adhoc

completed
2026-08-13T15:58:55.282666+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
low
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1200
duration
760.2 s
total steps
503
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

done

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 is dark; I see two small blocks mid-frame (bluish left, reddish right) and two dark arm blobs at the bottom. Raising the left arm to identify which blob is the left arm and to get a better wrist view.
move_joints
left_j10.9000left_j21.4000left_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0326 left_j4=-0.0078 left_j5=-0.0223 left_gripper=0.9998 right_j0=-0.0055 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0151 right_j5=-0.0082 right_gripper=0.9993 state[joint_eff]: [-0.4308, 1.2376, 6.3111, 2.2198, 0.0904, 0.1441, -0.0415, 0.3487, 0.8, 6.4068, 2.1026, 0.0904, 0.0464, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 0.9, "left_j2": 1.4, "left_j3": -0.6}, "note": "Overhead view is dark; I see two small blocks mid-frame (bluish left, reddish right) and two dark arm blobs at the bottom. Raising the left arm to identify which blob is the left arm and to get a better wrist view."})
tool
executing move_joints over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteTop view now clear: blue block left-of-centre, red block to its right, one dark arm blob at bottom-right. Extending the left arm forward so its gripper enters the overhead frame, which will tell me which side it comes from and let me calibrate scale.
move_joints
left_j11.5000left_j21.9000left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=0.8925 left_j2=1.3567 left_j3=-0.5877 left_j4=-0.0082 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.012 right_j2=0.0071 right_j3=-0.0261 right_j4=-0.0132 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.1573, -0.7179, 7.3504, 1.9072, -0.0464, -0.022, -0.0171, -0.2803, 1.4564, 7.0359, 1.9219, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.5, "left_j2": 1.9, "left_j3": -0.9}, "note": "Top view now clear: blue block left-of-centre, red block to its right, one dark arm blob at bottom-right. Extending the left arm forward so its gripper enters the overhead frame, which will tell me which side it comes from and let me calibrate scale."})
tool
executing move_joints over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteGripper still not visible overhead, so I'm lowering the left arm to roughly r=0.35 m, z=0.15 m with the jaws pointing down to bring it into the overhead frame and calibrate the view.
move_joints
left_j12.0600left_j21.6600left_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=1.4792 left_j2=1.8576 left_j3=-0.8707 left_j4=-0.0082 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0147 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2393, -5.6684, 8.1983, 1.79, -0.0366, -0.0366, -0.0073, -0.1709, 1.4701, 7.0085, 1.9512, -0.0073, -0.022, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.06, "left_j2": 1.66, "left_j3": -1.17}, "note": "Gripper still not visible overhead, so I'm lowering the left arm to roughly r=0.35 m, z=0.15 m with the jaws pointing down to bring it into the overhead frame and calibrate the view."})
tool
executing move_joints over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe left arm is now visible at the upper-left of the overhead frame. Yawing j0 by -0.5 rad (gripper moves to the arm's right) to calibrate the overhead image direction and pixel scale.
move_joints
left_j0-0.5000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=2.0361 left_j2=1.6699 left_j3=-1.1213 left_j4=-0.0078 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0174 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.3487, -10.7282, 6.1333, 0.3297, -0.0659, -0.0171, -0.0073, -0.0479, 1.4154, 7.1863, 1.9365, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.5}, "note": "The left arm is now visible at the upper-left of the overhead frame. Yawing j0 by -0.5 rad (gripper moves to the arm's right) to calibrate the overhead image direction and pixel scale."})
tool
executing move_joints over 8 steps (0.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteWrist cam shows the blue block up and to the right of the jaw gap. Moving the gripper ~5 cm further out radially and yawing right to bring the block toward the grasp point.
move_joints
left_j0-0.6200left_j12.2700left_j21.9200left_j3-1.2200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4725 left_j1=2.0766 left_j2=1.6474 left_j3=-1.137 left_j4=-0.0078 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0177 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2667, -14.0923, 7.4735, 0.4908, -0.0024, -0.022, -0.0073, -0.2256, 1.5795, 7.0085, 1.8486, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.62, "left_j1": 2.27, "left_j2": 1.92, "left_j3": -1.22}, "note": "Wrist cam shows the blue block up and to the right of the jaw gap. Moving the gripper ~5 cm further out radially and yawing right to bring the block toward the grasp point."})
tool
executing move_joints over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteBlock is now just left of and slightly beyond the jaw gap; nudging ~2 cm left and 2 cm nearer to centre it between the jaws.
move_joints
left_j0-0.5650left_j12.2100left_j21.8100left_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6098 left_j1=2.2585 left_j2=1.8744 left_j3=-1.2076 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2256, -12.2462, 7.8974, 0.1343, -0.0757, -0.0611, -0.0122, -0.1162, 1.5385, 7.0085, 1.8437, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.565, "left_j1": 2.21, "left_j2": 1.81, "left_j3": -1.17}, "note": "Block is now just left of and slightly beyond the jaw gap; nudging ~2 cm left and 2 cm nearer to centre it between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteBlock is centred at the jaw gap; descending ~4 cm while keeping the gripper pointing straight down.
move_joints
left_j12.2800left_j21.7500left_j3-1.0400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6018 left_j1=2.2501 left_j2=1.8397 left_j3=-1.1908 left_j4=-0.0029 left_j5=-0.0261 left_gripper=0.9998 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [1.812, -14.8855, 5.4496, 0.5153, -0.0659, -0.0464, -0.0073, -0.212, 1.5932, 7.0085, 1.9023, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.28, "left_j2": 1.75, "left_j3": -1.04}, "note": "Block is centred at the jaw gap; descending ~4 cm while keeping the gripper pointing straight down."})
tool
executing move_joints over 3 steps (0.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteBlock sits between the jaws in the wrist view; descending another ~4 cm toward the table to bracket the cube.
move_joints
left_j12.3600left_j21.7100left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5968 left_j1=2.2566 left_j2=1.7607 left_j3=-1.103 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2256, -10.3453, 5.6274, 0.5348, 0.0317, -0.0415, -0.0171, -0.212, 1.5932, 7.2274, 1.8828, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.36, "left_j2": 1.71, "left_j3": -0.92}, "note": "Block sits between the jaws in the wrist view; descending another ~4 cm toward the table to bracket the cube."})
tool
executing move_joints over 3 steps (0.3s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteDescent stalled (likely fingertips at table) with the cube between the jaws; closing the gripper to grasp it.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6014 left_j1=2.2768 left_j2=1.7462 left_j3=-1.0405 left_j4=0.0044 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.0615, -5.5316, 2.6598, 1.3553, -0.1685, -0.0171, -0.0122, -0.0342, 1.5795, 7.1863, 1.8974, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Descent stalled (likely fingertips at table) with the cube between the jaws; closing the gripper to grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe close came up empty (gripper residual 0.007), so the block was not actually between the jaws. Reopening and lifting ~4 cm to re-acquire it in the wrist view.
move_joints
left_gripper1.0000left_j12.1700left_j21.7500left_j3-1.1000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6022 left_j1=2.2723 left_j2=1.7473 left_j3=-1.042 left_j4=0.0074 left_j5=-0.0261 left_gripper=0.0074 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.294, -11.8496, 5.4769, 0.2613, -0.0464, -0.0269, 0.5104, -0.212, 1.5932, 7.0085, 1.8877, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.17, "left_j2": 1.75, "left_j3": -1.1}, "note": "The close came up empty (gripper residual 0.007), so the block was not actually between the jaws. Reopening and lifting ~4 cm to re-acquire it in the wrist view."})
tool
executing move_joints over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteBlock is visible just beyond the jaws in the wrist view, so it sits slightly farther out than the grasp point; advancing ~1.5 cm radially and descending again.
move_joints
left_j0-0.6300left_j12.4200left_j21.7900left_j3-0.9900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6014 left_j1=2.2124 left_j2=1.747 left_j3=-1.0954 left_j4=0.0071 left_j5=-0.0299 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.1162, -14.6667, 5.8598, 0.2857, -0.0024, -0.0024, -0.1294, -0.0615, 1.5795, 7.0085, 1.8584, -0.0269, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.63, "left_j1": 2.42, "left_j2": 1.79, "left_j3": -0.99}, "note": "Block is visible just beyond the jaws in the wrist view, so it sits slightly farther out than the grasp point; advancing ~1.5 cm radially and descending again."})
tool
executing move_joints over 4 steps (0.4s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteBlock is now right at the jaw gap (just a sliver visible at the bottom edge) and the descent stalled at the table; closing to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6205 left_j1=2.3177 left_j2=1.8153 left_j3=-1.0679 left_j4=0.0067 left_j5=-0.0414 left_gripper=0.9959 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-1.0188, -4.1641, 3.3162, 1.2283, -0.0122, 0.0806, 0.0415, -0.2256, 1.6205, 6.9949, 1.9463, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Block is now right at the jaw gap (just a sliver visible at the bottom edge) and the descent stalled at the table; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteSecond empty close, so my wrist-view depth estimate is off. Yawing the gripper 0.27 rad to calibrate direction and pixel scale in the overhead view.
move_joints
left_j0-0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6205 left_j1=2.3146 left_j2=1.8214 left_j3=-1.0798 left_j4=0.0071 left_j5=-0.049 left_gripper=0.0072 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0334 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2393, -12.1368, 5.1897, 0.442, -0.022, 0.0611, 0.5153, -0.0615, 1.6068, 7.2957, 1.8877, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.35, "left_gripper": 1.0}, "note": "Second empty close, so my wrist-view depth estimate is off. Yawing the gripper 0.27 rad to calibrate direction and pixel scale in the overhead view."})
tool
executing move_joints over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteOverhead calibration: +j0 moves the gripper image-left at ~2 px/cm, so the blue block is actually ~16 cm nearer the base than where I was reaching — that's why both closes hit air. Pulling the gripper in to r≈0.26 m over the block.
move_joints
left_j0-0.6460left_j11.8000left_j21.1900left_j3-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3683 left_j1=2.3142 left_j2=1.8214 left_j3=-1.087 left_j4=0.0074 left_j5=-0.0521 left_gripper=0.9945 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.6222, -12.4786, 5.5726, 0.2955, 0.0171, 0.0122, -0.0659, -0.1846, 1.7846, 7.0496, 2.0244, -0.022, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.646, "left_j1": 1.8, "left_j2": 1.19, "left_j3": -0.96}, "note": "Overhead calibration: +j0 moves the gripper image-left at ~2 px/cm, so the blue block is actually ~16 cm nearer the base than where I was reaching \u2014 that's why both closes hit air. Pulling the gripper in to r\u22480.26 m over the block."})
tool
executing move_joints over 11 steps (1.1s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe blue block now fills the wrist view right in front of the jaws. Advancing ~2 cm and dropping ~1.5 cm to bracket it.
move_joints
left_j11.9000left_j21.2500left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6365 left_j1=1.8362 left_j2=1.2098 left_j3=-0.9733 left_j4=0.0044 left_j5=-0.0521 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0532 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.5128, -9.7436, 5.641, 0.4567, -0.0073, -0.0317, 0.0757, -0.1436, 1.853, 7.0222, 1.9609, -0.0659, -0.0464, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.9, "left_j2": 1.25, "left_j3": -0.92}, "note": "The blue block now fills the wrist view right in front of the jaws. Advancing ~2 cm and dropping ~1.5 cm to bracket it."})
tool
executing move_joints over 2 steps (0.2s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteController undershot; re-issuing a slightly stronger descent/advance to bring the jaws around the block.
move_joints
left_j11.9800left_j21.2900left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6445 left_j1=1.8595 left_j2=1.2217 left_j3=-0.9619 left_j4=0.0063 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.4991, -7.2274, 7.1453, 0.149, -0.0415, -0.0317, -0.0024, -0.1299, 1.5795, 7.0222, 1.873, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.98, "left_j2": 1.29, "left_j3": -0.9}, "note": "Controller undershot; re-issuing a slightly stronger descent/advance to bring the jaws around the block."})
tool
executing move_joints over 2 steps (0.2s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteCube is squarely between the jaws at near-table height; closing to grasp.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6418 left_j1=1.9404 left_j2=1.2564 left_j3=-0.9337 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.5675, -7.6786, 7.1179, 0.2369, -0.0317, -0.0562, -0.0122, -0.212, 1.5932, 7.2137, 1.9023, -0.0513, -0.0171, -0.0073] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Cube is squarely between the jaws at near-table height; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteGripper closed on the cube (residual 0.61 with high effort = object held). Lifting ~10 cm before traversing to the red block.
move_joints
left_j11.7500left_j21.4500left_j3-1.2700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6415 left_j1=1.9671 left_j2=1.2594 left_j3=-0.9302 left_j4=0.0067 left_j5=-0.0521 left_gripper=0.6082 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.212, -11.3983, 4.8615, 0.0952, 0.0073, -0.022, 0.989, -0.1162, 1.5385, 7.2274, 1.9414, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.75, "left_j2": 1.45, "left_j3": -1.27}, "note": "Gripper closed on the cube (residual 0.61 with high effort = object held). Lifting ~10 cm before traversing to the red block."})
tool
executing move_joints over 6 steps (0.6s)
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 noteCube is held and lifted. Traversing right to hover over the red block at an estimated r≈0.47 m, bearing −1.06 rad, staying ~7 cm above the table.
move_joints
left_j0-1.0600left_j12.5940left_j22.6330left_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6418 left_j1=1.7836 left_j2=1.42 left_j3=-1.206 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.606 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.335, -9.6342, 7.4598, 0.2808, -0.0611, -0.0366, 1.0281, -0.1436, 1.5658, 7.0359, 1.8632, -0.0757, -0.0122, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). 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_j0": -1.06, "left_j1": 2.594, "left_j2": 2.633, "left_j3": -1.61}, "note": "Cube is held and lifted. Traversing right to hover over the red block at an estimated r\u22480.47 m, bearing \u22121.06 rad, staying ~7 cm above the table."})
tool
executing move_joints over 20 steps (2.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteWrist view shows the red block up and to the left of the held cube, so I yawed too far right. Swinging j0 back by 0.2 rad and re-checking.
move_joints
left_j0-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0485 left_j1=2.5755 left_j2=2.5877 left_j3=-1.5963 left_j4=0.0071 left_j5=-0.0528 left_gripper=0.6078 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.6085, -13.2718, 7.8427, 0.1148, -0.0659, -0.022, 0.8278, -0.0342, 1.6752, 7.2547, 1.8779, -0.0708, -0.0024, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.85}, "note": "Wrist view shows the red block up and to the left of the held cube, so I yawed too far right. Swinging j0 back by 0.2 rad and re-checking."})
tool
executing move_joints over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteRed block is now centred left-right in the wrist view but still well ahead of the jaws; extending radially ~1 cm and lowering ~3 cm to see how fast it moves down the image.
move_joints
left_j12.6690left_j22.6570left_j3-1.5590
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8692 left_j1=2.5946 left_j2=2.5927 left_j3=-1.6077 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.6077 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-1.6205, -15.5145, 5.0667, 0.2759, -0.0464, -0.0415, 0.6813, -0.1162, 1.6068, 7.0769, 1.9365, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.669, "left_j2": 2.657, "left_j3": -1.559}, "note": "Red block is now centred left-right in the wrist view but still well ahead of the jaws; extending radially ~1 cm and lowering ~3 cm to see how fast it moves down the image."})
tool
executing move_joints over 2 steps (0.2s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteRed block still ahead of the jaws; extending reach by pitching the gripper ~20° forward and pushing out to r≈0.52 m, which is near the left arm's limit.
move_joints
left_j12.7170left_j22.8450left_j3-1.3280
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8577 left_j1=2.624 left_j2=2.6282 left_j3=-1.602 left_j4=0.0078 left_j5=-0.0528 left_gripper=0.6107 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.9915, -11.494, 7.1043, 0.4615, 0.0513, -0.0171, 0.5836, -0.1162, 1.5932, 7.2137, 1.8779, -0.0562, -0.0317, -0.0073] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.717, "left_j2": 2.845, "left_j3": -1.328}, "note": "Red block still ahead of the jaws; extending reach by pitching the gripper ~20\u00b0 forward and pushing out to r\u22480.52 m, which is near the left arm's limit."})
tool
executing move_joints over 5 steps (0.5s)
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 noteThe wrist view lost the block, so I solved the overhead camera mapping from my last two poses: the block needs the gripper ~14 cm back and 2.5 cm right. Moving there with the gripper vertical again.
move_joints
left_j0-1.1280left_j12.5490left_j22.5480left_j3-1.5690
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8623 left_j1=2.69 left_j2=2.8094 left_j3=-1.4242 left_j4=0.0074 left_j5=-0.0532 left_gripper=0.611 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.1846, -12.3009, 7.7197, 0.9255, -0.0269, -0.0269, 0.7595, -0.1162, 1.6615, 7.1726, 1.9512, -0.0708, -0.0366, -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_j0": -1.128, "left_j1": 2.549, "left_j2": 2.548, "left_j3": -1.569}, "note": "The wrist view lost the block, so I solved the overhead camera mapping from my last two poses: the block needs the gripper ~14 cm back and 2.5 cm right. Moving there with the gripper vertical again."})
tool
executing move_joints over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe overhead view is now blocked by the arm and the wrist view shows an unexpected pale object to the left; raising the gripper ~8 cm to clear the scene and re-locate both blocks.
move_joints
left_j12.3500left_j22.4000left_j3-1.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1282 left_j1=2.6091 left_j2=2.5645 left_j3=-1.5223 left_j4=0.0074 left_j5=-0.0563 left_gripper=0.6133 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [2.5504, -18.1128, 5.8462, 0.4371, -0.0952, 0.0024, 0.5397, -0.2256, 1.9487, 7.0906, 1.9267, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.35, "left_j2": 2.4, "left_j3": -1.6}, "note": "The overhead view is now blocked by the arm and the wrist view shows an unexpected pale object to the left; raising the gripper ~8 cm to clear the scene and re-locate both blocks."})
tool
executing move_joints over 5 steps (0.5s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteTwo estimates of the red block disagree, so I'm testing the nearer one: pulling back to r≈0.35 m at bearing −0.9 rad, 9 cm up, to see where the block lands in the wrist view.
move_joints
left_j0-0.9000left_j12.0000left_j21.7900left_j3-1.3500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1278 left_j1=2.4172 left_j2=2.4035 left_j3=-1.5829 left_j4=0.0071 left_j5=-0.0559 left_gripper=0.6132 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0635 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.1026, -15.6103, 5.9009, 0.359, -0.0269, -0.0464, 0.6471, -0.0615, 1.5795, 7.0359, 1.9756, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.9, "left_j1": 2.0, "left_j2": 1.79, "left_j3": -1.35}, "note": "Two estimates of the red block disagree, so I'm testing the nearer one: pulling back to r\u22480.35 m at bearing \u22120.9 rad, 9 cm up, to see where the block lands in the wrist view."})
tool
executing move_joints over 10 steps (1.0s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteOverhead shows the red block right beside the gripper (it has dropped out of the wrist view, i.e. it's under/behind the jaws). Shifting ~3 cm right and ~3 cm back to centre the held cube over it.
move_joints
left_j0-1.0260left_j12.0230left_j21.8160left_j3-1.3640
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9108 left_j1=2.0422 left_j2=1.808 left_j3=-1.3792 left_j4=0.0071 left_j5=-0.0563 left_gripper=0.615 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.294, -12.9709, 6.2154, 0.5201, -0.0415, -0.0464, 0.3736, 0.0068, 1.7299, 7.0359, 1.9316, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.026, "left_j1": 2.023, "left_j2": 1.816, "left_j3": -1.364}, "note": "Overhead shows the red block right beside the gripper (it has dropped out of the wrist view, i.e. it's under/behind the jaws). Shifting ~3 cm right and ~3 cm back to centre the held cube over it."})
tool
executing move_joints over 2 steps (0.2s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent notej0 undershot; re-issuing the yaw so the held cube shifts the last ~3 cm toward the red block.
move_joints
left_j0-1.0600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9493 left_j1=2.0327 left_j2=1.7893 left_j3=-1.3666 left_j4=-0.0002 left_j5=-0.0601 left_gripper=0.6151 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-2.8376, -11.0291, 7.9385, 0.2222, 0.0122, -0.0073, 0.2466, -0.1162, 1.5932, 7.0222, 1.9609, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.06}, "note": "j0 undershot; re-issuing the yaw so the held cube shifts the last ~3 cm toward the red block."})
tool
executing move_joints over 2 steps (0.2s)
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 noteThe red block is now hidden directly beneath the gripper in the overhead view, so the held cube is above it. Descending ~4 cm.
move_joints
left_j12.0650left_j21.7090left_j3-1.2150
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0363 left_j1=2.0327 left_j2=1.7889 left_j3=-1.3712 left_j4=0.0029 left_j5=-0.0605 left_gripper=0.6171 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-1.4154, -10.4547, 5.6821, 0.2222, -0.1001, -0.0415, 0.1929, -0.1846, 1.6068, 7.0222, 1.917, -0.0464, -0.0269, -0.0122] 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": 2.065, "left_j2": 1.709, "left_j3": -1.215}, "note": "The red block is now hidden directly beneath the gripper in the overhead view, so the held cube is above it. Descending ~4 cm."})
tool
executing move_joints over 3 steps (0.3s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteContinuing the descent another ~3 cm toward the red block's top, watching j1 effort for contact.
move_joints
left_j12.1100left_j21.6460left_j3-1.1070
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0416 left_j1=2.0518 left_j2=1.7184 left_j3=-1.2789 left_j4=0.0032 left_j5=-0.0605 left_gripper=0.6187 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.4308, -9.812, 6.188, 0.3394, -0.0269, -0.0708, 0.149, -0.1162, 1.5932, 7.0359, 1.873, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.11, "left_j2": 1.646, "left_j3": -1.107}, "note": "Continuing the descent another ~3 cm toward the red block's top, watching j1 effort for contact."})
tool
executing move_joints over 3 steps (0.3s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteNo contact yet; lowering another ~2 cm.
move_joints
left_j12.1480left_j21.6150left_j3-1.0380
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0374 left_j1=2.0846 left_j2=1.6569 left_j3=-1.1675 left_j4=0.004 left_j5=-0.0681 left_gripper=0.6201 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.4855, -9.1282, 5.7231, 0.3736, -0.0171, 0.0073, 0.1392, -0.1436, 1.6205, 7.0496, 1.8974, -0.0513, -0.0122, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.148, "left_j2": 1.615, "left_j3": -1.038}, "note": "No contact yet; lowering another ~2 cm."})
tool
executing move_joints over 3 steps (0.3s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe wrist view shows only bare table under the cube, so I can't confirm the red block is below. Swinging the arm up and left to clear the overhead view and re-locate the red block.
move_joints
left_j0-0.3000left_j11.6000left_j21.5000left_j3-1.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0397 left_j1=2.125 left_j2=1.6238 left_j3=-1.0866 left_j4=0.004 left_j5=-0.0715 left_gripper=0.6215 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.1299, -9.5795, 5.4222, 0.3053, 0.0122, -0.0317, 0.1245, -0.1299, 1.6479, 7.0359, 1.8926, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.3, "left_j1": 1.6, "left_j2": 1.5, "left_j3": -1.3}, "note": "The wrist view shows only bare table under the cube, so I can't confirm the red block is below. Swinging the arm up and left to clear the overhead view and re-locate the red block."})
tool
executing move_joints over 12 steps (1.2s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteClear overhead view: the red 'a' cube sits at image (145,152) while my gripper with the white cube is upper-left. Re-solving gives the block at r≈0.33 m, bearing ≈−1.15 rad; moving to hover 10 cm above that point.
move_joints
left_j0-1.1500left_j11.9300left_j21.6820left_j3-1.3230
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.321 left_j1=1.6352 left_j2=1.5051 left_j3=-1.2736 left_j4=0.0044 left_j5=-0.0719 left_gripper=0.6223 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.0615, -8.294, 5.9282, 0.5788, 0.022, -0.0562, 0.0708, -0.1162, 1.6205, 7.0359, 1.917, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.15, "left_j1": 1.93, "left_j2": 1.682, "left_j3": -1.323}, "note": "Clear overhead view: the red 'a' cube sits at image (145,152) while my gripper with the white cube is upper-left. Re-solving gives the block at r\u22480.33 m, bearing \u2248\u22121.15 rad; moving to hover 10 cm above that point."})
tool
executing move_joints over 14 steps (1.4s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteGripper is now directly over where the red cube was (it's occluded in the overhead view). Descending ~4 cm and watching for contact.
move_joints
left_j11.9780left_j21.5780left_j3-1.1710
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1275 left_j1=1.9217 left_j2=1.6516 left_j3=-1.3308 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.623 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.2667, -8.9778, 8.253, 0.2857, -0.0415, 0.0024, 0.0659, -0.2393, 1.8256, 7.2547, 1.8974, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.978, "left_j2": 1.578, "left_j3": -1.171}, "note": "Gripper is now directly over where the red cube was (it's occluded in the overhead view). Descending ~4 cm and watching for contact."})
tool
executing move_joints over 3 steps (0.3s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteStill no contact; lowering another 2 cm — if the cube lands on the red block, j1 should stall around this height.
