2.2052,
          "left_j2": 1.9216,
          "left_j3": -1.2872
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01K38Dee4iux846hwYTspeMP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.257 left_j2=1.9377 left_j3=-1.3235 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -15.4872, 6.2838, 0.486, -0.0415, -0.0708, 1.033, -0.212, 1.6068, 7.0632, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36337a5e974a79114a692574f068f6a13038b40069cecb97f31687a00c8988e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b3a71bfadf02924d5f2f3b0169db22180700e89d17e27cd09d11ae5dd5a925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ddbed81ef41e733c96637cf00cf1a6527b3b7c9150db9eb862e3b1d2a429c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 36337a5e974a
wire blob 29b3a71bfadf
wire blob 0ddbed81ef41
call 35 attempt 0 · /messages · status 200 · 11.58 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.3951 left_j2=2.4138 left_j3=-1.5917 left_j4=-0.0227 left_j5=-0.5663 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.0124 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [0.1846, -11.7128, 7.4872, 0.2906, -0.0708, 0.0659, 1.033, -0.0342, 1.7983, 7.0085, 1.8828, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.5767 left_j2=2.6076 left_j3=-1.636 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -14.2974, 8.212, 0.2808, -0.0757, 0.0171, 1.0281, 0.0068, 1.6342, 7.0632, 1.8779, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.257 left_j2=1.9377 left_j3=-1.3235 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -15.4872, 6.2838, 0.486, -0.0415, -0.0708, 1.033, -0.212, 1.6068, 7.0632, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36337a5e974a79114a692574f068f6a13038b40069cecb97f31687a00c8988e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b3a71bfadf02924d5f2f3b0169db22180700e89d17e27cd09d11ae5dd5a925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ddbed81ef41e733c96637cf00cf1a6527b3b7c9150db9eb862e3b1d2a429c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 36337a5e974a]
[blob 29b3a71bfadf]
[blob 0ddbed81ef41]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pue9bafuBNbe6bb9UCGrkU",
      "input": {
        "note": "Lowering the carried block to 4 cm produced no contact, so the red block is definitely not under it — the wrist view is right that it lies further out, and the overhead is too distorted to trust. Raising the idle right arm into a periscope pose aimed across the table so its wrist camera can give me a side view of the gap between the carried block and the red block.",
        "targets": {
          "right_j0": 0.8,
          "right_j1": 0.6,
          "right_j2": 1.0,
          "right_j3": -0.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01Pue9bafuBNbe6bb9UCGrkU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.2513 left_j2=1.9247 left_j3=-1.3224 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.7845 right_j1=0.5938 right_j2=0.9539 right_j3=-0.3035 right_j4=-0.0086 right_j5=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.6718, 6.7761, 0.0611, -0.0464, -0.022, 1.033, 0.0342, 0.6359, 8.0889, 1.8779, 0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4530094311687186a8db34d3cd679239c579a5e28caaa6e9bfb0852b0c279d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6b403fcccfb19d5b0b57ff226c1ecf689470c027295ec6d727d4272521d278b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89bb395aa75d13cea6279483de8a763dde3bdd5e4a29b71438a8fb5561546a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5b4530094311
wire blob e6b403fcccfb
wire blob 89bb395aa75d
call 36 attempt 0 · /messages · status 200 · 8.233 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=-1.0229 left_j1=2.5767 left_j2=2.6076 left_j3=-1.636 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0223 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -14.2974, 8.212, 0.2808, -0.0757, 0.0171, 1.0281, 0.0068, 1.6342, 7.0632, 1.8779, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.257 left_j2=1.9377 left_j3=-1.3235 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -15.4872, 6.2838, 0.486, -0.0415, -0.0708, 1.033, -0.212, 1.6068, 7.0632, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.2513 left_j2=1.9247 left_j3=-1.3224 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.7845 right_j1=0.5938 right_j2=0.9539 right_j3=-0.3035 right_j4=-0.0086 right_j5=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.6718, 6.7761, 0.0611, -0.0464, -0.022, 1.033, 0.0342, 0.6359, 8.0889, 1.8779, 0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4530094311687186a8db34d3cd679239c579a5e28caaa6e9bfb0852b0c279d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6b403fcccfb19d5b0b57ff226c1ecf689470c027295ec6d727d4272521d278b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89bb395aa75d13cea6279483de8a763dde3bdd5e4a29b71438a8fb5561546a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5b4530094311]
[blob e6b403fcccfb]
[blob 89bb395aa75d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AP1bmTG2wYgLGPbmpuXRcz",
      "input": {
        "note": "The low periscope view was too grazing to judge anything. Raising the right arm to ~35 cm and tilting its camera down ~57° so it looks over the region beyond the left gripper, where the red block should be.",
        "targets": {
          "right_j0": 0.55,
          "right_j1": 1.4,
          "right_j2": 1.6,
          "right_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01AP1bmTG2wYgLGPbmpuXRcz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.281 left_j2=1.9102 left_j3=-1.3212 left_j4=-0.0185 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.5617 right_j1=1.3338 right_j2=1.6051 right_j3=-1.116 right_j4=-0.049 right_j5=-0.0269 right_gripper=0.999\nstate[joint_eff]: [-2.441, -14.4205, 6.7214, 0.0317, -0.0464, -0.022, 1.0379, -0.7179, 0.1026, 4.3282, 1.4286, 0.4469, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf0ada9f585bbd6606b6ca8557132fcbb6f524a477e18ac1bcafe311aa5c453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58c8523f170b4b1d84aa18cff28750762fd4523d48b8ad1b81d06f501a0c4d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdaa99f97921bd6d99b1a9b36053cd86243be301b7a75f2d54e01a0ec88ceb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ddf0ada9f585
wire blob e58c8523f170
wire blob bdaa99f97921
call 37 attempt 0 · /messages · status 200 · 16.11 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=-1.0229 left_j1=2.257 left_j2=1.9377 left_j3=-1.3235 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=-0.0002 right_j1=0.012 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0227 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -15.4872, 6.2838, 0.486, -0.0415, -0.0708, 1.033, -0.212, 1.6068, 7.0632, 1.9072, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.2513 left_j2=1.9247 left_j3=-1.3224 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.7845 right_j1=0.5938 right_j2=0.9539 right_j3=-0.3035 right_j4=-0.0086 right_j5=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.6718, 6.7761, 0.0611, -0.0464, -0.022, 1.033, 0.0342, 0.6359, 8.0889, 1.8779, 0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.281 left_j2=1.9102 left_j3=-1.3212 left_j4=-0.0185 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.5617 right_j1=1.3338 right_j2=1.6051 right_j3=-1.116 right_j4=-0.049 right_j5=-0.0269 right_gripper=0.999\nstate[joint_eff]: [-2.441, -14.4205, 6.7214, 0.0317, -0.0464, -0.022, 1.0379, -0.7179, 0.1026, 4.3282, 1.4286, 0.4469, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf0ada9f585bbd6606b6ca8557132fcbb6f524a477e18ac1bcafe311aa5c453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58c8523f170b4b1d84aa18cff28750762fd4523d48b8ad1b81d06f501a0c4d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdaa99f97921bd6d99b1a9b36053cd86243be301b7a75f2d54e01a0ec88ceb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ddf0ada9f585]
[blob e58c8523f170]
[blob bdaa99f97921]
{
  "content": [
    {
      "signature": "CAISowcKjAEIEBgCKkDT1rXNDApGPeZTbqorJEUp7HvXJfmzsPO7ArhqYMWqDPXPV8yXo8IGKEMJBje9Yt8JY3oxFfv5iVleBJZXxebYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMO3xfMRvYTmXmYepxGgxAAjgmIDGRhjCrIawiMCWopbWf8ozRFlwt/7LQYFsOLx7Y8I4JdLvSb5fjvwzleLtfSQFlU88zJfdNQ+6CjyrDBVz7wFkfAPEFeZeFkP+MBgY12bmy8hL8htZPwphRYw9tAZZKM/8/S6UMIQLxPTN0Mv5z6GKhm14reA9F6Saj3JnLCb584+wri3BVySrkLT63v04F1YbCrm4l01gPT6MomTa8aVenhnoIW0Si5ktPFnOacCgcG5u7PfmAhjPBMmzj1qHkK1LQMg1bB7vD4t1OxvkgvmdHeH1uHbikK5+0KTLzs431Rbr+1WXxHWUPSv16FaZM2ETsRjWzXPzkXMKsfFRWCJaMQB1/ECotLNHKzLXW9+TiiZhimW6Wxow3yZUNqvwF1P/6p2qiouffFLd6A5+CBpubkHOqyVEuTWkiSsdVl9wRUKNhgF9R1EipVy+vkERQS30vs5NUKRGrbJnDpPKD62STepRlX08sm/lrvdO4qWFqidD9kxkQ6/mqyP227aoAXtoiXav25ipMgwqB5oE+tgxi1W83bQXugMEvCE5Z1g1Eyr5jIjkeFP3U3kMpgv0ESarT/9bcJJcn0YaiEZMhNv6miPJwdWI95p20V11Zp2tjfC+wHMqoJ7C4vGHCWJFQvArk+VkHS2xSBqqCDGC0AzlizJSJQ41MHATw7HWQMN4U3M1YDzZDPDXj1UfYxK8M8Yg20GJ+BEsW7DtUhFlUW/uscnQXHQppF+MOxI0WKXSMoGPCTshziwcIQ6FbeTS2V/JbnSDUS2uGqzbat74CQD3KS0ViBBfknF8JeS+/rQYsVgwPV1C0uHSWIpSQf8IOe+e+sUpLXHy5BZS9nnZfGHDnpZjYwhSJNeVNCzlST9u3OXOATz7aH1aAywtmzyL33J2Ybi8eQM/MLWP5wqxf08VQxNNi2LwYFoVhwjYEERN7G5qp1RC6g+cymRDSP8YKuxkk9+u4WzktTWXv1ExN9ATBvzvAkAr5i3A1FNT8PcrqWIF4YKkCKaOyoOqHvlNdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BaC9BQx4hKD6xfVJDZGun1",
      "input": {
        "note": "The right arm swung right into the left arm's wrist (left j0 effort spiked and its camera sees the right gripper) — backing the right arm off immediately to its park pose near its own base.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01BaC9BQx4hKD6xfVJDZGun1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.2967 left_j2=1.9038 left_j3=-1.3212 left_j4=-0.0189 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.0147 right_j1=0.617 right_j2=1.2087 right_j3=-0.6842 right_j4=-0.0608 right_j5=-0.0341 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -13.5453, 6.1607, 0.0269, -0.0708, -0.0611, 1.0427, -0.1709, 2.6325, 5.5726, 2.4591, 0.0708, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfce97c63e92f2eaf7a70e3d2c563908b4f4ab49ba50df1e1eb49776385603d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5ad978a2e078e1a1750f9d9bf43a29e20db1f23fd0e27754715d484578aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4491aaa48d0cc297440a6963b1f398779250b28c0337618366c33412d9dd74da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cfce97c63e92
wire blob ab5ad978a2e0
wire blob 4491aaa48d0c
call 38 attempt 0 · /messages · status 200 · 6.316 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=-1.0229 left_j1=2.2513 left_j2=1.9247 left_j3=-1.3224 left_j4=-0.0196 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.7845 right_j1=0.5938 right_j2=0.9539 right_j3=-0.3035 right_j4=-0.0086 right_j5=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -11.6718, 6.7761, 0.0611, -0.0464, -0.022, 1.033, 0.0342, 0.6359, 8.0889, 1.8779, 0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.281 left_j2=1.9102 left_j3=-1.3212 left_j4=-0.0185 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.5617 right_j1=1.3338 right_j2=1.6051 right_j3=-1.116 right_j4=-0.049 right_j5=-0.0269 right_gripper=0.999\nstate[joint_eff]: [-2.441, -14.4205, 6.7214, 0.0317, -0.0464, -0.022, 1.0379, -0.7179, 0.1026, 4.3282, 1.4286, 0.4469, -0.0415, -0.0171]",
      "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=-0.9947 left_j1=2.2967 left_j2=1.9038 left_j3=-1.3212 left_j4=-0.0189 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.0147 right_j1=0.617 right_j2=1.2087 right_j3=-0.6842 right_j4=-0.0608 right_j5=-0.0341 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -13.5453, 6.1607, 0.0269, -0.0708, -0.0611, 1.0427, -0.1709, 2.6325, 5.5726, 2.4591, 0.0708, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfce97c63e92f2eaf7a70e3d2c563908b4f4ab49ba50df1e1eb49776385603d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5ad978a2e078e1a1750f9d9bf43a29e20db1f23fd0e27754715d484578aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4491aaa48d0cc297440a6963b1f398779250b28c0337618366c33412d9dd74da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cfce97c63e92]
[blob ab5ad978a2e0]
[blob 4491aaa48d0c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014LbJkj2yCEZUPZY1fbt5sS",
      "input": {
        "note": "The left arm cannot reach the red block even at full stretch, so I'll hand the job to the right arm: first setting the blue block down here at a spot I can compute exactly (about 32 cm from the right arm's base at bearing 0.76 rad). Lowering the last 2 cm until the block rests on the table.",
        "targets": {
          "left_j1": 2.2763,
          "left_j2": 1.7833,
          "left_j3": -1.0778
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_014LbJkj2yCEZUPZY1fbt5sS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.2929 left_j2=1.7958 left_j3=-1.161 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5913 right_j0=0.012 right_j1=0.6174 right_j2=1.1961 right_j3=-0.6945 right_j4=-0.0608 right_j5=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -13.6, 4.7385, 0.6422, -0.0464, -0.0611, 1.0037, 0.1436, 2.0444, 6.2154, 2.1368, -0.0171, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0f12f14c1b34eb49560a14e2ce0a12b55de6f71ab4b2db0550dce40ac02b858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0b222252a5e63d97f25baca22ac0870c0a2a2ddb2a2fffba8e46eaa5467fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ae60fccf46690a3fd1df284ed6aabcbd90b9d1fcd078a9286656d9b57b06969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c0f12f14c1b3
wire blob 8e0b222252a5
wire blob 8ae60fccf466
call 39 attempt 0 · /messages · status 200 · 11.08 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=-0.9947 left_j1=2.281 left_j2=1.9102 left_j3=-1.3212 left_j4=-0.0185 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.5617 right_j1=1.3338 right_j2=1.6051 right_j3=-1.116 right_j4=-0.049 right_j5=-0.0269 right_gripper=0.999\nstate[joint_eff]: [-2.441, -14.4205, 6.7214, 0.0317, -0.0464, -0.022, 1.0379, -0.7179, 0.1026, 4.3282, 1.4286, 0.4469, -0.0415, -0.0171]",
      "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=-0.9947 left_j1=2.2967 left_j2=1.9038 left_j3=-1.3212 left_j4=-0.0189 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.0147 right_j1=0.617 right_j2=1.2087 right_j3=-0.6842 right_j4=-0.0608 right_j5=-0.0341 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -13.5453, 6.1607, 0.0269, -0.0708, -0.0611, 1.0427, -0.1709, 2.6325, 5.5726, 2.4591, 0.0708, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.2929 left_j2=1.7958 left_j3=-1.161 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5913 right_j0=0.012 right_j1=0.6174 right_j2=1.1961 right_j3=-0.6945 right_j4=-0.0608 right_j5=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -13.6, 4.7385, 0.6422, -0.0464, -0.0611, 1.0037, 0.1436, 2.0444, 6.2154, 2.1368, -0.0171, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0f12f14c1b34eb49560a14e2ce0a12b55de6f71ab4b2db0550dce40ac02b858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0b222252a5e63d97f25baca22ac0870c0a2a2ddb2a2fffba8e46eaa5467fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae60fccf46690a3fd1df284ed6aabcbd90b9d1fcd078a9286656d9b57b06969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c0f12f14c1b3]
[blob 8e0b222252a5]
[blob 8ae60fccf466]
{
  "content": [
    {
      "signature": "CAISiAgKjAEIEBgCKkDHgY0HBFDwKfCvu//B2rJ0GJvbzC9TUTDibb1oF0UvzHiw7QaM2i2VbXWObp0Y+1AxxIh580CfRgII0Ts5pYLYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMVtCPQ6VRj5lQ6DLHGgzhRTgNyE2zLm5jAYwiMDCyx7XTVR+2aeV0hNW7Nl2MsUBQRlLyxFhJceER4oaETEubL0A/HjlzPFUbmKIuByqoBqZdhte/uUO9FTbe2sYLnv/nmVOm6/enPo9SV4BM5v0jWBC9nGa54LTJjCD+8zNVskY8CGT7PYILNWUgPB+vLgNd8kyWZ3tpRnVfKmyP83T4v6ulJFVHo1hNWFYUeJZ+/M4Cv6if8gPuJlY/5x0MNCraGE+fDeuLc2v1W+fTcOjzRuJGm9u2Bx/z/dkGs9tqX/wzLxa7UeKp8ZXkYahXptrBo7+QVGg+AzE78gycuIydYAgRwbHcky+y6dOpz09Kdqx90NKpL/S745XF08BST0TdKmYuLTAICLcqaIxAWM1XOrLAGkBxUKxmSb+9rqmL/r8u8Tly/2AQiOhD6Ix08GTp+FdB6aNTStSOgSdlMiX3sLjmmKW+3osm5e990jv6b/PCxKfYpd8K9RSxFcj9EyZ0QfCy4h4kVBOneSCJhCRcM5nS6DqFolf9ViXNymIqO/WAVOUovdIWSw329jiKWjVjRuEUUCkIT1rIFVwCzi2vWsGfad6JTnzmiDE0MyzsOpjO9uWvnTbV4nrqKJQClp1W41wQ9hDxI30/PLY4Tl2nxQMP6zXBh7xIAYIbRFeoThkd6WlWYlR/fjz0nW/fjqXegkszmxYpifrEe/Cw2XS0gwl6Y3QzgfbwgH3cZR4ZwNzoWoM6P54YfRj9kzCiao+J4wK3Er+lxiIMvG41sLpXJVzVD1xottHVUx2XX5PMl259xlJI6X0iVcuMzQ1Fc1qO7EBZ49LmLSnfpntQxTE0eCAMG6D3j2IntPWuORrt5qKehW2emyL7GGC1EqFzaeX+zDU/E4+8u9tRmbqBKbnkzi2++D/ZsbpnHL32UKQXSOZ1fTamdbDjOA6He0J1rBbazFU6AW8/L9neMQe14uen7kF6FGdHpcvnNtnA8PCacFomatvlnso+DxVpGY55+ArTwHDIHPuJIt83yiu7YJtVM2HUhF57W2W77q8FvBW2HwtXal5mVTmjyMHVsFSlkIxvPpkz/EMonMqyiYX2wR+i0BNk5rCit5alFpgl2/qrJtjQoK4c804vCZbE/7MtjT8HNBHnbKjFyARsUpy1++tG+1Q8XYMgkCEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JyUqgGC6Dva7B4hhWe9HB6",
      "input": {
        "note": "The block is resting on the table (fingertips at table level). Opening the gripper to release it at a spot I can compute: about 0.33 m from the right arm's base at bearing 0.80 rad.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JyUqgGC6Dva7B4hhWe9HB6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.291 left_j2=1.7931 left_j3=-1.1587 left_j4=-0.0193 left_j5=-0.5739 left_gripper=0.9959 right_j0=0.012 right_j1=0.617 right_j2=1.1957 right_j3=-0.7067 right_j4=-0.0612 right_j5=-0.0486 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -12.0684, 5.7504, 0.0952, -0.0611, -0.0464, -0.1197, -0.0205, 1.7026, 5.2581, 2.0195, -0.0562, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a06dc0ce073fa4f928d3a4a18a3f8ea8410d9f117a822da1cff3ddac3bbda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea4e2f86db8932829da662c409d4589a38b9c768b793da884f0d67f8b7540ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40ab0078ab0ffad259920c566d811768c5b53a5333f46bf0e2c07cacfb246d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e3a06dc0ce07
wire blob 4ea4e2f86db8
wire blob 40ab0078ab0f
call 40 attempt 0 · /messages · status 200 · 16.89 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=-0.9947 left_j1=2.2967 left_j2=1.9038 left_j3=-1.3212 left_j4=-0.0189 left_j5=-0.5735 left_gripper=0.5908 right_j0=0.0147 right_j1=0.617 right_j2=1.2087 right_j3=-0.6842 right_j4=-0.0608 right_j5=-0.0341 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -13.5453, 6.1607, 0.0269, -0.0708, -0.0611, 1.0427, -0.1709, 2.6325, 5.5726, 2.4591, 0.0708, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9947 left_j1=2.2929 left_j2=1.7958 left_j3=-1.161 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5913 right_j0=0.012 right_j1=0.6174 right_j2=1.1961 right_j3=-0.6945 right_j4=-0.0608 right_j5=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -13.6, 4.7385, 0.6422, -0.0464, -0.0611, 1.0037, 0.1436, 2.0444, 6.2154, 2.1368, -0.0171, 0.0415, -0.0073]",
      "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=-0.9947 left_j1=2.291 left_j2=1.7931 left_j3=-1.1587 left_j4=-0.0193 left_j5=-0.5739 left_gripper=0.9959 right_j0=0.012 right_j1=0.617 right_j2=1.1957 right_j3=-0.7067 right_j4=-0.0612 right_j5=-0.0486 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -12.0684, 5.7504, 0.0952, -0.0611, -0.0464, -0.1197, -0.0205, 1.7026, 5.2581, 2.0195, -0.0562, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a06dc0ce073fa4f928d3a4a18a3f8ea8410d9f117a822da1cff3ddac3bbda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea4e2f86db8932829da662c409d4589a38b9c768b793da884f0d67f8b7540ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40ab0078ab0ffad259920c566d811768c5b53a5333f46bf0e2c07cacfb246d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e3a06dc0ce07]
[blob 4ea4e2f86db8]
[blob 40ab0078ab0f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V33P2BWpFv2Xmi9cEHm5o4",
      "input": {
        "note": "Block released on the table. Parking the left arm back near its own base so it is out of the way before I bring the right arm across.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 27 steps (2.7s)",
      "tool_use_id": "toolu_01V33P2BWpFv2Xmi9cEHm5o4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3096 left_j1=0.6201 left_j2=1.2079 left_j3=-0.6487 left_j4=-0.02 left_j5=-0.5743 left_gripper=0.9967 right_j0=0.012 right_j1=0.617 right_j2=1.1946 right_j3=-0.7288 right_j4=-0.0616 right_j5=-0.0566 right_gripper=0.999\nstate[joint_eff]: [0.335, 2.4821, 5.1897, 2.2442, -0.0513, -0.0464, 0.0708, -0.212, 1.6615, 5.3128, 2.1319, -0.0562, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19c70db229172b8ed3fa2344a6a0e452e5d5c966953624fe6e1eefef119d650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a2a4dc2718b522e29f3dee9901c2666660c7d2a4ad24cf7e0dd394e142ab34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a3c0bc9a126c3c3f35f045c685517f0c3eaf069b9d4365c2908c93c2b3bb2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c19c70db2291
wire blob 92a2a4dc2718
wire blob 7a3c0bc9a126
call 41 attempt 0 · /messages · status 200 · 12.65 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=-0.9947 left_j1=2.2929 left_j2=1.7958 left_j3=-1.161 left_j4=-0.0193 left_j5=-0.5735 left_gripper=0.5913 right_j0=0.012 right_j1=0.6174 right_j2=1.1961 right_j3=-0.6945 right_j4=-0.0608 right_j5=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -13.6, 4.7385, 0.6422, -0.0464, -0.0611, 1.0037, 0.1436, 2.0444, 6.2154, 2.1368, -0.0171, 0.0415, -0.0073]",
      "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=-0.9947 left_j1=2.291 left_j2=1.7931 left_j3=-1.1587 left_j4=-0.0193 left_j5=-0.5739 left_gripper=0.9959 right_j0=0.012 right_j1=0.617 right_j2=1.1957 right_j3=-0.7067 right_j4=-0.0612 right_j5=-0.0486 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -12.0684, 5.7504, 0.0952, -0.0611, -0.0464, -0.1197, -0.0205, 1.7026, 5.2581, 2.0195, -0.0562, 0.0171, -0.0073]",
      "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=-0.3096 left_j1=0.6201 left_j2=1.2079 left_j3=-0.6487 left_j4=-0.02 left_j5=-0.5743 left_gripper=0.9967 right_j0=0.012 right_j1=0.617 right_j2=1.1946 right_j3=-0.7288 right_j4=-0.0616 right_j5=-0.0566 right_gripper=0.999\nstate[joint_eff]: [0.335, 2.4821, 5.1897, 2.2442, -0.0513, -0.0464, 0.0708, -0.212, 1.6615, 5.3128, 2.1319, -0.0562, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19c70db229172b8ed3fa2344a6a0e452e5d5c966953624fe6e1eefef119d650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a2a4dc2718b522e29f3dee9901c2666660c7d2a4ad24cf7e0dd394e142ab34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a3c0bc9a126c3c3f35f045c685517f0c3eaf069b9d4365c2908c93c2b3bb2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c19c70db2291]
[blob 92a2a4dc2718]
[blob 7a3c0bc9a126]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M2eYgK1tVA38gKeqG1yc5z",
      "input": {
        "note": "Clean overhead at last: the placed blue block at (128,175) and the red block at (143,155), which calibrates the top camera at 2.96 px/cm with image-right = arm-right. That puts the red block at 0.35 m / 0.56 rad from the right arm's base — easily reachable. Moving the right arm to hover ~12 cm above the blue block, wrist rolled to keep the jaws square to the world.",
        "targets": {
          "right_j0": 0.804,
          "right_j1": 1.7761,
          "right_j2": 1.5233,
          "right_j3": -1.318,
          "right_j5": 0.804
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01M2eYgK1tVA38gKeqG1yc5z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6228 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0231 left_j5=-0.577 left_gripper=0.9968 right_j0=0.7895 right_j1=1.7588 right_j2=1.4906 right_j3=-1.2797 right_j4=-0.0647 right_j5=0.7433 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.4427, 5.6137, 2.0977, 0.0073, 0.0171, -0.0024, 0.0889, -8.6769, 8.7453, 0.0708, -0.0317, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbea58a2a4cca27092bd4a2406d14853ead99a74b0ff6f4db5848ef2b60312f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:824c62bddfb456e14dd8da8dd057b24970695c921569b76c5aafbb22c4141fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d02822e5fc7ca300fc66476208dc57e7413a7afa5d0cd9766a6c65e8ac310b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5fbea58a2a4c
wire blob 824c62bddfb4
wire blob d02822e5fc7c
call 42 attempt 0 · /messages · status 200 · 4.188 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=-0.9947 left_j1=2.291 left_j2=1.7931 left_j3=-1.1587 left_j4=-0.0193 left_j5=-0.5739 left_gripper=0.9959 right_j0=0.012 right_j1=0.617 right_j2=1.1957 right_j3=-0.7067 right_j4=-0.0612 right_j5=-0.0486 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -12.0684, 5.7504, 0.0952, -0.0611, -0.0464, -0.1197, -0.0205, 1.7026, 5.2581, 2.0195, -0.0562, 0.0171, -0.0073]",
      "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=-0.3096 left_j1=0.6201 left_j2=1.2079 left_j3=-0.6487 left_j4=-0.02 left_j5=-0.5743 left_gripper=0.9967 right_j0=0.012 right_j1=0.617 right_j2=1.1946 right_j3=-0.7288 right_j4=-0.0616 right_j5=-0.0566 right_gripper=0.999\nstate[joint_eff]: [0.335, 2.4821, 5.1897, 2.2442, -0.0513, -0.0464, 0.0708, -0.212, 1.6615, 5.3128, 2.1319, -0.0562, 0.0024, -0.0171]",
      "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=-0.3069 left_j1=0.6228 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0231 left_j5=-0.577 left_gripper=0.9968 right_j0=0.7895 right_j1=1.7588 right_j2=1.4906 right_j3=-1.2797 right_j4=-0.0647 right_j5=0.7433 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.4427, 5.6137, 2.0977, 0.0073, 0.0171, -0.0024, 0.0889, -8.6769, 8.7453, 0.0708, -0.0317, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbea58a2a4cca27092bd4a2406d14853ead99a74b0ff6f4db5848ef2b60312f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:824c62bddfb456e14dd8da8dd057b24970695c921569b76c5aafbb22c4141fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02822e5fc7ca300fc66476208dc57e7413a7afa5d0cd9766a6c65e8ac310b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5fbea58a2a4c]
[blob 824c62bddfb4]
[blob d02822e5fc7c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F5tA3g4Ynw2ieXjbUhAfWg",
      "input": {
        "note": "The right wrist camera sees the blue block just ahead of the jaws and the red block beyond it, and forward kinematics says the fingertips are within 1 cm of the blue block's computed position. Descending straight down ~11 cm to table level for the grasp.",
        "targets": {
          "right_j0": 0.82,
          "right_j1": 1.99,
          "right_j2": 1.26,
          "right_j3": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01F5tA3g4Ynw2ieXjbUhAfWg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6231 left_j2=1.203 left_j3=-0.6762 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8165 right_j1=1.9732 right_j2=1.2728 right_j3=-0.9222 right_j4=-0.0685 right_j5=0.7406 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, 1.6479, 5.5179, 2.0244, -0.0366, -0.022, -0.0122, 0.3077, -8.9231, 5.4359, 0.2564, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c8a10b9556ddf563c126a4db25e8d08811e4faa6e53781bb4c5933eceab79bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0abe1299292d26623058345df9ac6c964c4d8019b100f54e202542d221e8108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bde7e6477bc5ac8f0408024fbbcf2ae22dd38f6f9f1d8f73ad2f86a2448be2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4c8a10b9556d
wire blob a0abe1299292
wire blob 7bde7e6477bc
call 43 attempt 0 · /messages · status 200 · 13.99 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3096 left_j1=0.6201 left_j2=1.2079 left_j3=-0.6487 left_j4=-0.02 left_j5=-0.5743 left_gripper=0.9967 right_j0=0.012 right_j1=0.617 right_j2=1.1946 right_j3=-0.7288 right_j4=-0.0616 right_j5=-0.0566 right_gripper=0.999\nstate[joint_eff]: [0.335, 2.4821, 5.1897, 2.2442, -0.0513, -0.0464, 0.0708, -0.212, 1.6615, 5.3128, 2.1319, -0.0562, 0.0024, -0.0171]",
      "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=-0.3069 left_j1=0.6228 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0231 left_j5=-0.577 left_gripper=0.9968 right_j0=0.7895 right_j1=1.7588 right_j2=1.4906 right_j3=-1.2797 right_j4=-0.0647 right_j5=0.7433 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.4427, 5.6137, 2.0977, 0.0073, 0.0171, -0.0024, 0.0889, -8.6769, 8.7453, 0.0708, -0.0317, 0.1685, -0.0171]",
      "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=-0.3069 left_j1=0.6231 left_j2=1.203 left_j3=-0.6762 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8165 right_j1=1.9732 right_j2=1.2728 right_j3=-0.9222 right_j4=-0.0685 right_j5=0.7406 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, 1.6479, 5.5179, 2.0244, -0.0366, -0.022, -0.0122, 0.3077, -8.9231, 5.4359, 0.2564, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c8a10b9556ddf563c126a4db25e8d08811e4faa6e53781bb4c5933eceab79bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0abe1299292d26623058345df9ac6c964c4d8019b100f54e202542d221e8108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bde7e6477bc5ac8f0408024fbbcf2ae22dd38f6f9f1d8f73ad2f86a2448be2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4c8a10b9556d]
[blob a0abe1299292]
[blob 7bde7e6477bc]
{
  "content": [
    {