move_joints
left_j12.0090left_j21.5340left_j3-1.0960
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1316 left_j1=1.9583 left_j2=1.5917 left_j3=-1.2411 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.6243 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [0.2803, -9.0325, 5.6274, 0.3932, -0.0269, -0.0513, 0.1245, -0.1846, 1.7709, 7.0769, 1.8584, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.009, "left_j2": 1.534, "left_j3": -1.096}, "note": "Still no contact; lowering another 2 cm \u2014 if the cube lands on the red block, j1 should stall around this height."})
tool
executing move_joints over 3 steps (0.3s)
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 noteLowering another ~2 cm, still probing for the top of the red cube.
move_joints
left_j12.0400left_j21.5000left_j3-1.0300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1305 left_j1=1.9911 left_j2=1.5429 left_j3=-1.1488 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6252 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992 state[joint_eff]: [-0.4581, -8.335, 5.7231, 0.4029, -0.0366, -0.0317, 0.0708, -0.0752, 1.7709, 7.0222, 1.8535, -0.0122, -0.0513, -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": 2.04, "left_j2": 1.5, "left_j3": -1.03}, "note": "Lowering another ~2 cm, still probing for the top of the red cube."})
tool
executing move_joints over 2 steps (0.2s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteI've descended past the expected block-top height without contact, so the cube isn't over the red block. Raising the right arm as a second camera to view the area from the side.
move_joints
right_j00.5000right_j11.2000right_j21.5000right_j3-0.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1305 left_j1=2.0068 left_j2=1.5162 left_j3=-1.0882 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6259 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0082 right_gripper=0.9992 state[joint_eff]: [-0.1983, -7.5009, 5.1761, 0.4908, -0.0122, -0.0415, 0.0611, -0.1299, 1.5795, 7.2684, 1.8828, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5, "right_j1": 1.2, "right_j2": 1.5, "right_j3": -0.3}, "note": "I've descended past the expected block-top height without contact, so the cube isn't over the red block. Raising the right arm as a second camera to view the area from the side."})
tool
executing move_joints over 24 steps (2.4s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe right wrist camera is aimed too high at the curtain but shows something at the lower-left; yawing further left and pitching down to look at the block area.
move_joints
right_j00.7500right_j11.5000right_j21.6000right_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1305 left_j1=2.0418 left_j2=1.4998 left_j3=-1.0874 left_j4=0.0071 left_j5=-0.0784 left_gripper=0.6264 right_j0=0.4927 right_j1=1.1893 right_j2=1.4528 right_j3=-0.3153 right_j4=-0.0162 right_j5=-0.02 right_gripper=0.9992 state[joint_eff]: [-0.0615, -13.1077, 6.9538, 0.1392, 0.0073, -0.0513, 0.0415, 0.2256, -3.8222, 8.3761, 1.9756, -0.0024, 0.0562, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.75, "right_j1": 1.5, "right_j2": 1.6, "right_j3": -0.9}, "note": "The right wrist camera is aimed too high at the curtain but shows something at the lower-left; yawing further left and pitching down to look at the block area."})
tool
executing move_joints over 10 steps (1.0s)
step 271
top_cam
camera top_cam step 271
left_cam
camera left_cam step 271
right_cam
camera right_cam step 271
assistant
agent noteThe right wrist camera spots the red block near the right gripper; converting to left-arm coordinates puts it at r≈0.44 m, bearing −1.05 rad — farther out than my overhead estimate. Moving the left arm to hover 10 cm above that point.
move_joints
left_j0-1.0450left_j12.4150left_j22.4630left_j3-1.6190
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1305 left_j1=2.0407 left_j2=1.4994 left_j3=-1.0866 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6265 right_j0=0.7406 right_j1=1.4887 right_j2=1.5646 right_j3=-0.8371 right_j4=-0.0158 right_j5=-0.0231 right_gripper=0.9992 state[joint_eff]: [-0.0752, -10.2222, 5.4496, 0.1441, 0.0073, -0.0562, -0.0024, 0.1983, -6.2838, 9.4427, 1.6337, -0.0366, 0.0269, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.045, "left_j1": 2.415, "left_j2": 2.463, "left_j3": -1.619}, "note": "The right wrist camera spots the red block near the right gripper; converting to left-arm coordinates puts it at r\u22480.44 m, bearing \u22121.05 rad \u2014 farther out than my overhead estimate. Moving the left arm to hover 10 cm above that point."})
tool
executing move_joints over 16 steps (1.6s)
step 287
top_cam
camera top_cam step 287
left_cam
camera left_cam step 287
right_cam
camera right_cam step 287
assistant
agent noteLeft wrist cam finally shows the red block, at the upper-left corner; yawing ~0.27 rad left to centre it and descending ~5 cm.
move_joints
left_j0-0.8100left_j12.4220left_j22.2710left_j3-1.4200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0767 left_j1=2.4351 left_j2=2.3928 left_j3=-1.5986 left_j4=0.0071 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7185 right_j1=1.4792 right_j2=1.5833 right_j3=-0.749 right_j4=-0.0006 right_j5=-0.0463 right_gripper=0.9992 state[joint_eff]: [2.6188, -15.2, 9.7299, 0.0904, -0.0611, -0.0171, -0.0073, 1.4154, -5.6547, 5.559, 0.8181, -0.2027, 0.2125, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.81, "left_j1": 2.422, "left_j2": 2.271, "left_j3": -1.42}, "note": "Left wrist cam finally shows the red block, at the upper-left corner; yawing ~0.27 rad left to centre it and descending ~5 cm."})
tool
executing move_joints over 5 steps (0.5s)
step 292
top_cam
camera top_cam step 292
left_cam
camera left_cam step 292
right_cam
camera right_cam step 292
assistant
agent noteGeometry says the red block sits ~14 cm beyond the left arm's fingertips, i.e. out of its reach (r≈0.58 m). New plan: the right arm will pick the red block and move it closer. First I retract the left arm (still holding the white cube) out of the way.
move_joints
left_j0-0.5000left_j11.6000left_j21.6000left_j3-1.2000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9646 left_j1=2.4405 left_j2=2.2864 left_j3=-1.4757 left_j4=0.0067 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7109 right_j1=1.5383 right_j2=1.5764 right_j3=-0.601 right_j4=-0.0006 right_j5=-0.0673 right_gripper=0.9992 state[joint_eff]: [12.0547, -14.7897, 4.7795, 0.5104, -0.022, -0.0513, -0.0122, 0.2667, -11.5487, 7.5556, -0.0171, -0.0513, 0.232, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.5, "left_j1": 1.6, "left_j2": 1.6, "left_j3": -1.2}, "note": "Geometry says the red block sits ~14 cm beyond the left arm's fingertips, i.e. out of its reach (r\u22480.58 m). New plan: the right arm will pick the red block and move it closer. First I retract the left arm (still holding the white cube) out of the way."})
tool
executing move_joints over 14 steps (1.4s)
step 306
top_cam
camera top_cam step 306
left_cam
camera left_cam step 306
right_cam
camera right_cam step 306
assistant
agent noteOverhead now clearly shows the red block alone between the two arms. Bringing the right gripper down to ~6 cm above the table near its estimated position to acquire it in the right wrist camera.
move_joints
right_j11.9240right_j21.4560right_j3-1.1020
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5144 left_j1=1.6608 left_j2=1.6035 left_j3=-1.2434 left_j4=0.0063 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7136 right_j1=1.5269 right_j2=1.5814 right_j3=-0.5385 right_j4=-0.0151 right_j5=-0.0578 right_gripper=0.9991 state[joint_eff]: [0.1436, -8.8821, 6.694, 1.0574, -0.0317, -0.0562, -0.0073, -0.1983, -6.7214, 7.4872, 1.9267, 0.0952, -0.1148, -0.0171] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.924, "right_j2": 1.456, "right_j3": -1.102}, "note": "Overhead now clearly shows the red block alone between the two arms. Bringing the right gripper down to ~6 cm above the table near its estimated position to acquire it in the right wrist camera."})
tool
executing move_joints over 9 steps (0.9s)
step 315
top_cam
camera top_cam step 315
left_cam
camera left_cam step 315
right_cam
camera right_cam step 315
assistant
agent noteRight wrist cam sees the red block up-and-right of the jaws; yawing 0.19 rad right and lowering/advancing to bring it into the grasp.
move_joints
right_j00.5200right_j12.0660right_j21.4810right_j3-0.9860
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6722 left_j2=1.5993 left_j3=-1.2446 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7132 right_j1=1.9011 right_j2=1.4696 right_j3=-1.0218 right_j4=-0.0124 right_j5=-0.0715 right_gripper=0.9991 state[joint_eff]: [-0.1026, -8.3487, 6.3658, 0.7253, -0.0073, -0.0317, -0.0073, 0.0068, -8.9368, 5.7368, 0.4713, -0.0952, 0.0708, -0.0122] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.52, "right_j1": 2.066, "right_j2": 1.481, "right_j3": -0.986}, "note": "Right wrist cam sees the red block up-and-right of the jaws; yawing 0.19 rad right and lowering/advancing to bring it into the grasp."})
tool
executing move_joints over 4 steps (0.4s)
step 319
top_cam
camera top_cam step 319
left_cam
camera left_cam step 319
right_cam
camera right_cam step 319
assistant
agent noteBlock is just right of the jaw gap and close; small yaw right plus ~2 cm advance and 1 cm descent to bracket it.
move_joints
right_j00.4600right_j12.1510right_j21.5740right_j3-0.9940
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5137 left_j1=1.6737 left_j2=1.5982 left_j3=-1.2465 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.5369 right_j1=2.0228 right_j2=1.4746 right_j3=-1.0103 right_j4=-0.0071 right_j5=-0.0795 right_gripper=0.9991 state[joint_eff]: [-0.1709, -7.5419, 6.1333, 0.7595, -0.0611, -0.0317, -0.0171, 0.0479, -7.9385, 6.4752, 0.3199, -0.0366, 0.0562, -0.0171] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.46, "right_j1": 2.151, "right_j2": 1.574, "right_j3": -0.994}, "note": "Block is just right of the jaw gap and close; small yaw right plus ~2 cm advance and 1 cm descent to bracket it."})
tool
executing move_joints over 3 steps (0.3s)
step 322
top_cam
camera top_cam step 322
left_cam
camera left_cam step 322
right_cam
camera right_cam step 322
assistant
agent noteRed block is between the right jaws at the bottom of the frame; 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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2499 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4801 right_j1=2.1246 right_j2=1.5398 right_j3=-1.0119 right_j4=-0.0082 right_j5=-0.0834 right_gripper=0.9991 state[joint_eff]: [-0.1162, -7.665, 6.065, 0.7692, -0.0122, -0.0708, -0.0073, -0.7726, -9.6615, 7.4872, 0.2906, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Red block is between the right jaws at the bottom of the frame; closing to grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 332
top_cam
camera top_cam step 332
left_cam
camera left_cam step 332
right_cam
camera right_cam step 332
assistant
agent noteThe close came up nearly empty (residual 0.01) and the block is still on the table just ahead of the jaws; reopening and lifting slightly to re-acquire it.
move_joints
right_gripper1.0000right_j12.0500right_j21.5200right_j3-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.149 right_j2=1.5417 right_j3=-1.0168 right_j4=-0.0082 right_j5=-0.0872 right_gripper=0.0105 state[joint_eff]: [-0.0479, -7.6239, 6.0239, 0.7106, -0.0269, -0.0415, -0.0073, -0.0615, -12.8615, 5.1897, 0.2222, -0.0317, 0.0171, 0.8962] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 2.05, "right_j2": 1.52, "right_j3": -1.05}, "note": "The close came up nearly empty (residual 0.01) and the block is still on the table just ahead of the jaws; reopening and lifting slightly to re-acquire it."})
tool
executing move_joints over 10 steps (1.0s)
step 342
top_cam
camera top_cam step 342
left_cam
camera left_cam step 342
right_cam
camera right_cam step 342
assistant
agent noteThe red block is clearly between the two jaw silhouettes now; advancing ~1 cm and dropping ~1 cm before closing.
move_joints
right_j12.1350right_j21.5470right_j3-0.9820
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0838 right_j2=1.5238 right_j3=-1.0504 right_j4=-0.0078 right_j5=-0.0971 right_gripper=0.9953 state[joint_eff]: [-0.0752, -7.6786, 6.065, 0.7106, -0.0317, -0.0562, -0.0073, -0.212, -13.012, 5.3265, 0.1636, -0.0562, 0.1685, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.135, "right_j2": 1.547, "right_j3": -0.982}, "note": "The red block is clearly between the two jaw silhouettes now; advancing ~1 cm and dropping ~1 cm before closing."})
tool
executing move_joints over 2 steps (0.2s)
step 344
top_cam
camera top_cam step 344
left_cam
camera left_cam step 344
right_cam
camera right_cam step 344
assistant
agent noteBlock sits deep between the jaws; 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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0998 right_j2=1.5261 right_j3=-1.0313 right_j4=-0.0078 right_j5=-0.102 right_gripper=0.9963 state[joint_eff]: [-0.294, -7.6786, 6.0513, 0.7253, -0.0122, -0.0708, -0.0171, 0.0615, -8.7453, 7.6376, 0.3639, -0.0122, 0.0659, 0.0757] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Block sits deep between the jaws; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 354
top_cam
camera top_cam step 354
left_cam
camera left_cam step 354
right_cam
camera right_cam step 354
assistant
agent noteEmpty again — the wrist camera looks ~10 cm past the fingertips, so what looks 'between the jaws' is still ahead of them. Reopening and advancing ~5 cm further out.
move_joints
right_gripper1.0000right_j12.3190right_j21.8700right_j3-1.1220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1284 right_j2=1.5242 right_j3=-1.0245 right_j4=-0.0082 right_j5=-0.1066 right_gripper=0.0109 state[joint_eff]: [-0.0752, -7.5009, 6.2154, 0.6813, -0.0171, -0.0659, -0.0171, -0.1846, -13.053, 5.7094, 0.1245, -0.0464, 0.0366, 0.9646] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 2.319, "right_j2": 1.87, "right_j3": -1.122}, "note": "Empty again \u2014 the wrist camera looks ~10 cm past the fingertips, so what looks 'between the jaws' is still ahead of them. Reopening and advancing ~5 cm further out."})
tool
executing move_joints over 10 steps (1.0s)
step 364
top_cam
camera top_cam step 364
left_cam
camera left_cam step 364
right_cam
camera right_cam step 364
assistant
agent noteBlock dropped out of the wrist view after advancing, so I overshot; pulling back ~4 cm to r≈0.36 m to re-acquire it.
move_joints
right_j12.1530right_j21.6490right_j3-1.0670
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4808 right_j1=2.3028 right_j2=1.8347 right_j3=-1.129 right_j4=-0.0082 right_j5=-0.1204 right_gripper=0.9956 state[joint_eff]: [-0.0615, -7.6923, 6.0376, 0.7106, -0.0317, -0.0659, -0.0171, 0.0889, -11.2068, 7.706, 0.2418, -0.0317, 0.1587, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.153, "right_j2": 1.649, "right_j3": -1.067}, "note": "Block dropped out of the wrist view after advancing, so I overshot; pulling back ~4 cm to r\u22480.36 m to re-acquire it."})
tool
executing move_joints over 3 steps (0.3s)
step 367
top_cam
camera top_cam step 367
left_cam
camera left_cam step 367
right_cam
camera right_cam step 367
assistant
agent noteA red sliver is visible at the very bottom edge of the right wrist view, so the block is right at the jaws; dropping the fingertips to table level before closing, in case previous closes happened above the block.
move_joints
right_j12.1580right_j21.5350right_j3-0.9480
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.215 right_j2=1.665 right_j3=-1.0958 right_j4=-0.0078 right_j5=-0.1246 right_gripper=0.997 state[joint_eff]: [-0.212, -7.665, 6.1744, 0.7057, -0.0415, -0.0317, -0.0073, -0.0068, -15.0769, 6.6667, 0.5885, -0.0317, 0.0122, 0.1294] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.158, "right_j2": 1.535, "right_j3": -0.948}, "note": "A red sliver is visible at the very bottom edge of the right wrist view, so the block is right at the jaws; dropping the fingertips to table level before closing, in case previous closes happened above the block."})
tool
executing move_joints over 3 steps (0.3s)
step 370
top_cam
camera top_cam step 370
left_cam
camera left_cam step 370
right_cam
camera right_cam step 370
assistant
agent noteRed block sits between the jaw tips at table height; 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=-0.5133 left_j1=1.6749 left_j2=1.5974 left_j3=-1.2526 left_j4=0.0032 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.17 right_j2=1.5581 right_j3=-1.0092 right_j4=-0.0048 right_j5=-0.128 right_gripper=0.9972 state[joint_eff]: [-0.0068, -7.5145, 6.0513, 0.8181, -0.0464, 0.0024, -0.0171, -0.1162, -11.6034, 4.7248, 0.4469, -0.0611, -0.0024, 0.0024] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Red block sits between the jaw tips at table height; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 380
top_cam
camera top_cam step 380
left_cam
camera left_cam step 380
right_cam
camera right_cam step 380
assistant
agent noteReading the overhead frame properly (arm bases are at the TOP of the image, so image-down is forward), the red block is ~15 cm forward and ~5 cm right of the right gripper. Reopening and driving out to r≈0.49 m at that bearing.
move_joints
right_gripper1.0000right_j00.3550right_j12.7630right_j22.7200right_j3-1.5280
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6749 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1635 right_j2=1.5486 right_j3=-1.0168 right_j4=-0.0055 right_j5=-0.1322 right_gripper=0.0109 state[joint_eff]: [-0.0479, -7.4872, 6.065, 0.7448, -0.0562, -0.0366, -0.0122, -0.1026, -10.6598, 6.188, 0.2369, -0.0317, 0.0024, 0.9304] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j0": 0.355, "right_j1": 2.763, "right_j2": 2.72, "right_j3": -1.528}, "note": "Reading the overhead frame properly (arm bases are at the TOP of the image, so image-down is forward), the red block is ~15 cm forward and ~5 cm right of the right gripper. Reopening and driving out to r\u22480.49 m at that bearing."})
tool
executing move_joints over 19 steps (1.9s)
step 399
top_cam
camera top_cam step 399
left_cam
camera left_cam step 399
right_cam
camera right_cam step 399
assistant
agent noteMeasuring the block against the right arm's base in the overhead frame puts it at r≈0.33 m, bearing ≈0.87 rad — closer and further left than I've been reaching. Moving there.
move_joints
right_j00.8700right_j11.9960right_j21.3190right_j3-0.8940
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.3649 right_j1=2.7445 right_j2=2.674 right_j3=-1.5208 right_j4=-0.0078 right_j5=-0.1535 right_gripper=0.9973 state[joint_eff]: [-0.1983, -7.665, 6.0239, 0.696, -0.0024, -0.0708, -0.0171, -0.8957, -13.7368, 8.0068, 0.2906, -0.0073, 0.1636, -0.1392] camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.87, "right_j1": 1.996, "right_j2": 1.319, "right_j3": -0.894}, "note": "Measuring the block against the right arm's base in the overhead frame puts it at r\u22480.33 m, bearing \u22480.87 rad \u2014 closer and further left than I've been reaching. Moving there."})
tool
executing move_joints over 22 steps (2.2s)
step 421
top_cam
camera top_cam step 421
left_cam
camera left_cam step 421
right_cam
camera right_cam step 421
assistant
agent noteBlock vanished from both the overhead (occluded by the gripper) and the wrist view, so it should be at/behind the jaws; retracting 3 cm to bring it back into the wrist frame.
move_joints
right_j11.9060right_j21.1810right_j3-0.8460
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.676 left_j2=1.5967 left_j3=-1.2518 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8612 right_j1=2.0285 right_j2=1.3396 right_j3=-0.9314 right_j4=-0.0078 right_j5=-0.1547 right_gripper=0.9984 state[joint_eff]: [-0.1983, -7.5829, 6.147, 0.7204, -0.0366, -0.0513, -0.0122, 0.1709, -11.1248, 5.4222, 0.6032, 0.0513, 0.0122, 0.1099] camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.906, "right_j2": 1.181, "right_j3": -0.846}, "note": "Block vanished from both the overhead (occluded by the gripper) and the wrist view, so it should be at/behind the jaws; retracting 3 cm to bring it back into the wrist frame."})
tool
executing move_joints over 3 steps (0.3s)
step 424
top_cam
camera top_cam step 424
left_cam
camera left_cam step 424
right_cam
camera right_cam step 424
assistant
agent noteNothing visible; pulling the right arm back toward its base to clear the overhead view and find where the red block actually is now.
move_joints
right_j00.0000right_j11.2000right_j21.4000right_j3-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8635 right_j1=1.935 right_j2=1.1999 right_j3=-0.87 right_j4=-0.0078 right_j5=-0.1543 right_gripper=0.9985 state[joint_eff]: [-0.0615, -7.665, 6.0239, 0.7009, -0.0562, -0.0611, -0.0171, -0.335, -9.9487, 5.6821, 0.5104, -0.0513, -0.0073, 0.0024] camera 'top_cam' (step 424): [image omitted: streamed camera frame] camera 'left_cam' (step 424): [image omitted: streamed camera frame] camera 'right_cam' (step 424): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 1.2, "right_j2": 1.4, "right_j3": -0.8}, "note": "Nothing visible; pulling the right arm back toward its base to clear the overhead view and find where the red block actually is now."})
tool
executing move_joints over 14 steps (1.4s)
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 noteOverhead now shows the red block clearly with the right arm retracted. Bringing the left arm (still holding the cube) out to its reach limit at r≈0.48 m, bearing −0.95, at block-top height to try the stack directly.
move_joints
left_j0-0.9500left_j12.6800left_j22.7800left_j3-1.6710
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2514 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.0196 right_j1=1.2327 right_j2=1.3582 right_j3=-0.8474 right_j4=-0.012 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-0.0342, -7.5009, 6.0376, 0.7888, -0.0317, -0.0415, -0.0171, 0.0615, -4.6564, 9.4974, 2.0049, -0.0269, 0.0024, -0.0122] 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": {"left_j0": -0.95, "left_j1": 2.68, "left_j2": 2.78, "left_j3": -1.671}, "note": "Overhead now shows the red block clearly with the right arm retracted. Bringing the left arm (still holding the cube) out to its reach limit at r\u22480.48 m, bearing \u22120.95, at block-top height to try the stack directly."})
tool
executing move_joints over 19 steps (1.9s)
step 457
top_cam
camera top_cam step 457
left_cam
camera left_cam step 457
right_cam
camera right_cam step 457
assistant
agent noteThe red block is visible up-and-right in the left wrist view. Shifting 3.5 cm right and pitching the gripper ~25° forward to gain reach, pushing the fingertips out to r≈0.53 m at block-top height.
move_joints
left_j0-1.0100left_j12.7150left_j22.8050left_j3-1.1900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9386 left_j1=2.661 left_j2=2.7338 left_j3=-1.6665 left_j4=0.0044 left_j5=-0.0799 left_gripper=0.6266 right_j0=0.0185 right_j1=1.2385 right_j2=1.3525 right_j3=-0.8635 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-0.3761, -13.8325, 7.8974, 0.2222, -0.0073, -0.0366, -0.0073, 0.0615, -4.5744, 6.9265, 1.6777, -0.0659, -0.0317, -0.0122] camera 'top_cam' (step 457): [image omitted: streamed camera frame] camera 'left_cam' (step 457): [image omitted: streamed camera frame] camera 'right_cam' (step 457): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.01, "left_j1": 2.715, "left_j2": 2.805, "left_j3": -1.19}, "note": "The red block is visible up-and-right in the left wrist view. Shifting 3.5 cm right and pitching the gripper ~25\u00b0 forward to gain reach, pushing the fingertips out to r\u22480.53 m at block-top height."})
tool
executing move_joints over 8 steps (0.8s)
step 465
top_cam
camera top_cam step 465
left_cam
camera left_cam step 465
right_cam
camera right_cam step 465
assistant
agent noteA sliver of the red block shows at the lower-left beside the held cube, and the overhead view shows red right under the jaws; nudging ~2 cm left to centre the cube over the block before releasing.
move_joints
left_j0-0.9630
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0031 left_j1=2.706 left_j2=2.764 left_j3=-1.3289 left_j4=0.004 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3525 right_j3=-0.865 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-0.5128, -14.3111, 9.2786, 1.5165, -0.0366, 0.1929, -0.0122, -0.1436, -4.1231, 6.5026, 1.6093, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 465): [image omitted: streamed camera frame] camera 'left_cam' (step 465): [image omitted: streamed camera frame] camera 'right_cam' (step 465): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.963}, "note": "A sliver of the red block shows at the lower-left beside the held cube, and the overhead view shows red right under the jaws; nudging ~2 cm left to centre the cube over the block before releasing."})
tool
executing move_joints over 1 steps (0.1s)
step 466
top_cam
camera top_cam step 466
left_cam
camera left_cam step 466
right_cam
camera right_cam step 466
assistant
agent noteThe yaw nudge didn't take (controller undershoot), so I'm commanding further, to j0=-0.90, to shift the held cube ~4 cm left over the red block.
move_joints
left_j0-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.008 left_j1=2.7098 left_j2=2.7697 left_j3=-1.2659 left_j4=0.0036 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8795 right_j4=-0.0082 right_j5=-0.1581 right_gripper=0.9985 state[joint_eff]: [-0.4718, -14.7487, 8.8274, 1.6581, 0.0073, 0.1343, -0.0122, -0.1299, -4.0957, 6.5573, 1.6825, -0.0366, -0.0024, -0.0122] camera 'top_cam' (step 466): [image omitted: streamed camera frame] camera 'left_cam' (step 466): [image omitted: streamed camera frame] camera 'right_cam' (step 466): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.9}, "note": "The yaw nudge didn't take (controller undershoot), so I'm commanding further, to j0=-0.90, to shift the held cube ~4 cm left over the red block."})
tool
executing move_joints over 2 steps (0.2s)
step 468
top_cam
camera top_cam step 468
left_cam
camera left_cam step 468
right_cam
camera right_cam step 468
assistant
agent noteBased on the wrist view before the shift, the cube should now sit directly over the red block at block-top height; opening the gripper to release it onto the stack.
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=-0.9455 left_j1=2.7098 left_j2=2.767 left_j3=-1.3136 left_j4=0.0074 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8856 right_j4=-0.0078 right_j5=-0.1581 right_gripper=0.9985 state[joint_eff]: [2.865, -15.0769, 6.147, 1.1648, -0.0464, -0.0464, -0.0171, -0.1846, -4.1094, 6.6667, 1.6288, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 468): [image omitted: streamed camera frame] camera 'left_cam' (step 468): [image omitted: streamed camera frame] camera 'right_cam' (step 468): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "Based on the wrist view before the shift, the cube should now sit directly over the red block at block-top height; opening the gripper to release it onto the stack."})
tool
executing move_joints over 4 steps (0.4s)
step 472
top_cam
camera top_cam step 472
left_cam
camera left_cam step 472
right_cam
camera right_cam step 472
assistant
agent noteThe release missed: the blue cube landed on the table just up-left of the red block instead of on top of it. Reaching out and left to re-grasp the cube.
move_joints
left_j0-0.8300left_j12.8230left_j22.7750left_j3-0.9520
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9508 left_j1=2.7098 left_j2=2.767 left_j3=-1.3197 left_j4=0.004 left_j5=-0.1055 left_gripper=0.995 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8867 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [0.6496, -15.0496, 6.065, 0.9744, -0.022, -0.0171, -0.0806, -0.335, -4.0957, 6.4615, 1.5311, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 472): [image omitted: streamed camera frame] camera 'left_cam' (step 472): [image omitted: streamed camera frame] camera 'right_cam' (step 472): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.83, "left_j1": 2.823, "left_j2": 2.775, "left_j3": -0.952}, "note": "The release missed: the blue cube landed on the table just up-left of the red block instead of on top of it. Reaching out and left to re-grasp the cube."})
tool
executing move_joints over 6 steps (0.6s)
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 blue cube is right at the jaws, slightly right of centre; nudging 2 cm right and closing to re-grasp it.
move_joints
left_j0-0.8800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.831 left_j1=2.809 left_j2=2.767 left_j3=-1.0821 left_j4=-0.0002 left_j5=-0.1249 left_gripper=0.9959 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8909 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-0.6906, -14.8034, 7.0632, 1.7118, -0.0024, 0.1734, 0.0904, -0.0752, -4.0957, 6.4615, 1.5556, -0.0366, -0.0659, -0.0122] 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": {"left_j0": -0.88, "left_gripper": 0.0}, "note": "The blue cube is right at the jaws, slightly right of centre; nudging 2 cm right and closing to re-grasp it."})
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 noteRe-grasped the cube (residual 0.43, high effort). Moving ~4 cm right and ~6 cm back to hover over the red block at its top height.
move_joints
left_j0-0.9500left_j12.4500left_j22.2720left_j3-0.9220
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8669 left_j1=2.8239 left_j2=2.7663 left_j3=-1.0863 left_j4=-0.0013 left_j5=-0.1314 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-1.1556, -16.7863, 6.5436, 1.0965, -0.0611, 0.0024, 1.033, -0.335, -4.0957, 6.4615, 1.5653, -0.022, -0.0611, -0.0122] 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": {"left_j0": -0.95, "left_j1": 2.45, "left_j2": 2.272, "left_j3": -0.922}, "note": "Re-grasped the cube (residual 0.43, high effort). Moving ~4 cm right and ~6 cm back to hover over the red block at its top height."})
tool
executing move_joints over 8 steps (0.8s)
step 496
top_cam
camera top_cam step 496
left_cam
camera left_cam step 496
right_cam
camera right_cam step 496
assistant
agent noteHovering over the red block at its top height with the cube in the jaws; opening to release the cube onto it.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9451 left_j1=2.5198 left_j2=2.2875 left_j3=-0.9604 left_j4=0.0002 left_j5=-0.1318 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3499 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [-0.4171, -17.9214, 6.8444, 1.3358, -0.0513, -0.0269, 1.0183, -0.1709, -4.0957, 6.6803, 1.5311, -0.0171, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 496): [image omitted: streamed camera frame] camera 'left_cam' (step 496): [image omitted: streamed camera frame] camera 'right_cam' (step 496): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "Hovering over the red block at its top height with the cube in the jaws; opening to release the cube onto it."})
tool
executing move_joints over 6 steps (0.6s)
step 502
top_cam
camera top_cam step 502
left_cam
camera left_cam step 502
right_cam
camera right_cam step 502
assistant
agent noteI picked up the left (blue) cube successfully, but could not reliably localise the red block in depth: the two cubes ended up side by side rather than stacked. The stack was not achieved.
done
hindsightKey things I wish I'd known on this rig: (1) The overhead camera here is heavily zoomed and oblique — the arm bases are near the bottom but the mapping is not a clean up=forward image; deriving px/cm from it cost me ~15 calls and gave estimates that were 10-15 cm wrong. Calibrate it with two large, clean, widely separated gripper poses at the SAME height before trusting it. (2) The wrist camera looks ~10-15 cm beyond the fingertips at 10 cm height: an object that appears 'between the jaws' at the bottom edge is often still several cm ahead, and an object at the grasp point is completely out of frame. The reliable signature of a graspable position is the object filling the lower third of the frame and then advancing 1-2 cm more. (3) The right-side block sat at r≈0.5+ m for the left arm — near/over its reach limit; check reachability early and plan which arm does what. (4) Grip residual is a trustworthy grasp check: ~0.01 = empty/edge pinch, ~0.4-0.6 = a real cube. (5) j0 nudges under 0.05 rad often don't execute at all (undershoot); command 0.05-0.1 rad beyond.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9485 left_j1=2.5156 left_j2=2.2738 left_j3=-0.9642 left_j4=0.0002 left_j5=-0.1398 left_gripper=0.9947 right_j0=0.0177 right_j1=1.2385 right_j2=1.3479 right_j3=-0.8944 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985 state[joint_eff]: [0.2803, -14.0103, 7.4325, 0.9353, -0.0317, 0.0366, -0.0952, -0.253, -4.0957, 6.6393, 1.5214, -0.0513, -0.0366, -0.0073] camera 'top_cam' (step 502): [image omitted: streamed camera frame] camera 'left_cam' (step 502): [image omitted: streamed camera frame] camera 'right_cam' (step 502): [image omitted: streamed camera frame]
assistant
done({"summary": "I picked up the left (blue) cube successfully, but could not reliably localise the red block in depth: the two cubes ended up side by side rather than stacked. The stack was not achieved.", "hindsight": "Key things I wish I'd known on this rig: (1) The overhead camera here is heavily zoomed and oblique \u2014 the arm bases are near the bottom but the mapping is not a clean up=forward image; deriving px/cm from it cost me ~15 calls and gave estimates that were 10-15 cm wrong. Calibrate it with two large, clean, widely separated gripper poses at the SAME height before trusting it. (2) The wrist camera looks ~10-15 cm beyond the fingertips at 10 cm height: an object that appears 'between the jaws' at the bottom edge is often still several cm ahead, and an object at the grasp point is completely out of frame. The reliable signature of a graspable position is the object filling the lower third of the frame and then advancing 1-2 cm more. (3) The right-side block sat at r\u22480.5+ m for the left arm \u2014 near/over its reach limit; check reachability early and plan which arm does what. (4) Grip residual is a trustworthy grasp check: ~0.01 = empty/edge pinch, ~0.4-0.6 = a real cube. (5) j0 nudges under 0.05 rad often don't execute at all (undershoot); command 0.05-0.1 rad beyond."})
tool
done: I picked up the left (blue) cube successfully, but could not reliably localise the red block in depth: the two cubes ended up side by side rather than stacked. The stack was not achieved.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 8.273 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3
{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0326 left_j4=-0.0078 left_j5=-0.0223 left_gripper=0.9998 right_j0=-0.0055 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0151 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, 1.2376, 6.3111, 2.2198, 0.0904, 0.1441, -0.0415, 0.3487, 0.8, 6.4068, 2.1026, 0.0904, 0.0464, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18281f11a4e92072d6a2d336540fea7a50faedda153b6acd26b50ef3045c8de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bae43c057856c51ca51fd1fb7eb9216025a7d1820f8d3481a27f173eb2d85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a482b59eb1e686304ac0d068e05ab19db2205a0e635aec8ab6a7a56933e7fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 18281f11a4e9
wire blob c3bae43c0578
wire blob 6a482b59eb1e
call 1 attempt 0 · /messages · status 200 · 7.33 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0326 left_j4=-0.0078 left_j5=-0.0223 left_gripper=0.9998 right_j0=-0.0055 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0151 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, 1.2376, 6.3111, 2.2198, 0.0904, 0.1441, -0.0415, 0.3487, 0.8, 6.4068, 2.1026, 0.0904, 0.0464, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18281f11a4e92072d6a2d336540fea7a50faedda153b6acd26b50ef3045c8de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bae43c057856c51ca51fd1fb7eb9216025a7d1820f8d3481a27f173eb2d85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a482b59eb1e686304ac0d068e05ab19db2205a0e635aec8ab6a7a56933e7fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 18281f11a4e9]
[blob c3bae43c0578]
[blob 6a482b59eb1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WeTdpmaawacZB7EqTTcYLG",
      "input": {
        "note": "Overhead view is dark; I see two small blocks mid-frame (bluish left, reddish right) and two dark arm blobs at the bottom. Raising the left arm to identify which blob is the left arm and to get a better wrist view.",
        "targets": {
          "left_j1": 0.9,
          "left_j2": 1.4,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01WeTdpmaawacZB7EqTTcYLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.8925 left_j2=1.3567 left_j3=-0.5877 left_j4=-0.0082 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.012 right_j2=0.0071 right_j3=-0.0261 right_j4=-0.0132 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -0.7179, 7.3504, 1.9072, -0.0464, -0.022, -0.0171, -0.2803, 1.4564, 7.0359, 1.9219, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:395159667a580e1c19e7c58c82a8f1210e4c24fa407ef2c90b28040b95b64c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8a6002c48f8f0478608c9ded17fb02abcc63dfa57a2988d054b1b78e63011c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9665bfad7694d0c20c7101ce204550ab1754ebd10e71654b0b8964eba083608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 395159667a58
wire blob ba8a6002c48f
wire blob d9665bfad769
call 2 attempt 0 · /messages · status 200 · 7.025 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0326 left_j4=-0.0078 left_j5=-0.0223 left_gripper=0.9998 right_j0=-0.0055 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0151 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, 1.2376, 6.3111, 2.2198, 0.0904, 0.1441, -0.0415, 0.3487, 0.8, 6.4068, 2.1026, 0.0904, 0.0464, -0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.8925 left_j2=1.3567 left_j3=-0.5877 left_j4=-0.0082 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.012 right_j2=0.0071 right_j3=-0.0261 right_j4=-0.0132 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -0.7179, 7.3504, 1.9072, -0.0464, -0.022, -0.0171, -0.2803, 1.4564, 7.0359, 1.9219, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:395159667a580e1c19e7c58c82a8f1210e4c24fa407ef2c90b28040b95b64c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8a6002c48f8f0478608c9ded17fb02abcc63dfa57a2988d054b1b78e63011c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9665bfad7694d0c20c7101ce204550ab1754ebd10e71654b0b8964eba083608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 395159667a58]
[blob ba8a6002c48f]
[blob d9665bfad769]
{
  "content": [
    {
      "signature": "CAISxwsKjAEIEBgCKkDEhvoEcbYBQrDqJeM1Rq/Kblia1Q9ZpH80NeDwE99uj2hU24EoaVbC9i5eLmiplMsPJldRtRAaiDO4K6uqa1LiMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMerEBNoZ0+Z3QCI4jGgy5tETTVQO81RCPppEiMORmiIxr8pxtToqBvXMwmkSVu85J5pmWF2jkDDC6ONsZukaw1ujD8Ts8Usf66ATvEirnCXRNQR9FJRBYLK0j+s9aAiJ41gJMii1AiENMNNPb3+/cAsOCiWDORyVFPLRnFDc85JkYzU8wEjkwvVF5MjWSHNqNM3ykWW8g+2HzIY9yWkB1V7bru32azWYbvLQKU6s1tKAFRSJ7P25QNpq/JEJdiNgfTfbyUFaHZX1wnOkNyyNoPmHY8u2+ECcvknNkAA4dfxI0jPoWRi1bZ6FINMxVubgwezrIFoweRWFAuvf4PEH2yiOo6DebWlLN3OCb93RIFFq0UcetMehVCZcR/Q0K3Wn6oikga9SoT0gvgGZQ2jFNKr9Pw2BgIF7WNaFrFNXaowh6VjUgiyCWwtDKzwEs0ZyRV8lZc010FbmwXbqY2qRJP8Ac9oXTtN0Cn+sBVVjmpKCerRI05ttFtrrSdvpVQ5ic2jm33nPEOL9o5mnnHz0h7ydHv73kOZNBXeUhH46k0vw1tMt2HmjPxXRzMYnVzCLOTY819Fpq5QOXN7FSnceie3mBY0cgwN6OFVBXbf357BdFh32/AANm1/lh0rxqdMc4PzQ4mEwVKw8f/F7yRII3ZGIeIkEncZqJhfk2/VTDcROxRYE5OcwSxi3Ih8ZQi8pIYKizm+ahRlM3PJKv/2z4m/cu60zVFa1napQTmC84WO4qNquMkLY6RidnkrvQIQFcN1QMNUKOGplOJkEhAJntF1DR9v9ORT1EdUzklY2YF/b/fYD+q7TKn18NhZLhJVqw5Hz3PI5C36PBGa3GJiDUEpr3ZPj5r/3vm9QtYYA9ueGjms31k4g6M1VsCNdVH8eHZ62c8+uDxtocFiWFlP/1Z8A5+I+tEqcpYCvwUD3m1A1Dn4qEcsSAa8TEXUMB7HxM1xS49AXi4rERQ2NrE2DZW1Af5gPdndS5WIzqhlse+FPwDJhv0YFbQ8mZd++dogaFkoPc/9FM6Tiv6ryghj1GC909ZDQ/9x92KNfapGZu7TFA6BXFOwVAodqk3dS9b8chwTA8xgD3lkulCLvE+ZzJHDirau0GeDvJd26u+dFd93ArM6ZOmZgQ0FvyZ02Pnt8ayDRRCU4PO36WXfCpOYNDNogNvdLPnLI5yYJw2B8KhkHKIFPS5Rxn8N97REioWuvKfPBR/moiwRAWI/hxQPwkEgprHpes0zgDLO7JXqoBWL8wwwrczPbewpTbEl3pPPhplH35gZE4VTC8kiU3GPVh2dE7l661PvKHfkb5oExKOx1sWB6+5IiVewryJCPRvMlkwWDOEbYiWh2FoRKbg/UeRO0eJp0FKljSiFyLqYu/XAvdx77QHUo1nUZTJ+crualCpv3+bZ/XGV1/IeQsqnZj3EbhWeF7e4Me6XgI7UcUD7D6XTR9FuI0JVYHPaTCJKoL2/7WGSZhCmX/K62UoTxyBmkIxbSNDMA48dpYC1XbNHOKzoJbLhcBhQ2SlyQz2aKszXnn26qD1j5SaDdRtW2zXCzeFtXV7912fQjI3cpmiQp5g8CfAAlKKnQ3k3780H1Cn2tE+ZN2vm5nT2ZstMNE+6S/VJzh+g4Jr9w38qcjUr2rasudW4t78nqQr/Nt+OHpheqWsFgBKsQM1iULb4lK5Krbiqjj2cvYoSHTSOvBMOfEcQ+Z9K3xNxGjtYDmYCpEEGJPZaTdTYxK2hclakxYH9MaFryKjAGyUcesvpeOP8mBvaOXVksYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvWdCoqSxgeCmACNvRfyn4",
      "input": {
        "note": "Top view now clear: blue block left-of-centre, red block to its right, one dark arm blob at bottom-right. Extending the left arm forward so its gripper enters the overhead frame, which will tell me which side it comes from and let me calibrate scale.",
        "targets": {
          "left_j1": 1.5,
          "left_j2": 1.9,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XvWdCoqSxgeCmACNvRfyn4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=1.4792 left_j2=1.8576 left_j3=-0.8707 left_j4=-0.0082 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0147 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -5.6684, 8.1983, 1.79, -0.0366, -0.0366, -0.0073, -0.1709, 1.4701, 7.0085, 1.9512, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ecc334bf09470797e3d3200273111d6dcbdaa2bcdec3ce1bc80bab794f9e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0594f95856500f1708420628b17d5ec7b389a2cf55a1a45987ac457e26e82fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:481c528fb10e105cbb64f51fd5b8b29edc0e73397248a77777c93918e07d8135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 77ecc334bf09
wire blob 0594f9585650
wire blob 481c528fb10e
call 3 attempt 0 · /messages · status 200 · 7.603 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0326 left_j4=-0.0078 left_j5=-0.0223 left_gripper=0.9998 right_j0=-0.0055 right_j1=0.0101 right_j2=0.0071 right_j3=-0.0246 right_j4=-0.0151 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, 1.2376, 6.3111, 2.2198, 0.0904, 0.1441, -0.0415, 0.3487, 0.8, 6.4068, 2.1026, 0.0904, 0.0464, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.8925 left_j2=1.3567 left_j3=-0.5877 left_j4=-0.0082 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.012 right_j2=0.0071 right_j3=-0.0261 right_j4=-0.0132 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -0.7179, 7.3504, 1.9072, -0.0464, -0.022, -0.0171, -0.2803, 1.4564, 7.0359, 1.9219, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=1.4792 left_j2=1.8576 left_j3=-0.8707 left_j4=-0.0082 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0147 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -5.6684, 8.1983, 1.79, -0.0366, -0.0366, -0.0073, -0.1709, 1.4701, 7.0085, 1.9512, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ecc334bf09470797e3d3200273111d6dcbdaa2bcdec3ce1bc80bab794f9e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0594f95856500f1708420628b17d5ec7b389a2cf55a1a45987ac457e26e82fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:481c528fb10e105cbb64f51fd5b8b29edc0e73397248a77777c93918e07d8135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 77ecc334bf09]
[blob 0594f9585650]
[blob 481c528fb10e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018F1cceJuGcSnNYa4mduHQE",
      "input": {
        "note": "Gripper still not visible overhead, so I'm lowering the left arm to roughly r=0.35 m, z=0.15 m with the jaws pointing down to bring it into the overhead frame and calibrate the view.",
        "targets": {
          "left_j1": 2.06,
          "left_j2": 1.66,
          "left_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018F1cceJuGcSnNYa4mduHQE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0361 left_j2=1.6699 left_j3=-1.1213 left_j4=-0.0078 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0174 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -10.7282, 6.1333, 0.3297, -0.0659, -0.0171, -0.0073, -0.0479, 1.4154, 7.1863, 1.9365, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffac788874713f7538565cf32033cd775a8f712de42a0055c2c3a856158201b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5bff2f1dc6c084ac959810f1a5015f691bfaa8fa715eda0e97e9993e83f23c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5322dc91d5ad5a93f966c3df76b778546fba09054750a2e895cae0a665678a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4ffac7888747
wire blob a5bff2f1dc6c
wire blob 5322dc91d5ad
call 4 attempt 0 · /messages · status 200 · 9.475 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.8925 left_j2=1.3567 left_j3=-0.5877 left_j4=-0.0082 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.012 right_j2=0.0071 right_j3=-0.0261 right_j4=-0.0132 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -0.7179, 7.3504, 1.9072, -0.0464, -0.022, -0.0171, -0.2803, 1.4564, 7.0359, 1.9219, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=1.4792 left_j2=1.8576 left_j3=-0.8707 left_j4=-0.0082 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0147 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -5.6684, 8.1983, 1.79, -0.0366, -0.0366, -0.0073, -0.1709, 1.4701, 7.0085, 1.9512, -0.0073, -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=0.0013 left_j1=2.0361 left_j2=1.6699 left_j3=-1.1213 left_j4=-0.0078 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0174 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -10.7282, 6.1333, 0.3297, -0.0659, -0.0171, -0.0073, -0.0479, 1.4154, 7.1863, 1.9365, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffac788874713f7538565cf32033cd775a8f712de42a0055c2c3a856158201b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5bff2f1dc6c084ac959810f1a5015f691bfaa8fa715eda0e97e9993e83f23c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5322dc91d5ad5a93f966c3df76b778546fba09054750a2e895cae0a665678a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4ffac7888747]
[blob a5bff2f1dc6c]
[blob 5322dc91d5ad]
{
  "content": [
    {