      "signature": "CAISpQUKjAEIEBgCKkAwYvJUbH3331dhBz+LDW+1B0B0QIkPaYA+V5jdBkTZRqPB0O4ZMlcOh/OFsvzpLyazWx6ZSzIXiZZTY9KCEMZLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmWv3ecwZtcnGCF1JGgyQsMZX8C6HDvJ57bsiMF7KpDpkZlluRC3IzauGEqjxwYUg5HqsLgNex/wJ5cKBRmTu8GziF4iaPMBrOVeaRyrFAzpZyEo1/fWjTrLePD/EPZizZU6S8IIWan4/L/vkoHwxOUWBfQkU8nz0JbP51ztMb+qS7T6OffxwdnrE2JPzmFSULrJvt/EhbdcXaufhpm+PmtMJiaWSpkwEIIeKfOAeiPPb2S+PsD3T918HLXsl6CeRtBQ4io0nKNJNSALSCpHqplPCLVuvnYmAlIM9AZ3jPGdtd3jVXaXNmy2N5w1eyHojP/sbMZvah2CCywqkFY5+ouX/R7xEuFZfkzz/9WY3HPRzVlXd13piYM2JJTFVGPFXd4AUx1lQmn+htxc8Qqmiya9eNvd3P5ntqQ7cW7yR3FyKXq7wsROJ7tgtiJY5hn9HahKEse0Ae4kYpc7Vh1MukfC9Q5WHUieHWbzgTif+02GWWPVTUYmU5gzLQI3jersrrRggj5PuS66iLYfWmmBbEBszREWved5e4Le5ugPgLcwb104a85YYmPOBAV06Vmf4RO0Sl7P7JBh/tv+4Fndqs3wkgCy3+ws6qq6AVyTupNgg9m8GyGWIiXnLDdXAsCG/5jSVVMvHf1dXCtI2C1q5ry6eiTCDW0AdhWGavisnps6I3TonXE+g7qOR4X3rDGwF3ZQMARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QbozAuyUUKxotbkNUnpzLu",
      "input": {
        "note": "The blue block fills the jaw gap in the right wrist view with the fingertips at table level. Closing to grasp; expecting a residual near 0.58.",
        "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_01QbozAuyUUKxotbkNUnpzLu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6231 left_j2=1.2026 left_j3=-0.6765 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.9823 right_j2=1.2636 right_j3=-0.9195 right_j4=-0.0719 right_j5=0.7368 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, 1.6752, 5.2718, 1.8632, -0.0415, -0.0562, -0.0122, -0.2393, -10.1812, 5.8325, 0.1197, -0.022, 0.0562, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b59a53c1fc81f4a399c9298f41bba834f5cdcca0510283cd01daac97d55ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9675b4c20053766b78156a5083e8672f9670835b86d319e162435d7ebea8da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74dbc85ec07c491e8f4c9f55f1a6ee108899add48ade38a967b87565cf16e334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b1b59a53c1fc
wire blob 1c9675b4c200
wire blob 74dbc85ec07c
call 44 attempt 0 · /messages · status 200 · 12.92 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=-0.3069 left_j1=0.6228 left_j2=1.203 left_j3=-0.6689 left_j4=-0.0231 left_j5=-0.577 left_gripper=0.9968 right_j0=0.7895 right_j1=1.7588 right_j2=1.4906 right_j3=-1.2797 right_j4=-0.0647 right_j5=0.7433 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.4427, 5.6137, 2.0977, 0.0073, 0.0171, -0.0024, 0.0889, -8.6769, 8.7453, 0.0708, -0.0317, 0.1685, -0.0171]",
      "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=-0.3069 left_j1=0.6231 left_j2=1.203 left_j3=-0.6762 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8165 right_j1=1.9732 right_j2=1.2728 right_j3=-0.9222 right_j4=-0.0685 right_j5=0.7406 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, 1.6479, 5.5179, 2.0244, -0.0366, -0.022, -0.0122, 0.3077, -8.9231, 5.4359, 0.2564, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6231 left_j2=1.2026 left_j3=-0.6765 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.9823 right_j2=1.2636 right_j3=-0.9195 right_j4=-0.0719 right_j5=0.7368 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, 1.6752, 5.2718, 1.8632, -0.0415, -0.0562, -0.0122, -0.2393, -10.1812, 5.8325, 0.1197, -0.022, 0.0562, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b59a53c1fc81f4a399c9298f41bba834f5cdcca0510283cd01daac97d55ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9675b4c20053766b78156a5083e8672f9670835b86d319e162435d7ebea8da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dbc85ec07c491e8f4c9f55f1a6ee108899add48ade38a967b87565cf16e334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b1b59a53c1fc]
[blob 1c9675b4c200]
[blob 74dbc85ec07c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GgbjAwuSspXERnangVK5yR",
      "input": {
        "note": "Missed again (residual 0.008) — comparing with my one successful grasp, a block that fills the wrist frame is actually ~4 cm beyond the jaws; it needs to sit at the very bottom edge. Re-opening and lifting to 12 cm to re-acquire the block before correcting inward.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.7559,
          "right_j2": 1.4981,
          "right_j3": -1.313
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GgbjAwuSspXERnangVK5yR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6231 left_j2=1.2022 left_j3=-0.6769 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.7947 right_j2=1.4605 right_j3=-1.2747 right_j4=-0.0715 right_j5=0.7292 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, 1.6889, 5.2855, 1.8828, -0.0464, -0.0611, -0.0122, -0.3214, -10.2769, 8.3624, 0.2466, -0.0611, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:303d6652636d8ebef86bf0271ea80c9c5c2ffd689be384eef5b2ef922eedd3f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917d967ee0e07fddd7d954893b1d4c6e1bc5eb1e6b31a9264a1e23560d50b0d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab9e22d4e2e4e203da939ddb2a9bbb81c7582196a766812b033b6aa3205f08a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 303d6652636d
wire blob 917d967ee0e0
wire blob ab9e22d4e2e4
call 45 attempt 0 · /messages · status 200 · 10.21 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=-0.3069 left_j1=0.6231 left_j2=1.203 left_j3=-0.6762 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8165 right_j1=1.9732 right_j2=1.2728 right_j3=-0.9222 right_j4=-0.0685 right_j5=0.7406 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, 1.6479, 5.5179, 2.0244, -0.0366, -0.022, -0.0122, 0.3077, -8.9231, 5.4359, 0.2564, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6231 left_j2=1.2026 left_j3=-0.6765 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.9823 right_j2=1.2636 right_j3=-0.9195 right_j4=-0.0719 right_j5=0.7368 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, 1.6752, 5.2718, 1.8632, -0.0415, -0.0562, -0.0122, -0.2393, -10.1812, 5.8325, 0.1197, -0.022, 0.0562, 0.652]",
      "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=-0.3069 left_j1=0.6231 left_j2=1.2022 left_j3=-0.6769 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.7947 right_j2=1.4605 right_j3=-1.2747 right_j4=-0.0715 right_j5=0.7292 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, 1.6889, 5.2855, 1.8828, -0.0464, -0.0611, -0.0122, -0.3214, -10.2769, 8.3624, 0.2466, -0.0611, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:303d6652636d8ebef86bf0271ea80c9c5c2ffd689be384eef5b2ef922eedd3f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917d967ee0e07fddd7d954893b1d4c6e1bc5eb1e6b31a9264a1e23560d50b0d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9e22d4e2e4e203da939ddb2a9bbb81c7582196a766812b033b6aa3205f08a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 303d6652636d]
[blob 917d967ee0e0]
[blob ab9e22d4e2e4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RTrae5rqMSxtNU9AtKCbjs",
      "input": {
        "note": "At 12 cm the block now sits high in the wrist frame (y≈30) where a correctly aligned block should read y≈105, so it is roughly 6 cm further out and 2 cm to the +y side — the failed close shoved it. Translating 6 cm outward and 2.5 cm sideways at constant height before descending again.",
        "targets": {
          "right_j0": 0.8611,
          "right_j1": 2.068,
          "right_j2": 1.842,
          "right_j3": -1.3448,
          "right_j5": 0.8611
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RTrae5rqMSxtNU9AtKCbjs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.688 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8616 right_j1=2.0476 right_j2=1.8019 right_j3=-1.3533 right_j4=-0.0689 right_j5=0.8234 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, 1.5932, 5.2444, 1.9951, -0.022, -0.0415, -0.0122, -0.1162, -9.8393, 7.9248, 0.2466, -0.0611, 0.1929, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d76415c035b3b9904c319918111d3a3d39103672a5cc3df1936753cc31b6e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0890dbf4c9e581436bfd2b9c2a7115b5f1e0bf9dbfdf283e52f935477acf7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d5144107102c214f438dd9f88941a771628a3fc30b488d52f89a0612b125a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f5d76415c035
wire blob 9a0890dbf4c9
wire blob 4d5144107102
call 46 attempt 0 · /messages · status 200 · 5.436 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=-0.3065 left_j1=0.6231 left_j2=1.2026 left_j3=-0.6765 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.9823 right_j2=1.2636 right_j3=-0.9195 right_j4=-0.0719 right_j5=0.7368 right_gripper=0.0083\nstate[joint_eff]: [-0.0342, 1.6752, 5.2718, 1.8632, -0.0415, -0.0562, -0.0122, -0.2393, -10.1812, 5.8325, 0.1197, -0.022, 0.0562, 0.652]",
      "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=-0.3069 left_j1=0.6231 left_j2=1.2022 left_j3=-0.6769 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.7947 right_j2=1.4605 right_j3=-1.2747 right_j4=-0.0715 right_j5=0.7292 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, 1.6889, 5.2855, 1.8828, -0.0464, -0.0611, -0.0122, -0.3214, -10.2769, 8.3624, 0.2466, -0.0611, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.688 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8616 right_j1=2.0476 right_j2=1.8019 right_j3=-1.3533 right_j4=-0.0689 right_j5=0.8234 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, 1.5932, 5.2444, 1.9951, -0.022, -0.0415, -0.0122, -0.1162, -9.8393, 7.9248, 0.2466, -0.0611, 0.1929, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d76415c035b3b9904c319918111d3a3d39103672a5cc3df1936753cc31b6e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0890dbf4c9e581436bfd2b9c2a7115b5f1e0bf9dbfdf283e52f935477acf7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5144107102c214f438dd9f88941a771628a3fc30b488d52f89a0612b125a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f5d76415c035]
[blob 9a0890dbf4c9]
[blob 4d5144107102]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HyXQDfBc62Lqfvryh5cWZj",
      "input": {
        "note": "Good progress: the block dropped to y≈60 in the wrist frame but is now 35 px right of the jaw column, so I overshot sideways. Applying a 3 cm sideways correction back and 3.5 cm more outward, still at 10 cm height.",
        "targets": {
          "right_j0": 0.8143,
          "right_j1": 2.0861,
          "right_j2": 1.8615,
          "right_j3": -1.3462,
          "right_j5": 0.8143
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01HyXQDfBc62Lqfvryh5cWZj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8631 right_j1=2.0609 right_j2=1.8141 right_j3=-1.3575 right_j4=-0.0692 right_j5=0.8421 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, 1.6068, 5.2444, 2.0391, -0.0073, -0.022, -0.0122, -0.5402, -10.1812, 8.1709, 0.3785, -0.1343, 0.1636, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5373b620fa27afec1f92efa905e85182584c4a37930b82b178967de6fb9044e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce31ce4fc37fa4705339f3f81534bfed666727406837e1920f2b75ba2e8c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc0329f6c5cb012eb2fbb0ed23cad6dfacccbb0bf23ea04337c78fcba3c79910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5373b620fa27
wire blob 3ce31ce4fc37
wire blob cc0329f6c5cb
call 47 attempt 0 · /messages · status 200 · 12.29 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=-0.3069 left_j1=0.6231 left_j2=1.2022 left_j3=-0.6769 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8181 right_j1=1.7947 right_j2=1.4605 right_j3=-1.2747 right_j4=-0.0715 right_j5=0.7292 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, 1.6889, 5.2855, 1.8828, -0.0464, -0.0611, -0.0122, -0.3214, -10.2769, 8.3624, 0.2466, -0.0611, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.688 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8616 right_j1=2.0476 right_j2=1.8019 right_j3=-1.3533 right_j4=-0.0689 right_j5=0.8234 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, 1.5932, 5.2444, 1.9951, -0.022, -0.0415, -0.0122, -0.1162, -9.8393, 7.9248, 0.2466, -0.0611, 0.1929, 0.022]",
      "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=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8631 right_j1=2.0609 right_j2=1.8141 right_j3=-1.3575 right_j4=-0.0692 right_j5=0.8421 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, 1.6068, 5.2444, 2.0391, -0.0073, -0.022, -0.0122, -0.5402, -10.1812, 8.1709, 0.3785, -0.1343, 0.1636, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5373b620fa27afec1f92efa905e85182584c4a37930b82b178967de6fb9044e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce31ce4fc37fa4705339f3f81534bfed666727406837e1920f2b75ba2e8c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc0329f6c5cb012eb2fbb0ed23cad6dfacccbb0bf23ea04337c78fcba3c79910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5373b620fa27]
[blob 3ce31ce4fc37]
[blob cc0329f6c5cb]
{
  "content": [
    {
      "signature": "CAISxQYKjAEIEBgCKkDa3DVoEfSiNcYIOjQTV9a4Mh0NORoyt23hXnUfMqh9lLaQbQuLA0mlOTb1QWPxWrdGMSgmfCuLchH4+Oy4TlGOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMSy9dt8CfwJ9G/kakGgzMOCTGO/TAKqu3xtoiMCeHvI3rMpEMqcGpRsE0+HhlMQbbQz3vHkQ9x1JBLtVksUjt4101YMdSwJQs4MLObCrlBEeM3wFLK1zmYxiFyHuipoicceOCrg4mVXS1TsD7ZIR90iFA2peDsqtuUEeAXAakirB6uTGk0c1tH0x1PnXDS+LWK6y7P9+zHKPxpf90NrPGsOzr9f2rlWFDqpdBLXrb10B2TuU50Gfcm3WgxXp9YHYoQ5fvz9i5kdA4oXiDwlhi2kjscJQ6cLpv/matBufaOYZm6rWDrBw6+qVXurpVyzkET949Q/zB++18aZ71UY+2QefbgEIBhdmmAGcv8WrY5w35jpXZ1ooVnDhT+sEmlL70r8lzgbKsxb2MzH3rQZETEadJwS9a/4X64Gz7QeDgMFKa5BVPU/2nJ+z0+c2/cZQ0hsu1PTQdhdQnSwIQuAfYx8WUU/qXOQ04l+IFWew4j3wr3XpzkcCMO2ebAdWad3naXwTq4P/9IAE+DXmH1gm5siVOnWaAWiVBSqw3qr34xxA7tuc6A8qm+d53PMoZUJi+LjBDjvvGl1nfiqD4Owt4J3fWQ1fjulytmEpGxug6eSVcJBrofmaHzZ9+XLNwyOAD1QKj8/br9FjG2lBgOYzvNIotxrKZMP/eEyGQbPRtcv4Y6h0NKrDTYBgycffXKVbc3c194VChFArsoTcySulpTsWvQHbjukMqcMIR4tggUAikat5cnb7VHPxIwW5yMVxpAClC9DzYnNuOMTFMaKE7tN19n2+zEqhSbjzvHTf0JQa5IF7thVgeCyUHPZC092j1/aXOocCcy2mlSMIo/F/tF/FKcYRW5okUrN6ndfLMYVZIscpF51kaLqOVGf+6BtqdO0CKZyYpvfTn+IAIShqXzHE7Cp0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0167TsHJutGBjK6c4tq7UBBG",
      "input": {
        "note": "The previous command only executed one step and the arm barely moved; re-issuing the same sideways-and-outward correction.",
        "targets": {
          "right_j0": 0.8143,
          "right_j1": 2.0861,
          "right_j2": 1.8615,
          "right_j3": -1.3462,
          "right_j5": 0.8143
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_0167TsHJutGBjK6c4tq7UBBG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6956 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8177 right_j1=2.0781 right_j2=1.8313 right_j3=-1.3609 right_j4=-0.0715 right_j5=0.8116 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, 1.6479, 5.2171, 1.9414, -0.0513, -0.022, -0.0122, -0.335, -10.2222, 8.1709, 0.3834, -0.0757, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fceeeb6232f4c6462d1849b778e8ddc0518901b55c820ee1ba8e6d7f21e79e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21a3fcbb36b42e7703e606de6aa2333f13b2df075d22a97cf58feea7e806871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2024a8e428ac4359887ba38cfa7bf557fc2a3fd253a40636234ba03698def80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 11fceeeb6232
wire blob a21a3fcbb36b
wire blob e2024a8e428a
call 48 attempt 0 · /messages · status 200 · 11.91 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=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.688 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8616 right_j1=2.0476 right_j2=1.8019 right_j3=-1.3533 right_j4=-0.0689 right_j5=0.8234 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, 1.5932, 5.2444, 1.9951, -0.022, -0.0415, -0.0122, -0.1162, -9.8393, 7.9248, 0.2466, -0.0611, 0.1929, 0.022]",
      "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=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8631 right_j1=2.0609 right_j2=1.8141 right_j3=-1.3575 right_j4=-0.0692 right_j5=0.8421 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, 1.6068, 5.2444, 2.0391, -0.0073, -0.022, -0.0122, -0.5402, -10.1812, 8.1709, 0.3785, -0.1343, 0.1636, 0.022]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6956 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8177 right_j1=2.0781 right_j2=1.8313 right_j3=-1.3609 right_j4=-0.0715 right_j5=0.8116 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, 1.6479, 5.2171, 1.9414, -0.0513, -0.022, -0.0122, -0.335, -10.2222, 8.1709, 0.3834, -0.0757, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fceeeb6232f4c6462d1849b778e8ddc0518901b55c820ee1ba8e6d7f21e79e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21a3fcbb36b42e7703e606de6aa2333f13b2df075d22a97cf58feea7e806871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2024a8e428ac4359887ba38cfa7bf557fc2a3fd253a40636234ba03698def80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 11fceeeb6232]
[blob a21a3fcbb36b]
[blob e2024a8e428a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gcr2a2Ub9GWHVmSkqGsTQS",
      "input": {
        "note": "Block now reads (155,85) in the wrist frame; it needs to come 40 px left and 20 px down to sit at the grasp point, which is a 4.7 cm move in world -y and ~1.7 cm outward. Commanding that translation at constant height.",
        "targets": {
          "right_j0": 0.6981,
          "right_j1": 1.9935,
          "right_j2": 1.7041,
          "right_j3": -1.2814,
          "right_j5": 0.6981
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Gcr2a2Ub9GWHVmSkqGsTQS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7025 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.7277 right_j1=2.0418 right_j2=1.7149 right_j3=-1.3167 right_j4=-0.0834 right_j5=0.7361 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, 2.2085, 5.2171, 1.9805, -0.0464, -0.0415, -0.0122, -0.1846, -13.9282, 6.6667, 0.525, 0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873341c0941b27e5c323c2686e053541afde6538151f23ee19cd59f7dd17d495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ea9abd7af49dd8b3bc7a4bed70574e82415e4d03ad3e1536c07f8af4b54c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:072fe34fddb1954f728f25ae5496842c3f2d4c6961df216b53053f84377bee6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 873341c0941b
wire blob 68ea9abd7af4
wire blob 072fe34fddb1
call 49 attempt 0 · /messages · status 200 · 5.706 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=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8631 right_j1=2.0609 right_j2=1.8141 right_j3=-1.3575 right_j4=-0.0692 right_j5=0.8421 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, 1.6068, 5.2444, 2.0391, -0.0073, -0.022, -0.0122, -0.5402, -10.1812, 8.1709, 0.3785, -0.1343, 0.1636, 0.022]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6956 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8177 right_j1=2.0781 right_j2=1.8313 right_j3=-1.3609 right_j4=-0.0715 right_j5=0.8116 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, 1.6479, 5.2171, 1.9414, -0.0513, -0.022, -0.0122, -0.335, -10.2222, 8.1709, 0.3834, -0.0757, 0.0171, -0.0073]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7025 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.7277 right_j1=2.0418 right_j2=1.7149 right_j3=-1.3167 right_j4=-0.0834 right_j5=0.7361 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, 2.2085, 5.2171, 1.9805, -0.0464, -0.0415, -0.0122, -0.1846, -13.9282, 6.6667, 0.525, 0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873341c0941b27e5c323c2686e053541afde6538151f23ee19cd59f7dd17d495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ea9abd7af49dd8b3bc7a4bed70574e82415e4d03ad3e1536c07f8af4b54c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:072fe34fddb1954f728f25ae5496842c3f2d4c6961df216b53053f84377bee6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 873341c0941b]
[blob 68ea9abd7af4]
[blob 072fe34fddb1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011eXCRVP4aaCBx7D2kPJk5y",
      "input": {
        "note": "The block now sits at (130,105) in the wrist view, essentially at the aim point. Making a final ~1 cm sideways nudge and descending the last 7 cm to table level for the grasp.",
        "targets": {
          "right_j0": 0.691,
          "right_j1": 2.17,
          "right_j2": 1.5397,
          "right_j3": -0.9731,
          "right_j5": 0.691
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_011eXCRVP4aaCBx7D2kPJk5y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7193 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6975 right_j1=2.1563 right_j2=1.5497 right_j3=-1.0492 right_j4=-0.0872 right_j5=0.6968 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, 1.8256, 5.2308, 2.1123, -0.0611, -0.0611, -0.0122, -0.6906, -10.0991, 5.2581, 0.3297, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ddd25e5a52200cc4b44a9a42fd9235885dd3eb2a0c9974bf6c6dc458b68544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e71b47b9cdc36147dc5e19fbd1587be58b5e845c940f47fbe8cfaf74a809647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b300c9e563ddded45f10515d7adf1ffbe67f6d986be85e713c3d05ee791cabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b4ddd25e5a52
wire blob 1e71b47b9cdc
wire blob 9b300c9e563d
call 50 attempt 0 · /messages · status 200 · 17.24 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.6956 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.8177 right_j1=2.0781 right_j2=1.8313 right_j3=-1.3609 right_j4=-0.0715 right_j5=0.8116 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, 1.6479, 5.2171, 1.9414, -0.0513, -0.022, -0.0122, -0.335, -10.2222, 8.1709, 0.3834, -0.0757, 0.0171, -0.0073]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7025 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.7277 right_j1=2.0418 right_j2=1.7149 right_j3=-1.3167 right_j4=-0.0834 right_j5=0.7361 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, 2.2085, 5.2171, 1.9805, -0.0464, -0.0415, -0.0122, -0.1846, -13.9282, 6.6667, 0.525, 0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7193 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6975 right_j1=2.1563 right_j2=1.5497 right_j3=-1.0492 right_j4=-0.0872 right_j5=0.6968 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, 1.8256, 5.2308, 2.1123, -0.0611, -0.0611, -0.0122, -0.6906, -10.0991, 5.2581, 0.3297, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ddd25e5a52200cc4b44a9a42fd9235885dd3eb2a0c9974bf6c6dc458b68544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e71b47b9cdc36147dc5e19fbd1587be58b5e845c940f47fbe8cfaf74a809647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b300c9e563ddded45f10515d7adf1ffbe67f6d986be85e713c3d05ee791cabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b4ddd25e5a52]
[blob 1e71b47b9cdc]
[blob 9b300c9e563d]
{
  "content": [
    {
      "signature": "CAISwQYKjAEIEBgCKkAxCzi1Ka4bcrcyqe+O4cYi54FTJGUI349YLoSwLO2H+xgtFEO7+ii8YhWtGMmrKXCpKEAjjfkbHc2uYNVJ5ooKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMpIKUrJlEXExl89v3Ggxxl7wnGS5dOoHVnpgiMJZFz/gvMvrGDKhoRoJVAX25GoOhaQiOMZRMXkO/9xOFMfg5yohzYj/H2xoe3AyB3irhBOxMNHmPa0ni2/blmVFK68zA7K5tBd0qKlPwjPnUsv7JVsvgAjWWwcao5HpsYKWXbh08ndXEY5DMPtpKQ6Es4ttOnR9J0Gvk+ep6OHNbDy7wEWsgFoZrboWDPy51oqe2WnUymp41C0eqNk6af2jttyuwhI1QHbDqNMPwPd4vdG+7Ji8xNV4O1oAZy07TaKrJ0cUZQa7B5zXopYAhSLsMivjZkqmWpOCceVTJVpi+IOtnO724WDwiD+/OKJ7LsBRg15IM7Qf+xO5cbDLgqyRpf0GFc3mB13968pU6c3cnSQGzd+XZA9V/95qzhzYor0C6yyo0HxdpKL7DHrB4Oy23ZcCD8WKgxkET61GWis7CK8nD5Tvxxvk4zLjzudWfQMejjPYz7WVIREuyX7tN/WSKWOYgb4KoIUvGd+BR8EWQBH8T9OZB9+gVELFgDtcDlLivSYXCm+22CVbmJJKsXZORzeyG5TeTSH2RUi+VuU8Cvd90lajaLp8NqrslqIkeOUpEnOfmahrgDhCUhUAKlkqO/VjDLO9buULer5KRRDOPTo/wv6QtQ8R5WY95AZI7pOuxcRz2gYj80i6nkYhOBLHS0Du5dUl5fbYHbr6FK0kRpZFNdBbWPo+7k6zC1FTF5TQB50yvch663w6Yi8+az7nvVFDOvkGAsowE8ryhO8i6NdrbJaThk2Mzs099l2MR5vkued8pgOb4lki5Al0lCNMNRIK/4kvZ7DBf7CvHNOr7R6AoM8jPaT4PoSFjNAzcwDN3r2XtC5vNwLFe05dBM6wOTSAkPIVHF1z0Y1TMlJ0y/mQfyxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J5aE12buwY2sE5yLwCYLSH",
      "input": {
        "note": "The block fills the jaw gap at the bottom of the wrist view with fingertips at table level — the same picture as my one successful grasp. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J5aE12buwY2sE5yLwCYLSH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7223 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6983 right_j1=2.1605 right_j2=1.5425 right_j3=-1.0489 right_j4=-0.094 right_j5=0.691 right_gripper=0.4374\nstate[joint_eff]: [-0.1026, 1.6342, 5.3949, 1.9072, -0.022, -0.0513, -0.0122, -0.4034, -11.4393, 5.8051, 0.0952, -0.0171, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4807fdd0511dcb801bb523fdd641f197bdf25a7216a0b7354353cbd7b3c01b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:225baab6624f6147b03b5f7e453f76006d3bd810e56041739e207f912c501ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e23effbb02db91b60df36f23ca580308e3bda0ae00033ccb486a02b6fbf3ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d4807fdd0511
wire blob 225baab6624f
wire blob 2e23effbb02d
call 51 attempt 0 · /messages · status 200 · 15.77 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7025 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.7277 right_j1=2.0418 right_j2=1.7149 right_j3=-1.3167 right_j4=-0.0834 right_j5=0.7361 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, 2.2085, 5.2171, 1.9805, -0.0464, -0.0415, -0.0122, -0.1846, -13.9282, 6.6667, 0.525, 0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7193 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6975 right_j1=2.1563 right_j2=1.5497 right_j3=-1.0492 right_j4=-0.0872 right_j5=0.6968 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, 1.8256, 5.2308, 2.1123, -0.0611, -0.0611, -0.0122, -0.6906, -10.0991, 5.2581, 0.3297, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7223 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6983 right_j1=2.1605 right_j2=1.5425 right_j3=-1.0489 right_j4=-0.094 right_j5=0.691 right_gripper=0.4374\nstate[joint_eff]: [-0.1026, 1.6342, 5.3949, 1.9072, -0.022, -0.0513, -0.0122, -0.4034, -11.4393, 5.8051, 0.0952, -0.0171, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4807fdd0511dcb801bb523fdd641f197bdf25a7216a0b7354353cbd7b3c01b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:225baab6624f6147b03b5f7e453f76006d3bd810e56041739e207f912c501ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e23effbb02db91b60df36f23ca580308e3bda0ae00033ccb486a02b6fbf3ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d4807fdd0511]
[blob 225baab6624f]
[blob 2e23effbb02d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GmP9Vpjjz7hFA5px7CopDS",
      "input": {
        "note": "Grasped — residual 0.44 with high gripper effort, the block is held. Carrying it to hover ~9 cm over the red block, whose position (0.35 m, 0.56 rad from this base) came from the calibrated overhead measurement.",
        "targets": {
          "right_j0": 0.558,
          "right_j1": 1.8816,
          "right_j2": 1.5475,
          "right_j3": -1.2367,
          "right_j5": 0.558
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GmP9Vpjjz7hFA5px7CopDS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7292 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5663 right_j1=1.9198 right_j2=1.5387 right_j3=-1.2041 right_j4=-0.0944 right_j5=0.5816 right_gripper=0.4431\nstate[joint_eff]: [-0.1436, 1.6342, 5.2171, 1.9365, -0.0269, -0.0562, -0.0122, -0.1983, -9.9077, 6.612, 0.3785, -0.1001, 0.0171, 0.9353]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6e9a78d9536238f62db82af6356797e4b817a4e49740ce30ca80f19e999a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb471509bf905343fc67c8123acfb3adf37921f77cee5b9a344a109dd6f262e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f68b36190a33418326403d26938ab37bb2cf578dad02485fb2811c9c6c630455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bb6e9a78d953
wire blob cb471509bf90
wire blob f68b36190a33
call 52 attempt 0 · /messages · status 200 · 8.411 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=-0.3069 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7193 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6975 right_j1=2.1563 right_j2=1.5497 right_j3=-1.0492 right_j4=-0.0872 right_j5=0.6968 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, 1.8256, 5.2308, 2.1123, -0.0611, -0.0611, -0.0122, -0.6906, -10.0991, 5.2581, 0.3297, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7223 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6983 right_j1=2.1605 right_j2=1.5425 right_j3=-1.0489 right_j4=-0.094 right_j5=0.691 right_gripper=0.4374\nstate[joint_eff]: [-0.1026, 1.6342, 5.3949, 1.9072, -0.022, -0.0513, -0.0122, -0.4034, -11.4393, 5.8051, 0.0952, -0.0171, -0.0073, 1.033]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7292 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5663 right_j1=1.9198 right_j2=1.5387 right_j3=-1.2041 right_j4=-0.0944 right_j5=0.5816 right_gripper=0.4431\nstate[joint_eff]: [-0.1436, 1.6342, 5.2171, 1.9365, -0.0269, -0.0562, -0.0122, -0.1983, -9.9077, 6.612, 0.3785, -0.1001, 0.0171, 0.9353]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6e9a78d9536238f62db82af6356797e4b817a4e49740ce30ca80f19e999a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb471509bf905343fc67c8123acfb3adf37921f77cee5b9a344a109dd6f262e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68b36190a33418326403d26938ab37bb2cf578dad02485fb2811c9c6c630455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bb6e9a78d953]
[blob cb471509bf90]
[blob f68b36190a33]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011zRWAmkkZkMugyhfy3ZZkK",
      "input": {
        "note": "Hovering with the block, the red target reads (155,70) in the wrist view while it needs to be near (115,105); that means ~7 cm more in -y and a bit outward. Applying half of that correction (3.5 cm sideways, 1 cm out) and re-checking to avoid overshooting.",
        "targets": {
          "right_j0": 0.4666,
          "right_j1": 1.8813,
          "right_j2": 1.4865,
          "right_j3": -1.176,
          "right_j5": 0.4666
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_011zRWAmkkZkMugyhfy3ZZkK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.73 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.519 right_j1=1.8812 right_j2=1.5055 right_j3=-1.2125 right_j4=-0.104 right_j5=0.5129 right_gripper=0.4461\nstate[joint_eff]: [-0.1573, 1.6752, 5.3949, 1.9316, -0.0366, -0.0122, -0.0122, -1.9624, -9.2103, 5.8188, 0.4371, 0.0122, -0.0513, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9f17bc362ef2102b6566ef3a17c59f4398d287d5ac8e8c2685630d0793db258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212611dbfd1c788c0ce81ef5324c0d9f350d87ef3a8a85ece92d031f92e31c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eca3abb276fa2b62b5fc5048bfdb3aa1eaddc34001162545527d7abc31eecf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d9f17bc362ef
wire blob 212611dbfd1c
wire blob eca3abb276fa
call 53 attempt 0 · /messages · status 200 · 10.37 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7223 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6983 right_j1=2.1605 right_j2=1.5425 right_j3=-1.0489 right_j4=-0.094 right_j5=0.691 right_gripper=0.4374\nstate[joint_eff]: [-0.1026, 1.6342, 5.3949, 1.9072, -0.022, -0.0513, -0.0122, -0.4034, -11.4393, 5.8051, 0.0952, -0.0171, -0.0073, 1.033]",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7292 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5663 right_j1=1.9198 right_j2=1.5387 right_j3=-1.2041 right_j4=-0.0944 right_j5=0.5816 right_gripper=0.4431\nstate[joint_eff]: [-0.1436, 1.6342, 5.2171, 1.9365, -0.0269, -0.0562, -0.0122, -0.1983, -9.9077, 6.612, 0.3785, -0.1001, 0.0171, 0.9353]\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 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.73 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.519 right_j1=1.8812 right_j2=1.5055 right_j3=-1.2125 right_j4=-0.104 right_j5=0.5129 right_gripper=0.4461\nstate[joint_eff]: [-0.1573, 1.6752, 5.3949, 1.9316, -0.0366, -0.0122, -0.0122, -1.9624, -9.2103, 5.8188, 0.4371, 0.0122, -0.0513, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9f17bc362ef2102b6566ef3a17c59f4398d287d5ac8e8c2685630d0793db258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212611dbfd1c788c0ce81ef5324c0d9f350d87ef3a8a85ece92d031f92e31c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eca3abb276fa2b62b5fc5048bfdb3aa1eaddc34001162545527d7abc31eecf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d9f17bc362ef]
[blob 212611dbfd1c]
[blob eca3abb276fa]
{
  "content": [
    {
      "signature": "CAISvxEKjAEIEBgCKkDMJEUJUue5GRC1p6gynxNJsX9bPJjhDICSxsH2ztkmDCmOwtfDz8byIJZ0kMAdjLvR/lcyOq+h+CmgYj5AxsRUMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMor2/OUQBXX5/yeheGgycY+PDpvt+u802a48iMBynMPGCxgX8xSp+Ucr7czo3k3dAggNkZ81THXRDH6o+qBX5V7Ug5yKmctxIGDgUGirfD4ayKnRSCj02oTyUQUaGABibhatd0yW0n7Xc23021RundCOtDqOVuYBEhvqwMlh046nbF6eggqy1zvGXsYCoZ452nvziO6O9aiCFaCjqvteMv+ZaUPH3uP+B3B8WaZS3Lwd5jxqqeyrnlEZ/h6/PH3Tf/y6eWjfWMdWDvfjBBq6BfDZKam+/bp51BH7gXTjY/Ib/VwKFyUFO//a5YcM0kRvGvW7Ey4TDucMR/z1W+oEkfAmSLEL85kkgsSD627TtzbD6SnZ1Ef82CxL/5mTNLuU5VdMDmY6sGDxTVgrHUXHtgIRAyfBN7hfx0zRqDQXhJUavedZnKefCqxqkP2ismyKVFi3TJXeChcgHYsvaIMp5vnBHg8FqsHEU3Gqy5FyQmn9uRBVVcA3aw8pqG9SpqUSBG+7Ce6A+k/UKAZxWAvMh50q06jRDL6FRm28yVxXPGhCmDMlooX3UGnCEayoQOHruab0VbNdEHDXM0vZSFGqETVeWjA6bZX7WPl7uG1OmfihVnPIxlv8koMHhAzpZThb1pjuVzDW5Adv+o+ZRN16N4hFs8znAfZRPVPiQlBOwDLkSJxByvUT+RIxSiFihmSzWd0IADrsRK0tAZSjWgmZbpCVcdp6o2+OhOAT3MTAFXMdn3M4SBQH+LLhTAhpAbgejDkd5woc2WHmB1IXq6KkPZ0nphYy7J2leyk95DNRKVibPob+f65sE9Yjq5MMXyTVPBektpsF/iIwpzlZDeYYzTOp1dTzOKdcF68WVkbR5674YFcQW3+bF58ztgmNIjAij14V4OjxyDh9W5ImaY+WknSgSz5blR/NM8taBuQnpRhvJ/NJ/zja6SO2WuI1gaPVsueT23ShQriy0XJtL+nT6ZNwJQlTrER0fHWHDOxmVxlMRfdf6GswdpDnySb6S7D1JIRSDZ04WbyRahm41JsohdQHTgzgFFp1DlhGSyhHJ6LYogEoNErRQNMQfxST/1VTV6XTiQm/2QLCNilCljXtyubD/SgK/eJh4WjrCcQgmIvJtGCWkv/NQR5eJuDrTWO3MuBt3PcPzP7kn6b6O38H22ug2+kqKKv+YNr5R/xFuf0aSIlrJo++N+E9GzV4zbcgHZCTtha/BbG7sFF0jyoKFQcp7or6Y6B6Qfdv162EaBuVUj+e19KSPWpaWBzStae8z4ZMYVlXy+GRKQaFn3/UsUsmDcedcymTklaW5DcyY9yzhxmsHF0jN/vqvnNDXoMvcEWWaLTIcETMYhlDM4ZRmQJZndw0JtbhEt8Su2bdTdQ0YUEIwhymW+hkFqYqSolMc3HD44SY3t/ZoyFXioaELSfBhdSNV4U+nbLKA+2ht/SThAyfTWJvCG2spcnzjpQPa9BOPwQseJaDmie9C71Tug/wsaxtRiT5l8rAIMsbeDLXS3NimsCOsgKbeLiUf0dYmorLZh5cMm0l2S9EaMR0nIFoirHO+EpkO/vjscFyX/4S/d60/gc3ctsGUaLkxRlnnwk+zkk7XvAHBWAj1CxBMSCy5+tzdBCMdJi/i8myK3Zqu2U7cY4H5FEO0qZe+VOXUTR+XwtG/AjZ9yy/Eykt+PNAuu1MiUX+HvxXBnyjbDa5f2hbyeDexTwEoWnZ5j4A83qpqfXYLEBlmhAF8/kkJ9eEIXS1bq1SyLynnYFkrETbchqBv15vWLTJONMTkCh/VDDHr/EeTCh72kQ/0GYuZgOh2EoASJ35y39J8zcu9/yyg24y6VPCleDrzCmWFdKKRdSU5MQpeG+ER2Bsx7U4vu+naqkF6QWC+rlT0lFE66fjTWRNkeiMC9L4YtXyOkpvS53Pb4OAd9rqIP67ALeMH57mqdsc+Gi+37bsJFEefRKi+hX9sj38TmOzb4u4ImMEJFAcAstntZqVJAIsA+fX9l0sf2ZSXHzzrUXK0oImkS53XNh37DCfyvzvaVXJU3RO4eent9FUUTnHharkZRNBYy3gFqzkidtMCbZc4XZ8sZw+Frdra34j8JfxEJX0BdLd9MTfZl+QHMszaqpCDhaPS5bcwLIZlIL9qsnyurTOTdPoKTa9p24pAtakPgITzG412DmRAjacipmkzBak0w8p1ww/cbCXEI8yGDQKbg0obioUw+2TyYWxpE0MsxbLGcoWVdxwZSmke7J1rA9xmkPfPn9rP5Jaam0gYwsue8MKr/JANoAKk9TpADaZ7NX010+3Nce1aHUZYcxFQQAz9WmRorAKVLdLlk3FsHgUb2DayZkjoX0teMyp/qq94UY+2PDsB6wnYoS4J3KQHWx0uHEWYDCTHyCL0H0X3+f4f4JmhLoe46YT3OslpcpVk9FrpcEOGoXCm3zZ8+BUvgBRy7jJYNGVtxVwPJnQv38b8mYjpddEZhNJ/8aQiedit/Bvz2FomrwVL0bmkQLcvTLh+C7GH9Tx8RlwhHxfV+JlfDRahX7/UloXzfBwtGrH1txbAZn1462Q6D1c7n6fIFdEy1eDXvQ5zZlCbpFQzy39FqCGtgMWsn6JGf8jvsw6V+vGcghsjyk+BJosMxguTwxaT8sgBYoVXT/byOLdBcOjOkNdpWncvDh+U2zhAi+xEsuuvsiA+9MMwwXi+cds2Z1QTZ6dBnno6A3ZQbrE75+nHlOVETWANlwAQ4gQ2IBH07/4yi5MyIOjmzT2WrHNxmgL3K+mByMdIxKwqPuLBpFFTkZ+gGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019F79xqgbeRZpkbdNPA7qt3",
      "input": {
        "note": "Red block has come down-left to (130,60) in the wrist view; it needs another ~1 cm sideways and mainly ~3 cm outward to sit under the jaws. Applying that.",
        "targets": {
          "right_j0": 0.4966,
          "right_j1": 1.9639,
          "right_j2": 1.6182,
          "right_j3": -1.2251,
          "right_j5": 0.4966
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_019F79xqgbeRZpkbdNPA7qt3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6247 left_j2=1.2018 left_j3=-0.7425 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4843 right_j1=1.9331 right_j2=1.5578 right_j3=-1.2335 right_j4=-0.0948 right_j5=0.4747 right_gripper=0.4479\nstate[joint_eff]: [0.0068, 1.5932, 5.2171, 2.0488, -0.0513, -0.0708, -0.0122, 0.5812, -8.9504, 7.6923, 0.1978, -0.1783, 0.1978, 0.8278]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6730ed04281343c2babdda77c4c9cfdc36196074b2e62af3b0ddc88d180e661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78c4cadd176c890a1fd574f0f5d5535ab7db54c87e0447bfbcb6892bf412cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf5b5ece9c06080d02c3f3e89fcb77f8c9e8095646eb9d1e2749298c6d09c3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a6730ed04281
wire blob db78c4cadd17
wire blob bf5b5ece9c06
call 54 attempt 0 · /messages · status 200 · 10.74 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.7292 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5663 right_j1=1.9198 right_j2=1.5387 right_j3=-1.2041 right_j4=-0.0944 right_j5=0.5816 right_gripper=0.4431\nstate[joint_eff]: [-0.1436, 1.6342, 5.2171, 1.9365, -0.0269, -0.0562, -0.0122, -0.1983, -9.9077, 6.612, 0.3785, -0.1001, 0.0171, 0.9353]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.73 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.519 right_j1=1.8812 right_j2=1.5055 right_j3=-1.2125 right_j4=-0.104 right_j5=0.5129 right_gripper=0.4461\nstate[joint_eff]: [-0.1573, 1.6752, 5.3949, 1.9316, -0.0366, -0.0122, -0.0122, -1.9624, -9.2103, 5.8188, 0.4371, 0.0122, -0.0513, 0.7888]",
      "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=-0.3065 left_j1=0.6247 left_j2=1.2018 left_j3=-0.7425 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4843 right_j1=1.9331 right_j2=1.5578 right_j3=-1.2335 right_j4=-0.0948 right_j5=0.4747 right_gripper=0.4479\nstate[joint_eff]: [0.0068, 1.5932, 5.2171, 2.0488, -0.0513, -0.0708, -0.0122, 0.5812, -8.9504, 7.6923, 0.1978, -0.1783, 0.1978, 0.8278]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6730ed04281343c2babdda77c4c9cfdc36196074b2e62af3b0ddc88d180e661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78c4cadd176c890a1fd574f0f5d5535ab7db54c87e0447bfbcb6892bf412cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5b5ece9c06080d02c3f3e89fcb77f8c9e8095646eb9d1e2749298c6d09c3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a6730ed04281]
[blob db78c4cadd17]
[blob bf5b5ece9c06]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hbvQKtcDveCcj2HYHPSQa",
      "input": {
        "note": "Red block now reads (105,75), just left of the jaw column and still ~30 px high, so I need roughly 3 cm more outward and a few mm back sideways. Applying that, keeping the carried block 2 cm above the red block's top.",
        "targets": {
          "right_j0": 0.4998,
          "right_j1": 2.0392,
          "right_j2": 1.7132,
          "right_j3": -1.2448,
          "right_j5": 0.4998
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_011hbvQKtcDveCcj2HYHPSQa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7486 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5022 right_j1=2.0182 right_j2=1.6711 right_j3=-1.2591 right_j4=-0.0956 right_j5=0.4778 right_gripper=0.4495\nstate[joint_eff]: [-0.2393, 1.5658, 5.2308, 1.9658, -0.0659, -0.0464, -0.0122, -0.0889, -9.7846, 7.8838, 0.1783, -0.1001, 0.2076, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5ffb336b4cb329a40ff233f2fd818a48b7889600dbc673c41ae004fc8c1c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd1417d503cfdd4939f27f401f6737052df5248aeddf40722a64ce8cbffb25d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7307c6609480068b897c4924e895190725e7fa5bbdf38fb52f79b78386bbe510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4d5ffb336b4c
wire blob dcd1417d503c
wire blob 7307c6609480
call 55 attempt 0 · /messages · status 200 · 7.282 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=-0.3065 left_j1=0.6239 left_j2=1.2018 left_j3=-0.73 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.519 right_j1=1.8812 right_j2=1.5055 right_j3=-1.2125 right_j4=-0.104 right_j5=0.5129 right_gripper=0.4461\nstate[joint_eff]: [-0.1573, 1.6752, 5.3949, 1.9316, -0.0366, -0.0122, -0.0122, -1.9624, -9.2103, 5.8188, 0.4371, 0.0122, -0.0513, 0.7888]",
      "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=-0.3065 left_j1=0.6247 left_j2=1.2018 left_j3=-0.7425 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4843 right_j1=1.9331 right_j2=1.5578 right_j3=-1.2335 right_j4=-0.0948 right_j5=0.4747 right_gripper=0.4479\nstate[joint_eff]: [0.0068, 1.5932, 5.2171, 2.0488, -0.0513, -0.0708, -0.0122, 0.5812, -8.9504, 7.6923, 0.1978, -0.1783, 0.1978, 0.8278]",
      "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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7486 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5022 right_j1=2.0182 right_j2=1.6711 right_j3=-1.2591 right_j4=-0.0956 right_j5=0.4778 right_gripper=0.4495\nstate[joint_eff]: [-0.2393, 1.5658, 5.2308, 1.9658, -0.0659, -0.0464, -0.0122, -0.0889, -9.7846, 7.8838, 0.1783, -0.1001, 0.2076, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5ffb336b4cb329a40ff233f2fd818a48b7889600dbc673c41ae004fc8c1c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd1417d503cfdd4939f27f401f6737052df5248aeddf40722a64ce8cbffb25d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7307c6609480068b897c4924e895190725e7fa5bbdf38fb52f79b78386bbe510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4d5ffb336b4c]
[blob dcd1417d503c]
[blob 7307c6609480]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D17ybZgSfWzk4wVhRcTjc9",
      "input": {
        "note": "Red block is nearly under the jaws now at (128,90). Making a last small correction — 1 cm sideways and 1.5 cm outward — before the vertical probe.",
        "targets": {
          "right_j0": 0.479,
          "right_j1": 2.0425,
          "right_j2": 1.709,
          "right_j3": -1.2373,
          "right_j5": 0.479
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01D17ybZgSfWzk4wVhRcTjc9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7555 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5037 right_j1=2.0403 right_j2=1.6825 right_j3=-1.2533 right_j4=-0.0948 right_j5=0.4782 right_gripper=0.4486\nstate[joint_eff]: [0.0615, 1.5385, 5.3128, 1.9902, -0.0513, -0.0806, -0.0122, -0.5402, -10.5915, 8.0752, 0.3101, -0.1197, 0.1685, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 439):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bdef85ffa85d1d30f396620cbf5caabb17eaf006422d206612f124153fd0a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 439):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3825a72c09eeac70fff3a66d6c041874813cf701ee0c24e6855a3394595c8f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 439):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afe07008fdfc7ad202f158ae4e38bcd948ba5c6d19c12bf86b810e37c7207e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9bdef85ffa85
wire blob 3825a72c09ee
wire blob afe07008fdfc
call 56 attempt 0 · /messages · status 200 · 11.57 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=-0.3065 left_j1=0.6247 left_j2=1.2018 left_j3=-0.7425 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4843 right_j1=1.9331 right_j2=1.5578 right_j3=-1.2335 right_j4=-0.0948 right_j5=0.4747 right_gripper=0.4479\nstate[joint_eff]: [0.0068, 1.5932, 5.2171, 2.0488, -0.0513, -0.0708, -0.0122, 0.5812, -8.9504, 7.6923, 0.1978, -0.1783, 0.1978, 0.8278]",
      "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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7486 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5022 right_j1=2.0182 right_j2=1.6711 right_j3=-1.2591 right_j4=-0.0956 right_j5=0.4778 right_gripper=0.4495\nstate[joint_eff]: [-0.2393, 1.5658, 5.2308, 1.9658, -0.0659, -0.0464, -0.0122, -0.0889, -9.7846, 7.8838, 0.1783, -0.1001, 0.2076, 0.6862]",
      "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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7555 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5037 right_j1=2.0403 right_j2=1.6825 right_j3=-1.2533 right_j4=-0.0948 right_j5=0.4782 right_gripper=0.4486\nstate[joint_eff]: [0.0615, 1.5385, 5.3128, 1.9902, -0.0513, -0.0806, -0.0122, -0.5402, -10.5915, 8.0752, 0.3101, -0.1197, 0.1685, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 439):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bdef85ffa85d1d30f396620cbf5caabb17eaf006422d206612f124153fd0a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 439):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3825a72c09eeac70fff3a66d6c041874813cf701ee0c24e6855a3394595c8f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 439):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe07008fdfc7ad202f158ae4e38bcd948ba5c6d19c12bf86b810e37c7207e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9bdef85ffa85]
[blob 3825a72c09ee]
[blob afe07008fdfc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VoYGHrVsPqH3nyfsvMv1Ro",
      "input": {
        "note": "Alignment looks as good as I can read it, so I'm probing: lowering the carried block 2.5 cm, which should bring its underside just below the red block's top — contact (stalled j1 with rising effort) means I'm stacked.",
        "targets": {
          "right_j1": 2.0644,
          "right_j2": 1.6097,
          "right_j3": -1.1161
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VoYGHrVsPqH3nyfsvMv1Ro",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6258 left_j2=1.2018 left_j3=-0.7631 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.503 right_j1=2.0487 right_j2=1.6157 right_j3=-1.1778 right_j4=-0.094 right_j5=0.4713 right_gripper=0.4484\nstate[joint_eff]: [-0.0068, 2.1675, 5.2308, 2.0586, -0.0513, -0.0806, -0.0122, 0.0479, -8.9915, 6.1607, 0.5006, -0.0757, 0.0708, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03e952310cd40fd9d5bdd508ad1daa9674fad084ef66dc726ced1386d895f7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d1691fdc6d6f1897b3e3445751b35d60183c33dca23b701dd171f5e0de6267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0958e5aba7e926e9ec301e9ab2c3c5335b46273bedc04af0d34415d46b67839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 03e952310cd4
wire blob d1d1691fdc6d
wire blob a0958e5aba7e
call 57 attempt 0 · /messages · status 200 · 12.54 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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7486 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5022 right_j1=2.0182 right_j2=1.6711 right_j3=-1.2591 right_j4=-0.0956 right_j5=0.4778 right_gripper=0.4495\nstate[joint_eff]: [-0.2393, 1.5658, 5.2308, 1.9658, -0.0659, -0.0464, -0.0122, -0.0889, -9.7846, 7.8838, 0.1783, -0.1001, 0.2076, 0.6862]",
      "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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7555 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5037 right_j1=2.0403 right_j2=1.6825 right_j3=-1.2533 right_j4=-0.0948 right_j5=0.4782 right_gripper=0.4486\nstate[joint_eff]: [0.0615, 1.5385, 5.3128, 1.9902, -0.0513, -0.0806, -0.0122, -0.5402, -10.5915, 8.0752, 0.3101, -0.1197, 0.1685, 0.8181]",
      "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=-0.3065 left_j1=0.6258 left_j2=1.2018 left_j3=-0.7631 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.503 right_j1=2.0487 right_j2=1.6157 right_j3=-1.1778 right_j4=-0.094 right_j5=0.4713 right_gripper=0.4484\nstate[joint_eff]: [-0.0068, 2.1675, 5.2308, 2.0586, -0.0513, -0.0806, -0.0122, 0.0479, -8.9915, 6.1607, 0.5006, -0.0757, 0.0708, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03e952310cd40fd9d5bdd508ad1daa9674fad084ef66dc726ced1386d895f7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d1691fdc6d6f1897b3e3445751b35d60183c33dca23b701dd171f5e0de6267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0958e5aba7e926e9ec301e9ab2c3c5335b46273bedc04af0d34415d46b67839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 03e952310cd4]
[blob d1d1691fdc6d]
[blob a0958e5aba7e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016CMW4d7igjW8Tn7dB4PoNM",
      "input": {
        "note": "No contact yet with the block's underside at ~5 cm, so I'm probably alongside rather than on top of the red block. Continuing down; if it reaches the table I'll read the remaining offset from the wrist view with both blocks side by side.",
        "targets": {
          "right_j1": 2.13,
          "right_j2": 1.5311,
          "right_j3": -1.0057
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_016CMW4d7igjW8Tn7dB4PoNM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6273 left_j2=1.2018 left_j3=-0.7776 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5076 right_j1=2.0716 right_j2=1.573 right_j3=-1.1011 right_j4=-0.0948 right_j5=0.4709 right_gripper=0.4516\nstate[joint_eff]: [-0.0342, 2.0308, 5.4222, 2.1074, -0.0611, -0.0659, -0.0122, -0.3214, -6.0239, 2.1949, 1.2039, -0.0952, -0.0024, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a32088bf379fa41f1ef11d3a1cbe2e665bed9a782f0b0346a5dff735271019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275f7bae2993b35a5eba10da8c9e5b70ac1113dff63cc33930351200fad2305f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6b75918a5dcc00c03081e2e5076b804f986588de092cf44b8b8ebb8979e3924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d1a32088bf37
wire blob 275f7bae2993
wire blob e6b75918a5dc
call 58 attempt 0 · /messages · status 200 · 12.56 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=-0.3065 left_j1=0.6254 left_j2=1.2018 left_j3=-0.7555 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5037 right_j1=2.0403 right_j2=1.6825 right_j3=-1.2533 right_j4=-0.0948 right_j5=0.4782 right_gripper=0.4486\nstate[joint_eff]: [0.0615, 1.5385, 5.3128, 1.9902, -0.0513, -0.0806, -0.0122, -0.5402, -10.5915, 8.0752, 0.3101, -0.1197, 0.1685, 0.8181]",
      "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=-0.3065 left_j1=0.6258 left_j2=1.2018 left_j3=-0.7631 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.503 right_j1=2.0487 right_j2=1.6157 right_j3=-1.1778 right_j4=-0.094 right_j5=0.4713 right_gripper=0.4484\nstate[joint_eff]: [-0.0068, 2.1675, 5.2308, 2.0586, -0.0513, -0.0806, -0.0122, 0.0479, -8.9915, 6.1607, 0.5006, -0.0757, 0.0708, 0.6129]",
      "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=-0.3065 left_j1=0.6273 left_j2=1.2018 left_j3=-0.7776 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5076 right_j1=2.0716 right_j2=1.573 right_j3=-1.1011 right_j4=-0.0948 right_j5=0.4709 right_gripper=0.4516\nstate[joint_eff]: [-0.0342, 2.0308, 5.4222, 2.1074, -0.0611, -0.0659, -0.0122, -0.3214, -6.0239, 2.1949, 1.2039, -0.0952, -0.0024, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a32088bf379fa41f1ef11d3a1cbe2e665bed9a782f0b0346a5dff735271019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275f7bae2993b35a5eba10da8c9e5b70ac1113dff63cc33930351200fad2305f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6b75918a5dcc00c03081e2e5076b804f986588de092cf44b8b8ebb8979e3924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d1a32088bf37]
[blob 275f7bae2993]
[blob e6b75918a5dc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uh99dubk8o5b8Aob6BMfJu",
      "input": {
        "note": "Now I can see both blocks side by side in the wrist view: the red block is about one block-width further out and ~1 cm to the right of the carried block. Lifting to 7 cm clearance and translating 4.5 cm outward / 1 cm sideways to sit over it.",
        "targets": {
          "right_j0": 0.4859,
          "right_j1": 2.1522,
          "right_j2": 1.8638,
          "right_j3": -1.2824,
          "right_j5": 0.4859
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Uh99dubk8o5b8Aob6BMfJu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7853 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4992 right_j1=2.1342 right_j2=1.8202 right_j3=-1.2621 right_j4=-0.0948 right_j5=0.4706 right_gripper=0.4507\nstate[joint_eff]: [-0.1573, 1.4974, 5.3538, 1.9365, -0.0806, -0.0659, -0.0122, -1.2786, -9.5658, 7.5009, 0.1929, -0.1148, 0.0806, 0.3346]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feff07420be2ea131bef1f90709bc377d01368050f865a21fb968e09acbaa0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b98851215afa269de43c6eb40c116bf22223570d0e77b925490cf1958a5669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d259efd622bec2a30f640a58fa56ad12bfb2590861acd9f81b741823189a2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob feff07420be2
wire blob 32b98851215a
wire blob 4d259efd622b
call 59 attempt 0 · /messages · status 200 · 7.679 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=-0.3065 left_j1=0.6258 left_j2=1.2018 left_j3=-0.7631 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.503 right_j1=2.0487 right_j2=1.6157 right_j3=-1.1778 right_j4=-0.094 right_j5=0.4713 right_gripper=0.4484\nstate[joint_eff]: [-0.0068, 2.1675, 5.2308, 2.0586, -0.0513, -0.0806, -0.0122, 0.0479, -8.9915, 6.1607, 0.5006, -0.0757, 0.0708, 0.6129]",
      "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=-0.3065 left_j1=0.6273 left_j2=1.2018 left_j3=-0.7776 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5076 right_j1=2.0716 right_j2=1.573 right_j3=-1.1011 right_j4=-0.0948 right_j5=0.4709 right_gripper=0.4516\nstate[joint_eff]: [-0.0342, 2.0308, 5.4222, 2.1074, -0.0611, -0.0659, -0.0122, -0.3214, -6.0239, 2.1949, 1.2039, -0.0952, -0.0024, 0.6374]",
      "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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7853 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4992 right_j1=2.1342 right_j2=1.8202 right_j3=-1.2621 right_j4=-0.0948 right_j5=0.4706 right_gripper=0.4507\nstate[joint_eff]: [-0.1573, 1.4974, 5.3538, 1.9365, -0.0806, -0.0659, -0.0122, -1.2786, -9.5658, 7.5009, 0.1929, -0.1148, 0.0806, 0.3346]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feff07420be2ea131bef1f90709bc377d01368050f865a21fb968e09acbaa0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b98851215afa269de43c6eb40c116bf22223570d0e77b925490cf1958a5669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d259efd622bec2a30f640a58fa56ad12bfb2590861acd9f81b741823189a2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob feff07420be2]
[blob 32b98851215a]
[blob 4d259efd622b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmLYSADoi3n1twmLTPfcXC",
      "input": {
        "note": "The red block has come closer in the wrist view but still sits up and to the right of the carried block. Nudging 3 cm further out and 1.5 cm sideways before the next probe.",
        "targets": {
          "right_j0": 0.4691,
          "right_j1": 2.2207,
          "right_j2": 1.9604,
          "right_j3": -1.3105,
          "right_j5": 0.4691
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UmLYSADoi3n1twmLTPfcXC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7925 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4873 right_j1=2.2024 right_j2=1.9137 right_j3=-1.3159 right_j4=-0.0948 right_j5=0.4667 right_gripper=0.4525\nstate[joint_eff]: [-0.0068, 1.7983, 5.2718, 1.9707, -0.0611, -0.0611, -0.0122, -1.5385, -11.1385, 8.6222, 0.2369, -0.0855, -0.022, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97a8c08978c9bac9502f751284d8e0537c7432da14a67a56ac884c4554ff985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fedfb5600855e8be323af405dcf9f7ec7c71076327aee48cb770fe8bbd19371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7159b551b39dee1d333b492cfdb9ece57655ac417f409c0a2079ba81bc011c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e97a8c08978c
wire blob 1fedfb560085
wire blob 7159b551b39d
call 60 attempt 0 · /messages · status 200 · 15.97 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=-0.3065 left_j1=0.6273 left_j2=1.2018 left_j3=-0.7776 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5076 right_j1=2.0716 right_j2=1.573 right_j3=-1.1011 right_j4=-0.0948 right_j5=0.4709 right_gripper=0.4516\nstate[joint_eff]: [-0.0342, 2.0308, 5.4222, 2.1074, -0.0611, -0.0659, -0.0122, -0.3214, -6.0239, 2.1949, 1.2039, -0.0952, -0.0024, 0.6374]",
      "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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7853 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4992 right_j1=2.1342 right_j2=1.8202 right_j3=-1.2621 right_j4=-0.0948 right_j5=0.4706 right_gripper=0.4507\nstate[joint_eff]: [-0.1573, 1.4974, 5.3538, 1.9365, -0.0806, -0.0659, -0.0122, -1.2786, -9.5658, 7.5009, 0.1929, -0.1148, 0.0806, 0.3346]",
      "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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7925 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4873 right_j1=2.2024 right_j2=1.9137 right_j3=-1.3159 right_j4=-0.0948 right_j5=0.4667 right_gripper=0.4525\nstate[joint_eff]: [-0.0068, 1.7983, 5.2718, 1.9707, -0.0611, -0.0611, -0.0122, -1.5385, -11.1385, 8.6222, 0.2369, -0.0855, -0.022, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97a8c08978c9bac9502f751284d8e0537c7432da14a67a56ac884c4554ff985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fedfb5600855e8be323af405dcf9f7ec7c71076327aee48cb770fe8bbd19371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7159b551b39dee1d333b492cfdb9ece57655ac417f409c0a2079ba81bc011c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e97a8c08978c]
[blob 1fedfb560085]
[blob 7159b551b39d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011NZvy5Ua8UCrq4C526Q4Ut",
      "input": {
        "note": "The overhead close-up shows the red block right at the gripper's fingertips now. Probing down 2.5 cm — contact here would mean the carried block is resting on the red one.",
        "targets": {
          "right_j1": 2.2224,
          "right_j2": 1.8375,
          "right_j3": -1.1859
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_011NZvy5Ua8UCrq4C526Q4Ut",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6289 left_j2=1.2018 left_j3=-0.8013 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.485 right_j1=2.2208 right_j2=1.8458 right_j3=-1.2495 right_j4=-0.0944 right_j5=0.4667 right_gripper=0.4529\nstate[joint_eff]: [-0.0615, 2.0991, 5.4632, 1.9902, -0.0513, -0.0415, -0.0122, 0.1573, -11.412, 6.1607, 0.442, -0.0904, -0.0317, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1a7d433f3c13cbadb0c33981fb72c0fed5e99560d8105c5546ba0ad5cf03928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342f46b0f36f728585f041f5f28fe14d09bf47b097631c06f3113c8a4be7c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1c21f48b06fc85bb5c28936bef6170d9b6cdcbda01f6199081188375c3f4763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f1a7d433f3c1