      "signature": "CAIS6gcKjAEIEBgCKkANu/HEubXztqsg9I5dkLUdShUza2syVHSyoZQ9OQAZvVKSBwRWGTterN+jEq5rdkdItoTdODA+FA6Df4+nZbTFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMB6BCcnQs0mOG1HLMGgzY5kaB3OBV15PixA8iMIZGxVzagYQij5S4694GGEbvpP2N1f1WFRlz2XvgMubaOyFw91+gWjlt/Ucuods2/SqKBk3xTIr3So/pYDc+Pvro74/M70ryCM9Go/H+iGF8Gv+KNflI24PSiEOpM/62meItwzS0/JPXmDDuS4WjWe04bNkW+I+7XESUhVgrrMwxF733FZkN0B1cYelxtjgez09SVHTISnXdi7hLUsJoGttOEYVinCWzC5UxcP7TwHuA12bYIIxN/WEtloReDslsQDhkF3teI9twq8RZ4aAvfEipJa3iyGwdIwMoBp+sS0zXwrQ5eOZKtlMKyZHyLJeT5eXnctFYyXmGFRYtfQuTMpw+2yjuuC6MsLrc6cincAqaRF6BFBzwf8W0U7TWYgyA6m9/veBcWLbBi+/jpACoz8zC5TiJApkmvUlRPh9GFqK3WVum6tQuQdd+b5zZCXhpczdQy6o4OZEatTrKkvzyGx8qA/q0XrCmPetaGCzrqI1BFKl8XPB1jF6DAKiJd4LoPaxV30+VkUuZyhiDgdHVILRd5pHcxLp15HaUtQ4LImvp8VuiNSOWAqIfng1HjvlZl2c1fvvfRlkKL7cIyRISkbmnDwkyTzGa79IRPHUhkJwfvtqQZL3L1YpbCK98gtsB23dXxXQ5dP+VWdOFnkQIXEXJ8VKFVIreSWW1VsZWGIqu6C2mTBXa9luJs80SzUbavCYuzMSHxxRfbmylREAJA1Ea420HLligbBcYZWOnnIFP2yc/Cdq157pAPy1fkFOwH9Eu0CHPJuWte5LIMwQa9dd+NWLcKq5V3DHrt9g2YiQb0Y05GsN4uZxCOOAzwrddvC346RuwjKMETftuneN6PHkzLcqaJXWtI9YnbxPvtOeg1uhYlJyvdADToYH2g13zZi88AvGU9IK396RTYLSNSNEdD06+9Kq0YMVNo7zDnWFyzAZiCQCdy8J/DDaTUxQoO8X5oKzqx3mtUpKD6YnumG+Zhtj4ucxObS7zEZIAyRS4X9K9MskBLb7Y6QrTMspoLDHO38/Xu/ecXaWs97TfrAtXD2lSy9l8XsgbGSyhv+nkXyOxaj/9WfQtOnp+wxbw80aPpK2ifEaqxTGz1oEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NR473MzmNBF4tBqqpKph4P",
      "input": {
        "note": "The left arm is now visible at the upper-left of the overhead frame. Yawing j0 by -0.5 rad (gripper moves to the arm's right) to calibrate the overhead image direction and pixel scale.",
        "targets": {
          "left_j0": -0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NR473MzmNBF4tBqqpKph4P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4725 left_j1=2.0766 left_j2=1.6474 left_j3=-1.137 left_j4=-0.0078 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0177 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -14.0923, 7.4735, 0.4908, -0.0024, -0.022, -0.0073, -0.2256, 1.5795, 7.0085, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05376c1d261cf3ccec1d629c02dc2e4284ed1de69faa6d677bc042a691406e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ee05f46cd2eae762a5819a00095dd2b7327e7ecf92a17bc2976ff4645406df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55589fdd88e6c59128bbb584210b7654f4541c49a0079bdabc98398e4c0c0034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b05376c1d261
wire blob 11ee05f46cd2
wire blob 55589fdd88e6
call 5 attempt 0 · /messages · status 200 · 8.541 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=1.4792 left_j2=1.8576 left_j3=-0.8707 left_j4=-0.0082 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0147 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -5.6684, 8.1983, 1.79, -0.0366, -0.0366, -0.0073, -0.1709, 1.4701, 7.0085, 1.9512, -0.0073, -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=0.0013 left_j1=2.0361 left_j2=1.6699 left_j3=-1.1213 left_j4=-0.0078 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0174 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -10.7282, 6.1333, 0.3297, -0.0659, -0.0171, -0.0073, -0.0479, 1.4154, 7.1863, 1.9365, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4725 left_j1=2.0766 left_j2=1.6474 left_j3=-1.137 left_j4=-0.0078 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0177 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -14.0923, 7.4735, 0.4908, -0.0024, -0.022, -0.0073, -0.2256, 1.5795, 7.0085, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05376c1d261cf3ccec1d629c02dc2e4284ed1de69faa6d677bc042a691406e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ee05f46cd2eae762a5819a00095dd2b7327e7ecf92a17bc2976ff4645406df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55589fdd88e6c59128bbb584210b7654f4541c49a0079bdabc98398e4c0c0034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b05376c1d261]
[blob 11ee05f46cd2]
[blob 55589fdd88e6]
{
  "content": [
    {
      "signature": "CAISlgwKjAEIEBgCKkCuxID13zy8+CY9+UhtwOQmQseVjp9Z0oKmiAdLIJQm+MDXCt1E/29JqT1XbAU1sUovv9m5PsRRUrMg9AL+ZJrBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZFF1A2vAR+h2tCZyGgwbtgLgKoWs8N80HkMiMGRs7RDzwg/Un1a+z87sdtYEU2LMcp6yGEqnOUWS7a++EbCB9z1zoi202Subp4qNliq2ClzlTuwfoHAebR9Tdc+10UlvH5o55+rcMOeMRbS6ydKhYe9VMN7igp+Jq72Y9i7YyIBQlB3IprFY0RSIJW1EA6B516q+Ty83y/4fe1UCRS6pfwZ4T1WOBmo4ZKvvMXmvlBZtBPe+nAFbwX0GQQUN97sZLOn34qqfqhzKGtNjvuS059u5kW6TOJycaB3vEEztV9FAnYISuphyFMZX62mZcQypZkmd1rIAuKNa53gsSjmVdy+kyIrJGVA9eflWnAEX7Ka4FFm7HQ/dKnAI0FEd4l02UKojbWQp0kXAQAXjYHwi5QWN6yFPfc90cWQD7mE61dOHh4cr4gE0xbqaS8lzu7g9e0pRjND3Y3AJwSWi2dKPGZMCddxulI3tPyN/VH9RIeXf/OGCBclnckq0AMBIgFWcZsRlfOamYPSC7iK8LrKhgvKwpuorW/4il98/5oyTp9vZhQNWDfwKjqxU54Q3rBhvnVO4n6QDf5a3X/hAC0mS21b1LWnRIvVcktA0CjTBtIVLbUYHV+Drb/MZ7S1yu7Ic8npJ6coiTJykLAFBMl0cd8gGMUywwMjV2MBQCvNRrIm3b/IWw7cVY1KodTgynDL3nj5fZVZ1kKYjccrb1OCKH4bySjTP3GmfPYa1eEGI2ypV1OMNFw3/Marn8T7Cf8DCUgjd1DsHEUcNt6uXQgmFR3sRuj+ta8iu/btaQtza/MZBcwwtIboD24VuWjj7u3LLdH+uat/SOcPaUoOgMxJw/1Kz3CkWrsrbdps77OLv42Mdxwyv2q1x9hFiqQp+XX6rKXTflxxv5UD/mKB7h+flULubmukneQKZjWiSEWguryoCSf2MIWu+l/NI1rnfAg/JkpmVkhvysLXesl/avlMFreHWT5kiqRt4bdrrKbl/W1U/BxNOF0w4uA58753BjeEvflfmhyw2DqI/Osg2RFsdEatNPykhhwdwB8X4ki8wIbAqsOjJLQ4liU/2bsSqFn05lmIidKEvffKYAWUD7gIuJuZ6Ocvl46O1KqTrBP11elffyoQuBsqaQCqSRwd24udgMYZNsRqkjcute4exZdBn6mCHQl4J4pydMWK5ZtM17cIcm+U3ZufflweBWikh+geATgwcE7fYCGattGJFypkKWt0WypT/Sx0wcNJ28Qs8F7DBQRWnmz4ssuA8/wICCgnfJIQCnnE/hApXU9Yb1faihc6EAsoYo0EtUaE1P+rysN674WveTg89KsNNFwW32nZ182iPfTwXpqKLDK9WUB1OyD8HzrE75jVqUK9CxTpTsR824i7WW3UqZdD9AKM7QhFHqoPVt0XieFshLKjP5Vp3MCFS1i5duwpIlYkPMtJbBXk+AYgxC2FopjFrMy6us5EoKGyEEJi4IbLaJpM8WxvyshdL0dEIkP0rM2Pf9U8N2QbBdUv/HWyMpOAFEYB8Al5obt7LRiCQw8pr9KCgYC3BOcp/u5rCnRz5sP9200SGVTyqpqvZ9rIHyDnJsWemBqwlQijoGksJZ6cYMuRhMRESqJrCmxRmOJ2ahrS0zdFTZh+ddJIhTFA6AmhU2UDUZUYouajYCIAYFlarOBc58GvXnN3ZXKRx2smUvjmoMINfeW8+4eKimEW24jSLRHur76bo+v3gdPQXL4whCPI6SYiT2yDGdBwfmrzORy8LeCQ320V4zcrykkUc4uJsrasSUYg3jtoFFga6sC4l374fKr54Fb9/roOsVIMKew5WshVU6/a5uj+drKDqo2q69Cq7jvc7NVPIcBO6Ih37Bd7cMIx1iPD5A3oMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BV1jB6XA8M8SGEGaofyShv",
      "input": {
        "note": "Wrist cam shows the blue block up and to the right of the jaw gap. Moving the gripper ~5 cm further out radially and yawing right to bring the block toward the grasp point.",
        "targets": {
          "left_j0": -0.62,
          "left_j1": 2.27,
          "left_j2": 1.92,
          "left_j3": -1.22
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BV1jB6XA8M8SGEGaofyShv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6098 left_j1=2.2585 left_j2=1.8744 left_j3=-1.2076 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -12.2462, 7.8974, 0.1343, -0.0757, -0.0611, -0.0122, -0.1162, 1.5385, 7.0085, 1.8437, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eed6eac899444a9ddc7a7fc95cb6323bf2542c7be270c48f6b94d953564d773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d890f23e95db431d620d749f93e8d2d53f2599e6677e364f37fde7906b950468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70c4ae815d36d1f19a50420d513a1267d5e915b31b25cc961c381d301d5ebac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7eed6eac8994
wire blob d890f23e95db
wire blob 70c4ae815d36
call 6 attempt 0 · /messages · status 200 · 8.864 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0361 left_j2=1.6699 left_j3=-1.1213 left_j4=-0.0078 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0174 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -10.7282, 6.1333, 0.3297, -0.0659, -0.0171, -0.0073, -0.0479, 1.4154, 7.1863, 1.9365, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4725 left_j1=2.0766 left_j2=1.6474 left_j3=-1.137 left_j4=-0.0078 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0177 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -14.0923, 7.4735, 0.4908, -0.0024, -0.022, -0.0073, -0.2256, 1.5795, 7.0085, 1.8486, -0.0415, -0.0513, -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=-0.6098 left_j1=2.2585 left_j2=1.8744 left_j3=-1.2076 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -12.2462, 7.8974, 0.1343, -0.0757, -0.0611, -0.0122, -0.1162, 1.5385, 7.0085, 1.8437, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eed6eac899444a9ddc7a7fc95cb6323bf2542c7be270c48f6b94d953564d773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d890f23e95db431d620d749f93e8d2d53f2599e6677e364f37fde7906b950468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c4ae815d36d1f19a50420d513a1267d5e915b31b25cc961c381d301d5ebac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7eed6eac8994]
[blob d890f23e95db]
[blob 70c4ae815d36]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019hjNPtv2KW8DMZ3YodJVE7",
      "input": {
        "note": "Block is now just left of and slightly beyond the jaw gap; nudging ~2 cm left and 2 cm nearer to centre it between the jaws.",
        "targets": {
          "left_j0": -0.565,
          "left_j1": 2.21,
          "left_j2": 1.81,
          "left_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_019hjNPtv2KW8DMZ3YodJVE7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6018 left_j1=2.2501 left_j2=1.8397 left_j3=-1.1908 left_j4=-0.0029 left_j5=-0.0261 left_gripper=0.9998 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.812, -14.8855, 5.4496, 0.5153, -0.0659, -0.0464, -0.0073, -0.212, 1.5932, 7.0085, 1.9023, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7b9f70f0a47ce317de4b5d0df0725df626b9f6dbc076b1bbf529889158899c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3b95908f6752b5ee3fb736afd4656a5ebd5d107cc9727a5af5cdc8e0470df5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:297c2127133896a5665375c29db2c8520b26089c4793528beeff68cd28fe06b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cf7b9f70f0a4
wire blob dc3b95908f67
wire blob 297c21271338
call 7 attempt 0 · /messages · status 200 · 9.443 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4725 left_j1=2.0766 left_j2=1.6474 left_j3=-1.137 left_j4=-0.0078 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0177 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -14.0923, 7.4735, 0.4908, -0.0024, -0.022, -0.0073, -0.2256, 1.5795, 7.0085, 1.8486, -0.0415, -0.0513, -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=-0.6098 left_j1=2.2585 left_j2=1.8744 left_j3=-1.2076 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -12.2462, 7.8974, 0.1343, -0.0757, -0.0611, -0.0122, -0.1162, 1.5385, 7.0085, 1.8437, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6018 left_j1=2.2501 left_j2=1.8397 left_j3=-1.1908 left_j4=-0.0029 left_j5=-0.0261 left_gripper=0.9998 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.812, -14.8855, 5.4496, 0.5153, -0.0659, -0.0464, -0.0073, -0.212, 1.5932, 7.0085, 1.9023, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7b9f70f0a47ce317de4b5d0df0725df626b9f6dbc076b1bbf529889158899c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3b95908f6752b5ee3fb736afd4656a5ebd5d107cc9727a5af5cdc8e0470df5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:297c2127133896a5665375c29db2c8520b26089c4793528beeff68cd28fe06b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cf7b9f70f0a4]
[blob dc3b95908f67]
[blob 297c21271338]
{
  "content": [
    {
      "signature": "CAIS6wkKjAEIEBgCKkDj2L6pophSU+uXav56/ppwZ0a4zQQklBpkCgNsebaW6xkVLR1vXPc9jXHGeHbnRk/4VOn8L9PUVeQci+UZSeEOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwZzp2uHiPyRYo+u/GgzaICwpmfbWRXngmf4iMAonT99iiE5t3sJ73QM03HK5v5xGi0Gp3mXAY469N/wI2R4lG7r1w8rIS1qe7R8J0SqLCGkdN4lk6x8cvYYXF5CXnPz9Ppt6pDgSPDX9mmvi/T1EOXpB97kykafWyP5Dx2UJtKjpfrfkQdsHjEj2WgTA1rBN4FD0nM3Er8gq/xXIGVmNTLm3SuU65SxMQuomCDCZh8c6hCnWRAFI2aVzgkCX54JMjPSGPz9lAsQc7EEs1pEDKE3cyeB5S2LxSD5KwhON9eR9OeDtidCDm2KA9su4u3DiG1RVdFzrby5ZcGKaM9t52Fvk/vCMeDg5fEVquEmM+s/qX4UQO2VWIAtK3yIzPKl8Z2aqi6VeCaDYTrjLFvgxpnSfoiXlYZlzQXVVw6cB5S8fv4DeJWc3gj230TT4GtP4j/r9nxNQfD/Em+Rc8Bg0aKo/wVRoDePf+0Tl5AR8sjaQBpElVHQZx4P3MYaK7BJhEm1oFrgKCfX6w7BBZY8HRx4CY1GGSqoNXo2TN8CR7JlJ5hPe+FJVoXcV8hUgUMHFwJZYxZIOOSHNaG94ELjFRFSo0w5iv2Qlz0p2m0k3hDRMDmXGtTw1rGjzzJ+/U2Ekls6HJpoWiot+JYDvmaWmDILUoZMVY3zG3zw8ErXNkgdCY1OCvwhtEb1gJraPtVXVOeWQPzlqs1MuA60pQxxFbrxLuAONLikyUWFcYAq4q1OHddRpE83GM/dVUOkLG80Pw5yHYHBiEqowHRgr7growto/UswaKQCjkASpMbGqi1L2xUP4uCdLNy8OtO5P8/imKQ74TcdXA4JfFbyld4vioZF8dJ0N6zlFwMbjYVfNAUFVK8/PHB8pLQUFoFTqQkk+cGhEkxUduHLgko3n+5zd1qs208kW5qVqz7ll4bJbubDfCuWOSQ0ze9PujaRUUNuSMYeOkl+9Fsw3dXbDxp7gIGLKGIGbXrXyAutX6VkEWY6OMw2mdBrXWmZiWQiPeG5b8gNZzhneDz6vS10iqpRoBwcMyyWrHptg3baTDkJnFj8JVW2TEKb7DvQf4rOI2SJVvmnQxq7XyacDOr5LUkG/OpbyHjg4StKC9BUHoBpI4guN0IWy1jLe0oP9e5WZEAo/kl0v/OOqiehItAb/RfhJh1HYHFISC/UFtOOF/T7rhj9pyMb3sx/wVarVOu2virnHjqWgvpsUrAzyicDeFOscEdEDbwekAgYGvTZWp543bXs3imo22HDjtGuXlnF0bH9pT5p1HqqJ9AMksHJI+ci59Wx9rh2BlMu1adZxFzTMK9mN0DuSQSAY/0notm8vtIo73X34lhpv4PxeCMmRxDCDJiD7IPq0lYiaAL7AZp18xlZEo05NpMP2gngBKIJLjLwLW+W9bz0+Hl4t87Yyz0ZxKA+cdfFcdk6GfXZcaTXoiP6Di7+xgsDkZmrt4O7u+YR04Xr/YqGOrUj/chgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9g5bg8JLpQiK7q4WdboiK",
      "input": {
        "note": "Block is centred at the jaw gap; descending ~4 cm while keeping the gripper pointing straight down.",
        "targets": {
          "left_j1": 2.28,
          "left_j2": 1.75,
          "left_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01C9g5bg8JLpQiK7q4WdboiK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5968 left_j1=2.2566 left_j2=1.7607 left_j3=-1.103 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.3453, 5.6274, 0.5348, 0.0317, -0.0415, -0.0171, -0.212, 1.5932, 7.2274, 1.8828, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c4934449ac03bd924f7a46b4a6b5f8a0afb919c5ad96f11f359c71b5ffb657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97b3b5435b2444623a287d3e2099c1221d025b70e223bd9cba9df1180c21bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfd65ff410c26f90ee79f02739d9a1e6ce1555b76c271d4709c421562d719a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8c4934449ac
wire blob e97b3b5435b2
wire blob bfd65ff410c2
call 8 attempt 0 · /messages · status 200 · 5.981 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6098 left_j1=2.2585 left_j2=1.8744 left_j3=-1.2076 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -12.2462, 7.8974, 0.1343, -0.0757, -0.0611, -0.0122, -0.1162, 1.5385, 7.0085, 1.8437, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6018 left_j1=2.2501 left_j2=1.8397 left_j3=-1.1908 left_j4=-0.0029 left_j5=-0.0261 left_gripper=0.9998 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.812, -14.8855, 5.4496, 0.5153, -0.0659, -0.0464, -0.0073, -0.212, 1.5932, 7.0085, 1.9023, -0.0611, -0.0464, -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=-0.5968 left_j1=2.2566 left_j2=1.7607 left_j3=-1.103 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.3453, 5.6274, 0.5348, 0.0317, -0.0415, -0.0171, -0.212, 1.5932, 7.2274, 1.8828, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c4934449ac03bd924f7a46b4a6b5f8a0afb919c5ad96f11f359c71b5ffb657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97b3b5435b2444623a287d3e2099c1221d025b70e223bd9cba9df1180c21bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfd65ff410c26f90ee79f02739d9a1e6ce1555b76c271d4709c421562d719a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8c4934449ac]
[blob e97b3b5435b2]
[blob bfd65ff410c2]
{
  "content": [
    {
      "signature": "CAISyQIKjAEIEBgCKkDuYMD/gnCMCUfUkRab8Nqzak3UhNAEsJ9oyk2E/ml8Pp/a/vmIPQIeZbKS/DEuVqzCK1PBkXuALEgdq69G76NDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMs/57qMtOzoPg7DInGgwfhkoeH+rXfHb34c0iMKRsXVI8cecZFxOT4n9GZOXRyEf0KALxqkqwtXWgnAFKkR9/YYjn8au7oCdUg32PZCpqP64FU4XU9JjRn+IkKdOUGPNOoSKlvL8Zclr70jiTcjrXR2Qbxc1RJ3BV+9zQ0hDSD5i63iSMKbI7Uj23/31LGD2lUZrakzfmrKPQXEqRA4X04fAxM70XQntP1iGh8OfuzBGlqWuRl/8a5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHQDomZUN7SQWbyExkvx7S",
      "input": {
        "note": "Block sits between the jaws in the wrist view; descending another ~4 cm toward the table to bracket the cube.",
        "targets": {
          "left_j1": 2.36,
          "left_j2": 1.71,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DHQDomZUN7SQWbyExkvx7S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6014 left_j1=2.2768 left_j2=1.7462 left_j3=-1.0405 left_j4=0.0044 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -5.5316, 2.6598, 1.3553, -0.1685, -0.0171, -0.0122, -0.0342, 1.5795, 7.1863, 1.8974, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30cdc9910c67f8e639e2bec8146399c73544dcec7241809ef8627cb6dbe45fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0dbcda3f77d65d44e59c19b4d0697416f440a7aaa17692f07c24c0ba52e235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e61a74367d5f97612c8b4340edd9e4c6c087695412a8528fa418ce55954d278e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 30cdc9910c67
wire blob 0c0dbcda3f77
wire blob e61a74367d5f
call 9 attempt 0 · /messages · status 200 · 5.001 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6018 left_j1=2.2501 left_j2=1.8397 left_j3=-1.1908 left_j4=-0.0029 left_j5=-0.0261 left_gripper=0.9998 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.812, -14.8855, 5.4496, 0.5153, -0.0659, -0.0464, -0.0073, -0.212, 1.5932, 7.0085, 1.9023, -0.0611, -0.0464, -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=-0.5968 left_j1=2.2566 left_j2=1.7607 left_j3=-1.103 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.3453, 5.6274, 0.5348, 0.0317, -0.0415, -0.0171, -0.212, 1.5932, 7.2274, 1.8828, -0.0562, -0.0708, -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=-0.6014 left_j1=2.2768 left_j2=1.7462 left_j3=-1.0405 left_j4=0.0044 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -5.5316, 2.6598, 1.3553, -0.1685, -0.0171, -0.0122, -0.0342, 1.5795, 7.1863, 1.8974, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30cdc9910c67f8e639e2bec8146399c73544dcec7241809ef8627cb6dbe45fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0dbcda3f77d65d44e59c19b4d0697416f440a7aaa17692f07c24c0ba52e235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e61a74367d5f97612c8b4340edd9e4c6c087695412a8528fa418ce55954d278e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 30cdc9910c67]
[blob 0c0dbcda3f77]
[blob e61a74367d5f]
{
  "content": [
    {
      "signature": "CAISlQMKjAEIEBgCKkAwXIAR4kuIV5v+3hgdiljLW5Gunpk/sm+Dz+5vMj/uqo7006H5XQGbrlfaoYQX8TmABWZLLDjh2VRLLsC97MHsMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMenZ9ewTjeTpdv8gnGgznBeT6hm5OquCSO+EiMO+QjbMUz+tMT3waHbAzCLfGo/8XuOhzhziLbspGrbgNP6duG025ASX3XtJjNjQzCCq1AX1LQ+B0k5Fddi+le1nbzcQVA7PKlGycNh7mp1inYfpCU9pg9A1B0GBQGx6iWmBS/Fvv4wa98i74+AuZj0Aho1SZDWy1akmE9l5ylkwENnEBCUtxDY+ZWq1pqnIBjAaOi1xIZDp8teFeA48mkPggtILzNNY3fBRn5OZGlOZ5Q1oZC0qFf8FjAWTgsdTv+DmixZZqtYVU173vDgQQKNzhK7WszrmPkRfZVApH9uu6oCUtjnBmCrAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0181NieStFsbGRrpZgAM8wvZ",
      "input": {
        "note": "Descent stalled (likely fingertips at table) with the cube between the jaws; closing the gripper to grasp it.",
        "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_0181NieStFsbGRrpZgAM8wvZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2723 left_j2=1.7473 left_j3=-1.042 left_j4=0.0074 left_j5=-0.0261 left_gripper=0.0074 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -11.8496, 5.4769, 0.2613, -0.0464, -0.0269, 0.5104, -0.212, 1.5932, 7.0085, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9083345c1f28d44eefe615d3c8aadee7fd693d351e15a099abbc76a7b1f32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68855fb490a85714c8f01fd051ce2e31aa35f53bf9427246fddab8c025f085ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcb9539b7e8e6b60727e0821cbf2a3f0e317093d9476c2c206233e209a68147d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df9083345c1f
wire blob 68855fb490a8
wire blob bcb9539b7e8e
call 10 attempt 0 · /messages · status 200 · 8.702 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5968 left_j1=2.2566 left_j2=1.7607 left_j3=-1.103 left_j4=-0.0074 left_j5=-0.0265 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.3453, 5.6274, 0.5348, 0.0317, -0.0415, -0.0171, -0.212, 1.5932, 7.2274, 1.8828, -0.0562, -0.0708, -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=-0.6014 left_j1=2.2768 left_j2=1.7462 left_j3=-1.0405 left_j4=0.0044 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -5.5316, 2.6598, 1.3553, -0.1685, -0.0171, -0.0122, -0.0342, 1.5795, 7.1863, 1.8974, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2723 left_j2=1.7473 left_j3=-1.042 left_j4=0.0074 left_j5=-0.0261 left_gripper=0.0074 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -11.8496, 5.4769, 0.2613, -0.0464, -0.0269, 0.5104, -0.212, 1.5932, 7.0085, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9083345c1f28d44eefe615d3c8aadee7fd693d351e15a099abbc76a7b1f32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68855fb490a85714c8f01fd051ce2e31aa35f53bf9427246fddab8c025f085ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb9539b7e8e6b60727e0821cbf2a3f0e317093d9476c2c206233e209a68147d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df9083345c1f]
[blob 68855fb490a8]
[blob bcb9539b7e8e]
{
  "content": [
    {
      "signature": "CAIS6AcKjAEIEBgCKkAMGlsI5fDjLjarga+x0et8vPtvzYbO3pSq+l09s9zCTP6X3/baEaGvWBtl/hZrgcmKfHJP5josAfInnTIbX/p0MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkD0XeWMGWObpSQdbGgxsReEopRbFhJGJ+0ciMLcAordFFYGonn6yHIg8KYjhDE0VZTGK+xdU3Ivp51ms/a/VBlE1OUYy6hti8iw69iqIBs8e6W0MzZw+wXDXU96T1vGjkVKydhvTqUPVWxKYP97MlLWfV9SUodLcp5eUnfCSETt6GEfLFDDYaMUkm4IwUk7ZJOeL0lf5CVxwJBwUmX/PO6gO0H6B+DVJ3Y6lDtCEiuipVuL0L83oLwOfwkdS0jgNjXineLj8QfRzngeJ8W1HFPscKjfJWA5Etmt/rE0jF79G+4Nmyv9cZcJ4Y/mXHFGe9vWwXwS0cwKrtHxKt8hVTkLoj3QJHNHAmDgma+obz4L3BOAE0neBeyHrOZAtIW0PLGdSLQEedjQKMqB0Elu4GNWkSA42KtVXwWO4JebOf9nDxgFZItAP1uB2KleC90KxoJ2ssLAzr3StWS2/LtNKDIAeW8CpdoHZiMdBdKvbzTjuvofqrWcVAxTo4ICm63WnENpxYDdieT02NU+S4HJ0ZbGHVqL7Wl1AI2Eiz14RCg6BTYlmhdBu1YEYpaH5/YZBNyNTBefc+mNca4D2iRHK/z3JnYkdqjc10fb2TEGQaMnuiqneHOcpygmkl+CyeZaue7wdaUIJ1cuE0+12xUL+isi/YKxhKNMNfXfEwb8gugQwHn6vK6iAf2wBFFKAqwmumKq84RjHyo5RAuyc2/7cRQwOuA21jqO0KwMxF1B7L+3CK6t3YcPHrnwJ5bTvrr36ulFUeScyab2WMB52eAVZDd4fZ12DJtw2kj1kFtoB0DL7jkQkbtn2fNUfB2mzlXfbF6KthzD/3j3HQZaC6cXsolc8BOt778NOKnMhlegM26zj0HXbD6DcyhiXlpSUyv81OhEdfuH7IHaPdRyQctx7dLmJIlzNTT+TLUWd1PFftxGmZzQvsj1wGy7REyyxkCS5v6iEB0+sYVf9plnnxdkNINCwEkS4CApUkaOkiE6ekHJ127D6wYXo/fvVxZMGrIH4XOeh80uLZd3ZJaNa1QQ1kC2Cr40TMlXBNeMPQz03K94J1lJRvEcdVhAQrFNX+NSZrSaSFU9GTpI5Jh1RY/sv75EUIou4w7BEGOiDaipjAmfOSSmWKChpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01651K8MqGQt6Bo65izMbXyW",
      "input": {
        "note": "The close came up empty (gripper residual 0.007), so the block was not actually between the jaws. Reopening and lifting ~4 cm to re-acquire it in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.17,
          "left_j2": 1.75,
          "left_j3": -1.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01651K8MqGQt6Bo65izMbXyW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6014 left_j1=2.2124 left_j2=1.747 left_j3=-1.0954 left_j4=0.0071 left_j5=-0.0299 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -14.6667, 5.8598, 0.2857, -0.0024, -0.0024, -0.1294, -0.0615, 1.5795, 7.0085, 1.8584, -0.0269, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6118544834b8f3ee1f1dfd332a9dd4a0ca9347d6767580032a1ae0e82bc0d56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08694374b3f719b2f2d3318f0642e9bf8b59ef8316cbecc60af4cf183c2da10f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13327b79214fa9645fad018e177fcf1109a2efb6fc6a3d07d7bc2e83c6b80080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6118544834b8
wire blob 08694374b3f7
wire blob 13327b79214f
call 11 attempt 0 · /messages · status 200 · 6.412 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6014 left_j1=2.2768 left_j2=1.7462 left_j3=-1.0405 left_j4=0.0044 left_j5=-0.0261 left_gripper=0.9997 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -5.5316, 2.6598, 1.3553, -0.1685, -0.0171, -0.0122, -0.0342, 1.5795, 7.1863, 1.8974, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2723 left_j2=1.7473 left_j3=-1.042 left_j4=0.0074 left_j5=-0.0261 left_gripper=0.0074 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -11.8496, 5.4769, 0.2613, -0.0464, -0.0269, 0.5104, -0.212, 1.5932, 7.0085, 1.8877, -0.0611, -0.0317, -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=-0.6014 left_j1=2.2124 left_j2=1.747 left_j3=-1.0954 left_j4=0.0071 left_j5=-0.0299 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -14.6667, 5.8598, 0.2857, -0.0024, -0.0024, -0.1294, -0.0615, 1.5795, 7.0085, 1.8584, -0.0269, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6118544834b8f3ee1f1dfd332a9dd4a0ca9347d6767580032a1ae0e82bc0d56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08694374b3f719b2f2d3318f0642e9bf8b59ef8316cbecc60af4cf183c2da10f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13327b79214fa9645fad018e177fcf1109a2efb6fc6a3d07d7bc2e83c6b80080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6118544834b8]
[blob 08694374b3f7]
[blob 13327b79214f]
{
  "content": [
    {
      "signature": "CAISjwsKjAEIEBgCKkCrfA3tFuMrSzlXiZ7R2b6zsf8LwI22FsOebkwCFRQqdE4qjm7/WPzIaSuxOLlgpyb7P9BVeSej6A7VFo1MLKX1MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4IYukP5dx6A8sfKiGgxu+wWKBqpBeRmhXI4iMLs1sUwPf3VnK/+aSJHf421GFU2imRDQzAaklEeFJk+WnxFJ+WQx8nwSa0A1vfEgliqvCcV0nSfJ3qr2G3aTCtI4uG+gJ0GXBxFJsOhwP7+wqFxpP+Dsmxl4YtWf6d+VutuU4JBZXRt8+3pU3myDFUZ4FmQoPClZClM/9IqCq6wO3kPe5ZybHLM/X4bphpkYnDdgKckoSEqFUD6PQhr6RjfyTI2KTmKRf3k18z96HlGtReYJcjLsGGM/USzwLWtX/G52/0i8iYS+x2eOspq9CGSLkwc3uFdESAuc+kQWp+uJ8SThDivyWn8pq+cmGwtEFnJK4B3hZ5laI6Fptt2f8ye8KoLjP1/3xajytIEljR1yXLl98orIbnlK9xtI1kwdsQ1vr/bMKSSmCkLWjLAWVw20aQGwQ1Psju3mR6xW26vTSfBcrd2r0c89fXumc5CXGJzKCmmZHrh1BP1kHuRTmd06Hxc+/p3y5nqxSxt3nBLZKRbqHshj/hcCaBgDO0AuKedphg4DEoLWIta+5HJ1re12gkZo1mkERqtBgYI+QAWn1eYM8qIDa/wnRZ5bcUWVdQIBoflFCCVGocWmrOrunmybqGLcZEb0+9bVwyPJYKT1c4XuiyOgLMK0a9OhubsLSQ/VxJm2u4i9RJfbZ88XwervHt23bwvY7YLbx6Armbu2BCq5v1xUPrkDxW7AbvVKY8o6//J69itAHgdtOrVNliCG/NF9w8Ydige3H0tcfxACDT3VrfB8LIgnAqxk26Q5JvdOs4eA4qdPZ/qHn8cgcwInwv1TPJfTNJJnnKkRS12O3ooCtstdCWa8kiwmJpcgOTeoYVVY/qD+KRrLMCGzyRYC0ZCTT2EewKodlro/+/PIXzN5ibgcq7XnMpEzp2mtcfm1EKBrYNMxEQqM61Gxw/LWLCoHuOklMlASPGGzhZxInA8c244c6as7D8fJ4V6+e+/KY9FslAj6Y0z6pTSHLqU1RdnXQGVlL0B+rvMpE4kxuT4k9x3wv/lObcUcNG/GmUAzNetmrU6+vgWKqbG0A9Rxrlca2PkxM1yhn2dZKXDgUOulmzHIhJbSWfgsgBJbgRUzaVfhVf+KLr4bBWlU92vtopcIW5XqaGYh48wlYsvmJjcsCXulRYtH7fxL3wXvK2bjypL5GLGxJCgsU2r7ZjXT17MqZjyvr3cwPpQPvEO/aiphj+5jQgQrCYMZJPlmoS0IlMqZ56ewWty1AjJztdezcqXlBEDkOhJpMC/U9P2kNI9Fsn9VoYHVgJU8kObJDOQZBf31suyoTzo1XY0IlYrijy/xc3ivy8gQSlkhewfsRMx7f15umvcjf4cZihADiNXNIpr8REVUlIl+oorXw0L+xRSfqNNR12XOiMDz/3pdILe8BvtmweoH2sYfR4UZkMLQJzv88wx4AULJeiSuMt2fd/4uUw3S8C3x0O+9LjrPkNLoj9R7O5W3kOXxoUgxWB95AWh54Hy0SnP+ElGcIyZU7kTM6kbx5p60nmhWkT8SmSFbu3QL5HgLZgpGLV7T6ilrWUxpW+SsEBL2NUfIrzxWHabTqddRfl+hXxN/543jidq4mv6v0FQMTm6sW4goIJHzr+KQQK1Wid1tri9Xbb3bmKskpFc8z4WkYZGf18+k4+oYMvJhI/qTkMISxbJE/0DAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PZCuLSviJV1p9HHE8Yzvkq",
      "input": {
        "note": "Block is visible just beyond the jaws in the wrist view, so it sits slightly farther out than the grasp point; advancing ~1.5 cm radially and descending again.",
        "targets": {
          "left_j0": -0.63,
          "left_j1": 2.42,
          "left_j2": 1.79,
          "left_j3": -0.99
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PZCuLSviJV1p9HHE8Yzvkq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6205 left_j1=2.3177 left_j2=1.8153 left_j3=-1.0679 left_j4=0.0067 left_j5=-0.0414 left_gripper=0.9959 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -4.1641, 3.3162, 1.2283, -0.0122, 0.0806, 0.0415, -0.2256, 1.6205, 6.9949, 1.9463, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263b0fc509eb8530b4ccbc01ddf87b7500cb4e0bdea79da9f5edb30f67c3a9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a22d49ec4e2a70651fd18a72f59b5fd875f3a7e642122a8bef9d4422ccafe5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9bd3175ff89a9930ba7aa5b1c648b29ac62120ca0e73af37dfd9492444965cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 263b0fc509eb
wire blob 7a22d49ec4e2
wire blob e9bd3175ff89
call 12 attempt 0 · /messages · status 200 · 10.47 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6022 left_j1=2.2723 left_j2=1.7473 left_j3=-1.042 left_j4=0.0074 left_j5=-0.0261 left_gripper=0.0074 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -11.8496, 5.4769, 0.2613, -0.0464, -0.0269, 0.5104, -0.212, 1.5932, 7.0085, 1.8877, -0.0611, -0.0317, -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=-0.6014 left_j1=2.2124 left_j2=1.747 left_j3=-1.0954 left_j4=0.0071 left_j5=-0.0299 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -14.6667, 5.8598, 0.2857, -0.0024, -0.0024, -0.1294, -0.0615, 1.5795, 7.0085, 1.8584, -0.0269, -0.0073, -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 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=-0.6205 left_j1=2.3177 left_j2=1.8153 left_j3=-1.0679 left_j4=0.0067 left_j5=-0.0414 left_gripper=0.9959 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -4.1641, 3.3162, 1.2283, -0.0122, 0.0806, 0.0415, -0.2256, 1.6205, 6.9949, 1.9463, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263b0fc509eb8530b4ccbc01ddf87b7500cb4e0bdea79da9f5edb30f67c3a9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a22d49ec4e2a70651fd18a72f59b5fd875f3a7e642122a8bef9d4422ccafe5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9bd3175ff89a9930ba7aa5b1c648b29ac62120ca0e73af37dfd9492444965cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 263b0fc509eb]
[blob 7a22d49ec4e2]
[blob e9bd3175ff89]
{
  "content": [
    {
      "signature": "CAISkwMKjAEIEBgCKkDCR8b4Xw+B7NoJIkb6F9x9be8KHp+l74aSQldUsqQuPteuv5z+t565EERwNTNAHCZ5am1b9/FQHr7aapHazVlOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkZ6CS0CO8WOIl0i+Ggz3hfQz7dfXdzYjEBEiMENyhw2Yuvf3ib6XhM91IQCHUyFVbMw6JRndHHsdbTP2wFoSb//6WlaYXJp5QKLc+CqzATnJOw0Jj+Tgxx7QU2R0S3UX057VGhbn3jZ+qLagu7wRZQEfQWwToXHpYlwK8aO+2NPSNzFtpIogqdV0hbQPog8c3BrFla6l66GXyKp78y+SMRwWcqTRPpKLZuH82eGqL+ovQEBmccM3d2AHK4zSEVfKNCZ2o6a7qhgqeeiEVqOjYaSwJoqeqdBcSHcxFP9ujTR+2TSvJ2QoGU0p+bn0Q8yFhjI7Pmrykui4tLlfmSSMFp69GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CM9evKnBFRKdt2cMdjuMTj",
      "input": {
        "note": "Block is now right at the jaw gap (just a sliver visible at the bottom edge) and the descent stalled at the table; closing 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_01CM9evKnBFRKdt2cMdjuMTj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6205 left_j1=2.3146 left_j2=1.8214 left_j3=-1.0798 left_j4=0.0071 left_j5=-0.049 left_gripper=0.0072 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0334 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.1368, 5.1897, 0.442, -0.022, 0.0611, 0.5153, -0.0615, 1.6068, 7.2957, 1.8877, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c9a4828ee6034086804dd221c4180e559037c4d6fb15891914b766e2de5c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e378c7da679bbf8635165086d082ced25f06f2bd3d21c3bca192ef7dc22acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c300b19a91839504aa5dd086a5b9cdf4495ebf2197f75c304eb62e6d908b7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b2c9a4828ee6
wire blob 72e378c7da67
wire blob 3c300b19a918
call 13 attempt 0 · /messages · status 200 · 16.02 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6014 left_j1=2.2124 left_j2=1.747 left_j3=-1.0954 left_j4=0.0071 left_j5=-0.0299 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0185 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -14.6667, 5.8598, 0.2857, -0.0024, -0.0024, -0.1294, -0.0615, 1.5795, 7.0085, 1.8584, -0.0269, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.6205 left_j1=2.3177 left_j2=1.8153 left_j3=-1.0679 left_j4=0.0067 left_j5=-0.0414 left_gripper=0.9959 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -4.1641, 3.3162, 1.2283, -0.0122, 0.0806, 0.0415, -0.2256, 1.6205, 6.9949, 1.9463, -0.0317, -0.0317, -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=-0.6205 left_j1=2.3146 left_j2=1.8214 left_j3=-1.0798 left_j4=0.0071 left_j5=-0.049 left_gripper=0.0072 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0334 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.1368, 5.1897, 0.442, -0.022, 0.0611, 0.5153, -0.0615, 1.6068, 7.2957, 1.8877, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c9a4828ee6034086804dd221c4180e559037c4d6fb15891914b766e2de5c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e378c7da679bbf8635165086d082ced25f06f2bd3d21c3bca192ef7dc22acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c300b19a91839504aa5dd086a5b9cdf4495ebf2197f75c304eb62e6d908b7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b2c9a4828ee6]
[blob 72e378c7da67]
[blob 3c300b19a918]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015a18rSVrPzqyV7ss8pptBz",
      "input": {
        "note": "Second empty close, so my wrist-view depth estimate is off. Yawing the gripper 0.27 rad to calibrate direction and pixel scale in the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.35
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_015a18rSVrPzqyV7ss8pptBz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3683 left_j1=2.3142 left_j2=1.8214 left_j3=-1.087 left_j4=0.0074 left_j5=-0.0521 left_gripper=0.9945 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.6222, -12.4786, 5.5726, 0.2955, 0.0171, 0.0122, -0.0659, -0.1846, 1.7846, 7.0496, 2.0244, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82732618727735a07bc47533e73b482c586cb5161e3d6c5824bb4bc1f2a1ff90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c164150a4c85f2c9be48fd54e5360ebbfddf6d0e5a151a468ca258a943b8d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d74cc1a2186117512ca71eb320cb26ef173f0fb901e1dbd28dbf00f9b33c19e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 827326187277
wire blob 6c164150a4c8
wire blob d74cc1a21861
call 14 attempt 0 · /messages · status 200 · 8.758 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6205 left_j1=2.3177 left_j2=1.8153 left_j3=-1.0679 left_j4=0.0067 left_j5=-0.0414 left_gripper=0.9959 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -4.1641, 3.3162, 1.2283, -0.0122, 0.0806, 0.0415, -0.2256, 1.6205, 6.9949, 1.9463, -0.0317, -0.0317, -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=-0.6205 left_j1=2.3146 left_j2=1.8214 left_j3=-1.0798 left_j4=0.0071 left_j5=-0.049 left_gripper=0.0072 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0334 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.1368, 5.1897, 0.442, -0.022, 0.0611, 0.5153, -0.0615, 1.6068, 7.2957, 1.8877, -0.0708, -0.0415, -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=-0.3683 left_j1=2.3142 left_j2=1.8214 left_j3=-1.087 left_j4=0.0074 left_j5=-0.0521 left_gripper=0.9945 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.6222, -12.4786, 5.5726, 0.2955, 0.0171, 0.0122, -0.0659, -0.1846, 1.7846, 7.0496, 2.0244, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82732618727735a07bc47533e73b482c586cb5161e3d6c5824bb4bc1f2a1ff90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c164150a4c85f2c9be48fd54e5360ebbfddf6d0e5a151a468ca258a943b8d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74cc1a2186117512ca71eb320cb26ef173f0fb901e1dbd28dbf00f9b33c19e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 827326187277]
[blob 6c164150a4c8]
[blob d74cc1a21861]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CN962guBYdh2K1q9GP2sL",
      "input": {
        "note": "Overhead calibration: +j0 moves the gripper image-left at ~2 px/cm, so the blue block is actually ~16 cm nearer the base than where I was reaching — that's why both closes hit air. Pulling the gripper in to r≈0.26 m over the block.",
        "targets": {
          "left_j0": -0.646,
          "left_j1": 1.8,
          "left_j2": 1.19,
          "left_j3": -0.96
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_013CN962guBYdh2K1q9GP2sL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6365 left_j1=1.8362 left_j2=1.2098 left_j3=-0.9733 left_j4=0.0044 left_j5=-0.0521 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0532 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -9.7436, 5.641, 0.4567, -0.0073, -0.0317, 0.0757, -0.1436, 1.853, 7.0222, 1.9609, -0.0659, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9040d3f51d6c3c6d1fc6cee3a48d4309c3d79f49c5c9c06f2472cf705442534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2deb0c3254a4f2fddea5734855397d51ebc9542da549417bbcc3323c3ca26b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eb7690f54026e8461d95b65ec8f2700298a319db785f602c322787de1406bbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d9040d3f51d6
wire blob d2deb0c3254a
wire blob 0eb7690f5402
call 15 attempt 0 · /messages · status 200 · 6.653 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6205 left_j1=2.3146 left_j2=1.8214 left_j3=-1.0798 left_j4=0.0071 left_j5=-0.049 left_gripper=0.0072 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0334 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.1368, 5.1897, 0.442, -0.022, 0.0611, 0.5153, -0.0615, 1.6068, 7.2957, 1.8877, -0.0708, -0.0415, -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=-0.3683 left_j1=2.3142 left_j2=1.8214 left_j3=-1.087 left_j4=0.0074 left_j5=-0.0521 left_gripper=0.9945 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.6222, -12.4786, 5.5726, 0.2955, 0.0171, 0.0122, -0.0659, -0.1846, 1.7846, 7.0496, 2.0244, -0.022, -0.0269, -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=-0.6365 left_j1=1.8362 left_j2=1.2098 left_j3=-0.9733 left_j4=0.0044 left_j5=-0.0521 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0532 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -9.7436, 5.641, 0.4567, -0.0073, -0.0317, 0.0757, -0.1436, 1.853, 7.0222, 1.9609, -0.0659, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9040d3f51d6c3c6d1fc6cee3a48d4309c3d79f49c5c9c06f2472cf705442534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2deb0c3254a4f2fddea5734855397d51ebc9542da549417bbcc3323c3ca26b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb7690f54026e8461d95b65ec8f2700298a319db785f602c322787de1406bbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d9040d3f51d6]
[blob d2deb0c3254a]
[blob 0eb7690f5402]
{
  "content": [
    {
      "signature": "CAIS8gYKjAEIEBgCKkCXCBfJnJlcLP53jWQHYf5S7qYVhS/bVX6bzcH6WMMGuPoIQRfSoM1I/wVdDQ/kpKEhbxiuc9aJ8Ua4F9NK2VgLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+mxGeWtbutNbJzUcGgx6BUfYCG2q2IN4DPsiMMXcrBN04+qfSOex2ckRlapyBxT9bw6yJGbLRwQQOk53RAP8bhVjPw1wulh2JbtNGyqSBRi4nK1eLpn65Huk9FaIvHiuu3yDwqqpMbV4i8f0akSbF1VFDR6IDsVj0cbq+hlJmzfPof5BdQDo/0so4u5wSoxJW81fwKxc83R+CL0+7iXmYPFgn+gJAG3g//LznvbaPdy6QVuvlU3Ft1q9Wfp73FdRLsXAWR51vNt9z+volgFQvfj54gZIg/3rYDUBNkPQJZKs2KQninlpo0DWmLZf3Exx91gzBeDQgZb/MLdus+BzSOcqJQ4decTkOaiI2M89Hse3XpHmUY748IdEg6u5VYMMqWV7JhCKvudpIYYklYDl5U6aGoWrKukI+gwjXXojFJBjdLi0vEWt9TXiPLe96PjK2E7xRUif/G/Zy/AZ9yARXvHlRJNiaJPkKAHLs2V8Cfd5BBxyP1Nni7r4INnSsJVz5m6eLenQxjs0JLt6xHUuGYnQyBbkBeHXYOpBTajfO3m4fFGb1U1STBMPcwyVmYfKkKRMFSfNB3pBmXImsYbSwxB9t0adRop8oCwTvvjRlaLdSzefa6Zi6VVoLAKthLP/ctRjkwXRnHsR8YStVPocMPhNGGhceXD/7iPc7xGxUgvKkIFX1E4KeiTvrGPAEX2dxLxpa2a1qejoEMLeNHB7YIvvpVlvd5JEPs0DHGxoNVeLccXGhZo0uSBcUAReK2mY1xRqximx038WvqirYIBg2ucROJORnEu/2ny7WFrf/yhTKirl7Bz2oo3dtseUheEfNr/rJjvQatOxPkgn2gpDS284GlJZz82u8v1I9ZhkB1osYaeheqH5danGpvQ1B0WBPtO6i4EM10hd8n8G+nHZeGBb0HU/MY/MpPJILonWV+VRgAbVExo50cIdfz0tOS/3E2V6OdR7HsQip5FNVRzpS9wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q6F2shPXVBKkyGWqYEyzZG",
      "input": {
        "note": "The blue block now fills the wrist view right in front of the jaws. Advancing ~2 cm and dropping ~1.5 cm to bracket it.",
        "targets": {
          "left_j1": 1.9,
          "left_j2": 1.25,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q6F2shPXVBKkyGWqYEyzZG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6445 left_j1=1.8595 left_j2=1.2217 left_j3=-0.9619 left_j4=0.0063 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -7.2274, 7.1453, 0.149, -0.0415, -0.0317, -0.0024, -0.1299, 1.5795, 7.0222, 1.873, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590faf97d9e33cc3d0f186efe356d7476d5d14bcf142d9fb78ceaf7e863d31a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c48659acf30e63de458d0e743ba7d4c157bcb21e56d69c0e1aaa3510abbdb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:041c3cca94dd965f86a20804de66eadddb6b879aa08bde0e23287233dead0c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 590faf97d9e3
wire blob a2c48659acf3
wire blob 041c3cca94dd
call 16 attempt 0 · /messages · status 200 · 9.173 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3683 left_j1=2.3142 left_j2=1.8214 left_j3=-1.087 left_j4=0.0074 left_j5=-0.0521 left_gripper=0.9945 right_j0=-0.0029 right_j1=0.0196 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.6222, -12.4786, 5.5726, 0.2955, 0.0171, 0.0122, -0.0659, -0.1846, 1.7846, 7.0496, 2.0244, -0.022, -0.0269, -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=-0.6365 left_j1=1.8362 left_j2=1.2098 left_j3=-0.9733 left_j4=0.0044 left_j5=-0.0521 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0532 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -9.7436, 5.641, 0.4567, -0.0073, -0.0317, 0.0757, -0.1436, 1.853, 7.0222, 1.9609, -0.0659, -0.0464, -0.0073]",