wire blob 342f46b0f36f
wire blob b1c21f48b06f
call 61 attempt 0 · /messages · status 200 · 14.21 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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7853 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4992 right_j1=2.1342 right_j2=1.8202 right_j3=-1.2621 right_j4=-0.0948 right_j5=0.4706 right_gripper=0.4507\nstate[joint_eff]: [-0.1573, 1.4974, 5.3538, 1.9365, -0.0806, -0.0659, -0.0122, -1.2786, -9.5658, 7.5009, 0.1929, -0.1148, 0.0806, 0.3346]",
      "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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7925 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4873 right_j1=2.2024 right_j2=1.9137 right_j3=-1.3159 right_j4=-0.0948 right_j5=0.4667 right_gripper=0.4525\nstate[joint_eff]: [-0.0068, 1.7983, 5.2718, 1.9707, -0.0611, -0.0611, -0.0122, -1.5385, -11.1385, 8.6222, 0.2369, -0.0855, -0.022, 0.442]",
      "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=-0.3065 left_j1=0.6289 left_j2=1.2018 left_j3=-0.8013 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.485 right_j1=2.2208 right_j2=1.8458 right_j3=-1.2495 right_j4=-0.0944 right_j5=0.4667 right_gripper=0.4529\nstate[joint_eff]: [-0.0615, 2.0991, 5.4632, 1.9902, -0.0513, -0.0415, -0.0122, 0.1573, -11.412, 6.1607, 0.442, -0.0904, -0.0317, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1a7d433f3c13cbadb0c33981fb72c0fed5e99560d8105c5546ba0ad5cf03928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342f46b0f36f728585f041f5f28fe14d09bf47b097631c06f3113c8a4be7c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c21f48b06fc85bb5c28936bef6170d9b6cdcbda01f6199081188375c3f4763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f1a7d433f3c1]
[blob 342f46b0f36f]
[blob b1c21f48b06f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3DthUJbFCMPzTJsAB4nGM",
      "input": {
        "note": "Closer view shows the red block sitting just to the -y side of the carried block, roughly 3 cm right and 3 cm further out. Lifting to 7 cm clearance and moving 3 cm outward first (away from the red block) so the sideways move can then be made safely above it.",
        "targets": {
          "right_j1": 2.2684,
          "right_j2": 2.0584,
          "right_j3": -1.3608
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01R3DthUJbFCMPzTJsAB4nGM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8085 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4889 right_j1=2.2574 right_j2=2.0125 right_j3=-1.3403 right_j4=-0.0944 right_j5=0.4622 right_gripper=0.4542\nstate[joint_eff]: [-0.3487, 1.6342, 5.2308, 1.9512, -0.0171, -0.0513, -0.0122, -0.4855, -11.2068, 8.1436, 0.1538, -0.0806, 0.0073, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505f6cddac2ab4d4271aa73ef26b5a22390faaae03abe8dc10ddcf9ff09aacfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04d7aa610c1e2957a6806883f06c39ff2f9b713e1d302b75b52f3103e4b0b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6b5d17845f66d2c83d133f7a807ae2c5a2ffdb9e36aa9309cd4fc8e0f1fd29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 505f6cddac2a
wire blob b04d7aa610c1
wire blob b6b5d17845f6
call 62 attempt 0 · /messages · status 200 · 11.13 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=-0.3065 left_j1=0.6285 left_j2=1.2018 left_j3=-0.7925 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4873 right_j1=2.2024 right_j2=1.9137 right_j3=-1.3159 right_j4=-0.0948 right_j5=0.4667 right_gripper=0.4525\nstate[joint_eff]: [-0.0068, 1.7983, 5.2718, 1.9707, -0.0611, -0.0611, -0.0122, -1.5385, -11.1385, 8.6222, 0.2369, -0.0855, -0.022, 0.442]",
      "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=-0.3065 left_j1=0.6289 left_j2=1.2018 left_j3=-0.8013 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.485 right_j1=2.2208 right_j2=1.8458 right_j3=-1.2495 right_j4=-0.0944 right_j5=0.4667 right_gripper=0.4529\nstate[joint_eff]: [-0.0615, 2.0991, 5.4632, 1.9902, -0.0513, -0.0415, -0.0122, 0.1573, -11.412, 6.1607, 0.442, -0.0904, -0.0317, 0.6325]",
      "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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8085 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4889 right_j1=2.2574 right_j2=2.0125 right_j3=-1.3403 right_j4=-0.0944 right_j5=0.4622 right_gripper=0.4542\nstate[joint_eff]: [-0.3487, 1.6342, 5.2308, 1.9512, -0.0171, -0.0513, -0.0122, -0.4855, -11.2068, 8.1436, 0.1538, -0.0806, 0.0073, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505f6cddac2ab4d4271aa73ef26b5a22390faaae03abe8dc10ddcf9ff09aacfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04d7aa610c1e2957a6806883f06c39ff2f9b713e1d302b75b52f3103e4b0b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b5d17845f66d2c83d133f7a807ae2c5a2ffdb9e36aa9309cd4fc8e0f1fd29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 505f6cddac2a]
[blob b04d7aa610c1]
[blob b6b5d17845f6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EustWaKyCrMr5MhfrdUSMW",
      "input": {
        "note": "Now clear of the red block and 6.4 cm above the table, sliding 3.2 cm sideways so the carried block sits over the red one.",
        "targets": {
          "right_j0": 0.421,
          "right_j1": 2.198,
          "right_j2": 1.9134,
          "right_j3": -1.2862,
          "right_j5": 0.421
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EustWaKyCrMr5MhfrdUSMW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8097 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.469 right_j1=2.2292 right_j2=1.9511 right_j3=-1.3235 right_j4=-0.0986 right_j5=0.4412 right_gripper=0.4561\nstate[joint_eff]: [-0.1162, 1.5932, 5.2308, 1.9365, -0.0562, -0.0415, -0.0122, -2.7829, -13.9145, 5.9692, 0.7253, -0.0562, -0.0611, 0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a73c4ea27d33cecb3acfeb2ca503ecfc31ecacae0047c9e6e5cad32189d9c70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c441b72bfdd7753e2a2d6f9bd1c0f7725a2a5635ff3213ada2299229d56a9ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f76c85cc861d559a382414d4c470c771cca7da06eb7833cac5e4636bda7fc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3a73c4ea27d3
wire blob c441b72bfdd7
wire blob 5f76c85cc861
call 63 attempt 0 · /messages · status 200 · 9.008 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=-0.3065 left_j1=0.6289 left_j2=1.2018 left_j3=-0.8013 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.485 right_j1=2.2208 right_j2=1.8458 right_j3=-1.2495 right_j4=-0.0944 right_j5=0.4667 right_gripper=0.4529\nstate[joint_eff]: [-0.0615, 2.0991, 5.4632, 1.9902, -0.0513, -0.0415, -0.0122, 0.1573, -11.412, 6.1607, 0.442, -0.0904, -0.0317, 0.6325]",
      "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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8085 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4889 right_j1=2.2574 right_j2=2.0125 right_j3=-1.3403 right_j4=-0.0944 right_j5=0.4622 right_gripper=0.4542\nstate[joint_eff]: [-0.3487, 1.6342, 5.2308, 1.9512, -0.0171, -0.0513, -0.0122, -0.4855, -11.2068, 8.1436, 0.1538, -0.0806, 0.0073, 0.5885]",
      "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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8097 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.469 right_j1=2.2292 right_j2=1.9511 right_j3=-1.3235 right_j4=-0.0986 right_j5=0.4412 right_gripper=0.4561\nstate[joint_eff]: [-0.1162, 1.5932, 5.2308, 1.9365, -0.0562, -0.0415, -0.0122, -2.7829, -13.9145, 5.9692, 0.7253, -0.0562, -0.0611, 0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a73c4ea27d33cecb3acfeb2ca503ecfc31ecacae0047c9e6e5cad32189d9c70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c441b72bfdd7753e2a2d6f9bd1c0f7725a2a5635ff3213ada2299229d56a9ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f76c85cc861d559a382414d4c470c771cca7da06eb7833cac5e4636bda7fc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3a73c4ea27d3]
[blob c441b72bfdd7]
[blob 5f76c85cc861]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bDGCxx1F5tLRu3njAvRMc",
      "input": {
        "note": "The last command only partly executed; commanding the base yaw alone to slide the carried block ~2.8 cm toward the red block (and 1.3 cm further out) in one clean motion.",
        "targets": {
          "right_j0": 0.4,
          "right_j5": 0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018bDGCxx1F5tLRu3njAvRMc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6296 left_j2=1.2018 left_j3=-0.8268 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4187 right_j1=2.2299 right_j2=1.9133 right_j3=-1.3163 right_j4=-0.0948 right_j5=0.4072 right_gripper=0.4583\nstate[joint_eff]: [-0.1162, 1.4838, 5.2308, 2.0537, -0.0611, -0.0708, -0.0122, -1.3607, -12.041, 8.8274, 0.1978, -0.1538, 0.0024, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30dacd7e7f34d7a39670e67e4b79c685920b6469e71e748987c251f25955ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facdb34c28ae80d25ecfa045862895cad04d730537d0ba054c0d92f979ce9e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2456290974b2c82a8ba70c4809589319f47a99f0eb3f9826f0be56a4366042ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b30dacd7e7f3
wire blob facdb34c28ae
wire blob 2456290974b2
call 64 attempt 0 · /messages · status 200 · 6.716 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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8085 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4889 right_j1=2.2574 right_j2=2.0125 right_j3=-1.3403 right_j4=-0.0944 right_j5=0.4622 right_gripper=0.4542\nstate[joint_eff]: [-0.3487, 1.6342, 5.2308, 1.9512, -0.0171, -0.0513, -0.0122, -0.4855, -11.2068, 8.1436, 0.1538, -0.0806, 0.0073, 0.5885]",
      "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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8097 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.469 right_j1=2.2292 right_j2=1.9511 right_j3=-1.3235 right_j4=-0.0986 right_j5=0.4412 right_gripper=0.4561\nstate[joint_eff]: [-0.1162, 1.5932, 5.2308, 1.9365, -0.0562, -0.0415, -0.0122, -2.7829, -13.9145, 5.9692, 0.7253, -0.0562, -0.0611, 0.3687]",
      "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=-0.3065 left_j1=0.6296 left_j2=1.2018 left_j3=-0.8268 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4187 right_j1=2.2299 right_j2=1.9133 right_j3=-1.3163 right_j4=-0.0948 right_j5=0.4072 right_gripper=0.4583\nstate[joint_eff]: [-0.1162, 1.4838, 5.2308, 2.0537, -0.0611, -0.0708, -0.0122, -1.3607, -12.041, 8.8274, 0.1978, -0.1538, 0.0024, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30dacd7e7f34d7a39670e67e4b79c685920b6469e71e748987c251f25955ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facdb34c28ae80d25ecfa045862895cad04d730537d0ba054c0d92f979ce9e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2456290974b2c82a8ba70c4809589319f47a99f0eb3f9826f0be56a4366042ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b30dacd7e7f3]
[blob facdb34c28ae]
[blob 2456290974b2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018HNiwENnyc1ARKcE9uF2HZ",
      "input": {
        "note": "Lateral alignment now looks right — the red block sits directly above the carried block in the wrist frame. Lifting 2 cm and moving 2.5 cm further out to close the remaining depth gap.",
        "targets": {
          "right_j1": 2.2843,
          "right_j2": 2.0892,
          "right_j3": -1.3757
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018HNiwENnyc1ARKcE9uF2HZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6304 left_j2=1.2018 left_j3=-0.8345 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4198 right_j1=2.2745 right_j2=2.0369 right_j3=-1.3758 right_j4=-0.0944 right_j5=0.392 right_gripper=0.4596\nstate[joint_eff]: [-0.0479, 1.7709, 5.3402, 1.9805, -0.022, -0.0464, -0.0122, -0.335, -11.1521, 8.3761, 0.1734, -0.0806, 0.0904, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0efbe8a4c7e61860c6ceddbb28304efd3e7f101200cfed2f49f3eef720e8146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6440dd181df43169b5ab436dbb3fdbbc92189481a7c1bc4eb5c5c3c85c64253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:528823c17cfd502d91363158c0e5a98e7ad1e28ce1781ae5366e228bc3f884c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a0efbe8a4c7e
wire blob b6440dd181df
wire blob 528823c17cfd
call 65 attempt 0 · /messages · status 200 · 8.664 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=-0.3069 left_j1=0.6285 left_j2=1.2018 left_j3=-0.8097 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.469 right_j1=2.2292 right_j2=1.9511 right_j3=-1.3235 right_j4=-0.0986 right_j5=0.4412 right_gripper=0.4561\nstate[joint_eff]: [-0.1162, 1.5932, 5.2308, 1.9365, -0.0562, -0.0415, -0.0122, -2.7829, -13.9145, 5.9692, 0.7253, -0.0562, -0.0611, 0.3687]",
      "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=-0.3065 left_j1=0.6296 left_j2=1.2018 left_j3=-0.8268 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4187 right_j1=2.2299 right_j2=1.9133 right_j3=-1.3163 right_j4=-0.0948 right_j5=0.4072 right_gripper=0.4583\nstate[joint_eff]: [-0.1162, 1.4838, 5.2308, 2.0537, -0.0611, -0.0708, -0.0122, -1.3607, -12.041, 8.8274, 0.1978, -0.1538, 0.0024, 0.2027]",
      "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=-0.3069 left_j1=0.6304 left_j2=1.2018 left_j3=-0.8345 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4198 right_j1=2.2745 right_j2=2.0369 right_j3=-1.3758 right_j4=-0.0944 right_j5=0.392 right_gripper=0.4596\nstate[joint_eff]: [-0.0479, 1.7709, 5.3402, 1.9805, -0.022, -0.0464, -0.0122, -0.335, -11.1521, 8.3761, 0.1734, -0.0806, 0.0904, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0efbe8a4c7e61860c6ceddbb28304efd3e7f101200cfed2f49f3eef720e8146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6440dd181df43169b5ab436dbb3fdbbc92189481a7c1bc4eb5c5c3c85c64253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528823c17cfd502d91363158c0e5a98e7ad1e28ce1781ae5366e228bc3f884c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a0efbe8a4c7e]
[blob b6440dd181df]
[blob 528823c17cfd]
{
  "content": [
    {
      "signature": "CAISwAoKjAEIEBgCKkAXw7I1fU92ZN77B0uMZdpqraJz0ytPftj7eoV97VSwkIzg1TtLLkNLqGEcNpE3VwNfFbJtPgr3/NHYjNh3tvPDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMF3mVDcKIbXxxohLYGgzjVfa+kY+PtbF17K4iMK/KRsn8v3/DJAOVpBu6dT3GNtbt38OQzdP1cfOPoGPK3GpvxfTzC009sy6pipvk3yrgCGWlX/WfptnpPv9FantvxxNVgZnbmBHdtcKl+14AIKgE+D4aawEz5XcUS08xM01NjCjD0YyTabXQ+0vwaDJvq5Rm0Dw0CsKb4czyajFsnFJ3wJKr0R7ELqnLcBLK4W/hEQv2gALQJMeKJE5XV2lPSa5bAvWcuVEXcACKsHoR89sfHy0yzAZ/xcNJl5ouC6dkGwnI1tGPseykM/LUTOZiNvtZ/L1gGnaxZWn7tDf0fXwxZfLH/UQYf7t37UlLOLb7Kd2CkqMDWceUdcN+6M8g6xKsjwSh5jGljvsEFrdq+Vum/3vqkoxxlvqP5uas2enAAaQnYbbWWUNS3hVfwl5nNaSsFyiosReEidsdos9Y/zuyv+7GkjaNRxA9U5pf+GYBJodxe4hLQz1hRAm12MfSTU8AI5Df+H1wfGPdtT78NWmc2RuOhjEOoDcDH0SDaDb6oH+OOPh/rfkulF/7sTqbzI8NuCKxJLT+2/0aIxlkhK8O1qvN2bEh3vDvt6goa7iu5/4j8miMHUhVQTGVRFssEmFPxfKhCK3T9+lHX2IM/svAlK1ZmmSokAPYudYc20M+m4lMJAFKJfn/BdG+8bKCWJfBQ1RhjHOiMg+phXXtViKY1bUd0ZkUDbbZWfTTTJ4/3xnYrW70x6VAyyCCU+li8pejSQpZXlHxHItz+j69DwNrJ5Y6tXzYF/672oQ+JdoSvvuyy5vobFdBoMM1H+O+paZ8TB3R+wJUMN28rDvqbxWz0bRwETDIWfUzD9k1oofSngSlOGUcuwarv3M3GJTDzPQZ2rZWBnRxChq42Ke+Deb9MEGEjtR3EtEdn4pXTu6LR8EIorfJ0CgTm0Igl0TpmxS8ylXhwtxqk61uRsU00c5VXGilOvY+2IjEv+zNtqvJlR6joSEy9HeFqAVQ4TtAVujvZAoW0GqiFtsKVRgIuVFdK3Q9d038g8Pe3z7Pe3ELqG8uuOBXGJ4HuuTMiS+SC6eQL0PgSrSacp6z0v9sDEE4L2DAPkxv8ZdzPaTyyiTyxFoBlqmod/VEulYcjgbSKV7Jtf1JYgz3FITBmcl3HYUrMMyv4Xl4o2y+dAuEWZ/0qxOfe9LLLLKjZV+mdM9mTKM4N2WJQiBmFy2liBnEqoUCsyUPK66mM5zUHlhTZvhS/GZpu/C3f7H+fH1j42g2a7MB3HwSE8NSWPytQXtfdAqTJI93dJUzxmDZf2pXH63SWayZJ1jeSoWXn7Aqici+cEyy+Xs3xCcASrrdk5d1ChMjsXL9Xg9c4GUOLySt4xM+FUAq6EwkNTRkjYJOzz5HGBvx0ZKOashdcHgGB+3vK/vRhvF4HzumL+C9oUl3FQkjnnhYOguHz0Wn5heKsu4xGtSWU8zmjvCCHMpfiqP+OlAbswUnO2AQJwIvyQESlZTvnPLvhVRXi5CtT9vqhrCSSs03BFWITnua0pBmdXCBenhE1Hwb3WovZ9TLBQ5sTeROAzm7rndfcWbR4BfI5CvztH0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WTLwXZAjbbd2wAsCoisYSW",
      "input": {
        "note": "Red block is directly ahead of and just beyond the carried block. Probing down 2.5 cm again, watching for the early contact that would mean the blocks are stacked.",
        "targets": {
          "right_j1": 2.31,
          "right_j2": 1.9518,
          "right_j3": -1.2369
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WTLwXZAjbbd2wAsCoisYSW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8364 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.2906 right_j2=1.9633 right_j3=-1.3033 right_j4=-0.094 right_j5=0.3916 right_gripper=0.4611\nstate[joint_eff]: [-0.2256, 2.0718, 5.2444, 1.9512, -0.0464, -0.0562, -0.0122, -0.6222, -11.2479, 6.2838, 0.4567, -0.1001, 0.0073, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e72ab3bb7cb189b42082776de59c90c2a29350e7388bb41ff549abee10278b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5eacbbd13be9ddc7e5bd081b0f6e5261fb1a1712d918a7685cc66b0794fd5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10830fad23155312f2655dd3f8c7171eb58e7664f0c4ca091da7c643c4e0d7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2e72ab3bb7cb
wire blob f5eacbbd13be
wire blob 10830fad2315
call 66 attempt 0 · /messages · status 200 · 11.95 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=-0.3065 left_j1=0.6296 left_j2=1.2018 left_j3=-0.8268 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4187 right_j1=2.2299 right_j2=1.9133 right_j3=-1.3163 right_j4=-0.0948 right_j5=0.4072 right_gripper=0.4583\nstate[joint_eff]: [-0.1162, 1.4838, 5.2308, 2.0537, -0.0611, -0.0708, -0.0122, -1.3607, -12.041, 8.8274, 0.1978, -0.1538, 0.0024, 0.2027]",
      "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=-0.3069 left_j1=0.6304 left_j2=1.2018 left_j3=-0.8345 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4198 right_j1=2.2745 right_j2=2.0369 right_j3=-1.3758 right_j4=-0.0944 right_j5=0.392 right_gripper=0.4596\nstate[joint_eff]: [-0.0479, 1.7709, 5.3402, 1.9805, -0.022, -0.0464, -0.0122, -0.335, -11.1521, 8.3761, 0.1734, -0.0806, 0.0904, 0.1245]",
      "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=-0.3065 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8364 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.2906 right_j2=1.9633 right_j3=-1.3033 right_j4=-0.094 right_j5=0.3916 right_gripper=0.4611\nstate[joint_eff]: [-0.2256, 2.0718, 5.2444, 1.9512, -0.0464, -0.0562, -0.0122, -0.6222, -11.2479, 6.2838, 0.4567, -0.1001, 0.0073, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e72ab3bb7cb189b42082776de59c90c2a29350e7388bb41ff549abee10278b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5eacbbd13be9ddc7e5bd081b0f6e5261fb1a1712d918a7685cc66b0794fd5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10830fad23155312f2655dd3f8c7171eb58e7664f0c4ca091da7c643c4e0d7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2e72ab3bb7cb]
[blob f5eacbbd13be]
[blob 10830fad2315]
{
  "content": [
    {
      "signature": "CAIS/BUKjAEIEBgCKkAu0dWe8t3ZyWJcsvWgX59HPmCW0uFCjq/JQTSFsRTFFB5EX0O7gEYtdJzAqe559V8Mo/7AGU/DwPZH3g11aOZ7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfAOvzVrWiLzWAfMvGgwiw4YziJ87gcXKsJMiMKsbH91CF8e6wOfPkRs85HT815xNl0IW65fxeFBA4Her0Pi2YTMBfHrb6I0kHXlqfSqcFHgQcjVyCfIBuWAtcabG2ljlPRXS0R7XaKJmW6CuWjY9gUyRnJOSKDcciHqO97W42wGfI2nUJleWzetuYTmc8jNtDHGoZ7+ZdYxFELy5Zx/KCCb6nOeVoFfnFR9Aa/t9mH5+aLf7VU6uZitRmQFLlkQqR53WhFL8DkFAz6wZjINfWDUqySLNChvhJermAT9THVcULkgdUtEpM1YJM64iF2uFNt+RRSRSE19252DZGN2hrYDMWnmMP7sza446BQcTeDvfbnb42HfD8uBU4Iiu73kS6p5U43qD/IoEC2FY6ts4Nj/UblgLbHB/GEfztlLDbHLLki1wEyeQrkWpOhrBgdNKGXBenpqVcC7zMyeP4XbZeXFlfZVk3kroArsUSHpvKGdENTorlCmwJOJzS2cm3k9tDRhZTBXbZ4sthhwM3Uk/YWQWBKFWXiNX08786tUa6K2CWClk2D0aTEnXlrtlu1CGFooQOuf9ZQKCVA+kCeXWU6tEQH3Ec5ArVOXolG4zfarGlugCL8gWHPL0byBHSCJ3jZxeVoC/zkGhMUWB4lhwnk3FKYr6ARKc+bXsaUUlRO2fr7fHUnKknRu6xEIGAf6m+ePIoB2T7VP/L/zLyQArl4PU1spRl5YCFRQPrTRu0zB5hOKFRPZyd9JpX1lYZnP/WIx6OWRb7GDpCgp1nJ1gCxy/trLPN1EelvpXvTiG8b5mHaV/fP7Pa3cYDlpFYR2xtL0uxf3GV2XtvIGu2YibhPTmYy/7fnebk2GeI/en5A4c/A6KqYfGAotkkfIU5bnOnU+7MMexFhsIMLF8Cg9MStjj/ArTgwg/E2gQOPsC5kBH2yNNS/D1va+E8GLEKZqL4Okt+FMMnoJcVmZHx8dFxscYOKFosizmXTheB2sdOSKm48Ew5rMntnnbXg4wP6kaw1Pg0cdMF78ROlzKx2IXh+/uZ6HQNlo32ORtJr3GncM4MeCf7q2tR84hV8nks/cvX3TUv0CQV/0wfZ7VnBZv1IXdp5mNws3P7gYyM5C4oGkU7uVN9e7BQf6BUBVWOeSHPCfoA+JCY5+V42S4au3Hk5Yddqtcx1FS3p0d5NZ2f3IKH6tq511BYAvSoE8hmx/YXVP7scSBXZwHMK30O0oe2wUtpeFl1hHidYX/de2v2qPrWaFa/TZUJ9WA/xRipfsSbZG2UR8AslGM2HFd6VZBF6fePS7pufWUEoyVcXb+0ECV8ZB2n5Gd6/+mavWWqxg2a/oFdjEdMg/otlmQX2oeXSYaDXABXKqpZIw4CCQiCV9nvOuqUUW+qMQ7/F3iNVsxXxyABTYCMErDk/Efh2DQanuu8DkB0SmvXbK+LAiKoi123lkVih2yXe4sGWUSw4jW9jRpr4sHF48S79XbjuSJ/zbkS8EGV0eFHVGuuSrpmOwCpBVtyOMKQIq4PUmHUrr1qXVUcGlPjnMyy9F3XSLFCo/hOy+WK5epWTd1ea1YRkB/0V4HtSXuP7AuBaAZwU4NDvXArVRSj6GIxI+P+hhil6gMi3kEH8TIOue78U2zSAaxCy1GoDCOErrD422sKfwRiY2F7+9fZ6kPThulFbc54Tp3uvP1f2cs41qXDDD1hdqP04rx78/TK8AmW5TimwWWDaOWfVjYw0mvKAAzsAv/kgaPcGIdjgA9APPC/aRq4sF5RLDo0TiW0ieSzsbSmTUvx0fn7VYiqMm1zr+80Gcq9ZR6N+efoEcEvIoYhX9cxaRnsIK/GEIz8npGGUi8RrGqqtP6/j74W//YZ+iaFPGk4vc8npbJr/MGwdAw55gqseJlcKTroWx2KWcXYpvk0pHoow26N6aCrcsJSrPLCvlHgZ7Gl+Z3rM573SmCIWN3CNzwtE14ntiF7bzEv7OY5uXc/J21g/rp209lUsqm1OK2gDcz3tU/aZY0484KEg/6lfCCNhrd7vNYS6t7QkVOcwskKNto0o6YGKIUIMQt8a6MTFP2/TxGWOMN/IP0CowjMYSKNorPo02L2FxnvI4jEEtmSafWQ5t+vqhN6pO6NciRAXqInGJaKSL4deWx64jhcQKrsxANfrJlSZ6bcGj4maivmPvuXiMzPB41r3te8jTPAF6GdayQIoU2FXxD/upUrRbck2WtKfOEpMskaxK9rb02zo4PvHcxXoEerkPJufWy1xvABz/JCJpJeiGNHF2pUmF1lBsNo/lg5FXNVnjZnPRAf9cnI4um9H8dfi9duZ54Nu4v2hfkuVijo8m3oEAEnKwDbveY51fSW/cK1u+OpT4OddxNWXL93OvZyJHQsOq9zTxuQ70lymf/Vjfva53KcTQ/9QSLl5YHZ+Ql3D4g/vDexqn4S5wxwj5mHKtfuxjogWNUDr1KkMkrP63cgKqYXWDysJ4DrexzdRmv0R04E1HlHIJ8vM6MIqWcJJfbDta85UzRbqovb02onoi66Scneq8DmnVINJzSueZxbIoc+sEBE3ad6+W2w4D7GRuPK4T9KRa1RX74ew5nShpuQIosfV8VI3SK9Uwy1+qpbEIAFOPWu4oBIrFzk3J8cuJrA87MddZQVdsn1nHfmyl+ZzVTwunuElZHO8C9NL5XyXFM2bIoZ6m2bl7qkNDxNYbaFVUPP0UlyGbi9yoL4fsPdXcbxxjr6zt+Tc6OLj9BxXaaQsIBOldNoS23BPPUCTw18pdIVc0aZUzGM4/MQrCt2By2MHAFbJilni4t0C3xTHMEZBlAn+0O3W+8CStTpiGh6+kCp1SVlQBsJkpEihgsyJfVsztAzhywCoZh9aWYxu8b303UYPjU/XJObtYcN9qsJ+vcCStgSB7ZwH+S4NG9RUxj+y1YqHdBSyBRNcNYdy3oSzhylmWPZoSzZaioqxO5NZQtzs0iohE+qnqsa5BRjAxuWtwd94mDhwCUD3avKOycLw7hy0E0d6lU+bGj3ZNg2VsEjt7ApHTflJFTBhU3Z4WqSiIP4MMVex0B4j3jpTyLE3LGLMeLvqOgKJtR+jaB4rOsIM3r/m1NCzWLfZKLvTowQI30dIY0replHKHjcBK9phwfOO3LymLn8u4iqHzitapgPxeN7ozx6YYffIG+J0gm1u0Ty+jSAGmjEYifsi5tjgSSvepsM6NgyhoCR03JbgIk4wX5ZF37mwszWPsFEPCJtbmkq7Klyezs89q68tNn09PDlxtcN6tS2wwqcVX5gNhLNu+ORLfDJMjsZ7LyqDdTFdaR+iERbsTnFetkAUUSborjBeZCiVAu0IsQNP7OWveCZTqJ1gXJxID5XYr88hjo/MuSR4TsTtkeDBi7+6MHuuDDtZjl125sATmLc6NQAWzwpHONYJHejlBt2/9O1ykNtx41//mZeI4aLIK0AIvkcDa8VdjpQoWJQ4nyv3mpgIJetI5OQcUZ1tWOZkHMWfEk8s6WqUs2s/HfenIPCSktZRHy7CWSa+ABwzuMSDG5ztrdsDji0GjJecU17imJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQ8amUvZMJ19pbj7P1cbaH",
      "input": {
        "note": "The red block has vanished from the wrist view, which means it is now directly under the carried block. Lowering another 1.5 cm to seat the block on top of it.",
        "targets": {
          "right_j1": 2.32,
          "right_j2": 1.89,
          "right_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WQ8amUvZMJ19pbj7P1cbaH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6312 left_j2=1.2018 left_j3=-0.8444 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.3127 right_j2=1.898 right_j3=-1.2171 right_j4=-0.0944 right_j5=0.3847 right_gripper=0.4625\nstate[joint_eff]: [-0.0889, 2.0991, 5.2308, 1.9805, -0.0806, -0.0757, -0.0122, -0.3624, -12.0547, 5.9692, 0.4127, -0.1294, 0.022, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdd51e0b462223c971b231edd178d9783942aeb0af620651ce7ab4dde5e8343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eca4dcf61a641ed3e412cec5f2131ecd9915f3d40ede1455e209937bbb11d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6daf647e28843cd41ba7150e6e14f127886f38b0d936e5cf8c874cac42e46c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3cdd51e0b462
wire blob 6eca4dcf61a6
wire blob c6daf647e288
call 67 attempt 0 · /messages · status 200 · 15.67 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=-0.3069 left_j1=0.6304 left_j2=1.2018 left_j3=-0.8345 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4198 right_j1=2.2745 right_j2=2.0369 right_j3=-1.3758 right_j4=-0.0944 right_j5=0.392 right_gripper=0.4596\nstate[joint_eff]: [-0.0479, 1.7709, 5.3402, 1.9805, -0.022, -0.0464, -0.0122, -0.335, -11.1521, 8.3761, 0.1734, -0.0806, 0.0904, 0.1245]",
      "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=-0.3065 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8364 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.2906 right_j2=1.9633 right_j3=-1.3033 right_j4=-0.094 right_j5=0.3916 right_gripper=0.4611\nstate[joint_eff]: [-0.2256, 2.0718, 5.2444, 1.9512, -0.0464, -0.0562, -0.0122, -0.6222, -11.2479, 6.2838, 0.4567, -0.1001, 0.0073, 0.1392]",
      "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=-0.3065 left_j1=0.6312 left_j2=1.2018 left_j3=-0.8444 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.3127 right_j2=1.898 right_j3=-1.2171 right_j4=-0.0944 right_j5=0.3847 right_gripper=0.4625\nstate[joint_eff]: [-0.0889, 2.0991, 5.2308, 1.9805, -0.0806, -0.0757, -0.0122, -0.3624, -12.0547, 5.9692, 0.4127, -0.1294, 0.022, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdd51e0b462223c971b231edd178d9783942aeb0af620651ce7ab4dde5e8343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eca4dcf61a641ed3e412cec5f2131ecd9915f3d40ede1455e209937bbb11d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6daf647e28843cd41ba7150e6e14f127886f38b0d936e5cf8c874cac42e46c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3cdd51e0b462]
[blob 6eca4dcf61a6]
[blob c6daf647e288]
{
  "content": [
    {
      "signature": "CAIS+CEKjAEIEBgCKkBMI7+1SXuU6VSho0SBdYQbJZ3FbK8aW/AWocRW61OgozfK/bFkVJU8rGY6CaFyU2GR8Sg4WzmPx2rNvNshOk3bMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+OybEaSDVoUDQ85eGgxNoIT/rgM0/YjdJAEiMHDc+DEbSv55oxhB1ftT+1EBGY4AvUf14O7Ky66WV5pA3Zk2PT9ERXqcx7CKRHtMnyqYIIAEwFjwkm4ps7KpKbUw6SaXgDeAI9mu+Ppgk+C+Rnbl9d7UpUUPpK1VwUPFzze+/0DL3ur9eLmnWyzYD9mTZV4U0kjGtVrb+rLnD99/x7uZlweCb1w9Nv2uiSnjmv8wyWZwMA9e1/2eHbFEISYz24r1k/kXlXA2HFxtUcOmFIJACPI8cyuGBrsuJlrkVWvhoZBS7p5F9dsGylPgfiOc3DBY2rbXxw63cVF6HQYU5CRpDMdtgPDhR2Qr4HjKppra7THXQ86xqFkJl3esgwXzSDsQVByPsNApqZe+8wbndCCZV3Y0/+WWAFAOuXgP3T+t5FCnHjBdnZzUEgHTzy9i+oelPvcSOsGdHa/m4369DiZpsk6oYKN7o7NdlZDYcAlRU9ZOVC6DIS+fqIH46I+J1qd1wt41M2pr0dJm73VR6YQkapmx7Yi82oUrHSF7GP4g6ycFuYQH+C7NOhUaEaoYSjf1qrp2gCJ/5OwpNjmCZ94ZzW7vE7Ycb7fMgvqbm0yoL72V7p6D5E6tlIVGTDxAw3JeSBDwXWZF3WK3gqLULW+k3Lz7zjkBA1Ik3dN5uuifMk3vAk9GqL78Q4DSerjwaZZ7F42v0q2ZqoN7QwYwP6bkRvA/Bfmn+AkRkhZdFfzhRSe6l97s6mOztWRXTAVGVgfbwxgg+5RLLYLwpo5MiyXSEisl31+6tfI7ZKLoCFxi32YxrHC7Fq0IkLI8PoYJfs6G7ltOO689HC21mRXMPSi1bLxVIhd1hKq8Q63rqwZ2EnRREgqObndQzPA51z2IDQ7vc5rGdklf36vlCxRRkvyYnfE8wfABdkFVI/whWPpzjB6KpzqK+I/WjRqy0ve2desCd0uaB56PuMaWHwpORb1GWnQ6QCX/ruHEsn3q+A3ml5PpIDrfmfkarlNG3W4CL56V6y6PzxEDF7PpEKKXNIBDuf976uegYcgR9nkeJanzz3E2+rhn3sc1YNr+P1YE53Qo4nRQfOtu1OmLJxkqKCTcMxD8JPSI8dJkooVoe82nLzQmYk8vdbHa7EjJMbl2TyNoUjM7YYPJmddc5hzruHb2PZF1hdqznRbH1mc+7CpOb91jeggI+2kuaaSigSN3uZh02ALNX7YLecNMYonsgdLAWZraooOGbhPEX0O8f9EGzl5W8GtuIfsHSS2PKByMKtw2QVKt/xobdpiasNVJ3EA28meUXUp8kZgPIHLfNQLOdXmDBYKu9IvHMCD7dJMPRDUd/oAA9zolqyZ1rCS3ITktcQ41umPLFi2YFiczjsjiwsl9zaGiCZeOkYww3rd/to08gUl8OkkJfHYok7NYqlGqPJElCY7qt6eOzVO29UbJUwz0Ph4gN11nJO+UP3x7iSYrm2OiZYPLznQkvklwuYgRsfS2B8Kr0V1hWzIXmU7TITuOS2DpUC2i0h99ZCsGbWNNmcV5I0NcUei6tTnfzXIgltuNY9Kr6rGLAnuCh0Ab8ixt4GbqmnppPpG+Dek7G9NNdk+s+G4fRbpw+M/TUzSj37g8k1Qfcwz8YHfPzruJVlsJTLwpc1xBjcg848TVaZAjdn1fF83XnCKNT7Aad5sUDj6SnIu8ppxoFO9rE4T0MHb7abtBz19CaM6DF3teZn9TV8X9V7tsKmljUO9cXhSfyBlMEQT0Qvfsat5CyCZawselZ6LhBe2EBZ1tydVCFxpoByJA/s/V3PMr64+Xa307ENMJTnqyaSdyxFpph/SQ6BUw1iuwvFz53ziiXR43CdEXKegFYFEhPLZHknojxqWQu/yuEaaW5qlSSD+tF6HWNg/vb+/K2BW7Z1jAbgjDZgZGKPS+iGU/fF9T0RoOyxrxIYswSIYJykMkuwxz5dnwZq48rhnlNsjDos+Xv1NY5gAMywE2ebspkNAGO3KBcHoxkLH3vmuwTaANy/CXsWASCPlglo04o10d+8TGIBi5UDZV9LtKCapx+uoPVSWtTWaOOr0QMwIDptBc1tWJ9AfpLRQRGx8rKj0q9r5lrqGtGHGnqCvDnxwWx5M57gpBAu2VE3TC6ffZko6mM51wCozmM69mTB09i0/3MPD3lr1dZHz51RgxDq9nudE31EtBmerNnXNAYc5Lk2wwqylCv1Mux4FGx3uUG0UBhKsSTQ0b9bEJul7V8YjJr4JJkVVXfbOeJxWmFT0RX0T73VqWBNIypaT2lsKmd72ch5Dr+d1zWzFAkC+gsxJc1FTRCRsbWw2wtSw3A0+XyxjhuUislGziNOAP9CSaJ6b/RvVzJxvZ2/sH0FpkXcdae+94lQHAYCfd6JccvNn5tWPokSyRCL5Oa9rCFWQS+PB8swhOGGCM62ZN0iyBWH+qhrZ+v3TpEYHkziVEUOcTrAgl+wGL0+b9PZH8uGS9rhrdru2mXo8mt+V9se+4NvgNsYgWCgYsTUrnnTXfzDvLyROUrBRWVSradbZW5yByMICsYHAxO8R+OfyANU01UyF2EWJcJZxg6fV2CmrxhWK9KZVX71B2evDg1CxanvbboXxXTaLwkcoz8p5qH+GIhepndsqqlGQuSDWWCeUG3Q5c4ev614yNiGz23+VEsAfQucnpcZ6K7tm743jrJMhRoQ1pwpSu3vI7pbYd8odM8bYERiDoJYTCr1onOWoWMO5jL7hIrMzorq/rjz7JCzuu/cb/4xIOdaWdOR3r1efmKKHlPuczrzF9FqV5XpJFwoof1bejmrbcsOUKgWdR5eymiIAbUiSPaqJliTeMdiZtkzpe2zFQedf+6Ymvzoycqh2QepEH6QQAbzhU2/if9l+1a2J94Od/srWebDnh77CwOTR1vO4CpQLukDuoq8BaEOSWiXV4l+x2I3afZnYqFVURy4Eais0BLr+hEFp0fmJpiBfmVwLV8LGIjGwJ5wfg2i2VFK1AqZL/Vzlk5nbdnucAc+Vpz/7/il/P9qrzuT6mg/G0Z3v3pXwlCiehNwojp2Vr6jpArrODgWyRmkkXSzBRAhR7dz3c+UzP25Q8C3QW50RV2T08JTX/dunO8VegHHNGEhMXFcQx5R80DjYywWBw+rj2oQnX/s2+t/BNtAl/7nKBUPv9c7weq+x93+6/ate+LsDmS6nO9iicWVv7RGeOgLdGsCCm6G9KVGgDym6sMEffdkz0LKJLKfeUWYqTAAvFN1Vj3O9XWGEkVkxEfe5QCKRIBXORP3ZkyhWFwnfyZK9IY/h5IA1IUv/ZbczWnzfI0paeLPo/em5yH+hF5qzybGLXZ9NcYi5/BfleBhoCNvzxSFaD2Q44I0X6jUUt2MGBW0LqD7zjmSMcidHGtKsjE8LXrZwYoC/Ljr2asj6YnDyt9AiNCdN+sxGAg+hTbhB//oCb9sWgoy+GpTaJ37NPCcIq2RlpLPk3CIRJEEGpZbCDbiQJwpHJReu76Cw3ir2kF0YDL1GZ08lFgEpcgj2Nq9eyGkaHTAw+OZcSY4NgzFNm5w5eAMApDL6r0U36ajof/IgA586F+cNhFZe09gUa5aP3ADAONjAmC9xuLeIiheNXNpJe3neCR9lhqtEZ7HNiKpEqN6SoQx7ANE1ZfwUkFU5HMZlgUz8cI8qyNRmCcj7ezPip39pWDuYARem2T1i/aXtlP9bj7ek3eNggJV1xQQL7Epstg1siDEPgFZhNH5SWS8naXENo/H/umV/c8s2oLKCgjOyqxwRcsEyOy6em9K/M97ukSka7KOxIaT1rXxBO3kDk4o0E5c2WIlH5n3slF6a4kaXfR3FlVAJOdGvpmBL2AjStqoupW2xNIWAZFVl/T0P00yM5I5cPZhwd1m3st7f6LohU9W3/vfJDYWyB7lV+RmYwATB5YqW1b4aY4Fzhr4LKyeUIvJSpKtRaoR0sPKbjrI2qLm4HlfZjJkPYP0eVBC3dPH7r7uFJx68tI/4hkmS2EFMtaCSlLwa9wFjDKwpOMHpqTDAyh/VgiP8mmzgBJ3+V5U0LeSoXbjmNUA7BDtAOMwmJYdGlFKonJomzibkx9LQuca/zoohGbiMk4jDZYbGVGt4Xghl7BeGtqWG2qjmSRNCNGYVv89pfVeGm6Ic07W2wU12qOx4Ku42pPZKYdSI9yMV4NMiT32Zow38WOgXPzWhaNeVAztMcALJDTwE/CpTF1q0jodB8btxcqSZ7Ty7hmhq/kZZDswcTHNbdzIQk+6UbglcLhO/T4irMvWMJFZcQAplYh8V9IC0MeIaqm5C/F+JUcsH9qhHLYgZhMkWGzBH4xYDd5f0yEReFpOTtgm+goNzm7w0PCH2YDQU9vkShfXFyI7JORhC0PuttUKp1KOooRFVVohvDCA6grNbbY/zxrQmKggzejgeXARZZbQ+i3qzF1W+DvFU+kZzCVbWGuSfXyawg2KRMWzN33d7eDYlEzJI3CSlVhOm2mr8j9EkgfR5W9qx4Pft28JD6H47bDX63tpHu+qiTT/YfkBGe6ahB3wnMr/xXdY9opVdPQqRMBXJE3VqqNO9fNDGdPiPTKpOw8hQW1hcuA4F1PKPldSjfHMsso1YrJ//otFq0pZZL7Ux04GwoX0AXrLS3RtriKoHTQ5QRAGnP1F7C5EIBxiOVtd2FNXnOCN9H+4H+cJoWZC4BMhNOumZZQLZ9i/vor0CC4MI5qODgiPNWyrTgKQ1kMz8nHk83F30S7EWqwWR+iCdZ90Pj7eS2wa8vwlOzGRqIhup5vVrwwftXpCalRmfcTfnZrl6GO2rnwZIuyUWhHNXPBVtgm/7xbRVmEBtIMg9rdXe/1UUs5myqgWZ+pDsRom0doojZD9sh2tetuNEw7NSnRWLW1J63fNFa2htf98LYeDU7Msxw0B60ysJmxLYxfVHEQLEuc8V4y1UF/rHbu9Y4FD1ebGTeBxJPckOFJfCJyeEFcFhgMJAcystA6W+aHaqtzwiiR4AeuWLyOWf2EgDjSTHB1WSZdULalTXMMTfgVO+DrI83MJFAMUqdES+B8ohnmWFcsSr5xiFv34r0QU1zLiN/8m5ht+p2j/rgpQUZMZg94hgLAcDINJWHbgchKe4ULP1TcQu7Lk/9f21EMKsexsQmFqmOxMlqjsN6/zsOw6YA/+yne/jVNSK9tMH5xWjJ5YlH6zeNA3Qyd3cBWZkvdUEFkfivi7flnJ/I/tEzv3lSPlekRudxxcelVKJY63xoltJVp2NhP4jBmzSPFQyUdURwmeQ3d4IivIkgZb9veMi735YAegI9OWwon8N5PH1nYr69cXDQOiMDvmnQ/FqZYqB+P9E7BK4ja/HHr3nEvUH7/FhNknhVi+Fs58MyDaXaO/aDzWrp0XCHWqp6jN5ghGyRGoa6/uvmE2TlRHNjfqeUbEApmFe/HDbGpSkm/cqcllDmTf7mjqcCMni/X1QwX0ee6Hrgd5BQdxlnE65SGOU+QSP2I7HddrvMQJ0IMvABq39CfS3oVDLUb/bxe2cy26W08AwRfIWRkXVlXWkkoCvorfcP5g5lAoIubY/reexxAlliPQMv7P2CTgRQJfe8GYPtBmQeSdOFVI4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvoCqRJPp4g1zeUuu9UaRT",