      "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=-0.6445 left_j1=1.8595 left_j2=1.2217 left_j3=-0.9619 left_j4=0.0063 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -7.2274, 7.1453, 0.149, -0.0415, -0.0317, -0.0024, -0.1299, 1.5795, 7.0222, 1.873, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590faf97d9e33cc3d0f186efe356d7476d5d14bcf142d9fb78ceaf7e863d31a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c48659acf30e63de458d0e743ba7d4c157bcb21e56d69c0e1aaa3510abbdb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041c3cca94dd965f86a20804de66eadddb6b879aa08bde0e23287233dead0c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 590faf97d9e3]
[blob a2c48659acf3]
[blob 041c3cca94dd]
{
  "content": [
    {
      "signature": "CAISzQIKjAEIEBgCKkAyEKRuyn54zwHyfcJ+/MEG8h3FKmwNi8we1mLvEk+04N3QxlqOP/EhoQN0+RrOtGswjta+HN0Y7EdgE6lQDg8BMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM25EFZqVVNqXgEfy1GgwltH0zWDOohfkWr4oiMNlVHDwpQGqXwlEnbWkNHd2EZ1mYnIgn7Pqz0kL9Y/GSOY/PJ4eTjlAtG5bD6mFQICpul5/NfGxE0l80vex/vGg2VHsVBxtehlosyfNS1vqHDhCU1D1kN2lKU8b4fA8ddHtpVegoeC36FnNEqMBRGZtnLpnXe12/c+Fg/yAgQkWGqz46P8gmWKLPo2wGiBMMl0EzTRJIo9Ur+Br9FnCgxuwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012V5AiztHXbnsDGYjHHMd1t",
      "input": {
        "note": "Controller undershot; re-issuing a slightly stronger descent/advance to bring the jaws around the block.",
        "targets": {
          "left_j1": 1.98,
          "left_j2": 1.29,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_012V5AiztHXbnsDGYjHHMd1t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6418 left_j1=1.9404 left_j2=1.2564 left_j3=-0.9337 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -7.6786, 7.1179, 0.2369, -0.0317, -0.0562, -0.0122, -0.212, 1.5932, 7.2137, 1.9023, -0.0513, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d032a48fe647f4c5d2ee274594b405e0598ab102b6c4a1a49132e7a9e93e6132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1e01861525071cce1f120cfefdcbfb2cf518b5b28559b2834a369a0f0d3b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17b01a039e288f1df62780057c1c1f607d5cb835420593ab73f976ab8f334c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d032a48fe647
wire blob 0a1e01861525
wire blob 17b01a039e28
call 17 attempt 0 · /messages · status 200 · 9.854 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6365 left_j1=1.8362 left_j2=1.2098 left_j3=-0.9733 left_j4=0.0044 left_j5=-0.0521 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0532 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -9.7436, 5.641, 0.4567, -0.0073, -0.0317, 0.0757, -0.1436, 1.853, 7.0222, 1.9609, -0.0659, -0.0464, -0.0073]",
      "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=-0.6445 left_j1=1.8595 left_j2=1.2217 left_j3=-0.9619 left_j4=0.0063 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -7.2274, 7.1453, 0.149, -0.0415, -0.0317, -0.0024, -0.1299, 1.5795, 7.0222, 1.873, -0.0464, -0.0122, -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=-0.6418 left_j1=1.9404 left_j2=1.2564 left_j3=-0.9337 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -7.6786, 7.1179, 0.2369, -0.0317, -0.0562, -0.0122, -0.212, 1.5932, 7.2137, 1.9023, -0.0513, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d032a48fe647f4c5d2ee274594b405e0598ab102b6c4a1a49132e7a9e93e6132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1e01861525071cce1f120cfefdcbfb2cf518b5b28559b2834a369a0f0d3b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b01a039e288f1df62780057c1c1f607d5cb835420593ab73f976ab8f334c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d032a48fe647]
[blob 0a1e01861525]
[blob 17b01a039e28]
{
  "content": [
    {
      "signature": "CAIShAUKjAEIEBgCKkDAu5O3XT9raQA7JuXT5w+8panPWgi3RLhTuzr0gJxPvpG905Ohh1xzjJfq/UVNlddd0wxmO58WgG/amtvVr89+MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM7wnWJmEU7kUzzlEuGgxQhXRKtIPiaFW7GMwiMIEF9nd70bKoborQLD5O26veh59xT0lhXhwnIDSKCG96snAHJ7e2NTGKZoWFzckXJCqkA8qZxSAQJMaWh0YRsTFT9VBHi53Fj70TZNm1u7Ru3dJ0P9x4PlmZElvrZxifIzIXaaLZkbQgvt+9q9p4nfNgOEVaC6UgUxIHEpAa0VtLV1SsuSw4r+A9RglkE3tNm3Q9yOK5XdUgEAjSmDUUbS1slcX3MhXzHXj+Qw4gF1jh5V7hG7oaljSPpnC+p/7HHyJB9j39GfRG20Rd0bv5NteB/DZ4MxV7dnSc8L+hBJuZed/vWL05lVXac65OVr1I5CBCXqVoN0SAE0hRT7MPaSo7ilmbyJAVyQ7DVQ+qg9Dlr6PZ+lue160AaB57bOyplmzDalMOhl+QU6lZxcsTYB+6W9t27u3lO+fI1xSNPdvQLwHnKX+LtOaIV0ldhZQC/bzici5VnOvvEB/S+wL8iMLkyhr/FXCgLo2LPulUErp7LYU8d61rQi7aM16RciZSpmLj2o8AwoOAmbEdUBpOCIw+CkW3s0q7Ufv+gvS9gxyu0dCE/BvLbZU7TWmF4U+ZhsKiNpLCKdHkGlGpVomMbnFNIimC6QBu3wsnc+09u6fjzTY+k9xFdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vw8RyJ9QWhU2RqnLtQH2qi",
      "input": {
        "note": "Cube is squarely between the jaws at near-table height; closing 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_01Vw8RyJ9QWhU2RqnLtQH2qi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6415 left_j1=1.9671 left_j2=1.2594 left_j3=-0.9302 left_j4=0.0067 left_j5=-0.0521 left_gripper=0.6082 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3983, 4.8615, 0.0952, 0.0073, -0.022, 0.989, -0.1162, 1.5385, 7.2274, 1.9414, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455014ba7bbb438f0469a431aa652c94cbe1cd5e99e3d7e6eeef3e9d55e0b2ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d27740ea2d44b406a490e3d67ca25f46d939fd838e865b94539f980a5c2c758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:601e2368450375f454d9b6c8af2053baa2d35eef6cff1ebbbbdfcd52f141e796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 455014ba7bbb
wire blob 4d27740ea2d4
wire blob 601e23684503
call 18 attempt 0 · /messages · status 200 · 11.9 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6445 left_j1=1.8595 left_j2=1.2217 left_j3=-0.9619 left_j4=0.0063 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -7.2274, 7.1453, 0.149, -0.0415, -0.0317, -0.0024, -0.1299, 1.5795, 7.0222, 1.873, -0.0464, -0.0122, -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=-0.6418 left_j1=1.9404 left_j2=1.2564 left_j3=-0.9337 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -7.6786, 7.1179, 0.2369, -0.0317, -0.0562, -0.0122, -0.212, 1.5932, 7.2137, 1.9023, -0.0513, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6415 left_j1=1.9671 left_j2=1.2594 left_j3=-0.9302 left_j4=0.0067 left_j5=-0.0521 left_gripper=0.6082 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3983, 4.8615, 0.0952, 0.0073, -0.022, 0.989, -0.1162, 1.5385, 7.2274, 1.9414, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455014ba7bbb438f0469a431aa652c94cbe1cd5e99e3d7e6eeef3e9d55e0b2ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d27740ea2d44b406a490e3d67ca25f46d939fd838e865b94539f980a5c2c758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601e2368450375f454d9b6c8af2053baa2d35eef6cff1ebbbbdfcd52f141e796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 455014ba7bbb]
[blob 4d27740ea2d4]
[blob 601e23684503]
{
  "content": [
    {
      "signature": "CAISsAsKjAEIEBgCKkDP+17dN4ToHi814q9V078+4m3rxZt2eYCDF0n4MMznkKZSeR6NntdfY4gdj2AkcjKh1dHNsvleRrjdDBv2R/qwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMK8HXG9Bo1yH2tOVBGgxD34igQOGKjuBZoQQiMMfCK785L/LUXFV14iOtbVQ+rWOQ371CBjTaMBjxoW/BQgZgnAeHcCtJLyx6OliMayrQCfzV+34k0g80hfbGUo6rxXjmBJG+A3blTnJzR4VM3np1q5ehdYknsZqis4o51i+ltkJnoF77teS4YP6iWrBEcUSRvzyjEhookgYXO2YhjGkwXMaMb9OBF8/K9Q/+ukxWhNt5pxg4ouk2cXypo/7QWVM4bPhUqZfMDwrVb566J2gJrCjeMUqIezzwLEkTEH2g1R5yT0AoiuXRdIOr5oF/rzfkntaLm4LBiKVy1cjcDpOK/31r9rIgioPVJ3uRBxafjxlPDTGsROvTDWemYEEwrujhKLti3TcEM+MlUjPuTZGoc/+I7iVoI3jy4vk2rDNdqnAWERmiU6ziduSiTW5QbhfmNgbDlB5roK5g7GzkvUIfdLoV1e7mMXJVe46kaqg/09zcuGQYiqA3IWdcVFbJDm9kb6QklvLJmu1kHXFlDmK93SuSNYtIyrazcX6U6EBCVuE7j42NNTNSEKis5SNBKIbFAwVJTbfhiwd3oXXilSKIf7/v+Y97M9cm2URjUNcmdRrGbDNaFPEez968sEeVWPWNW96muEpaB2iqARrgsByJBWkPFX0byESfcuROJRS1D5dCBo9XRIhZHNJL/cWQ6mV/qJkZgCiaa4gpI9b+1AsqBqob0cAswpMjKTaxli8hPIzxwqdh2mjglnHCs1pPWlkTa5rBb9P1VCHpZEvWidwu2+R9gStlcYsVCVWXDuiMmh4PE9MjG5Ll7px7RItTbEfIbgzbITX0dCpk5bJNzGoni0z9ZCxj5KPHLyR3HsdpcNG/D7GvFgCr5DoD6rMUjwVceU91jXFD0LpK2/c8k06Fb4rTyQelZgcC8PYTLGQmikAah0m7r0h08bTIdQ5ECjGSJMNEfIW/wjl6XZYnt/LazzxIRblMc2RfLkMFv71jmlL0dahQTcxY3XytD3oxAApIEyPW61T2wLcQjojhj5OnZB0xaH1dcgM0Jw5984A4K4u1gblHI2shZtubPuBS4rP4DsHCA6SxHluJX8LCCpEj1Sly4vSMRWAFuK5qXJnrrD3wqlPzBS+SrZIQ74gkcfDXuJNQEC5uDvoOnv/LINb/fL7zNMlem6PZKKpT+2uWKDDD2Nt3gqJHfkFQxaupTwfvys0oHiY8k5MLDz+FeX04VV4qkn62SxaQB7bfoaqBSIEHLx0ZZd1mWEVQG+ABd5+FSyJVQrWrGWFU9zepvX7Mwft1B6fpv24Syjv+oUSoy/Twv4xCXO0UFK8nhhKthafWviYZFFOgBpy/+4UAxL8Jgdw9rTZBag3mcxo6RINbRFABuhsUY2guJFSK71/Df7DmSsO+hiPlvZzg6d1MUvUk4Yb3sYyte6EOkP7+u1F62vunJFs2/1q/UUfvmf6bcXqNLgS7SRUvI7I4IuhE8EE3gk75VV5+fcxaRWSgvy2ANh3zyNwn+hwtKYp3d/Gs0LMXXvFMAkpjh5k2SGFpYEHfURMP+4xNeC9vojK8ik4ZKvb4qIOyxF9lzu3ia5/hjhfMNYkRdjb1zJ1Fn4IBEw/27U3qZTWsMkdhyxT5vDH4ydjgYjERFhc7nf4/xIiMWaCcSToL2LDHyyvVcW92rEPBm6Gabe8NS0b32uoPuft0DjMw7AuCW7277p3qWOIwf4z9hpba4/MXcrOPkWx+wRGlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SE9jrn3JpDeUaEQTwDUQn",
      "input": {
        "note": "Gripper closed on the cube (residual 0.61 with high effort = object held). Lifting ~10 cm before traversing to the red block.",
        "targets": {
          "left_j1": 1.75,
          "left_j2": 1.45,
          "left_j3": -1.27
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_019SE9jrn3JpDeUaEQTwDUQn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6418 left_j1=1.7836 left_j2=1.42 left_j3=-1.206 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.606 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -9.6342, 7.4598, 0.2808, -0.0611, -0.0366, 1.0281, -0.1436, 1.5658, 7.0359, 1.8632, -0.0757, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feb53d0ae8b04f91754724b46b67bbbe6a9d7bd4adfadadbe5e26a2afc6cccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f0631102a3710cf30b976adadab0d869ca9e16ef3e833cdfe2454d7269cb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d3938d0ac732bbfe6b83db44e2283b419bf0deb1ff73788832661c73fc64ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9feb53d0ae8b
wire blob 84f0631102a3
wire blob 7d3938d0ac73
call 19 attempt 0 · /messages · status 200 · 8.396 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6418 left_j1=1.9404 left_j2=1.2564 left_j3=-0.9337 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.9953 right_j0=-0.0029 right_j1=0.0235 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -7.6786, 7.1179, 0.2369, -0.0317, -0.0562, -0.0122, -0.212, 1.5932, 7.2137, 1.9023, -0.0513, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6415 left_j1=1.9671 left_j2=1.2594 left_j3=-0.9302 left_j4=0.0067 left_j5=-0.0521 left_gripper=0.6082 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3983, 4.8615, 0.0952, 0.0073, -0.022, 0.989, -0.1162, 1.5385, 7.2274, 1.9414, -0.0171, -0.0562, -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=-0.6418 left_j1=1.7836 left_j2=1.42 left_j3=-1.206 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.606 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -9.6342, 7.4598, 0.2808, -0.0611, -0.0366, 1.0281, -0.1436, 1.5658, 7.0359, 1.8632, -0.0757, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feb53d0ae8b04f91754724b46b67bbbe6a9d7bd4adfadadbe5e26a2afc6cccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f0631102a3710cf30b976adadab0d869ca9e16ef3e833cdfe2454d7269cb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d3938d0ac732bbfe6b83db44e2283b419bf0deb1ff73788832661c73fc64ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9feb53d0ae8b]
[blob 84f0631102a3]
[blob 7d3938d0ac73]
{
  "content": [
    {
      "signature": "CAIS4QkKjAEIEBgCKkCu1dIpUmM82QRwQ+wxgXKTQLdT3uMjxaXQMaTj7yulFya7MLANt3zE0RBjOo0X8piDu+AopqV0DagUUGaCvKJvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMceDqQz1CuUxm0ePsGgyk4hCAt4w+QA0IUVEiMDOSuILTnRLFohZcDrNDoNjfrvJSD/35RVUEaQOKdebTkpZO7CAnccnX8k7DlyYmJyqBCLe2xxthJ1JDcquvNDdPtFiJAjyniblFO8p0p4C5POuQUyPbp+LCcJPGTx4VROhFspS5JilHK3tkychE4VHDmmDAb9lBiOxQ/eLyUdPU3BATfucwGyv2L3JLhzUt41eRi0Egim7oODk1EbCgLI+aUcJWeOYNShGpc1XM/n476lkbP3dnpXJZh6RyPatnszO9shkiw29EWp6fXc8OSCFbmQY6hRNB9QN/dudF/xZm3TY1SyMr0pnIo52RpHbub1Tjd0bfJ2pnbiWWSr4hg0h63gtqCdjgwJw1Fm6Pr5HjgLxrr0UPRC8KIm5OijpBRwP5so970oIgobAixuYvPEQrHCMwu6Sjj7u1CU2KyEF1zxx4vMSkNUqHptRJLBMnN93aSkh0fbcCy1SqE1EOUoJhu5Gn7aVC1z1aLc/6TtGISKNKiwibYDHGYUVZK3dbPRrXk/+1l0cotsF+np04U7bCa0XmXx54ys0aNW77z3Z84P4ucRSlbVeEq6EHfApbTBXp/yL8hV9p+kQpj+K8NtpcN8XEqIC3nV9r52ygyGYruEd0Fs8EijLU7d4tP3YHRV+a2ayW++mGiAEwGLoDDpPkxkMRQ+h+GrCdaOVRAzbg2K/LViCgJP1KaBlKjzdlsrWQOnCAov5IWw3/Vq/yeDnQqXb+aeLyesOkgglpMua7nleblzMo6bEtw2o+FavMtYh1ByRGulv/zzx0cg5N0vcQ9E1zNKeaF8djjCxnLgv24y6WFpdW6SXVTKMq19ziGSlNXgb9c68jr1i1g5/GaZOKipNMqZJOHFiztJtLDSVz54NPAqeOby/oJ8dhed/XMfbMa8Vmqc93YHNOR4uMRJNWq3foAuph2kMSyQxlTtPTDzEZ4yUzdMT9Wcyg46HcroLqWJ/5qaz/j0i53a99WO78s1fuNc//kYO3AwMgDtUX79h8iIJbrA/GD1NHWgtTjXtjigUFkIR8uzrF8dSgkTXOK4DJvmCJWphJ414CY+kwg1B2aAOm2sW4Qr98/vxhRaah9DRU35FX8YLqNFIfy6WRz0wHM05wTqO4bo7xgImD221Fs+IKyulq2xkhBM+XhRGIIkT7GVRFQWJK6VHezpvt/us0gRSZmc7cCoB4NKf82KXv6pMXEPtnZkh2XZQQqgGoqB2u9a/Yim0jh5tPs1yChec9SKMu0Km6lQZijLn1r6V942n8SQ8NNwGOF4LSikHv2yZYSi/UW5I5y6rmhSmz1v2U6RusJflqWWpWns3hNCNdcbKMTzAW6ruL1pdeO1gUuXCd0BkqPu7IeIVJuXGu14tBvE35oM9fR5KTqczuaX+YoNc+bz/GmszN0nRg2B/Zs17zgrfAgtalg9DcdQR4u/3yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uQFUvGzVs5wVoZLxiMQKK",
      "input": {
        "note": "Cube is held and lifted. Traversing right to hover over the red block at an estimated r≈0.47 m, bearing −1.06 rad, staying ~7 cm above the table.",
        "targets": {
          "left_j0": -1.06,
          "left_j1": 2.594,
          "left_j2": 2.633,
          "left_j3": -1.61
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_014uQFUvGzVs5wVoZLxiMQKK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0485 left_j1=2.5755 left_j2=2.5877 left_j3=-1.5963 left_j4=0.0071 left_j5=-0.0528 left_gripper=0.6078 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -13.2718, 7.8427, 0.1148, -0.0659, -0.022, 0.8278, -0.0342, 1.6752, 7.2547, 1.8779, -0.0708, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e19f086147db81adc50aad16db3e0c11c5f219d5d905a529af15629af193f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02e6ef48f1bd8dcd5a9eaf01b63e22e091d7b457b2797fcbff3bbf0951dd447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e1f3ff6c0d0063f489b2f42f4ca5b15d50ae2402288cc3790e1c4eaffae2c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8e19f086147
wire blob d02e6ef48f1b
wire blob 0e1f3ff6c0d0
call 20 attempt 0 · /messages · status 200 · 9.985 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6415 left_j1=1.9671 left_j2=1.2594 left_j3=-0.9302 left_j4=0.0067 left_j5=-0.0521 left_gripper=0.6082 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3983, 4.8615, 0.0952, 0.0073, -0.022, 0.989, -0.1162, 1.5385, 7.2274, 1.9414, -0.0171, -0.0562, -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=-0.6418 left_j1=1.7836 left_j2=1.42 left_j3=-1.206 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.606 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -9.6342, 7.4598, 0.2808, -0.0611, -0.0366, 1.0281, -0.1436, 1.5658, 7.0359, 1.8632, -0.0757, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0485 left_j1=2.5755 left_j2=2.5877 left_j3=-1.5963 left_j4=0.0071 left_j5=-0.0528 left_gripper=0.6078 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -13.2718, 7.8427, 0.1148, -0.0659, -0.022, 0.8278, -0.0342, 1.6752, 7.2547, 1.8779, -0.0708, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e19f086147db81adc50aad16db3e0c11c5f219d5d905a529af15629af193f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02e6ef48f1bd8dcd5a9eaf01b63e22e091d7b457b2797fcbff3bbf0951dd447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e1f3ff6c0d0063f489b2f42f4ca5b15d50ae2402288cc3790e1c4eaffae2c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8e19f086147]
[blob d02e6ef48f1b]
[blob 0e1f3ff6c0d0]
{
  "content": [
    {
      "signature": "CAISgAkKjAEIEBgCKkAxb8GDPaSCZcFktTwQ3NUUu92fpwA3+KoeVv0lwe+oAWJ1Sjrh/HtTtCTFbzsAv9tS2C2E69mxv+zmrDhcSObpMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMnbEPvD9QqQDwz3iyGgxrBGJnwMjm5aukfNkiMPLWQgL9xcOzq5Ix3S7lhJTR88ZfhMuXg+u37SnMleNa0KcwvyB2S/DnXDbYxMBqByqgB0Jw6J2HjQQ9xJ1Gefd/j5liNQodI+brLheZVrVz+pQDgikfmeX2t9XCMlKeiu8R4cbxr5uLi4PB9Id45S+Sc99uxasdRxZkw1cJ4Zc5iRETQ7gmIKnnG5MoaM/wGjTeXiuWtClfO5sJblZxih9XHe9ExVRjVmQZdSFppims9dwtC9xehXT71WmJgneRkpjMNL7UQrVr9W7SlD94f7ti3TSZRFumRONhX0R6frBep0xHgkX56QqMrP+VXGZ4O0EY2AVILpj147zPAnJfHwp3qaYcGcKHHjtFFqYOy+mT+Fqn9+ByJe/8y8qBPOz0zVGjHUNSRa+SoSaOhnzvsLFay02G0ZB8RSpgRu8iVT7GUa004OeHAv3uYkZIpmnjhR/tIfjEWu59K/deidrAjORaj3Rcpz5nlmZLfuZV8rSXGuX/x+AEA/dkY4M3hxTQXwWfXGkksFFDD0vJ5ReHZOXHVBA+Dv/kJlQlo1SUDiuWc+6ApeDEBwPwTMLaFqn75RiZOfB0rjh+h4gF6XbtT842cO1QDrWgO0Hr4+9GlnmiDxKRE02Wv0DffBhh4h3DXrTyj0n7i3BrqZQ2DIrPVqtgr9ORCd5ADcBRRS4wfZ/MSxtAMWErSupgJh96VMRarRpcf0GD84Q6k/dnslVT1vPm50nY7vqeg0l3E4Y6ehWK/5q7oAuDuJqwaD4TczCQS83PzZLA6utW95+Sn0ZqcabvLtphywjwaAWrg2+9FBYB3Uoo+zWAbYbohoHFtHRJDFxHo2DQvhEjsuBkjUHD/7l+lbzTc6RLxcyKRwN/hVQMJ+ME8eZOfvadaI+mum8yETVV2o2plUpIZ/CLTU3oQp/kJQw8xe79lWnWunEou7fSn5tRi+gFsyn+RKy/PKkg5vx7Ek9cxhpuPjyN097TEfbX/14e4jnqm5U602cr6TxyNwU+jWXAZLRNug7P7UpEd+HGnBMwBKZGXNZdXZlDtU8hGso8VT9aQpeXrBwBqS5KVg99+QXUwdwgf6Wwdi9auNlC0Ub+25ovQelEhsjTj3d9NLX1Dz73luSO4+pBKRn6xeNED/Ww3EIm5tKIm/x8y9gTlscu0yqjSlKdv+AAPczY9m20k7rDoyJF+MAdT4gjz4r/QN6DZbrX55EuqRch/8+sdKpIYCwB/2lGJyQjyRwnEbcpcWY+p29vwieGpSKV/yp2h4lk/F0J1yl7I+CEo+dcOFEZk/NOtkT8bUkVOyFZuN4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hs7zFsMDsyDBDcwCnQQqpK",
      "input": {
        "note": "Wrist view shows the red block up and to the left of the held cube, so I yawed too far right. Swinging j0 back by 0.2 rad and re-checking.",
        "targets": {
          "left_j0": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Hs7zFsMDsyDBDcwCnQQqpK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.5946 left_j2=2.5927 left_j3=-1.6077 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.6077 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.6205, -15.5145, 5.0667, 0.2759, -0.0464, -0.0415, 0.6813, -0.1162, 1.6068, 7.0769, 1.9365, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab7d89e04b770645b1411262c2f0f992bca35b5cd63942f2e5c764ad4d638f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ffa5e658bd3eed5b05e356dd5e5bcaab352bb65ab5f7cc5a5a90a564aae16a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4a892db64988687ea576cf6226d246d332ed2604339d0722548b02c41f7867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ab7d89e04b77
wire blob 29ffa5e658bd
wire blob 2e4a892db649
call 21 attempt 0 · /messages · status 200 · 15.14 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6418 left_j1=1.7836 left_j2=1.42 left_j3=-1.206 left_j4=0.0071 left_j5=-0.0525 left_gripper=0.606 right_j0=-0.0029 right_j1=0.0238 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -9.6342, 7.4598, 0.2808, -0.0611, -0.0366, 1.0281, -0.1436, 1.5658, 7.0359, 1.8632, -0.0757, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0485 left_j1=2.5755 left_j2=2.5877 left_j3=-1.5963 left_j4=0.0071 left_j5=-0.0528 left_gripper=0.6078 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -13.2718, 7.8427, 0.1148, -0.0659, -0.022, 0.8278, -0.0342, 1.6752, 7.2547, 1.8779, -0.0708, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.5946 left_j2=2.5927 left_j3=-1.6077 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.6077 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.6205, -15.5145, 5.0667, 0.2759, -0.0464, -0.0415, 0.6813, -0.1162, 1.6068, 7.0769, 1.9365, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab7d89e04b770645b1411262c2f0f992bca35b5cd63942f2e5c764ad4d638f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ffa5e658bd3eed5b05e356dd5e5bcaab352bb65ab5f7cc5a5a90a564aae16a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4a892db64988687ea576cf6226d246d332ed2604339d0722548b02c41f7867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ab7d89e04b77]
[blob 29ffa5e658bd]
[blob 2e4a892db649]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B7N2ykdcRTeCUZiPpPKtAF",
      "input": {
        "note": "Red block is now centred left-right in the wrist view but still well ahead of the jaws; extending radially ~1 cm and lowering ~3 cm to see how fast it moves down the image.",
        "targets": {
          "left_j1": 2.669,
          "left_j2": 2.657,
          "left_j3": -1.559
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01B7N2ykdcRTeCUZiPpPKtAF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8577 left_j1=2.624 left_j2=2.6282 left_j3=-1.602 left_j4=0.0078 left_j5=-0.0528 left_gripper=0.6107 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.9915, -11.494, 7.1043, 0.4615, 0.0513, -0.0171, 0.5836, -0.1162, 1.5932, 7.2137, 1.8779, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d33bad0d264f62cf3a7a9887aeafc53543b1a34d3c71fb3a14fac2af36b19ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8660e441d627f1d2f25b4563446008a91d1ea95fb008372d4897fa824f6b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8012483324ea808ecabb509db20d2e75073736482a57457c5c0dd062ebb70410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8d33bad0d264