      "input": {
        "note": "The block descended to within ~1.5 cm of the table without ever touching the red block, so it is still beside it, not on it. Lifting 10 cm so the overhead camera can show both blocks and give me a calibrated offset.",
        "targets": {
          "right_j1": 2.1864,
          "right_j2": 2.1066,
          "right_j3": -1.491
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XvoCqRJPp4g1zeUuu9UaRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8539 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4252 right_j1=2.2471 right_j2=2.0594 right_j3=-1.4406 right_j4=-0.0944 right_j5=0.3767 right_gripper=0.4638\nstate[joint_eff]: [-0.3077, 1.5521, 5.2991, 1.9414, -0.0611, -0.0269, -0.0122, -0.4991, -15.6513, 8.4855, 0.315, -0.0806, 0.0611, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00dfac234dab7f0c2b17884e0fa8b488ffe04b0b865b11c52efdec208168e542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97851b31da7726336c3258921e6dfda381746709d11031c9505f55776da30eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a32e7de29218c40f64e930032aa8b966460a9bfddace3f9173051d6d53855236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 00dfac234dab
wire blob 97851b31da77
wire blob a32e7de29218
call 68 attempt 0 · /messages · status 200 · 8.733 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=-0.3065 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8364 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.2906 right_j2=1.9633 right_j3=-1.3033 right_j4=-0.094 right_j5=0.3916 right_gripper=0.4611\nstate[joint_eff]: [-0.2256, 2.0718, 5.2444, 1.9512, -0.0464, -0.0562, -0.0122, -0.6222, -11.2479, 6.2838, 0.4567, -0.1001, 0.0073, 0.1392]",
      "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=-0.3065 left_j1=0.6312 left_j2=1.2018 left_j3=-0.8444 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.3127 right_j2=1.898 right_j3=-1.2171 right_j4=-0.0944 right_j5=0.3847 right_gripper=0.4625\nstate[joint_eff]: [-0.0889, 2.0991, 5.2308, 1.9805, -0.0806, -0.0757, -0.0122, -0.3624, -12.0547, 5.9692, 0.4127, -0.1294, 0.022, 0.1392]",
      "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=-0.3069 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8539 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4252 right_j1=2.2471 right_j2=2.0594 right_j3=-1.4406 right_j4=-0.0944 right_j5=0.3767 right_gripper=0.4638\nstate[joint_eff]: [-0.3077, 1.5521, 5.2991, 1.9414, -0.0611, -0.0269, -0.0122, -0.4991, -15.6513, 8.4855, 0.315, -0.0806, 0.0611, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00dfac234dab7f0c2b17884e0fa8b488ffe04b0b865b11c52efdec208168e542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97851b31da7726336c3258921e6dfda381746709d11031c9505f55776da30eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32e7de29218c40f64e930032aa8b966460a9bfddace3f9173051d6d53855236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 00dfac234dab]
[blob 97851b31da77]
[blob a32e7de29218]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TUf5fpYP5PYtcRUrNjXqS6",
      "input": {
        "note": "The overhead now shows both the gripper and the red block, and with the calibrated 2.96 px/cm mapping (validated against forward kinematics to within a pixel) the carried block is 10 cm too far out. Pulling back 10 cm to hover directly over the red block at 6.5 cm.",
        "targets": {
          "right_j0": 0.5211,
          "right_j1": 1.901,
          "right_j2": 1.4636,
          "right_j3": -1.1334,
          "right_j5": 0.5211
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TUf5fpYP5PYtcRUrNjXqS6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.8764 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9446 right_j2=1.4807 right_j3=-1.1721 right_j4=-0.0914 right_j5=0.498 right_gripper=0.4646\nstate[joint_eff]: [-0.1162, 1.4291, 5.2444, 2.1074, -0.0611, -0.0513, -0.0122, 0.2803, -12.0547, 5.9692, 0.5592, -0.105, 0.0171, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8da194dc2a35bf33d95342a37ed4b7ec2c53575f1dd7f21a7c8dfdfaa31590e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a140daa53c0261d2b15795c460e57aba3a202720dce2a4cbe72efbc9181e6737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4fed8df86c02c61d57f0caa9ba4a43f65b5670d92ae441d776b8a0dc3e94e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e8da194dc2a3
wire blob a140daa53c02
wire blob c4fed8df86c0
call 69 attempt 0 · /messages · status 200 · 13.79 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=-0.3065 left_j1=0.6312 left_j2=1.2018 left_j3=-0.8444 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4232 right_j1=2.3127 right_j2=1.898 right_j3=-1.2171 right_j4=-0.0944 right_j5=0.3847 right_gripper=0.4625\nstate[joint_eff]: [-0.0889, 2.0991, 5.2308, 1.9805, -0.0806, -0.0757, -0.0122, -0.3624, -12.0547, 5.9692, 0.4127, -0.1294, 0.022, 0.1392]",
      "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=-0.3069 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8539 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4252 right_j1=2.2471 right_j2=2.0594 right_j3=-1.4406 right_j4=-0.0944 right_j5=0.3767 right_gripper=0.4638\nstate[joint_eff]: [-0.3077, 1.5521, 5.2991, 1.9414, -0.0611, -0.0269, -0.0122, -0.4991, -15.6513, 8.4855, 0.315, -0.0806, 0.0611, 0.1245]",
      "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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.8764 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9446 right_j2=1.4807 right_j3=-1.1721 right_j4=-0.0914 right_j5=0.498 right_gripper=0.4646\nstate[joint_eff]: [-0.1162, 1.4291, 5.2444, 2.1074, -0.0611, -0.0513, -0.0122, 0.2803, -12.0547, 5.9692, 0.5592, -0.105, 0.0171, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8da194dc2a35bf33d95342a37ed4b7ec2c53575f1dd7f21a7c8dfdfaa31590e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a140daa53c0261d2b15795c460e57aba3a202720dce2a4cbe72efbc9181e6737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4fed8df86c02c61d57f0caa9ba4a43f65b5670d92ae441d776b8a0dc3e94e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e8da194dc2a3]
[blob a140daa53c02]
[blob c4fed8df86c0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEszzTbCvDdX5yRyR2EoUj",
      "input": {
        "note": "Overhead now puts the gripper and the red block at the same pixel — aligned — and the wrist camera sees the red block dead ahead. Lowering 2.5 cm to set the carried block down on top of it.",
        "targets": {
          "right_j1": 1.9709,
          "right_j2": 1.4012,
          "right_j3": -1.0011
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HEszzTbCvDdX5yRyR2EoUj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.889 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5205 right_j1=1.9594 right_j2=1.4117 right_j3=-1.0702 right_j4=-0.0906 right_j5=0.4988 right_gripper=0.4647\nstate[joint_eff]: [-0.1162, 1.9077, 5.2308, 2.0342, -0.0855, -0.0366, -0.0122, -0.6496, -8.841, 4.7932, 0.989, -0.188, -0.0513, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf00200fc083c79ff3c21d0580c43b2b09123f59c4c367a5998f9460d002651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475096055fc12fcc0571f9e723867f7896f36798a83a2fedfadba0a1445e0970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04a1f2523220a398a749feb5378fca22b2b5a2c7b486938ace6d5c1f4cc97894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob adf00200fc08
wire blob 475096055fc1
wire blob 04a1f2523220
call 70 attempt 0 · /messages · status 200 · 9.012 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=-0.3069 left_j1=0.6315 left_j2=1.2018 left_j3=-0.8539 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4252 right_j1=2.2471 right_j2=2.0594 right_j3=-1.4406 right_j4=-0.0944 right_j5=0.3767 right_gripper=0.4638\nstate[joint_eff]: [-0.3077, 1.5521, 5.2991, 1.9414, -0.0611, -0.0269, -0.0122, -0.4991, -15.6513, 8.4855, 0.315, -0.0806, 0.0611, 0.1245]",
      "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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.8764 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9446 right_j2=1.4807 right_j3=-1.1721 right_j4=-0.0914 right_j5=0.498 right_gripper=0.4646\nstate[joint_eff]: [-0.1162, 1.4291, 5.2444, 2.1074, -0.0611, -0.0513, -0.0122, 0.2803, -12.0547, 5.9692, 0.5592, -0.105, 0.0171, 0.0708]",
      "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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.889 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5205 right_j1=1.9594 right_j2=1.4117 right_j3=-1.0702 right_j4=-0.0906 right_j5=0.4988 right_gripper=0.4647\nstate[joint_eff]: [-0.1162, 1.9077, 5.2308, 2.0342, -0.0855, -0.0366, -0.0122, -0.6496, -8.841, 4.7932, 0.989, -0.188, -0.0513, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf00200fc083c79ff3c21d0580c43b2b09123f59c4c367a5998f9460d002651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475096055fc12fcc0571f9e723867f7896f36798a83a2fedfadba0a1445e0970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a1f2523220a398a749feb5378fca22b2b5a2c7b486938ace6d5c1f4cc97894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob adf00200fc08]
[blob 475096055fc1]
[blob 04a1f2523220]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLhE2SFr2bMzV4HdFurNpL",
      "input": {
        "note": "Wrist effort on the wrist-pitch joint is rising, which hints the carried block is touching down on the red one. Pressing 1 cm further to confirm firm contact before I open the jaws.",
        "targets": {
          "right_j1": 1.99,
          "right_j2": 1.3743,
          "right_j3": -0.9789
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VLhE2SFr2bMzV4HdFurNpL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.8928 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5209 right_j1=1.9579 right_j2=1.4059 right_j3=-1.0538 right_j4=-0.0906 right_j5=0.4976 right_gripper=0.4653\nstate[joint_eff]: [-0.2667, 1.853, 5.4769, 2.0098, -0.0562, -0.0562, -0.0122, -0.3761, -7.0906, 2.9607, 0.9792, -0.1001, -0.0513, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cacd36d465c3da015a1c1100e7c9328eb787e28af4496ceb2e5b20b5c42c203a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f05ca97a717bf96b6c22eff21831dd5e2ce43a4592ffd60c3e9a513c08411f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e9257ea9aec6fa7697f8f7be1a58e1b6a12632a891a23c5562afaf79d877e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cacd36d465c3
wire blob d5f05ca97a71
wire blob 5e9257ea9aec
call 71 attempt 0 · /messages · status 200 · 26.11 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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.8764 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9446 right_j2=1.4807 right_j3=-1.1721 right_j4=-0.0914 right_j5=0.498 right_gripper=0.4646\nstate[joint_eff]: [-0.1162, 1.4291, 5.2444, 2.1074, -0.0611, -0.0513, -0.0122, 0.2803, -12.0547, 5.9692, 0.5592, -0.105, 0.0171, 0.0708]",
      "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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.889 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5205 right_j1=1.9594 right_j2=1.4117 right_j3=-1.0702 right_j4=-0.0906 right_j5=0.4988 right_gripper=0.4647\nstate[joint_eff]: [-0.1162, 1.9077, 5.2308, 2.0342, -0.0855, -0.0366, -0.0122, -0.6496, -8.841, 4.7932, 0.989, -0.188, -0.0513, 0.0024]",
      "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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.8928 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5209 right_j1=1.9579 right_j2=1.4059 right_j3=-1.0538 right_j4=-0.0906 right_j5=0.4976 right_gripper=0.4653\nstate[joint_eff]: [-0.2667, 1.853, 5.4769, 2.0098, -0.0562, -0.0562, -0.0122, -0.3761, -7.0906, 2.9607, 0.9792, -0.1001, -0.0513, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cacd36d465c3da015a1c1100e7c9328eb787e28af4496ceb2e5b20b5c42c203a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f05ca97a717bf96b6c22eff21831dd5e2ce43a4592ffd60c3e9a513c08411f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9257ea9aec6fa7697f8f7be1a58e1b6a12632a891a23c5562afaf79d877e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cacd36d465c3]
[blob d5f05ca97a71]
[blob 5e9257ea9aec]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aj9Yxg7NjzarKJyibmeDF",
      "input": {
        "note": "j1 stopped tracking while its holding torque relaxed — the classic contact signature — so the carried block is resting on something at the aligned position. Opening the jaws to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_012aj9Yxg7NjzarKJyibmeDF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.9058 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5217 right_j1=1.9575 right_j2=1.4059 right_j3=-1.0641 right_j4=-0.091 right_j5=0.4965 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.6342, 5.4085, 1.9658, -0.0708, -0.0415, -0.0122, -0.0889, -9.3744, 5.5316, 0.3004, -0.0659, 0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 499):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bad4d90b7dd6e40601ee0ca0322c17e8dd875bae5f0bb0b3fd5093fa4006bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 499):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:677f0794183290b61e4b2d2bc2331c3d587dbeb667d2fb33d12727f7b060d060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 499):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8472dd1898e07aaebc71ea99143ab5b4936f4296f9df2d785768aebd483801ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3bad4d90b7dd
wire blob 677f07941832
wire blob 8472dd1898e0
call 72 attempt 0 · /messages · status 200 · 15.65 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=-0.3069 left_j1=0.6331 left_j2=1.2018 left_j3=-0.889 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5205 right_j1=1.9594 right_j2=1.4117 right_j3=-1.0702 right_j4=-0.0906 right_j5=0.4988 right_gripper=0.4647\nstate[joint_eff]: [-0.1162, 1.9077, 5.2308, 2.0342, -0.0855, -0.0366, -0.0122, -0.6496, -8.841, 4.7932, 0.989, -0.188, -0.0513, 0.0024]",
      "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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.8928 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5209 right_j1=1.9579 right_j2=1.4059 right_j3=-1.0538 right_j4=-0.0906 right_j5=0.4976 right_gripper=0.4653\nstate[joint_eff]: [-0.2667, 1.853, 5.4769, 2.0098, -0.0562, -0.0562, -0.0122, -0.3761, -7.0906, 2.9607, 0.9792, -0.1001, -0.0513, 0.0464]",
      "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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.9058 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5217 right_j1=1.9575 right_j2=1.4059 right_j3=-1.0641 right_j4=-0.091 right_j5=0.4965 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.6342, 5.4085, 1.9658, -0.0708, -0.0415, -0.0122, -0.0889, -9.3744, 5.5316, 0.3004, -0.0659, 0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 499):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bad4d90b7dd6e40601ee0ca0322c17e8dd875bae5f0bb0b3fd5093fa4006bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 499):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:677f0794183290b61e4b2d2bc2331c3d587dbeb667d2fb33d12727f7b060d060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 499):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8472dd1898e07aaebc71ea99143ab5b4936f4296f9df2d785768aebd483801ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3bad4d90b7dd]
[blob 677f07941832]
[blob 8472dd1898e0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015wdeHk4QvDw1H5vgnsC1DH",
      "input": {
        "note": "The wrist view shows the blue block released on the table right next to the red one, not on top — so the contact I felt was the table (the right arm's height bias is ~12 cm, not 9). Swinging the arm up and aside for a clean overhead of the two blocks so I can measure their offset directly in pixels.",
        "targets": {
          "right_j0": 0.15,
          "right_j1": 1.4,
          "right_j2": 1.8,
          "right_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_015wdeHk4QvDw1H5vgnsC1DH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6342 left_j2=1.2018 left_j3=-0.9249 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1635 right_j1=1.4429 right_j2=1.7557 right_j3=-1.3777 right_j4=-0.0906 right_j5=0.49 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, 1.7709, 5.4222, 2.0293, -0.0708, -0.0415, -0.0122, -0.1709, -5.559, 7.788, 1.3162, -0.0855, 0.0611, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3513b4c627ba1c3bcc84b0f6fb904cabb2ba828e63dfc980925f4d9cd82c274c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6fd30bd8508a15af7839ec15973ba8cb26cf1c2d0d9c8a629938b613823c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3f7a79f61d9edf19385337d0759ee1b920cf86832eb43b2439143f9fcb48686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3513b4c627ba
wire blob fd6fd30bd850
wire blob b3f7a79f61d9
call 73 attempt 0 · /messages · status 200 · 8.723 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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.8928 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5209 right_j1=1.9579 right_j2=1.4059 right_j3=-1.0538 right_j4=-0.0906 right_j5=0.4976 right_gripper=0.4653\nstate[joint_eff]: [-0.2667, 1.853, 5.4769, 2.0098, -0.0562, -0.0562, -0.0122, -0.3761, -7.0906, 2.9607, 0.9792, -0.1001, -0.0513, 0.0464]",
      "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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.9058 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5217 right_j1=1.9575 right_j2=1.4059 right_j3=-1.0641 right_j4=-0.091 right_j5=0.4965 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.6342, 5.4085, 1.9658, -0.0708, -0.0415, -0.0122, -0.0889, -9.3744, 5.5316, 0.3004, -0.0659, 0.0317, -0.1001]",
      "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=-0.3069 left_j1=0.6342 left_j2=1.2018 left_j3=-0.9249 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1635 right_j1=1.4429 right_j2=1.7557 right_j3=-1.3777 right_j4=-0.0906 right_j5=0.49 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, 1.7709, 5.4222, 2.0293, -0.0708, -0.0415, -0.0122, -0.1709, -5.559, 7.788, 1.3162, -0.0855, 0.0611, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3513b4c627ba1c3bcc84b0f6fb904cabb2ba828e63dfc980925f4d9cd82c274c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6fd30bd8508a15af7839ec15973ba8cb26cf1c2d0d9c8a629938b613823c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f7a79f61d9edf19385337d0759ee1b920cf86832eb43b2439143f9fcb48686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3513b4c627ba]
[blob fd6fd30bd850]
[blob b3f7a79f61d9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ygh4DfY48VPkism2k2net",
      "input": {
        "note": "Clean overhead: red block at (145,152), blue block at (140,172) — about 20 px apart, i.e. the blue one sits ~6 cm inward of the red. Moving back to hover ~10 cm above the blue block to pick it up again.",
        "targets": {
          "right_j0": 0.687,
          "right_j1": 1.7183,
          "right_j2": 1.3854,
          "right_j3": -1.2379,
          "right_j5": 0.687
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_016ygh4DfY48VPkism2k2net",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9401 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6678 right_j1=1.71 right_j2=1.3949 right_j3=-1.2594 right_j4=-0.091 right_j5=0.6556 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.5111, 5.2855, 2.0195, -0.0562, -0.0757, -0.0122, -0.0752, -8.1709, 6.5983, 0.3541, -0.0757, 0.1294, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd915c8c4a51c1c4e37d2f0753278c7ec9c99c20cd87507f0b4d6de35564cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee28082fc2e079e6b4a8da6f35aa904f4c24ad9735b1112cf7805093a1b83ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b3c8f3f6ba94e31c4b33e98a352707da7c7a30e87e024b3e63096cb39dc5bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1fd915c8c4a5
wire blob 1ee28082fc2e
wire blob 3b3c8f3f6ba9
call 74 attempt 0 · /messages · status 200 · 5.666 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=-0.3069 left_j1=0.6334 left_j2=1.2018 left_j3=-0.9058 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5217 right_j1=1.9575 right_j2=1.4059 right_j3=-1.0641 right_j4=-0.091 right_j5=0.4965 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.6342, 5.4085, 1.9658, -0.0708, -0.0415, -0.0122, -0.0889, -9.3744, 5.5316, 0.3004, -0.0659, 0.0317, -0.1001]",
      "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=-0.3069 left_j1=0.6342 left_j2=1.2018 left_j3=-0.9249 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1635 right_j1=1.4429 right_j2=1.7557 right_j3=-1.3777 right_j4=-0.0906 right_j5=0.49 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, 1.7709, 5.4222, 2.0293, -0.0708, -0.0415, -0.0122, -0.1709, -5.559, 7.788, 1.3162, -0.0855, 0.0611, 0.1197]",
      "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=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9401 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6678 right_j1=1.71 right_j2=1.3949 right_j3=-1.2594 right_j4=-0.091 right_j5=0.6556 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.5111, 5.2855, 2.0195, -0.0562, -0.0757, -0.0122, -0.0752, -8.1709, 6.5983, 0.3541, -0.0757, 0.1294, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd915c8c4a51c1c4e37d2f0753278c7ec9c99c20cd87507f0b4d6de35564cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee28082fc2e079e6b4a8da6f35aa904f4c24ad9735b1112cf7805093a1b83ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3c8f3f6ba94e31c4b33e98a352707da7c7a30e87e024b3e63096cb39dc5bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1fd915c8c4a5]
[blob 1ee28082fc2e]
[blob 3b3c8f3f6ba9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AniUtkj2aBcgKZJr3tzZ5g",
      "input": {
        "note": "Wrist view puts the blue block just above the aim point, so it's within a couple of centimetres. Nudging 1.5 cm inward and 1 cm sideways while descending to table level for the re-grasp.",
        "targets": {
          "right_j0": 0.7,
          "right_j1": 1.9,
          "right_j2": 1.1012,
          "right_j3": -0.7984,
          "right_j5": 0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AniUtkj2aBcgKZJr3tzZ5g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9581 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8854 right_j2=1.1172 right_j3=-0.8768 right_j4=-0.094 right_j5=0.6849 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, 1.5795, 5.2718, 2.0391, -0.0757, -0.0757, -0.0122, 0.1983, -7.665, 3.959, 0.9353, -0.1099, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdeb1e351c988a9aab4406c548f91c1d78c98f2b5dfe8dac6f2f966df5d93022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56fdffbbe3896675b75a915d783cf2ddc6d9fcc88635f1b7b7733cfcfee71ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 525):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:430788619d0918947b8319cd5a8d30720bfa7c4c4b5eebf4ca7f8fc222b3fd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fdeb1e351c98
wire blob e56fdffbbe38
wire blob 430788619d09
call 75 attempt 0 · /messages · status 200 · 18.98 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=-0.3069 left_j1=0.6342 left_j2=1.2018 left_j3=-0.9249 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1635 right_j1=1.4429 right_j2=1.7557 right_j3=-1.3777 right_j4=-0.0906 right_j5=0.49 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, 1.7709, 5.4222, 2.0293, -0.0708, -0.0415, -0.0122, -0.1709, -5.559, 7.788, 1.3162, -0.0855, 0.0611, 0.1197]",
      "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=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9401 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6678 right_j1=1.71 right_j2=1.3949 right_j3=-1.2594 right_j4=-0.091 right_j5=0.6556 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.5111, 5.2855, 2.0195, -0.0562, -0.0757, -0.0122, -0.0752, -8.1709, 6.5983, 0.3541, -0.0757, 0.1294, 0.0073]",
      "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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9581 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8854 right_j2=1.1172 right_j3=-0.8768 right_j4=-0.094 right_j5=0.6849 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, 1.5795, 5.2718, 2.0391, -0.0757, -0.0757, -0.0122, 0.1983, -7.665, 3.959, 0.9353, -0.1099, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdeb1e351c988a9aab4406c548f91c1d78c98f2b5dfe8dac6f2f966df5d93022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56fdffbbe3896675b75a915d783cf2ddc6d9fcc88635f1b7b7733cfcfee71ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:430788619d0918947b8319cd5a8d30720bfa7c4c4b5eebf4ca7f8fc222b3fd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fdeb1e351c98]
[blob e56fdffbbe38]
[blob 430788619d09]
{
  "content": [
    {
      "signature": "CAIShQYKjAEIEBgCKkChPcyU0Brcj9JpoDG28TzGBq9KmLMDXey2mPTyj9wahgr/K7T1vGX1mx1bA0Cj2FQ19YdEFvIym7oJAxEamEI0MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZ8RHZ6+60Bl5fLFdGgyPtkQkM9jPpsqWdh0iMEdcvWfcwzw/w4oz+q13/Bat/3bf4aE3JQB5IVZLhB4NRw/APH0aoVAq3LIzYUT23yqlBMx7vJFbj++SRLoECLGaOsb0jQVOsl52M3VIGFfkx9hyTU/Kf0vgjrtjvdhHUHdFVO3Steflj6awoofTq2yMtf/Sf45kjUQwRZb8ninEKngAuYZAs1KNobfIxl8487knT4tJF29aJVTGT6T6ZNSKDkrYXXG8aue6EAZXPcTbjcQ2nPP2XaPu5MVoPpHx4ndkje25Tc0F49l53s2LlYAManMUuFZkXeq6BvDVC3oaUVtvoKkJXPZzTsfaAXYXBqbEtsb+ROId86uaI3/FJGaI2Bv9efPQTqkAs4rU3ytCyxKLlxuPkhDlxicWCWaMba0UlRhCmLF5AMKtP7PF221pOThrNVsvpn/lcmMGS+1d39nanLAnH523A2q9T65CWsIrm+UDRcqF8rk0scCCK85V1KrV4EQAxoNm7IS2BTf3JeJ+p/ohhKWOpWKOkRXZb3i8BklBQwKJbkk+UaOy9iq7K265NB15sI6orGb7gLLNK4DvUlOb2TrJ0BB3od9Mb0Yi3DVg0Vw29KfBLWg/nfX3vEJlJ6QLK1X47qp9wBpEkpawbkSQ4ctTm1qIQjfGXjLAogDlGe9JDATRL0FTh8Xvp1ggnkHIbk9MWn59au1S6YmJYJYkQAUKFF3WqzAHNpT7h+hVkmv8GPKunD6EXd7aoc6MMI9hy3y/7RHWsYYm6hiBqHnphvAo6gX/EzPsFeuDaXWBovqbc1iUdHYVfve9F3iMt0do7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K5cPLjLiCL8U5NLuzEyHDU",
      "input": {
        "note": "The blue block fills the jaw gap with the fingertips at table level. 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_01K5cPLjLiCL8U5NLuzEyHDU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9653 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8839 right_j2=1.1175 right_j3=-0.8822 right_j4=-0.0982 right_j5=0.6804 right_gripper=0.4335\nstate[joint_eff]: [-0.3487, 1.7026, 5.2171, 1.8926, -0.0806, -0.0513, -0.0122, -0.0479, -8.3624, 4.9026, 0.2027, -0.0855, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 535):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ca43cbc8a72bcd4bff80df428bf5ef50791f66667478c7b472d8e885bf5c978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 535):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b917b59c4cc50a1f2471eb76bf49d1d8629a143b66aac1c0b2ea1cf481de3ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 535):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1bde3be0c1b62b5362824cece1ae07a7d7aa7eddcc1ba265778a315baabf696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ca43cbc8a72
wire blob 5b917b59c4cc
wire blob e1bde3be0c1b
call 76 attempt 0 · /messages · status 200 · 12.83 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=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9401 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6678 right_j1=1.71 right_j2=1.3949 right_j3=-1.2594 right_j4=-0.091 right_j5=0.6556 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.5111, 5.2855, 2.0195, -0.0562, -0.0757, -0.0122, -0.0752, -8.1709, 6.5983, 0.3541, -0.0757, 0.1294, 0.0073]",
      "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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9581 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8854 right_j2=1.1172 right_j3=-0.8768 right_j4=-0.094 right_j5=0.6849 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, 1.5795, 5.2718, 2.0391, -0.0757, -0.0757, -0.0122, 0.1983, -7.665, 3.959, 0.9353, -0.1099, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9653 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8839 right_j2=1.1175 right_j3=-0.8822 right_j4=-0.0982 right_j5=0.6804 right_gripper=0.4335\nstate[joint_eff]: [-0.3487, 1.7026, 5.2171, 1.8926, -0.0806, -0.0513, -0.0122, -0.0479, -8.3624, 4.9026, 0.2027, -0.0855, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 535):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ca43cbc8a72bcd4bff80df428bf5ef50791f66667478c7b472d8e885bf5c978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 535):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b917b59c4cc50a1f2471eb76bf49d1d8629a143b66aac1c0b2ea1cf481de3ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 535):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bde3be0c1b62b5362824cece1ae07a7d7aa7eddcc1ba265778a315baabf696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ca43cbc8a72]
[blob 5b917b59c4cc]
[blob e1bde3be0c1b]
{
  "content": [
    {
      "signature": "CAISrj8KjAEIEBgCKkDYAbCB34Qh6PhObm1hWAaUEt5pnLD4qGGY6t8M0hBGuHHuCwDeLv1//WQ9k1M+FWfSu5AdvBn/zycISN/nurugMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+eb121fYwGHFp4MQGgxi4BleW8NwEvtw3+EiMC/Of1/r15+5aUEuSaf35Am+mfO3xwf+R4/gHuUtW14U6lC9M4gi70MS2C8U1jxOtyrOPXiDGnrlPaBOySml+xd2RP+GKPj3AIMGAGru7/Ux1p4LGafYH/1zcoAlwkbsoQwdWKdB2v8VsmqeT0OGJaNXEiZHTggUSZKf8G3HGmq+VFIHkX7cucFroE49QTRJVNT4b3MU4uDOTlNHL6Vo21/RhqLBt7hjNdMpwE1WkIIdKJ+CWHUehZS17E4lu7Y3hI9vjPFocKUxCNURIUlENtv38z1+kuwhmJvgXtsyClvsjDJ5kgKsmRphoOTj2AWYkE6bC4XXEMktWwmNNco9q67xktC5Bgv6v62skqLIVUV7G54CxVliFi3qCCzxO39d6d4F4jUb2n8SW2mYgMRfXEtjM3EJIlm8jg5Eu2Dy5t3ZutDZG52T7hisOiOBJIndTaF8GoHVDXg2nGBDieiETiEjHTEorjR3d0od4FFMJygnFgy/pkYuNZiUUMnmAFZGw7kYrDsmG6PzqQManu43e1Uc/6NE9xoh//PJF4cmCEcTotHjxUSA8hX6y/wMUW+8jhASJExScjJ4OtjYcSdZGpL09dvB313dNmFYy9IHCBdi/gz/C9OtOaOVgRe0hfbmFFfkJR9+2l1CVPRy69U90Sok/0+QzPMtTLgIRFaUMMn/Ijw0DotlGnPZXxEi5aF4v6r4yuc8ZWRe6hgy29h3VNJ5j+aH6vYzCi1m04PfVJCn++B0kxM0P51jj8xr1JSoSqYZS+bA29rD97BZFkP9gdd1aYOoISAeaqGR8V7Ie7z8N8mLQ61EKCp07JJcsLyiRkYbXu28EtrxlYnBwRx8xdz9a9ijOPVoOB5S28RL7W5UsKjnJE+5k2c0DmdVkPlhjORT/xa78igrYixhu3Z2ucWar+AHkGi9u6o+pKZrpXNK5HadSAuiGaQtTgYysAIpX+8ClGuLEDkvTwMV5M3ihNXnNXBa4hkeJbbe0m6w93Zf9VSTRlqh3eTZMI4Zh3nEFu4WbhH6jrXYGjjHd4l0g+QPuzZMzOVHiDX+1lJr/lBB+tlA9Hk/CwE2tN1cLZtZBzaiVnp3bxuc5yvd+1SONltfZvRB10vTixjcwAqfi2sZYNPZADyObW2Lrn55mbnElO2DAPpa47D6o0/z5h6PCL9tIEuvdnWPeI7lpDn2t/HUAMpk+1uwiEC1K+7JYlzIOR3TBMRXJyNGw3su/qNgOpgLgCo2DJd7OvRDGk0I5p/w7zqy3DVBkLV0ZL00rZQQat96iqiTJHtAuEl48JUTDHgeviBn38qLapVqcM94qPGk17w/GxHJCDc2mfFrk5WpMRgSekbD6U8w7Yei/FIUr0U7RmdPCe+6ukVzxhDF9te86MrV6B0U2pkKW2mEYCUwEb5FeVaw/McpqBnPpXaok/oGpM3pFMgvAc5X5KTBFIjr44W87MYT7VPiCwe8FlzH+tzEKC9xJEXG1rMn0yxVPSTqwkF4DDp1WKbQL5v3gOQZp5VNB5ryuqPXjnDclMlPqR1q41b1+hPiamjnFh/B46oT2GopsJLsCtaYW89BW2CXoNdxwR/qBmTfABrNHu6B3DETbcYSUV3vdcJ3p+VmPWItyki4dVlchmMFMKwOXmuzcsiDPbDEwc1Dhcbqi0YbIIeL0YUcJrlrrmtV3gjjRV2BXzyncCrOBPyd44zTZrydcFtPJ5IAcKiSO2Kj17qzRFbPZg7s3NVcUMTYFJGBjulbUX9Tbsd84aeV+M9MFG42EzQ47pUtvxnaMGCiUBpn1pYQzSYBEqdGvfeMRIY/NGOLBJyh4OJSzoTCr6iIZKH++YcaftbkMVfbr/x3TVVVs+LSVPBBvv57Ig2hoQqCIw0oJ5XPH9UHdUb2gM8BlK4G8mJxRQc0CVSYI3VynXTOJOLmAz7UQYCxJZBMTJ2EM3qiEUNoBCXXHmac1IPTNrOfCV5GydusCXELVHXldu3B7UpCOlWj8rfXyAPXtvWYAuBo9FbNMbaUEbdpFBryaykTyiC7ENdSZ3BwbZJLgpNANW3NakZeYhvewjbD8vSbhl3vaID/czQ6QvOzKL99U+M5SDdEaFJd6mjKkSyfNHtoCuByyO/FhdmLlovW3hKPtcQsvBSR9uS6h1XNjE9SgZym/KEqJ10HpY2OFlJF8yBvrGXJq2n6Altr5+RiSIGR1hls8AuzNfeHIaQb4ui5IfzItKpKljXNt9w/GB715IevsgfzxGDBUcz7lrs8jQH+r57djfpHk6HyZC1ZlY3PSBMNk+LoOy/1tRZ73AeSJnorHJAcnIyR2fE7Mz6msk065SXSAJc64RZbl9E84N2mnq021HgtkP71KJOdTx1mgmro5eszVeGh0uiV5R4Zci3/APJsHe4EVy6NjSa17VFlZMZGI8Ety/QuVIkdnvn6D9PN6KCIbSkYeJcoUzEJEI6XYHjNbP7SGyYP6coVunm7KeGVxWTgt9T74M4QrGfeLpSc44qo161GktU03xXwOJLmyXDDMXyd/coqw6eBJoPaqeMNnVhmFl3FZG9s+iiumpiPEyvCulkgprFDuUarh8dfv4oqfRliZhGM2GAY4Uvx2tzhCsksl/BKo+IlZgQ7Pp2hW7BApMnrrBRBOoxXa7lwrHUdMo4KLooaEzubaBvhKXcxLN8BoHFh5WhkTr0xXZpKkKCTEdDknuce/dhF76euQYzResuutPYhyVqiOEGt5b4+7oIuOpDbjhoeIl06HfgpfI6rmVv24ECCm1m6PQ1Mwo2VjrBYfCjcEn2ZK1J2xRPuyAuo0jwBxnLz2H7PYaA/Z+KvCX1CI4u8tf5y2gSMerbqV1ADE+qXQmN44O73tONRXI9Af3mCzN9bTvIKY/12FzVK7U5JFE5LLpRvc9Ht2vHNh5/W66+6o+XZnxEES5fJDxxEtTx5cUF+BBP7GmxnPokw7KoNzmAHP+l9rIltdbtCklVh2TwWcHnjAhe3WR92DLvPQ1jC58J78JUcrxcfD3uVn/3x/wxq3FCh75hCYz6ZNEf7yomXeK3vYHz7eaq/Oq1kJhIM5aZBbgFFpXOp1iUrDl/xF1fQ1itstQcbnseltsv821rh8JHBojs4rFrA0S6d9IJjKFto4RvOCfX/QUxV3uMVaLzFQdYttWcgyfH/tdZ0DvLtsjWh5C0w3wa+gFNaPNJDZAEKR0O6DDpov5XIs5gJRTL//9tcKelPIbOuNreohepb79cpz177FQUlFMHbxZqpKreUQo+U+uZ1uXHb1tYs4RBizvNEGcKd68bUtlTqzHjoN8vJsTEQ/k8x3NONgK3GO/0+F/h9l9JSx1OhMY6LUF0QUEI6OaYS5byr7Ikiv1c9iPflS1tOHVwZteorGM8cHI91ni0IH9bWQFy20Vq8ywLq4cn2oQOFAisJFo5wDOAeFJuj5PP8OfL/K0lnsOW91aYBSC6rKH4eiTC7yrKwdPYZ2Nxhu1BnK6zKIgWY/P9gS/s0/+wNER8gtgZ8ibU+9RwyF2C85DyMNn7fCIQq1GkgIRwLiF/CpwIw1wD2t9oHmTTeW6OVCi/GFM5zS2jAhcWVRzu5P6uEjqEku/r7H2KLHkrTI/7i9ZeX4IOfXQY7WDVucY2/nKIW2QiL+guHfM3em1LwCy4MhE6BDwF5asf0/Tq4KT7V5p/9iv497i74A+cRY9F1NWn5eZ1j9uDW1B10PmQss7rw9i5dk/+rBHLhKUfjD0yxtOrxwYb3Ls+Vnzq6KyQQyJVjCBtwcKACjy5qAC7s1gOEosh9D9vMPZaiA6xFGGc2gU12FUMNtK3MshIiTSnkimvxyMTS3feVaNEBdYmNWMg1hxCWThf8WXBAm0SNhw+zwaSVCWXeG5kRE+jH4elkSC5z7dohc8E4Pyytn/7wCIen8OCCVqwC+gZLGyNcTMJbfMcCU9O80ixpeAJD4RPRzWBa9xclchifNogeVBgJb8YZDBENCuP4F42MTnTb9OaIUvbGcdrEDZ31bbqvXPK5dUREDIhSoCGKUvXerfCebbtCre17tpTrTx+UsHxDzjqMT1jDHfuRkBq1Bxx7MvYZPlBVJpvnDdg+sU5jfJtwXWa9NEgTRFhzLhnuZKQc6ytrVPid2GOJO9s0oKHwHjb6mszHRa/NuiNpx944SrgRjMze0mSlLMYUe0zJuPwENw3akvml8XptY07cUKKhAVDRbG4LJYh3GDwCBjXRLVDXdqXH0YW99DEsWg1fWRmY2KQHYTMoLAZtpttIX9dVavSbr3ArbY6qr1ocM/KDkCpG0pVrhWD6Uo844ZYVNxxrWBqN4A3vMvJLIeFDdPvbEJbGW40WgS+K/t6baF3G/nSsLmvVvn3J3Lfx2/l668Qd5b4ekUvLbZ6FLkxCPyRrKy1dKqo2HWM6HSTk4GJjSQTWVU9vA61us5msY7N5f8Mhk/XCQJSEZAyNgUvTWMWfBJ3nGec5UakT9a9y6dKN/Np+7xT3/15q0y6KWiCq1JjLgppIbvXCJipFMUcTZpddKajISIrraQ2VXGBebftwf9vfFLgs52y95KYrAdfzqgBZmCfqMfLeVihzKUtWwFaf14YJXZbxrNFMTxA7fPg4pXis1hbd2FHz4mhcDZNtY21j1v3aUEH5HSiCS7Lk2Svor5lo6w2RiGnTTG4t94XeZWt8UReePBVzQ1Dr0yANcUwdbXrUg3wcLVSVBCeCOW/T/4qYAZnhGqreBMtaMRnO911nH5gfdcF1W/oIFYhnSc96gNpRSbGnPkNkbej8lhoHo//tRbSkL1ah/uCJUOxnyNkxOnq0TwsB8N1D2jRqJKQB/E+e5fT1vEPa8w2N6zuSEIgBIJ6IWpsmSQsyHTDRTBh/qoMrDavOpeAzkgAbgnePCFWmz5ZbW06a5UZSgf7KxHlbcciUGLEhSA0wCYjYR2t+f9VqkejXJyv/qjw/Uj9X2nKj3nPLZkvPMnZCceVXwHxZIURJAN+NS2pojdtmcmjs9vGY9nB1/CXcQeAfTlH53Ifjx+jTSvZcJWu+F+QL6CHSzVOMTRP1Qr9ImRxcThDyJRAOZa2VGmHfdRgarABFYbCDnEyUUtEbUpfVdfznUlVsDEtbacl8i3zHB8h5h1AmeLy02v2M4NRBOTrB0aeku2ES6SmpMjGA14diDVnlZaAiNJltOLOBB7gpgEnpan/PVlQrRbJssjuLYvjkyJmV89JgRsJoEERWltz1rwDmc0jSUIv6V1atzwMCiYrdyoA0fX8WKYCAH2LmXzL2zGqD8XwZqzN+V0QF4oz1RhJ+dQ7Q8rHOEmwv0+nMQ0hONWHNUsDvT1abBI5OemffviOIkQnD8T8v4aYZ3c0t+pZWMBhBcmpiqj3QRxM5TG1K/H2BGjnr4hb+QC7pOr1ipaKP+9TkMzHc3SPa5gpMie5F59KCsPA7az73mKh4B/5/l6RbxefuSEi3xGsohkQ6RIsqzDSFSaud+oU0ZzRpXoYBpWNPbSjrmW/h2FI7ww6DaIBTHO0h3mV1Dt+ODm6GiWjkeDXYqeL9ba7AQB6/YzoO/3OZOwQdUDlzD+DIqZAFOPc/bN0IJ1+LtN5+0MXpRKXXNQ0Ug4SpKhm/edqBrVQCZxtWhEO0ZwJvk6KMiJW96oJ/TM87aETwm16Bt/S7ndP6wO41QbgbjPu25TLy69w4Osb+UTKl2C1KQSiPrReFlvoBeNg4cPekDzbFizD3bkZMEpS7ELI3S6bAvi3KiY74u4+qV84NvE6XkrmYr5GMs94eqowlYz2nljKlRBQ87QNAmXdvb69v6K+JS93qbHN3YWox/zmT+yt7WvVIlSFCv43utJGvi5+QY9pRBgfMCGpXS7oM67xeX3Sh70I6nvwIMR5PEgMjuLh/68V96GF+WjHM6dZh4IaHR1vgEzAmvIBpHOMrmQ/rsbQ3OGxlGI5FAamOlIKamKdgHgGSeEi1bzkGLppRZlvyZ512T18rPiTqadax/xeg95zOooFflhKT6opAq5EoVS8c0oBTLtOSlu3RpYIInu4tsauf84iv860A48AB9XolBf97PS0xUJ4VYUNHQLp310lp8Yyq5ej/X/5Zkw1+ttyA8S/QD+3EispOZ6i5sc4q3yr8SqkND/D2Ic1ET9LA2cI8AuZyfKh3tAcwCQOJdCt8UYaZGb4oHP4V8friAE6RWB1XHhjCJAHKOdpGC6y13l/j/2IdRteEzI5pIsTZGKLEBs8ZCcJ7afr98/cD9xpviUUxvdrqdhzxH19X3V36F6ImCY1joF3WyK6eAieuAGkGYYlpo8qZcZ32fKBCQT2+sBjfcM5DAl9ejo5NQUcFlRG0N+BzOG3M+JCAipWV4YUMzJjZeR2GHCuptttquMaIrTV0lZzD5ZNkVfwcuoUXXlk5QnVJvAWF8uefPwBEDkhH+Z0ApqTJkBuG9WABHI3c9rcCOg8a1ff7tDt6h2SzaSP1h9YOTFKlf72OqwYf6Xa+bSv1YnFFyOuLKeE76gesuljaqKKqs6naE7/oh7zG4BCqKTbRmAS+UZzGFo4NEEZHYsaCc87zBgCT4yXIdrsiJyty86ka/RjCAWdhluGaEd5jUVi/Z5YhzkrA9FEU0KLkPXj7W1m8KEt/FoncnH7+RerYWxrz4WaVVdW/jcq+f2VDStT7MEBcrXsuWRIG+Lv8i+bEdKLqeGylRIJc7vP5bsbCoDK7Hk77BnwNRDFx9JLDYjLubnD24SouzJbegidcSB+qUGM9P+xknstoAJ+SskqIKeXku8BgJTY0ptK2/TdMzdGtBh9ofW9/yK//JSotc1sZniAF7fkSv5i8UeOcBBqbV5nHvGDeLWv+LbjlUjDGGH0iNYEX5jxDqPGeYmCoYM4oTwbBHl4xix4AgVSiyj/JdKm4zP1U7rClL7b3CiJJkZExJst8o910dcfZ/ZEBt8Zr5EmcvEa8RQEIMdEm1mc/4sYXaE4H9wRgmM8DYFYMRocR9LZHpzGhgjcEeNFTHA6SHSsjYVIfrOtwx3N+04Z6Sd9mN9OCDAZ1UaPviUZOAmJZ/LS3TO5TRkV/ielWB/97MMFGnKvQEANmXXEGBtFEDta+8RXhhcVOalrlw+6m0mIhpQvgJlbHtssHkQfuK5o3AwnYpXiwGbmOtEMgzCtZpqDB2GLUNaVpaAos0FHLFazvL2CiRKzu3+xCpKxyqnB+aAyceNJDHS40uMG1CQs0ixNCadG9/XgwMX6pteUbQcxhCWpvG2rGxO9h5B8koAPjpMHh7/teMyJyRQzSHkuiB7l3sVKmuf8BMZ0mdMYosa+NzA9IOlzIdc0oNpsKhJ2ExwRYBlY2uIUeKDYE3qSysvDSOU22KIiuc5xPH1czZ78ZgV8Drr5RPEjIePF4DXzYMJJxQnT4Xvk9dNxxWL8P/Tx/JvMvnOVid3ehAgLX13yauFP4LVPXf2Ae2hGM2aMDqoySRir38i/g5yIHVF57au7wH4kfOeOO399A++WCjmmnWZQDu8aeXqnRcFU3Ig1whzpJ7laFeQ0AuyAbqm8ypFBQox+ft/lcfASva0C5N+TsRezeI68iRF6UGutshtyrI0Iuqn43Oe1rqMqJcUsHV/pigPKYMSV94q2SPyhJnnr1taYrp2Q0BStBx7xxLa4ZLzrdv96os1uYM0qyBDAr8XNMl0I7fz5USyE396fXYUS1s9Rgo6t1jla+WMqkkuObruPYkcZg/GkewOkADVZ8iTxM25aHhYOL64mByNuXlNvOf76p5tKngF59PyhMPpknNFyuJjkwhhiP9fOfLbDyZw5G1CjokjKc9Kbn/TC5u4qK9dhbK0g53NACdKZaiwrqf5TJYAaCZJP1rXAHuW2Wxssx/nIUeJTqjFd1ZZyRzHS8VhKwEsE3trkc8wMGY9EjMH3dvsaTrl7jvfYlCl4mlLj/rNkqcUqwjD6MKOweTcLt7IVBS71JKOyx6MBY9rbuLt3blhR4q+rMaYqARSynKFA2FkmvPqcYqLRqp/wPRLkn7hecuAZ4yU0evQ26Su2oNiY3/b4/u+nBDXimU1qaftj5QwIopAuElM1Qph3zMHaOSzutoKgbr79uJ4EdgqFxK48rtjGUkZ9owYGc9jKumVW+V9ySN+J109lmeZxIr2ysR6uiE/6ow8FvZ85NI+oVaokyQrV9G6/oJDOQBLKYCFDhqiYOrfVJMHubiyJ8lgxDLVccbFL3UeneHGKPpsOr6QmGAdkFqzCbmF9FbitPTvN7zSnweSrXstGhTaFXkmLRR6rnSaqt5AFRfmNYgsH7DaT/wuyEocGrM2jkg4AJsJYDk4OFEHbFthSgIJaP1imUcR8P9b5d/Ggo+12wPTTO8myENnph7xrqkch57S/I4sCr12SsBO67pjpkOn1/ozra+zrXX6lQFXekYjOuWjAvKdndZOMzlRO2ujffEUtbbsbHDZiMR+X4RusmgYj5XqDYEjDEH+Oc+hJtR4Cx4I+zQbLoyNpHRt0Mj7dVNzM1u1oixEJvJGlcPoq5l0Hr/gKPkwzkWujTQSvq4UpY7bRyEY/SV7rXTklXtyg282Yhhh6afQZhX9+D1lQsJ7xDpLyU8KEVLxwd98BQ/PyANPgb966r9/WHM3V1ZhZiH5xFm+4Sh3E6/e+rkeBV916m34cEHqC8tdzBCsQSKnZlAlbheeFwAnmmSaddd7thMf0XpnK4vxR96ZKnXZ7aV37GwLV9cDsQRC010qAu+8+0tsvJjKe7NC75qiQj0yRuWrhScpALH23HXYEayyix1nUTRejPAiy5PhuXWzgKY4tx3jRCO622CBBVMmeiTZ40Elg2a/n9eT4MsaWYtwGMrmI2XX8RjHg7PHo0AGwrl+Zfpsp2DePMubIyHPKR7zppnLXgcoNa1xKiVY30OT/UfrqCGGQGJRw15CvC5jO+Dwwy8dZq4QBmJmjnuYXAF7uiG2Pw2zGi7BWyqPKz4pZyMd7BE9nOo+Z9uq+DjlMjCwt5pl4FLvPucLJ2qQ1Z9sOuCMYYhoQW3z58h3OvA3VlSCRU2fr7FqPunHs+LOAVNmIYtIlb1CgwUyLjEZ829HreT4nnfkl5ZDcTWh6YELXdjIssF5bQeCiEfB6+sQ1zzjhVhYvQmLxk3HaE9UH6YfKogBQllSpIoZnu4sbh7bIgJiNToHoZCfxH8bDqUs9QQCT1+qyAvADkF/VsFWMhooYEIluiLTwJybdhWKW1uAAysJeigfpsquGCxezznmwZija1njfP1cP6X6LK6cIWSQUI6RtUjKwiuUUxq1KtyqQopbTtaMPjXE1NxG9yE667ky/tBeTH0Ht0Ex0EBjR2x5N9m4izKYJPMhhLfafqa5atC7PbABNa06Y0qAMg0HPRpMExNmJsgYFEtlIdWVheHsvnmHKoCBOlu//3q1hnKbCgwO3oe3t95CTXBMnc35grZ3C+GJ1hUABPAwwN/b8svI2aekYijwvwcCw9eF2D/wPlYp0ocZOhodew6hXnxgrlEBdcDV37bZiNvLorpH13OR7s9YuGwPIAroYtGsFnZceCwaSibOBNMfK6UD34s2CnIItFSHoZXZDC/Z3MehSCh+SC1NVKM8LcfDPH/V3T3DMcnNusTS/cM+yQzuhilyC7NCo+2csGCf5O9nMQz/kh17cX/9aOIh0bZ9HxGShVQEeXWoV1ObHN5u3HfkmECDNI6BrhOxB7QSJxiVw2EoPp8G1fYGMIrz/fSYbo6Ss36q2wzOtKW9e1Pv6t2dXzvZ5/HHa4RFUnuhtzrHSLsUe21CSURFATInwMlZBybH5mzkxjUFZkiD49zzfcFRf590/O0XrHF5aKEEoaVko9DI/hSd6o9zUbdLWaBT/35DuSDbRTID3veUhwfOR7+lT0xbOBJOZK/0a/RoVJ5WlH4ahnMwFgcAYL84ZuyLf7EPWZgK1w6eLB77wGEZhJRWkHqP1HV52+/OWPPkbjn/h++NcKG7ed9olcdI/kF8EjQ2n7vj0M0zZafuqCVhCKNVnFcaQfwqd/lpnldy9h/J9F1pDTFAT6UaOnFPm+TIEn8OfjYd6IBAgQqGN1k69Oq4XEQ0UojyEIeuUt/b2JyR57bjA5dqgRiycah522Bs8G7bSTnwB8l0TqhR2T19Qc85kjcyU9xu85+muVlMg747NoIfOC1ReZ8V86nIvzq2Wjt/LULMTT+gvxbzV4HDWJBfcCaqh+KKN5sc/DY/QUCcib9+vPtxVuRwO2LEqypl7Tjrcyr+gN4hwpFi2xFNdrAwccqTOSrHrB7TJ9+rPbPhUZwXoCCo6h5NI7aFRo6HAlgora6ulPFJ0KTJ/L/SUf1ZX1FEX16cL5FWLP4aH6gAhKF/6+pjVpssNmnUxwwZMACarKkGKDmAh1THh/vLJLtXrbuEjdocSItujfgvGLgkfpTfaOsgVR9J+ninnQP0It18yVVajJV+ao819u42IfDm7L4W6ENlybgOi/R1M37NYFBDBZxDUOPqMtIl78bhyahiGFZFNWzIkW8zi/3uILTfdB/DkqnhT9p5XOxKHK8j11LHQefQ2QXDsM6ImIKdmqbngMBNrHBw0NQKVWXlW0sAa4wNYYCUbEROw0RtI0kStykp2y7or7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012acaUVosnU2TfmdqAhQaFU",
      "input": {
        "note": "Re-grasped the blue block (residual 0.43, high effort). Carrying it to hover ~6 cm up over the red block using the overhead offset of 20 rows / 5 columns; next I'll compare the carried block's pixel against the red block's directly, which needs no scale.",
        "targets": {
          "right_j0": 0.5245,
          "right_j1": 1.872,
          "right_j2": 1.4012,
          "right_j3": -1.1,
          "right_j5": 0.5245
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_012acaUVosnU2TfmdqAhQaFU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9699 left_j4=-0.0227 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5392 right_j1=1.8889 right_j2=1.3552 right_j3=-1.0576 right_j4=-0.1062 right_j5=0.5541 right_gripper=0.437\nstate[joint_eff]: [-0.212, 1.6205, 5.2308, 1.9072, -0.0269, -0.0659, -0.0122, -0.4171, -10.2496, 7.7607, 0.2418, -0.022, -0.0024, 0.8474]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 540):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a607e4b60036d03da8afb538b0f68fdff06ffed8d518d3225dc21bbbae9db36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 540):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4471d236fd3c042c8c1c63e27d7cf610c0cd9121bdefed9d208991a062881f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 540):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3afa72e7bd48af2227f898d43223d76de5442eea29b61a27493cb02bc0e9866b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6a607e4b6003
wire blob 8a4471d236fd
wire blob 3afa72e7bd48
call 77 attempt 0 · /messages · status 200 · 16.12 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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9581 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8854 right_j2=1.1172 right_j3=-0.8768 right_j4=-0.094 right_j5=0.6849 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, 1.5795, 5.2718, 2.0391, -0.0757, -0.0757, -0.0122, 0.1983, -7.665, 3.959, 0.9353, -0.1099, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9653 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8839 right_j2=1.1175 right_j3=-0.8822 right_j4=-0.0982 right_j5=0.6804 right_gripper=0.4335\nstate[joint_eff]: [-0.3487, 1.7026, 5.2171, 1.8926, -0.0806, -0.0513, -0.0122, -0.0479, -8.3624, 4.9026, 0.2027, -0.0855, -0.0122, 1.0281]",
      "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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9699 left_j4=-0.0227 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5392 right_j1=1.8889 right_j2=1.3552 right_j3=-1.0576 right_j4=-0.1062 right_j5=0.5541 right_gripper=0.437\nstate[joint_eff]: [-0.212, 1.6205, 5.2308, 1.9072, -0.0269, -0.0659, -0.0122, -0.4171, -10.2496, 7.7607, 0.2418, -0.022, -0.0024, 0.8474]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 540):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a607e4b60036d03da8afb538b0f68fdff06ffed8d518d3225dc21bbbae9db36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 540):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4471d236fd3c042c8c1c63e27d7cf610c0cd9121bdefed9d208991a062881f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 540):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afa72e7bd48af2227f898d43223d76de5442eea29b61a27493cb02bc0e9866b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6a607e4b6003]
[blob 8a4471d236fd]
[blob 3afa72e7bd48]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011mBEjKhJbJXKejwqVtqdn1",
      "input": {
        "note": "Hovering with the block's underside right at the red block's top height; the red block shows just beyond the carried one in the wrist view. Lowering 2 cm and watching effort — contact at this height means I'm resting on the red block rather than the table.",
        "targets": {
          "right_j1": 1.9253,
          "right_j2": 1.3086,
          "right_j3": -0.9541
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_011mBEjKhJbJXKejwqVtqdn1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9787 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5327 right_j1=1.8969 right_j2=1.3357 right_j3=-1.0328 right_j4=-0.1081 right_j5=0.5312 right_gripper=0.4378\nstate[joint_eff]: [-0.0205, 1.7299, 5.2034, 1.9658, -0.0415, -0.0269, -0.0122, 0.4581, -7.3504, 5.2855, 0.4274, -0.0317, 0.1832, 0.8278]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262cbffd5bf94a25223edbcac4299f25ca725cd81504b6ba9ca0080e79e9af52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1b65debbc7bed9f944132169da1fc350af6abbf4b192e1af1a0e78873b787f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 542):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b235915f6088427a94a7a4a3c6891c836ff5349941502d214262d0e42b6194f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 262cbffd5bf9
wire blob dc1b65debbc7
wire blob 2b235915f608
call 78 attempt 0 · /messages · status 200 · 7.026 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=-0.3069 left_j1=0.635 left_j2=1.2018 left_j3=-0.9653 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.6968 right_j1=1.8839 right_j2=1.1175 right_j3=-0.8822 right_j4=-0.0982 right_j5=0.6804 right_gripper=0.4335\nstate[joint_eff]: [-0.3487, 1.7026, 5.2171, 1.8926, -0.0806, -0.0513, -0.0122, -0.0479, -8.3624, 4.9026, 0.2027, -0.0855, -0.0122, 1.0281]",
      "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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9699 left_j4=-0.0227 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5392 right_j1=1.8889 right_j2=1.3552 right_j3=-1.0576 right_j4=-0.1062 right_j5=0.5541 right_gripper=0.437\nstate[joint_eff]: [-0.212, 1.6205, 5.2308, 1.9072, -0.0269, -0.0659, -0.0122, -0.4171, -10.2496, 7.7607, 0.2418, -0.022, -0.0024, 0.8474]\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 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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9787 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5327 right_j1=1.8969 right_j2=1.3357 right_j3=-1.0328 right_j4=-0.1081 right_j5=0.5312 right_gripper=0.4378\nstate[joint_eff]: [-0.0205, 1.7299, 5.2034, 1.9658, -0.0415, -0.0269, -0.0122, 0.4581, -7.3504, 5.2855, 0.4274, -0.0317, 0.1832, 0.8278]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262cbffd5bf94a25223edbcac4299f25ca725cd81504b6ba9ca0080e79e9af52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1b65debbc7bed9f944132169da1fc350af6abbf4b192e1af1a0e78873b787f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 542):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b235915f6088427a94a7a4a3c6891c836ff5349941502d214262d0e42b6194f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 262cbffd5bf9]
[blob dc1b65debbc7]
[blob 2b235915f608]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015DG6QdpwFpoKvyHuCXCxd6",
      "input": {
        "note": "Contact came at a block-underside height of ~4 cm — that is the red block's top, not the table, so I am resting on it but evidently only partly overlapping (last time the block tipped inward when released). Lifting 2 cm and shifting 2 cm further out to centre the overlap.",
        "targets": {
          "right_j1": 1.907,
          "right_j2": 1.4768,
          "right_j3": -1.1406
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015DG6QdpwFpoKvyHuCXCxd6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9859 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5385 right_j1=1.9156 right_j2=1.43 right_j3=-1.103 right_j4=-0.1135 right_j5=0.5289 right_gripper=0.4394\nstate[joint_eff]: [-0.1573, 1.6615, 5.2171, 1.9365, -0.0562, -0.0366, -0.0122, -0.7863, -10.0855, 7.1726, 0.232, -0.0317, 0.0122, 0.4274]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bc21cbd19218d4f9108a29059c961335377fefac307a0c177bd4b432febbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c88225940ceb6f9957a4e1ad1dd7685abfc4c2b5766ed9d7595f381a31b1a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 545):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c24192a6be933f04f51b6a16e31918c7e5af7c7ceda54067737e5fb339b17062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 03bc21cbd192
wire blob 6c88225940ce
wire blob c24192a6be93
call 79 attempt 0 · /messages · status 200 · 6.364 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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9699 left_j4=-0.0227 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5392 right_j1=1.8889 right_j2=1.3552 right_j3=-1.0576 right_j4=-0.1062 right_j5=0.5541 right_gripper=0.437\nstate[joint_eff]: [-0.212, 1.6205, 5.2308, 1.9072, -0.0269, -0.0659, -0.0122, -0.4171, -10.2496, 7.7607, 0.2418, -0.022, -0.0024, 0.8474]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9787 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5327 right_j1=1.8969 right_j2=1.3357 right_j3=-1.0328 right_j4=-0.1081 right_j5=0.5312 right_gripper=0.4378\nstate[joint_eff]: [-0.0205, 1.7299, 5.2034, 1.9658, -0.0415, -0.0269, -0.0122, 0.4581, -7.3504, 5.2855, 0.4274, -0.0317, 0.1832, 0.8278]",
      "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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9859 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5385 right_j1=1.9156 right_j2=1.43 right_j3=-1.103 right_j4=-0.1135 right_j5=0.5289 right_gripper=0.4394\nstate[joint_eff]: [-0.1573, 1.6615, 5.2171, 1.9365, -0.0562, -0.0366, -0.0122, -0.7863, -10.0855, 7.1726, 0.232, -0.0317, 0.0122, 0.4274]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bc21cbd19218d4f9108a29059c961335377fefac307a0c177bd4b432febbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c88225940ceb6f9957a4e1ad1dd7685abfc4c2b5766ed9d7595f381a31b1a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 545):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24192a6be933f04f51b6a16e31918c7e5af7c7ceda54067737e5fb339b17062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 03bc21cbd192]
[blob 6c88225940ce]
[blob c24192a6be93]
{
  "content": [
    {
      "signature": "CAISpgkKjAEIEBgCKkBQsd1IZvgRLMgPiwH+6hKHDlGGd6nCKBotqOUdhW1wxgDfcHpVKXo3s3KubapV096JoVUMmTtwD5DiOAX/EL1jMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMOquLPS/6sH0izz/DGgw0BER3yZ8Mce++R/EiMC1dHEQQgotel6Atw+IxktKvYvqzdfT/yDcohf5+G90kmnpQnytRCgXcj15VIsyhHyrGB2RH0UiljYOW5TmQWiNMcDnR9kiiXUBj98AAk5aUXJ+ePdaH3oygTs1DECjF10kJO89o0wONyLkaq2Ujps8NBmaLN4KTEusEjP5OVFZ+6WgZX9PVpPP6mTCwZxgmcYxtbLi3QUjU9wlVJvRBpnRbUXZSdQFp6CfWbiTsUti2CUr/lEplkJ+MsHr6JAvcBmW67/S0GCmM8esD0RQQ/sJHtYPt9eTla5JNt2c138w7OkUAfgE2gYOpeK3onbJRaz61S30VftevydPi8wiDhy3EiOWHsbzaRDl4ML3q9cmRPc4q3RcNrMeTzvUyMSGU0W5R6cpIN/yNqJ6pYp+yNx8OLLtX3WD5yLX9gHm/jWb2fGaJnP/hdLTvr8ha0CjSAWR4JEfTGi+DRQarw03V3rPir43jGpmSiLW3BRXdaQNUMyVT18YXg6/EFI/OZ0BnFFLQIFZE+CSKv0GHmOe4zKNIlaOnyU0Et03QNTiR23T0xLlmqMPOFu/FmOSdvzuMXyS1eeumNA03gIeI9ytLCVc6ROsgZ3gRQxpM/I+eAUe9lu9TJjjlUpVnUlJvmXBKtPyky3uzBZ8+kP1sPaUyH/7ltYvBwXiD2b5r++GMLm2PJxfoHaq6Jsavc9dNffNKcEs/fIPMNScJW5vnwyvAVpxTNxtQmIzf+IBp/QCaiFH8ge1PPwO0qScwJCDDRWDnZXj75ECtIIJ0YuzDIGIvSJyB+BA37ZGCG7kZmU+iah2IQLS6eruX/VruwXI2FHfo9sfO59yyD110V7aOTU+fq3ZbOOB+SuhRNHngzfDW2UtROuyxe08ZkMK2HdWgRQSkP3VAHrQ5fHJE++qxXuyvlKFyo1jrQw5uB4XDPDs4li16kg7CTSTUc3CBzHePbO7FDbxvCT+MZkyB6OYaxXCFkluIZ6g6sspnc9uDoudPfKjaeYLT31pW/KI5HGqVU+QLUqM4ffmRdiG8qvk3I+urP5yRrb7uY4wMircrKRHJUjOKOl8WxVLUuN0pI9jLwc7w+SyVWQCNIUuLpIBXf1GsZ0D7hIXvxnXsEndw8nLz/6qZMICs0ukbQTuWRcLCzcWu7VgbGtwfj2uo2uECeWFpE4/9kXOWdF+s+LShZKlG3nXgZ/Dk47DgR37ObC4RkDeeDHuTlsdzzQWqAiFXGoLtByg5yNvt4TgMNRZU4W2TLDOg9BUoQht3j0evftNFcgKAzQIN8gxfQW2cxL57B+iWmCdvnytgvELM9H9wJiG20uh30nCYfG3r/Ls3xdYmIgwfye55y49xhFq7HhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQXjtQK8Ncpd83EdvJkJYt",
      "input": {
        "note": "Shifted 2 cm outward; the red block is now just behind the carried block in the wrist view. Descending 2 cm to settle the block onto the red block's top.",
        "targets": {
          "right_j1": 1.9489,
          "right_j2": 1.3832,
          "right_j3": -1.0051
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UQXjtQK8Ncpd83EdvJkJYt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9916 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5377 right_j1=1.9202 right_j2=1.4143 right_j3=-1.0832 right_j4=-0.1143 right_j5=0.5266 right_gripper=0.441\nstate[joint_eff]: [-0.0615, 1.7026, 5.2034, 1.873, -0.0513, -0.0366, -0.0122, 0.2667, -7.5282, 5.2171, 0.2662, -0.1001, 0.0171, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 547):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e89d6c22b6f5e95a1310437dbcd8dde85587b4099284cd59652cecb9977c4c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 547):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb4e81d16b2073139df4d077571e0639e1925234c51d12583b4d20d273e6512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 547):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a982dc999059bbfad52a3ed13eee7d0b0dd4727da45d43ce20b5a6f77cedab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e89d6c22b6f5
wire blob 8bb4e81d16b2
wire blob 6a982dc99905
call 80 attempt 0 · /messages · status 200 · 8.991 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=-0.3065 left_j1=0.635 left_j2=1.2018 left_j3=-0.9787 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5327 right_j1=1.8969 right_j2=1.3357 right_j3=-1.0328 right_j4=-0.1081 right_j5=0.5312 right_gripper=0.4378\nstate[joint_eff]: [-0.0205, 1.7299, 5.2034, 1.9658, -0.0415, -0.0269, -0.0122, 0.4581, -7.3504, 5.2855, 0.4274, -0.0317, 0.1832, 0.8278]",
      "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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9859 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5385 right_j1=1.9156 right_j2=1.43 right_j3=-1.103 right_j4=-0.1135 right_j5=0.5289 right_gripper=0.4394\nstate[joint_eff]: [-0.1573, 1.6615, 5.2171, 1.9365, -0.0562, -0.0366, -0.0122, -0.7863, -10.0855, 7.1726, 0.232, -0.0317, 0.0122, 0.4274]",
      "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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9916 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5377 right_j1=1.9202 right_j2=1.4143 right_j3=-1.0832 right_j4=-0.1143 right_j5=0.5266 right_gripper=0.441\nstate[joint_eff]: [-0.0615, 1.7026, 5.2034, 1.873, -0.0513, -0.0366, -0.0122, 0.2667, -7.5282, 5.2171, 0.2662, -0.1001, 0.0171, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 547):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e89d6c22b6f5e95a1310437dbcd8dde85587b4099284cd59652cecb9977c4c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 547):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb4e81d16b2073139df4d077571e0639e1925234c51d12583b4d20d273e6512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 547):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a982dc999059bbfad52a3ed13eee7d0b0dd4727da45d43ce20b5a6f77cedab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e89d6c22b6f5]
[blob 8bb4e81d16b2]
[blob 6a982dc99905]
{
  "content": [
    {
      "signature": "CAIS4gkKjAEIEBgCKkC/sFtPfkvUUpyi9Tjpv6UDjZAGo4uG/QaCjKTKU7gfmwgAJWwyIxMQSBThW2Lrdp1nntL7eTMP76ld9UVQdiATMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDg+Kus3QnORlsAMYGgzW3pl9DoNE6tGLBHgiMDFZWS8x08adYGsI+x7C8+VxqHBvroJlPaDpg+AAiZoTXXSuns5jVa7ubSt0kdo8jyqCCJ8DFhnkxqOsCM2AgMipV7v5/bzxrB6IJL2YIMBeJcTQsAv8CdetckjUk+G482CJoWtCqutq6M5Zn3RO3DNlOq3uDEx4s3HCeSIgKkME6WvetDnPpmsEcGUsoNDAgcNO0iegm2JgabnAey7OqMdS07r6b+oNrbFuQYSFV7flpVHt8BY+esaxJQK1p8La13bBEMsklRQoxF7aka2IrIfGi+nM16rxSXa14P6o4OUoF0j3aocXgoR3UDEgAs75rQ9YGqIqfbKqxltPkwrNUYXb/dw+OCAXNOuZB7v7ix0mPvec99v0fxHDpv7QYltev32YBuhkE16TTiBaWLr6amGAfYMGpglwrzEEJnKNfx2k9V5s2Za7jj/UUqLDZ8R+VrppsAmhE3kb9/h2wZWllgsMRa99BpeOzREqRt+ckGUrOBhAYEEsRJvFnHgVskiMOpFrXcPMQSX9vFRIHr43wk7k3+ORBUTVwT7nE1LVuxhN71K25LH5Xy6UolimJsjmV9GgnmCDhHQqAf4ewuVb0qdGvhe2H9rhcXgCLf8RRfYXF1KB7AegHix5q4oaX7EP6wRlYzn2LmIrFyFJrkEC0GoH915w+llw8OCUDtpM6eqRQ+WmkyAmXssublBTHjAqClbpXaDTRJ2UdsBh28vZJnW01rgF2ltJKwqsF82ZPot9pKb8DoXc/GKH358ua8l0tEIzjKGagrgKg5wD+MNTabfnu5zmvGrdXkQf17xsK8msIx3GoMV3m+97c+bgAkGq6vGhtUt5fc2G+O1XlKaTjRv/wbEi+Z6PJUCXZkfXUMQZ87NOsfCGZDmCGAqf/jPSOxN7vZ4/k1hq8NIPfkBjOIP/fl1sARr1aGQAa4MshDvvq1nkX1s/7aSvQVdH+AjbanRJa+RkKyZOipL9L3Ams/7SqX9PumE1saHdx5dauzreH+xw2dQ9B0M9H14lUV7Uk9Wzyvfok2rZ703hyc0cEB8CAxsEYAd8eJyZwjCA17W0fF6lFyIIOOFKh+iQSu1gXtrEAiDjwGrltq42WxmTa8555Kh14VFOXLTMrjuVkjIR17lqwqPm0NDfEnxy6haO6lVlsyltEmMOxp04oxBBpu08XfCgGQnoILhiOVNvxGtw2XtYc3Np00euqg6w9yl98nlh79bxKj2WB9WRatWdzUBQTlCw8hxPP5WD7PIPcXPGyNkTutl4bge6Y3JbdUAuxYGPyM5eIb4w8+HBiVX2VOy2iZEFLlWqPP9HK/XuqXHYM2uFBG0fIZkiCPbrf6M9LCEYZpWPsV9CYwlsFjxI6M/V5Lg/F2ZmbY5E7uBKOxdBXcfz1fyWbM8uTSSgqX8bF22SCALeM+AWUDnvXONwyfeiMlpZXhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Br11dDm4KQ7oC2trB2jvx5",