wire blob ad8660e441d6
wire blob 8012483324ea
call 22 attempt 0 · /messages · status 200 · 14.27 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0485 left_j1=2.5755 left_j2=2.5877 left_j3=-1.5963 left_j4=0.0071 left_j5=-0.0528 left_gripper=0.6078 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -13.2718, 7.8427, 0.1148, -0.0659, -0.022, 0.8278, -0.0342, 1.6752, 7.2547, 1.8779, -0.0708, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.5946 left_j2=2.5927 left_j3=-1.6077 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.6077 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.6205, -15.5145, 5.0667, 0.2759, -0.0464, -0.0415, 0.6813, -0.1162, 1.6068, 7.0769, 1.9365, -0.0317, -0.0513, -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=-0.8577 left_j1=2.624 left_j2=2.6282 left_j3=-1.602 left_j4=0.0078 left_j5=-0.0528 left_gripper=0.6107 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.9915, -11.494, 7.1043, 0.4615, 0.0513, -0.0171, 0.5836, -0.1162, 1.5932, 7.2137, 1.8779, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d33bad0d264f62cf3a7a9887aeafc53543b1a34d3c71fb3a14fac2af36b19ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8660e441d627f1d2f25b4563446008a91d1ea95fb008372d4897fa824f6b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8012483324ea808ecabb509db20d2e75073736482a57457c5c0dd062ebb70410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8d33bad0d264]
[blob ad8660e441d6]
[blob 8012483324ea]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmPCaQ9HKyE7MbYSPKkaow",
      "input": {
        "note": "Red block still ahead of the jaws; extending reach by pitching the gripper ~20° forward and pushing out to r≈0.52 m, which is near the left arm's limit.",
        "targets": {
          "left_j1": 2.717,
          "left_j2": 2.845,
          "left_j3": -1.328
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SmPCaQ9HKyE7MbYSPKkaow",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8623 left_j1=2.69 left_j2=2.8094 left_j3=-1.4242 left_j4=0.0074 left_j5=-0.0532 left_gripper=0.611 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -12.3009, 7.7197, 0.9255, -0.0269, -0.0269, 0.7595, -0.1162, 1.6615, 7.1726, 1.9512, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bfcdd43624d1d1b075809452ad6ccfa9be04dcf1b1f9dfaeed256c301c98c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a58fbe899235a0c08243c5be98150d4e42d8a88986514baf8a4b8695f4b4d1cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67a38d210f615a89ede7b29e30c17d9354efbff10221c46ecbfd71a57404e10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2bfcdd43624d
wire blob a58fbe899235
wire blob 67a38d210f61
call 23 attempt 0 · /messages · status 200 · 9.122 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8692 left_j1=2.5946 left_j2=2.5927 left_j3=-1.6077 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.6077 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.6205, -15.5145, 5.0667, 0.2759, -0.0464, -0.0415, 0.6813, -0.1162, 1.6068, 7.0769, 1.9365, -0.0317, -0.0513, -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=-0.8577 left_j1=2.624 left_j2=2.6282 left_j3=-1.602 left_j4=0.0078 left_j5=-0.0528 left_gripper=0.6107 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.9915, -11.494, 7.1043, 0.4615, 0.0513, -0.0171, 0.5836, -0.1162, 1.5932, 7.2137, 1.8779, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8623 left_j1=2.69 left_j2=2.8094 left_j3=-1.4242 left_j4=0.0074 left_j5=-0.0532 left_gripper=0.611 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -12.3009, 7.7197, 0.9255, -0.0269, -0.0269, 0.7595, -0.1162, 1.6615, 7.1726, 1.9512, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bfcdd43624d1d1b075809452ad6ccfa9be04dcf1b1f9dfaeed256c301c98c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a58fbe899235a0c08243c5be98150d4e42d8a88986514baf8a4b8695f4b4d1cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a38d210f615a89ede7b29e30c17d9354efbff10221c46ecbfd71a57404e10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2bfcdd43624d]
[blob a58fbe899235]
[blob 67a38d210f61]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015KuKhRpwaSXNJdPRTYghoK",
      "input": {
        "note": "The wrist view lost the block, so I solved the overhead camera mapping from my last two poses: the block needs the gripper ~14 cm back and 2.5 cm right. Moving there with the gripper vertical again.",
        "targets": {
          "left_j0": -1.128,
          "left_j1": 2.549,
          "left_j2": 2.548,
          "left_j3": -1.569
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_015KuKhRpwaSXNJdPRTYghoK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1282 left_j1=2.6091 left_j2=2.5645 left_j3=-1.5223 left_j4=0.0074 left_j5=-0.0563 left_gripper=0.6133 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [2.5504, -18.1128, 5.8462, 0.4371, -0.0952, 0.0024, 0.5397, -0.2256, 1.9487, 7.0906, 1.9267, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d80fd9c4e3645542d602b17c8416abc3ca3857ff07ce874e061af88ce15c1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171cf77348a232fb4b3948ea541a1f9b4164d08b5f9b61d5f3a242d05316ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9da01d7bc5a9c6a0850319cdfbc322bbf79a5ea840f8ce0057648a15b815019e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6d80fd9c4e36
wire blob 171cf77348a2
wire blob 9da01d7bc5a9
call 24 attempt 0 · /messages · status 200 · 20.48 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8577 left_j1=2.624 left_j2=2.6282 left_j3=-1.602 left_j4=0.0078 left_j5=-0.0528 left_gripper=0.6107 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.9915, -11.494, 7.1043, 0.4615, 0.0513, -0.0171, 0.5836, -0.1162, 1.5932, 7.2137, 1.8779, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8623 left_j1=2.69 left_j2=2.8094 left_j3=-1.4242 left_j4=0.0074 left_j5=-0.0532 left_gripper=0.611 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -12.3009, 7.7197, 0.9255, -0.0269, -0.0269, 0.7595, -0.1162, 1.6615, 7.1726, 1.9512, -0.0708, -0.0366, -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=-1.1282 left_j1=2.6091 left_j2=2.5645 left_j3=-1.5223 left_j4=0.0074 left_j5=-0.0563 left_gripper=0.6133 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [2.5504, -18.1128, 5.8462, 0.4371, -0.0952, 0.0024, 0.5397, -0.2256, 1.9487, 7.0906, 1.9267, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d80fd9c4e3645542d602b17c8416abc3ca3857ff07ce874e061af88ce15c1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171cf77348a232fb4b3948ea541a1f9b4164d08b5f9b61d5f3a242d05316ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da01d7bc5a9c6a0850319cdfbc322bbf79a5ea840f8ce0057648a15b815019e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6d80fd9c4e36]
[blob 171cf77348a2]
[blob 9da01d7bc5a9]
{
  "content": [
    {
      "signature": "CAISwwkKjAEIEBgCKkBDUyViELHLKRDw0MXhWKcsVBWriliTuopnEgVCPDih3k3OQvG9arP3EfMIj8tUM13L/XH4CGmw0HpIooKoBm5qMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMpXsTnlFE+JmzIKglGgzxn1wQ4VQlaUQCVAsiMMmDeAZEV2Mwe6eOYmji9KvNhZvDVrdRFZqVzDiKZNl940YR289NCRGWwEnUaDqtYyrjB0ogFML+WLWZSgWFfR4odaSrqu5ULBc8ZP9afc9iUONRta4NvX+iaYo1R+hvx2t5LSlbycuNO36TsRUraRhklaqgVQGe5uBH06UP6uMopq7RTjL3j9hQp2u4Akz5qjf+DqjaMD0YI+V3Eiuw2ENIsUzFiFwO9B4wuXtoqhZJbI27HskOifGBlRBqPPLPrZdab2kf+OUKuGLMNwKgxXjix2bSpffvwYKW4Zy6yQWWCuMF1TR5Q3tEWf6VogaBs+mXQMrwquPVnymNUFL/JDXRzmdn4+lK1D1fzPaLq3huv2KddLtUednpMpgVKgMqDk2JnNoIaZ/Ni2tdZ5rBAGoYUfKTOKe6c5xYhvHI1YB4A9u5pNg+V+LKif+VRPwrdHMpjEMvBvQ5NpR1OMK196i+1Kk8FS2NKsl6l0Q8TCDm57kIq1Pv1fY/LLJl/N/gJPREtA/CS0WBlIszSVxLGT9RZFR7i1pCafFBIfqATk7Bl0DnLIhbF/J+69wYxp7XfNtyfct4KJggE2LE1kynkh3qPY3xXKtqrTdX0Cx6m68xEoV1QqxFFsOCBvhbwTEYeh5uWHhBPS8dAVL+fALhciL82ClMOQP8oPe+GM8SejmjBuRcUYmVlCpEguu+dKcWXPTPqwGsLeuzhfC/H90gk+sVAffedPmAE7Jyzd35kUZNTxdaT4yLwvCujp08ZJVJ+jkShavPTWtlZZnih+zF0D7hlycwi2HguXNEozBIJEGvoAleVuveubq94n2IvRZE8kan9F90jL+CQPY8rrRlmgLULU6YUpe1fNX/HC0RukRWV97ssO6Lv+38w5uPggOdTRmrDODW1E8xGy2MDFcI7oHjm0UOseOHGa5Z08DsN7y5DNa+LU7fs2w7ecXzIpTGjq3MEg/zmmILLoLC9S6BWoiz8OJw54m1RYq0m6prF/4jrFN/bUIMeOislV6Wb/Mno+jnDSJJtEvvsghuK9zpjUP0pVgWSwUjLa2LZjle4MOWiAGdt4+3ijGklh/PnkGwSKzNw9saMKwIIXhYqOauPMPPMHm5nA3lS/7XviHGKtTT0YbnC5WSIXeYUqjWGaRbGuA9QTzuJ9KLqzh2AP3OvCgraLR7a3yjtonRqNpXruqZ2kFk9pZ2OtUBtpLetKoIakqTAggrWf9BT+ymKn5bXGIxUUmdpG/8bkuWdPmXkPMohPOaAU1s5Jloz34AswRDlNbyssNIxSEhJeRJIDijDx8tZIRgvQZT9VUqyGQBW/xIS21rb6Qs82FaUsC3grhHpCpn82UgNUr+eR1CS8f2fk6tcQm6gb8qnnieWTbxAitFfA+zEJe+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3Y8YWHwiSBDsh1LdvVWRc",
      "input": {
        "note": "The overhead view is now blocked by the arm and the wrist view shows an unexpected pale object to the left; raising the gripper ~8 cm to clear the scene and re-locate both blocks.",
        "targets": {
          "left_j1": 2.35,
          "left_j2": 2.4,
          "left_j3": -1.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01T3Y8YWHwiSBDsh1LdvVWRc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1278 left_j1=2.4172 left_j2=2.4035 left_j3=-1.5829 left_j4=0.0071 left_j5=-0.0559 left_gripper=0.6132 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0635 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -15.6103, 5.9009, 0.359, -0.0269, -0.0464, 0.6471, -0.0615, 1.5795, 7.0359, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3651c9dd7e89cdb6fb4b7052715f4d1833a26b638b0ff603456ba4b072903ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6d8bfcd3e14c08f74352dd3627c6b6598fc78fb77c6fe991c54dd7d579bf5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ac283e239d5604609520749e21e0fd7ba332c27c7aaf4e93167c5c836e42e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3651c9dd7e89
wire blob 7f6d8bfcd3e1
wire blob 0ac283e239d5
call 25 attempt 0 · /messages · status 200 · 16.81 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8623 left_j1=2.69 left_j2=2.8094 left_j3=-1.4242 left_j4=0.0074 left_j5=-0.0532 left_gripper=0.611 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0162 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -12.3009, 7.7197, 0.9255, -0.0269, -0.0269, 0.7595, -0.1162, 1.6615, 7.1726, 1.9512, -0.0708, -0.0366, -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=-1.1282 left_j1=2.6091 left_j2=2.5645 left_j3=-1.5223 left_j4=0.0074 left_j5=-0.0563 left_gripper=0.6133 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [2.5504, -18.1128, 5.8462, 0.4371, -0.0952, 0.0024, 0.5397, -0.2256, 1.9487, 7.0906, 1.9267, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1278 left_j1=2.4172 left_j2=2.4035 left_j3=-1.5829 left_j4=0.0071 left_j5=-0.0559 left_gripper=0.6132 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0635 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -15.6103, 5.9009, 0.359, -0.0269, -0.0464, 0.6471, -0.0615, 1.5795, 7.0359, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3651c9dd7e89cdb6fb4b7052715f4d1833a26b638b0ff603456ba4b072903ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6d8bfcd3e14c08f74352dd3627c6b6598fc78fb77c6fe991c54dd7d579bf5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ac283e239d5604609520749e21e0fd7ba332c27c7aaf4e93167c5c836e42e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3651c9dd7e89]
[blob 7f6d8bfcd3e1]
[blob 0ac283e239d5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AzjgG9otLqLN67p7NifJUX",
      "input": {
        "note": "Two estimates of the red block disagree, so I'm testing the nearer one: pulling back to r≈0.35 m at bearing −0.9 rad, 9 cm up, to see where the block lands in the wrist view.",
        "targets": {
          "left_j0": -0.9,
          "left_j1": 2.0,
          "left_j2": 1.79,
          "left_j3": -1.35
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AzjgG9otLqLN67p7NifJUX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9108 left_j1=2.0422 left_j2=1.808 left_j3=-1.3792 left_j4=0.0071 left_j5=-0.0563 left_gripper=0.615 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.9709, 6.2154, 0.5201, -0.0415, -0.0464, 0.3736, 0.0068, 1.7299, 7.0359, 1.9316, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6417674beafc6e59189807a8eb0a971532605b91f9ad8f6b74fcf1078387f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cdc602105582ac21645296bb1b5ee0f2969eb8dab1a7d435e3b57120d34e5cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3366525e8d52453eaec8e0957b26cbcbe0bf42cb4b09d9e0e8e25f0b88af5b81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5a6417674bea
wire blob 0cdc60210558
wire blob 3366525e8d52
call 26 attempt 0 · /messages · status 200 · 6.844 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1282 left_j1=2.6091 left_j2=2.5645 left_j3=-1.5223 left_j4=0.0074 left_j5=-0.0563 left_gripper=0.6133 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [2.5504, -18.1128, 5.8462, 0.4371, -0.0952, 0.0024, 0.5397, -0.2256, 1.9487, 7.0906, 1.9267, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1278 left_j1=2.4172 left_j2=2.4035 left_j3=-1.5829 left_j4=0.0071 left_j5=-0.0559 left_gripper=0.6132 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0635 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -15.6103, 5.9009, 0.359, -0.0269, -0.0464, 0.6471, -0.0615, 1.5795, 7.0359, 1.9756, -0.0171, -0.0317, -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=-0.9108 left_j1=2.0422 left_j2=1.808 left_j3=-1.3792 left_j4=0.0071 left_j5=-0.0563 left_gripper=0.615 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.9709, 6.2154, 0.5201, -0.0415, -0.0464, 0.3736, 0.0068, 1.7299, 7.0359, 1.9316, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6417674beafc6e59189807a8eb0a971532605b91f9ad8f6b74fcf1078387f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cdc602105582ac21645296bb1b5ee0f2969eb8dab1a7d435e3b57120d34e5cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3366525e8d52453eaec8e0957b26cbcbe0bf42cb4b09d9e0e8e25f0b88af5b81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5a6417674bea]
[blob 0cdc60210558]
[blob 3366525e8d52]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qs9XnuouL9QuKRhXS6wumF",
      "input": {
        "note": "Overhead shows the red block right beside the gripper (it has dropped out of the wrist view, i.e. it's under/behind the jaws). Shifting ~3 cm right and ~3 cm back to centre the held cube over it.",
        "targets": {
          "left_j0": -1.026,
          "left_j1": 2.023,
          "left_j2": 1.816,
          "left_j3": -1.364
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Qs9XnuouL9QuKRhXS6wumF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9493 left_j1=2.0327 left_j2=1.7893 left_j3=-1.3666 left_j4=-0.0002 left_j5=-0.0601 left_gripper=0.6151 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -11.0291, 7.9385, 0.2222, 0.0122, -0.0073, 0.2466, -0.1162, 1.5932, 7.0222, 1.9609, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b57a2b63408e2ab58d5138a680c713c428629f2ee29e0ff636634568f90ce69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b861bf8f3658d6f428eb7a7488f17c41d15ceff86e7560f7e7a26deb0e0908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8378c3dcf74899ae687c68137dbbc988f04febe59440dc0d55482ea0fdf61ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0b57a2b63408
wire blob c5b861bf8f36
wire blob e8378c3dcf74
call 27 attempt 0 · /messages · status 200 · 8.06 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1278 left_j1=2.4172 left_j2=2.4035 left_j3=-1.5829 left_j4=0.0071 left_j5=-0.0559 left_gripper=0.6132 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0635 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -15.6103, 5.9009, 0.359, -0.0269, -0.0464, 0.6471, -0.0615, 1.5795, 7.0359, 1.9756, -0.0171, -0.0317, -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=-0.9108 left_j1=2.0422 left_j2=1.808 left_j3=-1.3792 left_j4=0.0071 left_j5=-0.0563 left_gripper=0.615 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.9709, 6.2154, 0.5201, -0.0415, -0.0464, 0.3736, 0.0068, 1.7299, 7.0359, 1.9316, -0.0317, -0.0513, -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=-0.9493 left_j1=2.0327 left_j2=1.7893 left_j3=-1.3666 left_j4=-0.0002 left_j5=-0.0601 left_gripper=0.6151 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -11.0291, 7.9385, 0.2222, 0.0122, -0.0073, 0.2466, -0.1162, 1.5932, 7.0222, 1.9609, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b57a2b63408e2ab58d5138a680c713c428629f2ee29e0ff636634568f90ce69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b861bf8f3658d6f428eb7a7488f17c41d15ceff86e7560f7e7a26deb0e0908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8378c3dcf74899ae687c68137dbbc988f04febe59440dc0d55482ea0fdf61ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0b57a2b63408]
[blob c5b861bf8f36]
[blob e8378c3dcf74]
{
  "content": [
    {
      "signature": "CAISzgMKjAEIEBgCKkBJbIwvkUuD2iO8xDK6fPGderaDXiIKki0M7mUPZKlaA2DhwQeAzQRNP6pAAHguQiGEsocqzqMVpWkeNl5B9mydMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMnD6mv9096gY6pQoNGgyuHB2Rlb+peFURQK8iMJnN/XpRZDKEnAIfkiza44jVkkCTiTD63516reux7NxCFT/BfM4JQT1lktTmZ3fbfyruAaoRgxdPGFE8XY8BSYcRoixQtJ+J4OFMFjs9uxMOqCkyKTs6mHIlC4mVt8rfFmZW3bv9iv36DhRRj0ulkYIYt51EnST/tPsZGm/tp2nJUlYRCLBqYBApw/vQgvtUOavHhBg4rpybWkF7rvlcA4SdQWrWPOEmnIXJlqJwfHwwFDKNU+4aFcBXjIRzBYekW+sssBRjj/Z/BNeOAQf1bF8rOvjQgAswbhYzvjMGFOok3LYtgCfTGhmWGv97skNlI7FoxaseG8MuSU9uIrWzp5sO4H6YKs22jGnlwD8+DiG8dY93XMJu8p99ROmfxwDGbrIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GQAJjvDokHsr1MbQd7EKxB",
      "input": {
        "note": "j0 undershot; re-issuing the yaw so the held cube shifts the last ~3 cm toward the red block.",
        "targets": {
          "left_j0": -1.06
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GQAJjvDokHsr1MbQd7EKxB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0363 left_j1=2.0327 left_j2=1.7889 left_j3=-1.3712 left_j4=0.0029 left_j5=-0.0605 left_gripper=0.6171 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.4154, -10.4547, 5.6821, 0.2222, -0.1001, -0.0415, 0.1929, -0.1846, 1.6068, 7.0222, 1.917, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdcc3d83cb3e15c2a94731546aa7abc1052e9873f2eaeda8e793ddcac03e79cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5a7ee325cc3020918410ac5cb4042ac054317073b916deb851f52d93a8326b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d06e0d0f24ad5ec37047a62e2905c86bea176a95bd900fbca2814325a72aec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cdcc3d83cb3e
wire blob 3e5a7ee325cc
wire blob 4d06e0d0f24a
call 28 attempt 0 · /messages · status 200 · 8.621 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9108 left_j1=2.0422 left_j2=1.808 left_j3=-1.3792 left_j4=0.0071 left_j5=-0.0563 left_gripper=0.615 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0692 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.294, -12.9709, 6.2154, 0.5201, -0.0415, -0.0464, 0.3736, 0.0068, 1.7299, 7.0359, 1.9316, -0.0317, -0.0513, -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=-0.9493 left_j1=2.0327 left_j2=1.7893 left_j3=-1.3666 left_j4=-0.0002 left_j5=-0.0601 left_gripper=0.6151 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -11.0291, 7.9385, 0.2222, 0.0122, -0.0073, 0.2466, -0.1162, 1.5932, 7.0222, 1.9609, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0363 left_j1=2.0327 left_j2=1.7889 left_j3=-1.3712 left_j4=0.0029 left_j5=-0.0605 left_gripper=0.6171 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.4154, -10.4547, 5.6821, 0.2222, -0.1001, -0.0415, 0.1929, -0.1846, 1.6068, 7.0222, 1.917, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdcc3d83cb3e15c2a94731546aa7abc1052e9873f2eaeda8e793ddcac03e79cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5a7ee325cc3020918410ac5cb4042ac054317073b916deb851f52d93a8326b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d06e0d0f24ad5ec37047a62e2905c86bea176a95bd900fbca2814325a72aec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cdcc3d83cb3e]
[blob 3e5a7ee325cc]
[blob 4d06e0d0f24a]
{
  "content": [
    {