      "input": {
        "note": "Contact again, this time 1 cm higher than before — the block is sitting flatter on the red block's top. Opening the jaws to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Br11dDm4KQ7oC2trB2jvx5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-0.992 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5373 right_j1=1.9488 right_j2=1.3876 right_j3=-1.0767 right_j4=-0.1143 right_j5=0.522 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, 1.5795, 5.2718, 1.8242, -0.0611, -0.0513, -0.0122, -0.0889, -11.7949, 7.5145, 0.0806, -0.105, -0.022, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf8a657d5cdddaa8422e717a018b84ba8b964b158a8f136f8bb8a5e92d86ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b804dc9b7e6401f445ac7c5565976c6146e858f1dffae6720cdfdd0e0d72242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 553):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9243d3ae71dcd34bd1292fa41730453febd12834085dcc992463ac5f3ff561f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fbf8a657d5cd
wire blob 2b804dc9b7e6
wire blob 9243d3ae71dc
call 81 attempt 0 · /messages · status 200 · 13.48 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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9859 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5385 right_j1=1.9156 right_j2=1.43 right_j3=-1.103 right_j4=-0.1135 right_j5=0.5289 right_gripper=0.4394\nstate[joint_eff]: [-0.1573, 1.6615, 5.2171, 1.9365, -0.0562, -0.0366, -0.0122, -0.7863, -10.0855, 7.1726, 0.232, -0.0317, 0.0122, 0.4274]",
      "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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9916 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5377 right_j1=1.9202 right_j2=1.4143 right_j3=-1.0832 right_j4=-0.1143 right_j5=0.5266 right_gripper=0.441\nstate[joint_eff]: [-0.0615, 1.7026, 5.2034, 1.873, -0.0513, -0.0366, -0.0122, 0.2667, -7.5282, 5.2171, 0.2662, -0.1001, 0.0171, 0.1587]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-0.992 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5373 right_j1=1.9488 right_j2=1.3876 right_j3=-1.0767 right_j4=-0.1143 right_j5=0.522 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, 1.5795, 5.2718, 1.8242, -0.0611, -0.0513, -0.0122, -0.0889, -11.7949, 7.5145, 0.0806, -0.105, -0.022, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf8a657d5cdddaa8422e717a018b84ba8b964b158a8f136f8bb8a5e92d86ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b804dc9b7e6401f445ac7c5565976c6146e858f1dffae6720cdfdd0e0d72242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 553):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9243d3ae71dcd34bd1292fa41730453febd12834085dcc992463ac5f3ff561f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fbf8a657d5cd]
[blob 2b804dc9b7e6]
[blob 9243d3ae71dc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1YkjpKc19sQ6iGVEAddnU",
      "input": {
        "note": "Block released. Pulling the arm up and aside again for a clean overhead to check whether the blue block is actually sitting on top of the red one.",
        "targets": {
          "right_j0": 0.15,
          "right_j1": 1.4,
          "right_j2": 1.8,
          "right_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01P1YkjpKc19sQ6iGVEAddnU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0027 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1658 right_j1=1.4445 right_j2=1.7535 right_j3=-1.3781 right_j4=-0.12 right_j5=0.5194 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, 2.0991, 5.2171, 1.956, -0.0366, -0.0366, -0.0122, -0.253, -5.8462, 7.8017, 1.326, -0.0415, -0.0024, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 562):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bb0e3bdb2bc3b20b67081e6c47543506019c197180415d65403ad2caa896eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 562):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169b7213c363280406ab14865e2290602ef71c99daac1eed82186c4cca338dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 562):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a0e7841dbc3888c7d9fcc5c2bf19ad9b50893830924cd8a083488163661f267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 37bb0e3bdb2b
wire blob 169b7213c363
wire blob 5a0e7841dbc3
call 82 attempt 0 · /messages · status 200 · 7.504 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=-0.3065 left_j1=0.6361 left_j2=1.2018 left_j3=-0.9916 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5377 right_j1=1.9202 right_j2=1.4143 right_j3=-1.0832 right_j4=-0.1143 right_j5=0.5266 right_gripper=0.441\nstate[joint_eff]: [-0.0615, 1.7026, 5.2034, 1.873, -0.0513, -0.0366, -0.0122, 0.2667, -7.5282, 5.2171, 0.2662, -0.1001, 0.0171, 0.1587]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-0.992 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5373 right_j1=1.9488 right_j2=1.3876 right_j3=-1.0767 right_j4=-0.1143 right_j5=0.522 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, 1.5795, 5.2718, 1.8242, -0.0611, -0.0513, -0.0122, -0.0889, -11.7949, 7.5145, 0.0806, -0.105, -0.022, -0.2076]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0027 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1658 right_j1=1.4445 right_j2=1.7535 right_j3=-1.3781 right_j4=-0.12 right_j5=0.5194 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, 2.0991, 5.2171, 1.956, -0.0366, -0.0366, -0.0122, -0.253, -5.8462, 7.8017, 1.326, -0.0415, -0.0024, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 562):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bb0e3bdb2bc3b20b67081e6c47543506019c197180415d65403ad2caa896eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 562):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169b7213c363280406ab14865e2290602ef71c99daac1eed82186c4cca338dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 562):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a0e7841dbc3888c7d9fcc5c2bf19ad9b50893830924cd8a083488163661f267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 37bb0e3bdb2b]
[blob 169b7213c363]
[blob 5a0e7841dbc3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013cXPD7Ecn3G2P37TN41tUN",
      "input": {
        "note": "Clean overhead confirms they are still side by side: red at (145,152), blue at (145,170) — the blue block is ~6 cm inward of the red, and my earlier \"contact\" was the table (this arm's height bias is bigger than assumed). Returning to the exact pose where I released the blue block so the open jaws land around it again.",
        "targets": {
          "right_j0": 0.5373,
          "right_j1": 1.9488,
          "right_j2": 1.3876,
          "right_j3": -1.0767,
          "right_j5": 0.522
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_013cXPD7Ecn3G2P37TN41tUN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0153 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.524 right_j1=1.9335 right_j2=1.4002 right_j3=-1.1152 right_j4=-0.1207 right_j5=0.5198 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.6068, 5.4906, 1.9707, -0.0317, -0.0708, -0.0122, 0.0615, -10.2222, 6.2291, 0.3443, -0.0904, 0.0122, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3620c1c938a36766ba96ebdf850d4bf2c81808b08ce8068c019a95a8d2874756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285253ef7caa33729aa379c535121468519be5bbe575c14a00ae46027f1f9718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b9d28cd69bab7a7aad07445da271946ab31c8d20489a5ace64588e7793bb061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3620c1c938a3
wire blob 285253ef7caa
wire blob 2b9d28cd69ba
call 83 attempt 0 · /messages · status 200 · 5.765 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-0.992 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5373 right_j1=1.9488 right_j2=1.3876 right_j3=-1.0767 right_j4=-0.1143 right_j5=0.522 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, 1.5795, 5.2718, 1.8242, -0.0611, -0.0513, -0.0122, -0.0889, -11.7949, 7.5145, 0.0806, -0.105, -0.022, -0.2076]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0027 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1658 right_j1=1.4445 right_j2=1.7535 right_j3=-1.3781 right_j4=-0.12 right_j5=0.5194 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, 2.0991, 5.2171, 1.956, -0.0366, -0.0366, -0.0122, -0.253, -5.8462, 7.8017, 1.326, -0.0415, -0.0024, 0.1294]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0153 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.524 right_j1=1.9335 right_j2=1.4002 right_j3=-1.1152 right_j4=-0.1207 right_j5=0.5198 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.6068, 5.4906, 1.9707, -0.0317, -0.0708, -0.0122, 0.0615, -10.2222, 6.2291, 0.3443, -0.0904, 0.0122, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3620c1c938a36766ba96ebdf850d4bf2c81808b08ce8068c019a95a8d2874756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285253ef7caa33729aa379c535121468519be5bbe575c14a00ae46027f1f9718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b9d28cd69bab7a7aad07445da271946ab31c8d20489a5ace64588e7793bb061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3620c1c938a3]
[blob 285253ef7caa]
[blob 2b9d28cd69ba]
{
  "content": [
    {
      "signature": "CAISvgwKjAEIEBgCKkClajN8aZtB6hEsr1dbjbxThyLrwg14lJ+IwShdOZ2cjpB9hR/eEZL8WQdTFAmyXkIvYH4R6ZClIYVtotlO1914MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMD2QMHVKMZ0rEbpfdGgwNageTZPC2TtNGyzoiMJMtXaVc/JIvUwZmii73Y0Hz7C4QrddYkz085tBwcxEqQw9L3IoiqNq2a4WBGXTQlireClgP5DlUkFylHMbGBVi1KFv0YyRgVVj57ga6mUuRNtQ5YUwdR6Xh4tNGwoPQFrRbvDHEmqK/djtVYHNt7bOW3qNNtsvXo6e4DcYQG/dNdvxKv2XPmwn4+g+qGB4wNCtfjd0WUatjLp2d635Bx9OMpfc6DrGZkXjCXnIk8Q+ywGU987rHOn2B0ajb89DRuYO08XACm17PSnERPJHp17XcwosQP2fGQNQrfe1Gv/pmVKgXYj4rZ+OO9wvUpdR2bOOimEM9pTMExwmx1PsFy3PsgVruKBx3qv5FKOSCY/0p1W24AbVy9+eBj5usj31xUxNaBX+YqeSAcSBVSCCqxYuAqvQR2xKOzK9449R5ZUQ4gv5rmMLR+WwO1081OitM4GGdqiSzxNumFkGC3a7cGa4USkY+cg6+/916FR6+iRNXLfUZS/3hqZICnALY+LTxyr9FFuHDEmhJ6G+POQ/QLMaXIrF37dQwrLXts8MKvh03GoJ7B7befph0GvSA8tDmougeh09vMO+orUMI/NFaN07J426K0HTkhtMakuV7TaxpQJv0RWiWTYgY8qF71ltuHwGh0JyI+6qADSpbrctVCB+vLP+afNIcpwRuc+6W4DjayCXTJTN3RvVXYtRk+2NXK0SQXfWSS0gQTD2Xaz7nVQtiEvvHBRfsz5uB5+sz+8ERVcSlPP5fFy/zGqZBdSl1GkhI71yKVGSdEO2cRvDsWuMdUSe2RnMzdOVHyfs9VzoG8Nj8pEaHtBBEECijUJ0hWCVl3Zx9B2HOaDGSWBI7iaInxvdRGTKupIx7W4TlYd3AXkU4zVaQijXFi5nYiJ4At4hn7pBZiThSvAktnUDWXdbpSYLsz9NnjR/s25obvHlA27qjlmP7z3TiueZ265sqrhGHC+qshUFQ5g4LsNQqgD58N1E8CST6dDPxjWX37PSN4bS2IXCUQxVjbTe1kcV37uU8Y1upgS2908MnQlOWsQ7F6dvtVcpIKi/35WgBGoGH3Sis7B8aXgQZyHUR2GOLg21Mi7oUBvb6Dk2zVXPNbFbjCa4/gx1HwHuEU7Amm6LXCcSVdeeAWxEXkBmUhvZlBzDIHpyHii3CqiltQGTJnOJ9OD3fYAqezWEbrDEA5UQmkcT4U1rJtGSBxT6gbO+fA6CpaOICqVbFdQvcM2hz3d+j2Et2g4NdmxjUxG5iu6c37gLJro9vBmnyJp4b6eOaueYqvJXn8CHYS9CMefMtiRwaV4aISG86+0I8IKxkx/J5FgatJCeqQCoIQ7Su/mwYC+4SSYwiFcjgNErhvTqmL5PUqSGHyOupjVvGjO+Zx16fkDB8A+roFgCDJFtRqU6Zcroq8nJOE2lego+uZBe1DVl1yxPG+2QF/N13BhHBTVYr2QJq62eXe14JeiMXSeEu/HdF1056mYApHazQb24XO6X3ShcfLWFfl+nUJ2szIMPXKSJhRgVyyFaIyU9rR5cgUYDBt52Kp0J+oOO3/bAsFsSSxVe1sjqM7loEzSIxh83ENpLHBe8nLe8JXrAd3cx2v6sHTb1VDwwlbEh2UNNa46F3ArZHMsDXnimsfAjNVcHNu8bhZiKjTRxPGtnt4LRb2ytXkoN6JuPTEqe9k/1OV596WQ6eY/E0stsdquWJ7mFxMtwhKaPH67ZjOR6380aaLcO0BI6FfkyE8iecGBGw5Qp5lkYhQuT84izwzt1fTaCiKwTfveWzFEsJMf6TcPenIrXBu8pFRy2ziNTUveTnOm1hfDXx/iEIPFQBeYWKFjg2+2cFbvOaWTh6sKuLZmsOdVGFdlXnXckzrwf1BKmIH2LMQkqWlwIt40blHJltUDFOYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018FnK2x1qxyhKForUw8yFSC",
      "input": {
        "note": "The blue block is centred between the open jaws in the wrist view with the red block beyond it. Dropping 2.5 cm so the jaws straddle the block's lower half before closing.",
        "targets": {
          "right_j1": 1.9616,
          "right_j2": 1.3209,
          "right_j3": -0.9301
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018FnK2x1qxyhKForUw8yFSC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0176 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5304 right_j1=1.9648 right_j2=1.3281 right_j3=-1.0107 right_j4=-0.1207 right_j5=0.519 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, 1.9487, 5.4906, 1.8242, -0.0269, -0.0464, -0.0122, -0.4581, -9.6615, 5.6547, 0.2613, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70587f1f2b8fb9ff6d9f0ead7cc7fb52481268b4ae85b6a72b35296e81dc6725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35d1a6809c0654a814343f3903220a6f0e9c89c7147c53c905f6532b8e66256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 574):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:410664f525643b4b28247d5ddd739ab404b0ae2916fe7da7ba6dc9f87403f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 70587f1f2b8f
wire blob c35d1a6809c0
wire blob 410664f52564
call 84 attempt 0 · /messages · status 200 · 10.55 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0027 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.1658 right_j1=1.4445 right_j2=1.7535 right_j3=-1.3781 right_j4=-0.12 right_j5=0.5194 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, 2.0991, 5.2171, 1.956, -0.0366, -0.0366, -0.0122, -0.253, -5.8462, 7.8017, 1.326, -0.0415, -0.0024, 0.1294]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0153 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.524 right_j1=1.9335 right_j2=1.4002 right_j3=-1.1152 right_j4=-0.1207 right_j5=0.5198 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.6068, 5.4906, 1.9707, -0.0317, -0.0708, -0.0122, 0.0615, -10.2222, 6.2291, 0.3443, -0.0904, 0.0122, 0.0024]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0176 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5304 right_j1=1.9648 right_j2=1.3281 right_j3=-1.0107 right_j4=-0.1207 right_j5=0.519 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, 1.9487, 5.4906, 1.8242, -0.0269, -0.0464, -0.0122, -0.4581, -9.6615, 5.6547, 0.2613, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70587f1f2b8fb9ff6d9f0ead7cc7fb52481268b4ae85b6a72b35296e81dc6725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35d1a6809c0654a814343f3903220a6f0e9c89c7147c53c905f6532b8e66256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 574):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:410664f525643b4b28247d5ddd739ab404b0ae2916fe7da7ba6dc9f87403f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 70587f1f2b8f]
[blob c35d1a6809c0]
[blob 410664f52564]
{
  "content": [
    {
      "signature": "CAIStwIKjAEIEBgCKkDaAcywjoM3NdtRGC4cwW2YRjw6I7MaxaM9lw4y9mDauRxB1NUuSNkfjispNIJu0O0OkpPjUHA0cufwEH68XPWdMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM6UfgG4VYo2zCrgdsGgwaRwECysl6GNutbpUiMNcpIsXyX5f8B0zAnQ5+icNwrIGK9PvZT+BNOGjWHj0StbUy42FBAb4pN96DAhmTWypY2olevp9/JToWML5z8eBHnH3spFQjH2YG4ixzwX8K3fCkJ1roUYn0TpEHQRI0PunMl45q0QzB5ZnXJ2L0GdB0TmuUV2C+d2JGVL26sMLOJU7anwtWtdyzAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xcy1i4VmbESdibk7QEWRcG",
      "input": {
        "note": "Block is in the jaw gap; closing to grasp it for the final placement attempt.",
        "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_01Xcy1i4VmbESdibk7QEWRcG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0214 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5289 right_j1=1.9648 right_j2=1.3201 right_j3=-1.0164 right_j4=-0.1207 right_j5=0.5194 right_gripper=0.443\nstate[joint_eff]: [-0.1573, 1.5795, 5.1897, 1.8584, -0.0806, -0.0757, -0.0122, -0.1162, -9.4427, 5.9009, 0.1538, -0.1197, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 584):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2939faa9f0008822469b3b90c35c296ae44c2542a4c1ffd73f6d05134db4a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 584):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ab3a5c3bf2d1025e876968c80458201267008df52f8b8906fde73bef62dca84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 584):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4be54c19e03d77ee9e5108a315aee560a8d90c0e1a53aa8b9df12e7eefc5a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c2939faa9f00
wire blob 0ab3a5c3bf2d
wire blob c4be54c19e03
call 85 attempt 0 · /messages · status 200 · 7.58 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0153 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.524 right_j1=1.9335 right_j2=1.4002 right_j3=-1.1152 right_j4=-0.1207 right_j5=0.5198 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, 1.6068, 5.4906, 1.9707, -0.0317, -0.0708, -0.0122, 0.0615, -10.2222, 6.2291, 0.3443, -0.0904, 0.0122, 0.0024]",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0176 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5304 right_j1=1.9648 right_j2=1.3281 right_j3=-1.0107 right_j4=-0.1207 right_j5=0.519 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, 1.9487, 5.4906, 1.8242, -0.0269, -0.0464, -0.0122, -0.4581, -9.6615, 5.6547, 0.2613, -0.0806, -0.0317, -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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0214 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5289 right_j1=1.9648 right_j2=1.3201 right_j3=-1.0164 right_j4=-0.1207 right_j5=0.5194 right_gripper=0.443\nstate[joint_eff]: [-0.1573, 1.5795, 5.1897, 1.8584, -0.0806, -0.0757, -0.0122, -0.1162, -9.4427, 5.9009, 0.1538, -0.1197, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 584):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2939faa9f0008822469b3b90c35c296ae44c2542a4c1ffd73f6d05134db4a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 584):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ab3a5c3bf2d1025e876968c80458201267008df52f8b8906fde73bef62dca84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 584):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4be54c19e03d77ee9e5108a315aee560a8d90c0e1a53aa8b9df12e7eefc5a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c2939faa9f00]
[blob 0ab3a5c3bf2d]
[blob c4be54c19e03]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SfSmF7JVW5hH3ysg7AbUxv",
      "input": {
        "note": "Re-grasped (residual 0.44). Carrying the block 6.1 cm straight outward — the offset the clean overhead measured between the two blocks — while holding it high enough to clear the red block's top.",
        "targets": {
          "right_j0": 0.4477,
          "right_j1": 1.9838,
          "right_j2": 1.7158,
          "right_j3": -1.3028,
          "right_j5": 0.4477
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SfSmF7JVW5hH3ysg7AbUxv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0351 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4587 right_j1=1.9766 right_j2=1.6695 right_j3=-1.2705 right_j4=-0.1207 right_j5=0.4515 right_gripper=0.4436\nstate[joint_eff]: [-0.1436, 1.7299, 5.2171, 1.9316, -0.0513, -0.0171, -0.0122, -0.7453, -9.3744, 7.8154, 0.3199, -0.105, 0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 591):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91bb3840437558e825f3c34a2b6b46e36a02d862fc5591cf0a653af0d137b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 591):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e367150c8d78e320b590a7989bc27e30951dc30e15465eecbf8591f1840d4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 591):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c77381ade55e0a9a540bd37064bcd0a3b9979821f8a71a31d0292d0115e9ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f91bb3840437
wire blob 9e367150c8d7
wire blob c77381ade55e
call 86 attempt 0 · /messages · status 200 · 7.313 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0176 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5304 right_j1=1.9648 right_j2=1.3281 right_j3=-1.0107 right_j4=-0.1207 right_j5=0.519 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, 1.9487, 5.4906, 1.8242, -0.0269, -0.0464, -0.0122, -0.4581, -9.6615, 5.6547, 0.2613, -0.0806, -0.0317, -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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0214 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5289 right_j1=1.9648 right_j2=1.3201 right_j3=-1.0164 right_j4=-0.1207 right_j5=0.5194 right_gripper=0.443\nstate[joint_eff]: [-0.1573, 1.5795, 5.1897, 1.8584, -0.0806, -0.0757, -0.0122, -0.1162, -9.4427, 5.9009, 0.1538, -0.1197, -0.0269, 1.0281]",
      "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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0351 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4587 right_j1=1.9766 right_j2=1.6695 right_j3=-1.2705 right_j4=-0.1207 right_j5=0.4515 right_gripper=0.4436\nstate[joint_eff]: [-0.1436, 1.7299, 5.2171, 1.9316, -0.0513, -0.0171, -0.0122, -0.7453, -9.3744, 7.8154, 0.3199, -0.105, 0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 591):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91bb3840437558e825f3c34a2b6b46e36a02d862fc5591cf0a653af0d137b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 591):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e367150c8d78e320b590a7989bc27e30951dc30e15465eecbf8591f1840d4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 591):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c77381ade55e0a9a540bd37064bcd0a3b9979821f8a71a31d0292d0115e9ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f91bb3840437]
[blob 9e367150c8d7]
[blob c77381ade55e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERHnBcGYMiK9jG3WhGFNXv",
      "input": {
        "note": "In position 6 cm outward with the red block visible just beyond the carried one. Descending 2 cm; contact this high up means the block has landed on the red block's top.",
        "targets": {
          "right_j1": 2.0023,
          "right_j2": 1.6174,
          "right_j3": -1.1859
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01ERHnBcGYMiK9jG3WhGFNXv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4545 right_j1=1.9766 right_j2=1.6455 right_j3=-1.2533 right_j4=-0.1207 right_j5=0.4446 right_gripper=0.4436\nstate[joint_eff]: [-0.1162, 1.8393, 5.1897, 1.8486, -0.0611, -0.0366, -0.0122, 0.1983, -7.9248, 5.8735, 0.3297, -0.0904, 0.0269, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f9bf7eeb39f59ecdb3b504557193bb3016082583914db577cc2a048a4ff516a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71b404fbb09f55a3b8ca787c8beb171f555ea780c4049b590330af201c08be1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 593):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a2b6c1d3d813e095c2688a1cd2e3f4adbe1a2cfc71a43a553965c2a26ede923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8f9bf7eeb39f
wire blob 71b404fbb09f
wire blob 9a2b6c1d3d81
call 87 attempt 0 · /messages · status 200 · 21.92 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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0214 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5289 right_j1=1.9648 right_j2=1.3201 right_j3=-1.0164 right_j4=-0.1207 right_j5=0.5194 right_gripper=0.443\nstate[joint_eff]: [-0.1573, 1.5795, 5.1897, 1.8584, -0.0806, -0.0757, -0.0122, -0.1162, -9.4427, 5.9009, 0.1538, -0.1197, -0.0269, 1.0281]",
      "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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0351 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4587 right_j1=1.9766 right_j2=1.6695 right_j3=-1.2705 right_j4=-0.1207 right_j5=0.4515 right_gripper=0.4436\nstate[joint_eff]: [-0.1436, 1.7299, 5.2171, 1.9316, -0.0513, -0.0171, -0.0122, -0.7453, -9.3744, 7.8154, 0.3199, -0.105, 0.1099, 1.0281]\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 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4545 right_j1=1.9766 right_j2=1.6455 right_j3=-1.2533 right_j4=-0.1207 right_j5=0.4446 right_gripper=0.4436\nstate[joint_eff]: [-0.1162, 1.8393, 5.1897, 1.8486, -0.0611, -0.0366, -0.0122, 0.1983, -7.9248, 5.8735, 0.3297, -0.0904, 0.0269, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f9bf7eeb39f59ecdb3b504557193bb3016082583914db577cc2a048a4ff516a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71b404fbb09f55a3b8ca787c8beb171f555ea780c4049b590330af201c08be1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 593):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a2b6c1d3d813e095c2688a1cd2e3f4adbe1a2cfc71a43a553965c2a26ede923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8f9bf7eeb39f]
[blob 71b404fbb09f]
[blob 9a2b6c1d3d81]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHoDN7A6YgXG1ivChNqAKp",
      "input": {
        "note": "Contact at a height a full block higher than the earlier table contacts — the carried block is genuinely resting on top of the red one this time. Opening the jaws to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JHoDN7A6YgXG1ivChNqAKp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6376 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4572 right_j1=2.0071 right_j2=1.6169 right_j3=-1.2541 right_j4=-0.1207 right_j5=0.4435 right_gripper=0.995\nstate[joint_eff]: [0.0752, 1.5248, 5.2581, 1.7753, -0.0659, -0.0806, -0.0122, -0.2667, -12.6017, 7.8427, 0.1392, -0.0806, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 599):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbba942a5fa5edea3a5c2964a2c1ace38dd1285844be13968ee004eb6cac8a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 599):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4997eaf810daa4997ef526ec91a8a4e63397d9f0d3ff0adc2feafae1b7fb4dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 599):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f80e2fd6e013428a7c6b7e07902c36ad2f29cb9ffc6b71d97f4d55232019381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bbba942a5fa5
wire blob 4997eaf810da
wire blob 8f80e2fd6e01
call 88 attempt 0 · /messages · status 200 · 9.618 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=-0.3069 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0351 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4587 right_j1=1.9766 right_j2=1.6695 right_j3=-1.2705 right_j4=-0.1207 right_j5=0.4515 right_gripper=0.4436\nstate[joint_eff]: [-0.1436, 1.7299, 5.2171, 1.9316, -0.0513, -0.0171, -0.0122, -0.7453, -9.3744, 7.8154, 0.3199, -0.105, 0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4545 right_j1=1.9766 right_j2=1.6455 right_j3=-1.2533 right_j4=-0.1207 right_j5=0.4446 right_gripper=0.4436\nstate[joint_eff]: [-0.1162, 1.8393, 5.1897, 1.8486, -0.0611, -0.0366, -0.0122, 0.1983, -7.9248, 5.8735, 0.3297, -0.0904, 0.0269, 1.0232]",
      "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=-0.3065 left_j1=0.6376 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4572 right_j1=2.0071 right_j2=1.6169 right_j3=-1.2541 right_j4=-0.1207 right_j5=0.4435 right_gripper=0.995\nstate[joint_eff]: [0.0752, 1.5248, 5.2581, 1.7753, -0.0659, -0.0806, -0.0122, -0.2667, -12.6017, 7.8427, 0.1392, -0.0806, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 599):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbba942a5fa5edea3a5c2964a2c1ace38dd1285844be13968ee004eb6cac8a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 599):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4997eaf810daa4997ef526ec91a8a4e63397d9f0d3ff0adc2feafae1b7fb4dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 599):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f80e2fd6e013428a7c6b7e07902c36ad2f29cb9ffc6b71d97f4d55232019381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bbba942a5fa5]
[blob 4997eaf810da]
[blob 8f80e2fd6e01]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011stadEmr3aXmdpq8KpDXYF",
      "input": {
        "note": "The wrist view shows the block tipped off inward again — so it was resting on the red block's inner edge with too little overlap. Moving to hover over where it has fallen (~x=0.29) to pick it up for one more try, this time aiming ~2.5 cm further out.",
        "targets": {
          "right_j0": 0.5297,
          "right_j1": 1.8472,
          "right_j2": 1.4846,
          "right_j3": -1.2082,
          "right_j5": 0.5297
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_011stadEmr3aXmdpq8KpDXYF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6392 left_j2=1.2018 left_j3=-1.0401 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9045 right_j2=1.4914 right_j3=-1.2293 right_j4=-0.1184 right_j5=0.4934 right_gripper=0.996\nstate[joint_eff]: [-0.1026, 1.8667, 5.4906, 1.8388, -0.0611, -0.0415, -0.0122, 0.1026, -11.5214, 6.3932, 0.5348, -0.1245, 0.0659, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d412946ba024559a282d4db0ed114e95bea81a4f3c0726dd39c274f2fa36f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e47d75e5a69c88694c43fb6cab5244b24e2f1bc6996340523391ed061e8283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 602):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbbbd958053ff27128b3423d59c49c4235b529915d5a9ec1fb97e1c0bdbae8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1d412946ba02
wire blob 55e47d75e5a6
wire blob fbbbd958053f
call 89 attempt 0 · /messages · status 200 · 7.109 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=-0.3065 left_j1=0.6369 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4545 right_j1=1.9766 right_j2=1.6455 right_j3=-1.2533 right_j4=-0.1207 right_j5=0.4446 right_gripper=0.4436\nstate[joint_eff]: [-0.1162, 1.8393, 5.1897, 1.8486, -0.0611, -0.0366, -0.0122, 0.1983, -7.9248, 5.8735, 0.3297, -0.0904, 0.0269, 1.0232]",
      "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=-0.3065 left_j1=0.6376 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4572 right_j1=2.0071 right_j2=1.6169 right_j3=-1.2541 right_j4=-0.1207 right_j5=0.4435 right_gripper=0.995\nstate[joint_eff]: [0.0752, 1.5248, 5.2581, 1.7753, -0.0659, -0.0806, -0.0122, -0.2667, -12.6017, 7.8427, 0.1392, -0.0806, 0.0562, -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=-0.3069 left_j1=0.6392 left_j2=1.2018 left_j3=-1.0401 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9045 right_j2=1.4914 right_j3=-1.2293 right_j4=-0.1184 right_j5=0.4934 right_gripper=0.996\nstate[joint_eff]: [-0.1026, 1.8667, 5.4906, 1.8388, -0.0611, -0.0415, -0.0122, 0.1026, -11.5214, 6.3932, 0.5348, -0.1245, 0.0659, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d412946ba024559a282d4db0ed114e95bea81a4f3c0726dd39c274f2fa36f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e47d75e5a69c88694c43fb6cab5244b24e2f1bc6996340523391ed061e8283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 602):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbbd958053ff27128b3423d59c49c4235b529915d5a9ec1fb97e1c0bdbae8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1d412946ba02]
[blob 55e47d75e5a6]
[blob fbbbd958053f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HS7t42zgT68kVwkrjR9CEQ",
      "input": {
        "note": "Blue block is visible between the jaws, 2 cm to the -y side. Correcting sideways and descending 2 cm to grasp height.",
        "targets": {
          "right_j0": 0.4626,
          "right_j1": 1.8863,
          "right_j2": 1.3744,
          "right_j3": -1.0589,
          "right_j5": 0.4626
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HS7t42zgT68kVwkrjR9CEQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4751 right_j1=1.8832 right_j2=1.3834 right_j3=-1.1282 right_j4=-0.1215 right_j5=0.4778 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 1.8667, 5.2034, 1.8388, -0.0806, -0.0659, -0.0122, -0.1709, -8.8137, 6.6667, 0.4615, -0.0855, -0.0269, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da701626dac674ba16b8f163b1b7486eae4c28b27aac23fbed8aba673ffb3e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212a2df91b6d43e74aac15a2ee9eeafeeed7e0ded850d97b63480b7b8f07a12c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 605):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43b6954d8aa53ffc6cd08ff81d83970c7ca76233eed7fbdc90032fd19c49cd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob da701626dac6
wire blob 212a2df91b6d
wire blob 43b6954d8aa5
call 90 attempt 0 · /messages · status 200 · 8.575 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=-0.3065 left_j1=0.6376 left_j2=1.2018 left_j3=-1.0367 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4572 right_j1=2.0071 right_j2=1.6169 right_j3=-1.2541 right_j4=-0.1207 right_j5=0.4435 right_gripper=0.995\nstate[joint_eff]: [0.0752, 1.5248, 5.2581, 1.7753, -0.0659, -0.0806, -0.0122, -0.2667, -12.6017, 7.8427, 0.1392, -0.0806, 0.0562, -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=-0.3069 left_j1=0.6392 left_j2=1.2018 left_j3=-1.0401 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9045 right_j2=1.4914 right_j3=-1.2293 right_j4=-0.1184 right_j5=0.4934 right_gripper=0.996\nstate[joint_eff]: [-0.1026, 1.8667, 5.4906, 1.8388, -0.0611, -0.0415, -0.0122, 0.1026, -11.5214, 6.3932, 0.5348, -0.1245, 0.0659, 0.0904]",
      "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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4751 right_j1=1.8832 right_j2=1.3834 right_j3=-1.1282 right_j4=-0.1215 right_j5=0.4778 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 1.8667, 5.2034, 1.8388, -0.0806, -0.0659, -0.0122, -0.1709, -8.8137, 6.6667, 0.4615, -0.0855, -0.0269, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da701626dac674ba16b8f163b1b7486eae4c28b27aac23fbed8aba673ffb3e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212a2df91b6d43e74aac15a2ee9eeafeeed7e0ded850d97b63480b7b8f07a12c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 605):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b6954d8aa53ffc6cd08ff81d83970c7ca76233eed7fbdc90032fd19c49cd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob da701626dac6]
[blob 212a2df91b6d]
[blob 43b6954d8aa5]
{
  "content": [
    {
      "signature": "CAISqAgKjAEIEBgCKkC6Et7roM17QTYJRi2RuhurtAGbbn8bY7SPmgQnhFbaa8GRjPfqucpmGYsDgu+uwEw4AmuO+qQxvQ0djY0jhuwsMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZ/nqTxEARPTdXaCPGgxe/qbj+8SXegXudpsiMJ9Kge5A+sCR7xWvVioVUG8XYk8AQmMbMXUF2bZkIbK1jjdlD74eO0aOJrWA6nvrDSrIBghJDJ65GHI27kmtgGE38adaH/mTmM+Sp21q8mS88sr23XO+Ryvw6OEMTvRyDhwF05Hb4GcdlODFN8bOk8aJcXD+B/biI7bR03gVRdToXugzEAeUWwp6rrVDXfw7+TuLr3+xXDenY1A3k4oTT+5/dl4JfrUjZkXGGsV604fxvN9d41JbnEveWTMD8lU7IXjemEompdECMGTPyWSicCqbR/JD8yeUgZAP9pYfNiH43CyydrvkN3qiP5ezb+8HxoSklDre//eaQ/R9F0hxB56X/fEXJEzH/OVvGrqloghrZ/JU8eOe6hCC1Vu01Kr9sTcMW0q33PNh3wHDQmuob28KrhMU+sXB+k1OwNUVl/34O7HwVeDVuhv1GYfP+pYmCpwyEDA+zdyE8ezp+b9fV/yinz6KA0cfS50eqyb1wzwPWd1M7hwJB3FR1usxYSEz5Od0i6+aUZgi1LhAdIIQxvz1BgooaGjBZ4bo4JU5AI+wUbJq7MIbXwcizyr4GtujZqhTOmVYHaZOPecSgqNX1EJ5r+Itp5Vx0oIyyb5pAnDdLbQQrftL+ikmQYh/I6DkmzizgnBBy4Dx3sQj9jEnwC7XN9IVs/0KNFnSVEDn8w9plhhNnPIN2YK+AFj7ygKQ2THdoraNauaNa9RFFUVDmO78a/uQKHvaF6GdbBoLUAvV43PHpee38DLKCrgPYfq2SEIJJ0zhjHE+TiF5AvCIcgGeFekZ0ZhDex/DlFqhEj4c+P6DBZT5VnbGbThZW7Z7sE1slW8H/+/US7LtyTrYyxoVLMODXoYT6psXfJ5Oqd1kJy/98pbb4Y+cxwcEJ63OKT1XTN5wRwu0RXpJLNCJAOwUEtNanDejDH5aSh61Dce6b+k5Jg0h2z8KS0ew25L9/TligYEyYFW0/rAEryn8nXyp1dTL45W5tjHBZy5TkPmDCnJQPdC9XxDJ+vIefrVOEhux3GLwtVDiNKKxFxN9rI6+TBmD5oTyNVnyvI28Pe3+jRml49AGjvu3/nph5ggnC0F2mK3laZHfIHXaPF6XleApqj/lT33aTlh4U49NbflOdP5XbDREw5A9J5TczVKGqMjF1kR4qMhRuFE3BEMfwuHwqj7wco6L0ZKu6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dLVEKLgJAPnebuV7irsBu",
      "input": {
        "note": "Fingertips are at block mid-height with the block in 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_019dLVEKLgJAPnebuV7irsBu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.8912 right_j2=1.3651 right_j3=-1.1282 right_j4=-0.1204 right_j5=0.4747 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, 1.6342, 5.3265, 1.8339, -0.0562, -0.0757, -0.0122, -0.0205, -9.5795, 7.0359, 0.1099, -0.1148, -0.0269, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 615):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab6f1e2283876ab0bf4d44110d2416c32339f9bc503d8586bfe745e3d83a47dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 615):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a110fd719d40365f2555f479bdb05f403da8df2bdde7c60bdde372b34541db25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 615):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e38c4ada06176fec7493b0fc8eb1cfe4db80380e486427ba6ddb8e8c720baad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ab6f1e228387
wire blob a110fd719d40
wire blob e38c4ada0617
call 91 attempt 0 · /messages · status 200 · 5.219 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=-0.3069 left_j1=0.6392 left_j2=1.2018 left_j3=-1.0401 left_j4=-0.0235 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.5167 right_j1=1.9045 right_j2=1.4914 right_j3=-1.2293 right_j4=-0.1184 right_j5=0.4934 right_gripper=0.996\nstate[joint_eff]: [-0.1026, 1.8667, 5.4906, 1.8388, -0.0611, -0.0415, -0.0122, 0.1026, -11.5214, 6.3932, 0.5348, -0.1245, 0.0659, 0.0904]",
      "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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4751 right_j1=1.8832 right_j2=1.3834 right_j3=-1.1282 right_j4=-0.1215 right_j5=0.4778 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 1.8667, 5.2034, 1.8388, -0.0806, -0.0659, -0.0122, -0.1709, -8.8137, 6.6667, 0.4615, -0.0855, -0.0269, 0.0024]",
      "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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.8912 right_j2=1.3651 right_j3=-1.1282 right_j4=-0.1204 right_j5=0.4747 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, 1.6342, 5.3265, 1.8339, -0.0562, -0.0757, -0.0122, -0.0205, -9.5795, 7.0359, 0.1099, -0.1148, -0.0269, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 615):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab6f1e2283876ab0bf4d44110d2416c32339f9bc503d8586bfe745e3d83a47dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 615):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a110fd719d40365f2555f479bdb05f403da8df2bdde7c60bdde372b34541db25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 615):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e38c4ada06176fec7493b0fc8eb1cfe4db80380e486427ba6ddb8e8c720baad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ab6f1e228387]
[blob a110fd719d40]
[blob e38c4ada0617]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WTGsF2mCeoBYh8X7oFBnw3",
      "input": {
        "note": "Jaws closed just short of the block (residual 0.009) — it needs to be ~2.5 cm further out. Re-opening and shifting outward at the same height for another grasp attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.9451,
          "right_j2": 1.444,
          "right_j3": -1.0697
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WTGsF2mCeoBYh8X7oFBnw3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.9388 right_j2=1.4071 right_j3=-1.0966 right_j4=-0.1207 right_j5=0.4709 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, 1.5658, 5.1897, 1.8242, -0.0611, -0.0513, -0.0122, -0.1709, -8.6632, 8.6222, 0.4225, -0.1001, -0.0269, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8a7b48bde2aa71e128a834c1182e40b5062d00755237ef46a63a717acd620d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4c8f9dbf916cf2e6cd6c4427673cd35088b5d80ac1a9f2b17b003463c69e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 625):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f096334472cd34f753009ff19160b37b3f200aaa64cb7c3bb8d1a86843ac470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8a7b48bde2a
wire blob 1a4c8f9dbf91
wire blob 4f096334472c
call 92 attempt 0 · /messages · status 200 · 10.24 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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4751 right_j1=1.8832 right_j2=1.3834 right_j3=-1.1282 right_j4=-0.1215 right_j5=0.4778 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 1.8667, 5.2034, 1.8388, -0.0806, -0.0659, -0.0122, -0.1709, -8.8137, 6.6667, 0.4615, -0.0855, -0.0269, 0.0024]",
      "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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.8912 right_j2=1.3651 right_j3=-1.1282 right_j4=-0.1204 right_j5=0.4747 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, 1.6342, 5.3265, 1.8339, -0.0562, -0.0757, -0.0122, -0.0205, -9.5795, 7.0359, 0.1099, -0.1148, -0.0269, 0.6325]",
      "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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.9388 right_j2=1.4071 right_j3=-1.0966 right_j4=-0.1207 right_j5=0.4709 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, 1.5658, 5.1897, 1.8242, -0.0611, -0.0513, -0.0122, -0.1709, -8.6632, 8.6222, 0.4225, -0.1001, -0.0269, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8a7b48bde2aa71e128a834c1182e40b5062d00755237ef46a63a717acd620d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4c8f9dbf916cf2e6cd6c4427673cd35088b5d80ac1a9f2b17b003463c69e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 625):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f096334472cd34f753009ff19160b37b3f200aaa64cb7c3bb8d1a86843ac470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8a7b48bde2a]
[blob 1a4c8f9dbf91]
[blob 4f096334472c]
{
  "content": [
    {
      "signature": "CAISxgMKjAEIEBgCKkCrQK/O7auSMMWF6GGY66P0LcPmKUNHUD6QOIwyzTniro50rKCbL71Mm3rflrkM8+AMAJgLAOS9TDbmB6ufJI1gMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMuHS985Unww2+DPXcGgzFh4+9u3nL96z7+z4iMIGow2tmXmDdAd3jAguhbfpWHJZsV854u7iQPnV0FFmvGfBZ9TWYWzEO/IL1mg0yJyrmAWYVI/yVoZZXADNEoTY5odJqrRBAHevGtteQCpseLJent7kyUKSOrBU64qMaFDe2xq5oG58fAcQg5EfqfpHooqFbZ91Uo9uLyvWH1P4Zn1kmL20SOdzP1/62QPyPArD/Xat50ErXM1CRQA8xQ9QPKxZms0TiChZD+sVd55U/l0IGODdPkfjzldsZKsoWtP6ymLl8WiwdsrpAcBvu0JVw2VSneF41pKIeflJ+0WgEjy/zib1rh8yDEmcQplAKEORnZ6xm1foQ6wySLdOK6V7WsR3oyRQ1nb3CjB38Nd7PdvnO9zcUw0GeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MdziLnoGknqjdGBvysRypn",
      "input": {
        "note": "The block now sits squarely between the two open jaws in the wrist view. 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_01MdziLnoGknqjdGBvysRypn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4709 right_j1=1.9404 right_j2=1.4097 right_j3=-1.1019 right_j4=-0.1207 right_j5=0.4702 right_gripper=0.008\nstate[joint_eff]: [-0.0615, 1.6205, 5.2308, 1.7998, -0.0464, -0.0464, -0.0122, -0.3214, -9.5932, 5.2308, 0.2125, -0.0757, 0.022, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2c4f3261919b532831cad53ceac1eb79b4dff7a114027cd2b61dba2c5a6b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aaabb97a5a04c9df4279cc9a2a01b509fcdbb03b246efcaacdb76b4a9f237fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 635):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82c752e62a24e5e9c68018b247b685a130988b0f9501a0da90457c1dceb7c4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5c2c4f326191
wire blob 4aaabb97a5a0
wire blob 82c752e62a24
call 93 attempt 0 · /messages · status 200 · 4.962 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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.8912 right_j2=1.3651 right_j3=-1.1282 right_j4=-0.1204 right_j5=0.4747 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, 1.6342, 5.3265, 1.8339, -0.0562, -0.0757, -0.0122, -0.0205, -9.5795, 7.0359, 0.1099, -0.1148, -0.0269, 0.6325]",
      "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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.9388 right_j2=1.4071 right_j3=-1.0966 right_j4=-0.1207 right_j5=0.4709 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, 1.5658, 5.1897, 1.8242, -0.0611, -0.0513, -0.0122, -0.1709, -8.6632, 8.6222, 0.4225, -0.1001, -0.0269, -0.2027]\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 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4709 right_j1=1.9404 right_j2=1.4097 right_j3=-1.1019 right_j4=-0.1207 right_j5=0.4702 right_gripper=0.008\nstate[joint_eff]: [-0.0615, 1.6205, 5.2308, 1.7998, -0.0464, -0.0464, -0.0122, -0.3214, -9.5932, 5.2308, 0.2125, -0.0757, 0.022, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2c4f3261919b532831cad53ceac1eb79b4dff7a114027cd2b61dba2c5a6b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aaabb97a5a04c9df4279cc9a2a01b509fcdbb03b246efcaacdb76b4a9f237fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82c752e62a24e5e9c68018b247b685a130988b0f9501a0da90457c1dceb7c4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5c2c4f326191]
[blob 4aaabb97a5a0]
[blob 82c752e62a24]
{
  "content": [
    {
      "signature": "CAIS5RIKjAEIEBgCKkBAfF6IHrGqzLWfcDGLISu+lH8jjgxelrcS10VZmgjrKUzEKwQLoZ7o+IZBip0JVF12L4FsOIlacIjud2FEUpI7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM8N2iufBCLFOk7zs7GgymOuVge8CRBj2e4vMiMMqSlCbrMweF+YiuAsLYaszqBzTZNY40l5118DG14y8Sv89IQ5thVdxhw5f+Kq3utyqFEe+kH13737f+SUJgPqBpf1A/jCLFopI9H3neZXE7b1tf0jU8w6F1/JOCZ3AKec8saXLDl9cIvUO/xChaBlve7pxUKzDAWDUGjotkW4tT7nj4mEE81poGenybqsZ5+zj6GnLoblCslVFhi726QK/XZel7ANjr1f/df4a/iAWraXigPcpeO3sfaqhF9T4FeHatoE/XWBVGYN9OQPHMW45NzldPr4kCvyRXtRrD297CGnjjs90UnhCCVqPPGv98FUPGjjOF756sPVKqdTpz6nYcQXbqKa80aCjbSRti7DHV4YclNilVTrFyxIHrSR+5BYSRv/99ttOWT/eP4DkqIGyAVNS7ZjwC2k2b89wlPx2CHRzhevr6xkev6ceW7i9QWU12+DPMy8vaWr27dgJdCQU2hsr8irqE//PU7DA3TZTPJv/3sH1gJTC5AdomPfUDHIXmStGlGGAILKLBn9yKfSqS1YURgcxebTD8gRRVb4j5PIBr+O9WrsJLl9GGIFDlEsihP3oalz3eCEB8c+LxJ5wnZxaD03XZsCqgJhLMbV98lvJCp/dn0fMCyp3UMONWcltMcj587hCqaVWm2VkEyVTHJ3BVgzRUBCVhHwOSzQcCTtp9Cy6ANyWw4GvT/FvqbTZuXtO3wwQn0FXy/TNwixsgO17QQx7eUa4AuHDMpm5cYiokZb9hSGFUN1nfxM6NWoF0/RrNe5yZs3S5kZx34MzpcQtLUgzBgyb9zRh+DJEMghSScjJ4RqO9VVfEZgoJyRCUaaXE51D/eJu0AyVLlsdxnzVLo99nI954htvlrCOj7XVRKWTc12Q+WFNV/76Yts7J2KOGj9qvi/H8fWrotfD8owAqzf8LUvqK8AtU+rVpXyNeA/N5FHJMeZ0KfuRdjsgYDLWJPeidvAa/6RgMq+l3hqTe0HnaI4gC8XRNkCMgUrIXtbNtJMDDqprK7g4zoJqFsz++eqinudYQ2A0pltXceGOa6jhR8No1dF1Na3QN6KTo1XYLPjXJPfbqEDMvkAsM2iuZ5l9BHng2ggByv1KILQ4gMHJEx4De4deOCw4uOk5kgYijQVq8m6irepBb0uVb55AFvRWxKxLz/avVq2CqW5tJLjiFfCqszwuUp/ISAMx03S3E2NYqYIwAa4yLr1ymhjQwIH7NbcYdzzgYgt69kmPfvo8t/4brYPJuZxlqOLXPzrSJJQyizfiOcy2PnUiUnj+JWhZFKV5rbt3b+RcVLIHfuoQFqZWDz9HyWjU4mXUOSvBGBD8UERmB/stk1rNWmAQ0hYph0no3MZ4sMhvJS8zJaoIQzRgez67Fgqei2cRciM2ScvO63x3dX2Q4OuLynwnFKXgTVacwwZcqieq7tWlfAP3ztzOATYYuxOA52Szn0iRViNEkvNT6tk8vag9ob7t0UpJF1mxF2cFqzH4AcEmtdecWPtthT3ves3aYNRm5tBlZKMCsJ3HAkLeMhzJplKtEWHk3r0wbMoZtEGDWAAJOj7xfIf3Dxi+F6LDTNevPk+sI6XAERSwhQXqfI7Z+CxBFDMds8LzgeqcDXWB5458G1ZUxG3EqtpFRkSp9wVlBtHlypx+sDi5cGD+X/FRxNnewhqc6narZ1rkLaz7G9trsSzh84qUl0eOjCteEHUI8ai02NkVCiclBM/r9bUcAy16yREz3iSBApNBwd7j8gSsy4JVXQcVXXUu6CrBTEWu1tDoTci4U1q4rhVEYMsKGFQnx+GMZV35ud2A/RssblTrImfe2FK6nTrWhd9Z0XcZ8HXUbYwQYbM9U24x0tV5usfzomwxtd+80dCwyIQJSY8SmfMqb5C6k8cPkhab1B3GY8nHuHrqOXybdApVGaqGT/yOnzpJPRaD5a4kuh9dFTSVVTsVf8Z6PL8HYgEmyI4B2T/iZ/+eXAoL8/VFHOMES6LlW3HUr5cLY/80BYKWteZ+D3EpCvMzbqDO6EyNuRDatbM4XKU2DOtELi/kiMnJ6ZoPu1SWFmOeTLXXhatGhUkIlOmwUK5HxGB4sWnuBhFkj+czEnZ0kEPGm74C1uk1n6SkB1eEDorOKqUveLKpvGqvOb1N21eKF0pXDBRU83CPrs/Jyn8aOvxb1yDRnrYr22DlmYwVppt3wZBJq6OrqFDecFlCHiqT2WKRxw5fUMkvG9JZqghSKKVkSw9zctq0yK6c6N8JtXHFtrKEzYd2ADoyCYpmQx+05LbQf4W8iCfUNnaVu4tfGh/ahqx68k0NKuu0X4XdnmHp9/9os2+aXCzXwqij4AjXX5CB3h0njSNV9VilM2E39OAJfzTuCVUvjC4dKe9ZmAbDyEmzR+MB/gvyfeZC0JXZyNlPMFC5kxaFFyj2Sq9zqMxbXBYFctIzqhTGMVCr0Q0K542Bx34WK+x9KjAz0A1bCVexGP94DdtmV1PivgrCM3lxno2r38aD1ftX+SssmSfX0w/qHXvBQW5+fIozjlS5s8xjmvqCu1Z0Qcwt17oDMAZWKRIb/sJT4sMk0IXjpwXSrcjKYpMSkZvh4QXPtWHGLpQ1ua7qVzK2JMXHpggmaXtaNmDToeCwL/fymgTTVMG6FrTPHPstdeDxFHQ2mtRZ91A5b41eyJH4aAa8rDp1ZlK46zdg1SSjhBiOMKXbxp9m+oLcHDlzKLXvLc2VeUmSZ2++ltMVFOQLOKp82rtLXS8o+3JNlBOR4SG5sd5IhzhgVQRDLsGnzdrYusjD3I+HSgxT7pJcae5bTSbSKs9TJswCYiM5uUUmDsjVDLKK27FLg8Zn5ocdpHasbU1ycmMXBHqsvcpwXFOXvgd9Frf4w/SpNfPP5L52ALW082gWrBkK0E1lfqfqazovDAo5TIJ6vCmFekb4md3oBXQkXrgd7E+rBFEybSnhi3Tl88nWf4+jkm1p4zbCslTPa723AKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XQz7N834ghcCD3Li87ZSLM",
      "input": {
        "note": "The close shoved the block ~2.5 cm to the -y side. Re-opening and shifting the gripper 2.5 cm that way to line the jaws up with it again.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.4028,
          "right_j1": 1.8853,
          "right_j2": 1.3326,
          "right_j3": -1.0181,
          "right_j5": 0.4028
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XQz7N834ghcCD3Li87ZSLM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.411 right_j1=1.9247 right_j2=1.3403 right_j3=-1.0431 right_j4=-0.1211 right_j5=0.4065 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, 1.5658, 5.3812, 1.8193, -0.0317, -0.0366, -0.0122, -0.759, -12.0821, 4.7521, 0.4029, -0.1001, 0.0269, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba98d218afa3486f8a1a7dad81408e5cd4fa164758f4cc5bed11283e3af5cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80a8c5130411df54e9e9f8c6e814017970d30f29a340e8608a9ad5c01213616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5e9bcf279d30304b22a5f3cff00020bcfe9db10e4d154b092ec4323cb39de4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5ba98d218afa
wire blob d80a8c513041
wire blob e5e9bcf279d3
call 94 attempt 0 · /messages · status 200 · 8.213 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4713 right_j1=1.9388 right_j2=1.4071 right_j3=-1.0966 right_j4=-0.1207 right_j5=0.4709 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, 1.5658, 5.1897, 1.8242, -0.0611, -0.0513, -0.0122, -0.1709, -8.6632, 8.6222, 0.4225, -0.1001, -0.0269, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4709 right_j1=1.9404 right_j2=1.4097 right_j3=-1.1019 right_j4=-0.1207 right_j5=0.4702 right_gripper=0.008\nstate[joint_eff]: [-0.0615, 1.6205, 5.2308, 1.7998, -0.0464, -0.0464, -0.0122, -0.3214, -9.5932, 5.2308, 0.2125, -0.0757, 0.022, 0.5836]\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 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.411 right_j1=1.9247 right_j2=1.3403 right_j3=-1.0431 right_j4=-0.1211 right_j5=0.4065 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, 1.5658, 5.3812, 1.8193, -0.0317, -0.0366, -0.0122, -0.759, -12.0821, 4.7521, 0.4029, -0.1001, 0.0269, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba98d218afa3486f8a1a7dad81408e5cd4fa164758f4cc5bed11283e3af5cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80a8c5130411df54e9e9f8c6e814017970d30f29a340e8608a9ad5c01213616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 645):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e9bcf279d30304b22a5f3cff00020bcfe9db10e4d154b092ec4323cb39de4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5ba98d218afa]
[blob d80a8c513041]
[blob e5e9bcf279d3]
{
  "content": [
    {
      "signature": "CAISowMKjAEIEBgCKkABxQ2IscuRHFxw/7YCYdjz3Tvq2L4nqv4pMfaL9TXL877J/ZMrJKf1jYrHoqgUSIfXzxTDezjDSQUZxwNYUVwrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZWYF+grgmIneVJX3GgzhbQmxtTpnhjb/FiMiMCRoOJ8Z/4mXrqHrSW5I3zl9+fExNdoVzwpOYcKdPPHbbxpumTiUNreo0kJ7I9mjZSrDAZaGrbOHDzguGnsT9vaGr88HZaiButHWz0pENdiKh/4+1gaWMpB8E1quiNT6cQMUmKi/qp+YmPzpwhGtq4KoCF5jGrAmacegh/PySw1WHCO3ZsOKy0Vy0gHFcwhuV/NqOm2KbFhBizSslTGoEawELll+lUBOI88WJgZd2ms5Ea8wCp4Pg8z0Bd+5NoYN0tVtWotec9GCjWmh2sYWeFdg4odY9XiyFONKA1Ctf6ZXO7ZtJPNdbbcEwbGPzj8hHfWXanqrVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdYZ3PVRGJAjh3mipHNU3S",
      "input": {
        "note": "Block is centred between the jaws. 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_01PdYZ3PVRGJAjh3mipHNU3S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.919 right_j2=1.3396 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3992 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, 1.6068, 5.2034, 1.8437, -0.0464, -0.0366, -0.0122, -0.4034, -8.7726, 5.4496, 0.1978, -0.0757, 0.0757, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f36e243c58108a9ddf1fff160158afaeaca85180d82d14efe9fffbdbb2857c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ec993151202a795a65587b83b96a75b4df281e7da4b4dda3c2800c0d36b6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d44108eb33a125720628959f1be37c5c7d6ecb17b41916ddf48c3a33c4fafb6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f36e243c5810
wire blob 12ec99315120
wire blob d44108eb33a1
call 95 attempt 0 · /messages · status 200 · 7.186 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4709 right_j1=1.9404 right_j2=1.4097 right_j3=-1.1019 right_j4=-0.1207 right_j5=0.4702 right_gripper=0.008\nstate[joint_eff]: [-0.0615, 1.6205, 5.2308, 1.7998, -0.0464, -0.0464, -0.0122, -0.3214, -9.5932, 5.2308, 0.2125, -0.0757, 0.022, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.411 right_j1=1.9247 right_j2=1.3403 right_j3=-1.0431 right_j4=-0.1211 right_j5=0.4065 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, 1.5658, 5.3812, 1.8193, -0.0317, -0.0366, -0.0122, -0.759, -12.0821, 4.7521, 0.4029, -0.1001, 0.0269, -0.1197]\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 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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.919 right_j2=1.3396 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3992 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, 1.6068, 5.2034, 1.8437, -0.0464, -0.0366, -0.0122, -0.4034, -8.7726, 5.4496, 0.1978, -0.0757, 0.0757, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f36e243c58108a9ddf1fff160158afaeaca85180d82d14efe9fffbdbb2857c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ec993151202a795a65587b83b96a75b4df281e7da4b4dda3c2800c0d36b6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44108eb33a125720628959f1be37c5c7d6ecb17b41916ddf48c3a33c4fafb6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f36e243c5810]
[blob 12ec99315120]
[blob d44108eb33a1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EK6L1R6KHnvhMRDE3HhXG9",
      "input": {
        "note": "Another near-miss that nudged the block outward again — the jaws consistently close ~2 cm short. Re-opening and moving 2.5 cm further out for one more grasp attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.9826,
          "right_j2": 1.4339,
          "right_j3": -1.0221
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EK6L1R6KHnvhMRDE3HhXG9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4122 right_j1=1.9682 right_j2=1.3972 right_j3=-1.0424 right_j4=-0.1211 right_j5=0.3912 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, 1.5521, 5.3949, 1.7802, -0.0757, -0.0757, -0.0122, 0.0752, -8.1709, 8.3077, 0.4274, -0.0904, -0.0024, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 665):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fa767aa886278c7125b0b261c3d5a730902f8466ace807169c9e63f7466b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 665):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360b031ea0d4283d0d8f2eab58908766ffe2e3b281ada4cc6dbb8105dfa8fe79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 665):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d24c17dc8b1301cf4d4c0609d51985d67a49e1b92780e84b779f5b27ef443c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 94fa767aa886
wire blob 360b031ea0d4
wire blob d24c17dc8b13
call 96 attempt 0 · /messages · status 200 · 10.91 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.411 right_j1=1.9247 right_j2=1.3403 right_j3=-1.0431 right_j4=-0.1211 right_j5=0.4065 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, 1.5658, 5.3812, 1.8193, -0.0317, -0.0366, -0.0122, -0.759, -12.0821, 4.7521, 0.4029, -0.1001, 0.0269, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.919 right_j2=1.3396 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3992 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, 1.6068, 5.2034, 1.8437, -0.0464, -0.0366, -0.0122, -0.4034, -8.7726, 5.4496, 0.1978, -0.0757, 0.0757, 0.6374]\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 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=-0.3065 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4122 right_j1=1.9682 right_j2=1.3972 right_j3=-1.0424 right_j4=-0.1211 right_j5=0.3912 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, 1.5521, 5.3949, 1.7802, -0.0757, -0.0757, -0.0122, 0.0752, -8.1709, 8.3077, 0.4274, -0.0904, -0.0024, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 665):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fa767aa886278c7125b0b261c3d5a730902f8466ace807169c9e63f7466b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 665):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360b031ea0d4283d0d8f2eab58908766ffe2e3b281ada4cc6dbb8105dfa8fe79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 665):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d24c17dc8b1301cf4d4c0609d51985d67a49e1b92780e84b779f5b27ef443c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 94fa767aa886]
[blob 360b031ea0d4]
[blob d24c17dc8b13]
{
  "content": [
    {
      "signature": "CAIS5QMKjAEIEBgCKkCKLbQD8Rz9jXAzBe/3xA3EC7nz21gy5cSasMWOmgXS8d3GvSuGghs/WOIy2+5mPdrwPlvkbyC+RxZg9Ph8IKOHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjtFsWdnrJsX1HrtcGgyw2EJOj81RX1ktCfsiMI0V5qtX5ikhZ7YpRWKMHWakXXAhS3ttA5CarZqRAWr5CiTyWgXS3zOy5Y2rGxSKOSqFAmS1zdgJvm8uAgLWdqhOBNTjRx35+l2bLQ0DEcbtsTzFDwzDNrgObV0yA65Gd/92mjbOWX9O3GTAHSXOZV765gF4JhQcvW4GSfrxDDABYdZf/3v5i00ss04z6ktvL5fnZJmMzq+gr6ZRW3xDhTtYSitNtTGX30/BVCyxZKYuaY2bzIxRMm/MXOlvvaMUkJh1p4JGi1HvRjp0v8nJkKBLHYKyKze8u6hc0edqCE1MYEHVZhFDLpwnsV8QUuH7WoPDgmIgCWlLW9pFzyLw+sVUbXfHAygE7KB0+ij9LbYKnKUz/4GcYTpnDZtVeIAQv44h0KeN/uK8HDivg57K82/Js22PTR+cEBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEeBZXLUo3SLxzh7USTDvu",
      "input": {
        "note": "The blue block is now right down in the jaw gap at the bottom of the wrist frame. 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_01XEeBZXLUo3SLxzh7USTDvu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3069 left_j1=0.6407 left_j2=1.2018 left_j3=-1.0443 left_j4=-0.0231 left_j5=-0.5774 left_gripper=0.9968 right_j0=0.4118 right_j1=1.9697 right_j2=1.3968 right_j3=-1.0458 right_j4=-0.1207 right_j5=0.3882 right_gripper=0.0085\nstate[joint_eff]: [-0.2256, 1.5658, 5.3128, 1.8388, -0.0464, -0.0464, -0.0122, -0.3214, -9.6342, 5.4906, 0.2173, -0.0952, 0.0317, 0.6325]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 675):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44cf46253af825318763f8ba6f01ff5a5e0ca4f00377d871618f459ba4862f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 675):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86846a0eb2e14c2de661bd386441031de09c0a39dea3e4305d8313879873de45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 675):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e65a153c9ebf508ff196c2a628c57744403e842ab8083a9289b12bda8ec084c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 44cf46253af8
wire blob 86846a0eb2e1
wire blob e65a153c9ebf