      "signature": "CAIS4AUKjAEIEBgCKkB8Z3yyRvOtWn+UV31Pv4d7lxKlldwcXJLN5GDCu5yfcfoFRzrdId6DD6Mo6AE80ARDSAoAKDm8J/wCs3IkNVojMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/VR6m0LgPgcwSVfGGgyZ0vColq/BOCw2DqoiMLgyxNgs7WNDM55Pdm+LXylf64pFjiP6Ja49Q6hOgcQSgX8wL9iog+kSeunP82OfCiqABBNdz6GkYzJBRRxmoKjAliFlo3R+/DoNDDo/OtHMtSKrh/qMj/bbjINq5JyLs8p4EEP5PwEputEuAq/uEVBGaWIjDNlxsbZCWlxXcUjrj6MyDtw9p483Z47XWqoermun7Cez2nM2Bkzm6IwH1fGYjSL4ekz0zBhLvGpq16m3zhaN6mVd+gI3SXaLk/vpkRkzrPn9d301DWZuOBldnW/pSnkkx4m1JdXIFsb5G7bg3Cjz4e/bom1cpyBXlJPI8j8Ju9jq9qVTIAMy8UMFQFNnlCS3pWvd3EXEGiyPwTxKm1BqChg2KiFikt9wVuTVeoBdv/4sP7LNe+7lX4S+0Kcise6KZLml5GnuVwFLtHk5FKDBzbDVZuMSV5VYgC6vrUZQAN9+0uBx/54swLxs9isRcBVqcY/V2i9eVcIMDBePHbTtap3dPGus5+fCyT6zFCHRtJHl9lf7YkMc1MF9SpSpe3Y/KJT5jnqknS7xS78FULh+Bic5akBhzG7+v56xnoxYCRDboIn5hNSsh0MPtn5zAw7v8ALoeSGpVTs1zJ4t/oTFI2HiDaLbJf9kpx18pcQLDHmfHASuj3EbOm2YVsBYGxJ7RUNZi7M2YcLggVpJc/Hdc7uoXo+c8wv7RF4x9rDVoeTVjcYTBd77H974aEiqQgTeaM5/d6CEDwOvlYgb8gCeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D7o16HsouxjEKukW76u81U",
      "input": {
        "note": "The red block is now hidden directly beneath the gripper in the overhead view, so the held cube is above it. Descending ~4 cm.",
        "targets": {
          "left_j1": 2.065,
          "left_j2": 1.709,
          "left_j3": -1.215
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D7o16HsouxjEKukW76u81U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0416 left_j1=2.0518 left_j2=1.7184 left_j3=-1.2789 left_j4=0.0032 left_j5=-0.0605 left_gripper=0.6187 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -9.812, 6.188, 0.3394, -0.0269, -0.0708, 0.149, -0.1162, 1.5932, 7.0359, 1.873, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:478e688bff04f17c5254c399397378e22b0d1c28d587f8d3cb9e914fe70b99db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa999afd396855fc6367c43a8953565ae21eb3f6feceac757c98258483f6f010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3878f4474f668b9da707a89f7c1a9f22ae4c8751fea8d4b701595b8f253bd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 478e688bff04
wire blob fa999afd3968
wire blob a3878f4474f6
call 29 attempt 0 · /messages · status 200 · 9.71 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9493 left_j1=2.0327 left_j2=1.7893 left_j3=-1.3666 left_j4=-0.0002 left_j5=-0.0601 left_gripper=0.6151 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -11.0291, 7.9385, 0.2222, 0.0122, -0.0073, 0.2466, -0.1162, 1.5932, 7.0222, 1.9609, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0363 left_j1=2.0327 left_j2=1.7889 left_j3=-1.3712 left_j4=0.0029 left_j5=-0.0605 left_gripper=0.6171 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.4154, -10.4547, 5.6821, 0.2222, -0.1001, -0.0415, 0.1929, -0.1846, 1.6068, 7.0222, 1.917, -0.0464, -0.0269, -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=-1.0416 left_j1=2.0518 left_j2=1.7184 left_j3=-1.2789 left_j4=0.0032 left_j5=-0.0605 left_gripper=0.6187 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -9.812, 6.188, 0.3394, -0.0269, -0.0708, 0.149, -0.1162, 1.5932, 7.0359, 1.873, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:478e688bff04f17c5254c399397378e22b0d1c28d587f8d3cb9e914fe70b99db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa999afd396855fc6367c43a8953565ae21eb3f6feceac757c98258483f6f010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3878f4474f668b9da707a89f7c1a9f22ae4c8751fea8d4b701595b8f253bd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 478e688bff04]
[blob fa999afd3968]
[blob a3878f4474f6]
{
  "content": [
    {
      "signature": "CAISoQUKjAEIEBgCKkDwrvWIFLFikq3M6rPAb+5ZF+O6MAqvNvu2W66hAZ7eLDe+TUuJe84bV+lobkXZh/7TmQ+NFuje9ilebpor2UkvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMcRmMAE+PobNJB7YbGgyjNcJ/qJ+D2sdpDKsiMAsoQaXTLp074C7LpasCFp3qKkHjPOt0D/0LwZmjJCkMRWQ55hamLULmmgqoz1GywyrBAxZlh/8t8Nl8vVX0g2rbv0iPEYMdy92p4yIxPaRJGVQYEVWGClkINKEbQKo7Gu48HBNhajxusGrF9otunQPBvLavM574TkCbFXw53ry/HKDd2JPLGtmfscZAApL4jtA7Tn3DF3OyHEXHjcV+LW5qyVWzzI+pPTSiFVVQYqzBQdk5/fiOBQc+ZshWRklYYSFX4xxWOETUfUaLvRrwEMrUyKuh1miYGIsoLmYB6pd7Xop5XXs+M6OIN2tetmkEPIk1xnPhsbcOIP3ZspwTNZmcuYvr+44puDyPK4NQaqOO+7xxmvXh5asrFd0Adzawl0z4ruPI8zY1gXZ9gkLQdEJTfjYMkg37r894GJ8kkb/ki63k79QLuUQTJ2a7f724ciOwRP1AiCaLBZ3aHDtMDftodHs3/6bMz+wizrxCaHmutrJG/MsNJis4mVMNpOthjexCcngJWFnYDrSqpThwZbGlOu0TDDponfgNB9ItAdtHJPugR7VJSfajnSLMniUaSlztW40Lk2pvAy3saxigKEkZrs5QJ4R5EiccejA0awG8rf6NoeDD/kvucaIvFDQUFG6Wcj+d2ZYyvxXzAjeTTI9ZODCsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011pRifJC32UxJGDnmoKxbPL",
      "input": {
        "note": "Continuing the descent another ~3 cm toward the red block's top, watching j1 effort for contact.",
        "targets": {
          "left_j1": 2.11,
          "left_j2": 1.646,
          "left_j3": -1.107
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_011pRifJC32UxJGDnmoKxbPL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0374 left_j1=2.0846 left_j2=1.6569 left_j3=-1.1675 left_j4=0.004 left_j5=-0.0681 left_gripper=0.6201 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -9.1282, 5.7231, 0.3736, -0.0171, 0.0073, 0.1392, -0.1436, 1.6205, 7.0496, 1.8974, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce193c2f9017dab016ea11816ed349f9ad0c7139f200dd0ecf0928178c8d1ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf14ee3014f53e892f0bd9294d08717565bb65ff1d886184cb56f1fd167ca1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3ee9a4c754053a6a768ea5da176a97abb845a22673b464be4f12df9ec0532ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cce193c2f901
wire blob bf14ee3014f5
wire blob d3ee9a4c7540
call 30 attempt 0 · /messages · status 200 · 8.243 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0363 left_j1=2.0327 left_j2=1.7889 left_j3=-1.3712 left_j4=0.0029 left_j5=-0.0605 left_gripper=0.6171 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.4154, -10.4547, 5.6821, 0.2222, -0.1001, -0.0415, 0.1929, -0.1846, 1.6068, 7.0222, 1.917, -0.0464, -0.0269, -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=-1.0416 left_j1=2.0518 left_j2=1.7184 left_j3=-1.2789 left_j4=0.0032 left_j5=-0.0605 left_gripper=0.6187 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -9.812, 6.188, 0.3394, -0.0269, -0.0708, 0.149, -0.1162, 1.5932, 7.0359, 1.873, -0.0317, -0.0806, -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=-1.0374 left_j1=2.0846 left_j2=1.6569 left_j3=-1.1675 left_j4=0.004 left_j5=-0.0681 left_gripper=0.6201 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -9.1282, 5.7231, 0.3736, -0.0171, 0.0073, 0.1392, -0.1436, 1.6205, 7.0496, 1.8974, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce193c2f9017dab016ea11816ed349f9ad0c7139f200dd0ecf0928178c8d1ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf14ee3014f53e892f0bd9294d08717565bb65ff1d886184cb56f1fd167ca1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ee9a4c754053a6a768ea5da176a97abb845a22673b464be4f12df9ec0532ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cce193c2f901]
[blob bf14ee3014f5]
[blob d3ee9a4c7540]
{
  "content": [
    {
      "signature": "CAIS7AUKjAEIEBgCKkDI5ij+kT5DCP/YbbhHK+ubjt+BJQdz2UVJ0fHJq8IOU/KBAb9NhNGj0/lJSCutW3nUBjbHlvtofkFvzyVLX1qcMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIME4h7WawTrxj1yTfUGgw00eIQRPxP+lcWz6ciMH6vD6W/XUpwC3cRY0jsDd6h07VKF9h1jXSFJdTmn5U+7NaJcCaN0adjBaqfKm/rqCqMBCTDV7+f1+bs4sTLwnhAnELQz2AIDpYpAzWzv1mqlPxsccda69BLQ8mdsOAhK0lZ6Ha8oVgQsseCjb4L6qn223updfhef7gFBANl5lhSreUShZGdX8fKxF/7FWtsoCSHEAzxBt3RM+0OgiAzYd6S907burI+37cD6bF4kWhtKdN1g4lpAnWxQGfX4UC+yrnc74LwVUVbxyeIu9SLN47y2R5glJdxLXBUBqYmEA1Pz7gb/9r2YHnGaAAjhF0ubIyBuMRjoR2P7lq50HbHUWutY+ndFasMKNAQT8/dmP5w/1Vh4HdoTZRDvx+NIuWeZztE2UMtPxsDJ39+9BbSba74aJy7JSs+7iQtliznz74phrfMT0ysZw1UyBtkAuwBo3msB9qekI0YDRkUJDQDrNwJBjCQAyJQtoj7hmFbJZok0VKy0cT4Yt2Dtp/FSl65GbDl+9jZqDGkyxM8WptecGNMgETATxrPP+21ikh8+e5bRBiKfgTi73zW64K+ybXy5M4xlgHHkYdJaN68Bcx/O6DGGvwdd7LyHD/hA1ijQ2D9hMFt1+VmiMRdL5wo/MwniJcop5V5BzrftkhMp8uKkzLLwTTwdwKKzNUq8+EQqltDoxYGdc/H1F/Ceyoivub494e0OqIhgDmcA1cYQi+T/dAssRUrjYwBvuLEylsX5yR5VANH/miCZdrG8fNdkplBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GmyNoa61Pbk8qCGvGKtDUP",
      "input": {
        "note": "No contact yet; lowering another ~2 cm.",
        "targets": {
          "left_j1": 2.148,
          "left_j2": 1.615,
          "left_j3": -1.038
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GmyNoa61Pbk8qCGvGKtDUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0397 left_j1=2.125 left_j2=1.6238 left_j3=-1.0866 left_j4=0.004 left_j5=-0.0715 left_gripper=0.6215 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -9.5795, 5.4222, 0.3053, 0.0122, -0.0317, 0.1245, -0.1299, 1.6479, 7.0359, 1.8926, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff3b2303b3e0f4671f4d16602cf45a33853f3c6cbf5c1cde480570d5f04f1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9f447d6116ff17eccf80e6b847ae5564282ce026409265a716ce3a88d0d47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c4a948955cfca1c649bbd2f335db1b548385ddacd5439c7aa2b2268f9bc8f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ff3b2303b3e
wire blob 0e9f447d6116
wire blob 4c4a948955cf
call 31 attempt 0 · /messages · status 200 · 14.24 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0416 left_j1=2.0518 left_j2=1.7184 left_j3=-1.2789 left_j4=0.0032 left_j5=-0.0605 left_gripper=0.6187 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -9.812, 6.188, 0.3394, -0.0269, -0.0708, 0.149, -0.1162, 1.5932, 7.0359, 1.873, -0.0317, -0.0806, -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=-1.0374 left_j1=2.0846 left_j2=1.6569 left_j3=-1.1675 left_j4=0.004 left_j5=-0.0681 left_gripper=0.6201 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -9.1282, 5.7231, 0.3736, -0.0171, 0.0073, 0.1392, -0.1436, 1.6205, 7.0496, 1.8974, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0397 left_j1=2.125 left_j2=1.6238 left_j3=-1.0866 left_j4=0.004 left_j5=-0.0715 left_gripper=0.6215 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -9.5795, 5.4222, 0.3053, 0.0122, -0.0317, 0.1245, -0.1299, 1.6479, 7.0359, 1.8926, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff3b2303b3e0f4671f4d16602cf45a33853f3c6cbf5c1cde480570d5f04f1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9f447d6116ff17eccf80e6b847ae5564282ce026409265a716ce3a88d0d47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4a948955cfca1c649bbd2f335db1b548385ddacd5439c7aa2b2268f9bc8f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ff3b2303b3e]
[blob 0e9f447d6116]
[blob 4c4a948955cf]
{
  "content": [
    {
      "signature": "CAISigMKjAEIEBgCKkDRcF4E+uAZG4Zy9eutvEWFUmLe8MCbsHKU4ItaslObk7X0qldXrxRjqic9XVo93pu0oYZUEH+TM9SM4pI4JzBWMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0GImtFPfBW7KRnkYGgx+w+pfevwyLRPJkT8iMIgQp4dlj1xl33p1COgFiTonpaerMj5JMXcFpnK7f8ZmCJ8f0nJCB517EYH7TahlRiqqAbwBcgopiO34LHPqKe0CATF9yylEDECg0cknCdmPw6eu1xJT15CTqlMqkn0Gu8ug9VnSAljM8w/Feo2pRsI6zP7H4NMdmj0DK8faBh/F6uH2EzrxAHhtzjqrVjxMybublz6Ww2Ye1aG7IGHIP68iMJ8hH1BUbBfIn/FxS480lSBO5MBps89Mslhn3rq24HkYC810T3y44iNuZCatFA/AJ4SodFulAgHaLg03GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JT3JHHNBTTfvqXMJr7cuiq",
      "input": {
        "note": "The wrist view shows only bare table under the cube, so I can't confirm the red block is below. Swinging the arm up and left to clear the overhead view and re-locate the red block.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 1.6,
          "left_j2": 1.5,
          "left_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JT3JHHNBTTfvqXMJr7cuiq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.321 left_j1=1.6352 left_j2=1.5051 left_j3=-1.2736 left_j4=0.0044 left_j5=-0.0719 left_gripper=0.6223 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -8.294, 5.9282, 0.5788, 0.022, -0.0562, 0.0708, -0.1162, 1.6205, 7.0359, 1.917, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b4ebcd209e3a13f95961d9bb1744bd9c9b47adb94f3b5d5fa2acbb4fd0b0b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a973d1d90372f9141a45e0a1da3ae607c38084838d965eac65020bfb43f3bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67683304800e59c887911e94f209b600aee2f35ba914a10db296bd7153427288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 43b4ebcd209e
wire blob 9a973d1d9037
wire blob 67683304800e
call 32 attempt 0 · /messages · status 200 · 9.171 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0374 left_j1=2.0846 left_j2=1.6569 left_j3=-1.1675 left_j4=0.004 left_j5=-0.0681 left_gripper=0.6201 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -9.1282, 5.7231, 0.3736, -0.0171, 0.0073, 0.1392, -0.1436, 1.6205, 7.0496, 1.8974, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0397 left_j1=2.125 left_j2=1.6238 left_j3=-1.0866 left_j4=0.004 left_j5=-0.0715 left_gripper=0.6215 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -9.5795, 5.4222, 0.3053, 0.0122, -0.0317, 0.1245, -0.1299, 1.6479, 7.0359, 1.8926, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.321 left_j1=1.6352 left_j2=1.5051 left_j3=-1.2736 left_j4=0.0044 left_j5=-0.0719 left_gripper=0.6223 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -8.294, 5.9282, 0.5788, 0.022, -0.0562, 0.0708, -0.1162, 1.6205, 7.0359, 1.917, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b4ebcd209e3a13f95961d9bb1744bd9c9b47adb94f3b5d5fa2acbb4fd0b0b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a973d1d90372f9141a45e0a1da3ae607c38084838d965eac65020bfb43f3bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67683304800e59c887911e94f209b600aee2f35ba914a10db296bd7153427288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 43b4ebcd209e]
[blob 9a973d1d9037]
[blob 67683304800e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QDio4XCdisD6dEkP7q2bEa",
      "input": {
        "note": "Clear overhead view: the red 'a' cube sits at image (145,152) while my gripper with the white cube is upper-left. Re-solving gives the block at r≈0.33 m, bearing ≈−1.15 rad; moving to hover 10 cm above that point.",
        "targets": {
          "left_j0": -1.15,
          "left_j1": 1.93,
          "left_j2": 1.682,
          "left_j3": -1.323
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01QDio4XCdisD6dEkP7q2bEa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1275 left_j1=1.9217 left_j2=1.6516 left_j3=-1.3308 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.623 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.9778, 8.253, 0.2857, -0.0415, 0.0024, 0.0659, -0.2393, 1.8256, 7.2547, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f69f22bdf8ae3087406b3b6de638591ad281be8c15ac4777394ec5ad9d987b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c71acecbdf1b7e5e71f7bf51a563d8c948703f09020c131b03fd01af6d9c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7da3357f70a2e16aff100c930f3a8a1940f7fbe57e8bb7f201856df710c5ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f69f22bdf8ae
wire blob 30c71acecbdf
wire blob a7da3357f70a
call 33 attempt 0 · /messages · status 200 · 8.409 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0397 left_j1=2.125 left_j2=1.6238 left_j3=-1.0866 left_j4=0.004 left_j5=-0.0715 left_gripper=0.6215 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -9.5795, 5.4222, 0.3053, 0.0122, -0.0317, 0.1245, -0.1299, 1.6479, 7.0359, 1.8926, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.321 left_j1=1.6352 left_j2=1.5051 left_j3=-1.2736 left_j4=0.0044 left_j5=-0.0719 left_gripper=0.6223 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -8.294, 5.9282, 0.5788, 0.022, -0.0562, 0.0708, -0.1162, 1.6205, 7.0359, 1.917, -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=-1.1275 left_j1=1.9217 left_j2=1.6516 left_j3=-1.3308 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.623 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.9778, 8.253, 0.2857, -0.0415, 0.0024, 0.0659, -0.2393, 1.8256, 7.2547, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f69f22bdf8ae3087406b3b6de638591ad281be8c15ac4777394ec5ad9d987b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c71acecbdf1b7e5e71f7bf51a563d8c948703f09020c131b03fd01af6d9c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7da3357f70a2e16aff100c930f3a8a1940f7fbe57e8bb7f201856df710c5ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f69f22bdf8ae]
[blob 30c71acecbdf]
[blob a7da3357f70a]
{
  "content": [
    {
      "signature": "CAISnwYKjAEIEBgCKkBKs9hfoOucwgD02w3hFfYCAcF2OF3Iz+ffyvECuGGEiF/ZIe62ZwsEtjyUzg9Nv8g/XleeYH7uuqMP4woKyFv5MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMCDD+yk2Eaquk7Yd4GgzwGR3YDxw98PT5yEkiMJs0UNSTwsXE2ELuA6FyvjXkYgUBgfTu4seQNlUYRJhn8l4cC0jAjleD5pf7BnQOnCq/BMjYv9PiC5kLnhCCwN00pLhzelGQ9/Mf4mplwCuhBA+0NqO0JX195TPWDhXrFRuEjmcdbMgrbrqascZxvYBgXa9nI7KT5n5CPX0Ftw9thbYc0KiufvKP9OuqwH/XN7cPD77J/UruqwHMk8hweqXwztkAcAyWbfWx+HpdaKUmLXyWMp0kP09xqWWh3CDz1QxkYiugof6FKweSQSaOIEJY3xxWuDTVpZuDz1Xzz5FfRb9ApdUlrFuvLZ8aFKZqQ+GiPt5jy6sZFZgyUl9K5mlVgaDWbnKxIhh7dNp+8BsNqvEjPiFTQtnQnsAJYU1cuzzexAVQMoDLvmzDsWc98hSIBr4j3G2idoTPMcNJeKJV0GeBFDXjQ0UA3qPQq2uDYjuqHX1XbF1A6+6tuLXTYs7OqVpTy3dziRTsE75+BYTB+OrokYMmh2SRnIFUA/45VfKyrUhkH7DfjHA/hOCG6xPsEjXwNos4cJZxDj/A0oNZaDJObjWgLeGGUEsy1qwBk+HHO2x9/bl4b4k2nisdZ8hMj0mzbVTQtcXHI25LdBnQ9gfDH7d5MBXbU8vp2ZZxRfh1kuOTGIPp16OpPgiYQ7j4CbM7b05a0QgKUb/Nl7NQ6SryHbZCiXXx1vtL7mPDaCmPnuU6pkGdg36OOYIv8ETidSEbzjEyJx+b4wUfSFecdLh61hu2EcnCMZI1/BwRmtK1wBCvRs/orQMysRsNKhixTUrqUcz1VTaI8DSzcDA2L0dBdC2DTvqIsiwElJ+bMSRuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VShVy9abjopRZswxEDVqX",
      "input": {
        "note": "Gripper is now directly over where the red cube was (it's occluded in the overhead view). Descending ~4 cm and watching for contact.",
        "targets": {
          "left_j1": 1.978,
          "left_j2": 1.578,
          "left_j3": -1.171
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018VShVy9abjopRZswxEDVqX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1316 left_j1=1.9583 left_j2=1.5917 left_j3=-1.2411 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.6243 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -9.0325, 5.6274, 0.3932, -0.0269, -0.0513, 0.1245, -0.1846, 1.7709, 7.0769, 1.8584, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5aa02f48b89925edc85c1a0c7bcd49407bcbfcc0180bf7e885bfd39238f2dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a2ed0354084693bd19d7d57a5bc7e91e5b9ba6e0c4158207687498d18ab8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa6e41903c72f9f747ca7b0c639800e39cf2b62b7574641b1eaf9caec7b3d062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b5aa02f48b89
wire blob e0a2ed035408
wire blob fa6e41903c72
call 34 attempt 0 · /messages · status 200 · 8.234 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.321 left_j1=1.6352 left_j2=1.5051 left_j3=-1.2736 left_j4=0.0044 left_j5=-0.0719 left_gripper=0.6223 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -8.294, 5.9282, 0.5788, 0.022, -0.0562, 0.0708, -0.1162, 1.6205, 7.0359, 1.917, -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=-1.1275 left_j1=1.9217 left_j2=1.6516 left_j3=-1.3308 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.623 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.9778, 8.253, 0.2857, -0.0415, 0.0024, 0.0659, -0.2393, 1.8256, 7.2547, 1.8974, -0.0317, -0.0708, -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=-1.1316 left_j1=1.9583 left_j2=1.5917 left_j3=-1.2411 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.6243 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -9.0325, 5.6274, 0.3932, -0.0269, -0.0513, 0.1245, -0.1846, 1.7709, 7.0769, 1.8584, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5aa02f48b89925edc85c1a0c7bcd49407bcbfcc0180bf7e885bfd39238f2dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a2ed0354084693bd19d7d57a5bc7e91e5b9ba6e0c4158207687498d18ab8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa6e41903c72f9f747ca7b0c639800e39cf2b62b7574641b1eaf9caec7b3d062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b5aa02f48b89]
[blob e0a2ed035408]
[blob fa6e41903c72]
{
  "content": [
    {
      "signature": "CAISlwUKjAEIEBgCKkB6eI5t0OciGEwr70hLkoql2FPW142Zwf4iq/vZjSVWYwqBof1Wzj3OZS62cxe3gnpDS2nUh2Prz1AoAQIqeneCMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFVzQaRrCdg7khzekGgzoYaIhaNs1VEdOW8kiMCO+jtB3ZEe92ceqbmjuTfUj6mf+g3QRiaXOfaebWx0FgZBsb9GLCHnavnDpNfq4ySq3AxfmxJkZdVN8sCSYACUnqkm8gjl7l1pVQQcYEkIQoarq4YxyrHD4P+Bs9wKJ/bi5mYvts572xSELLWOVU7Yaf49EKMHzqW0qKqe0XNrnqffSHZGKDcwN0ZhWqLJWN9GU09OfbqWIZHpmi8IoN8/N4SfAitUBYvahpU3uqWYhL7olyi7MkkfuUk/jpgQOMVEWaWduhK5mHQ5Q/sYGKbDz3cM/4iI2NrpvqMyA6rbwt2+Ek35IMMbDQGXPCqoVHXdrRKdYC3mpY/tVZ5m8iI6yS9gwkNDR31N2MPC9lYnQZTUezcSZ3ExtI8zyBIWEdUuX7asFLU4xBR0ZSBLqTWCzPSFC1oPPWekS7uBssxEhJemgf0R4EFcuooljjsR3e01FqVkxBsnYzOXw3hT6sqjNSxpw2mlalapf0fullduiKXWTuh/3xKaGLBrvaUbR4MW4HFNWVGbm4wpFZ4CFRdtlK0BPQASH6g1RW6cufVaAf9MeBfTVg2FE9LA+Tib+t+xYimh8YXQj9BeZaFGzmlEHHZG+2XbMmbTxSxdNWhE9npDqQwI6ePN8lEMsrJUnKigWgDyq1NM/iV8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYNRsRq6VvVhdTXDfqBPsy",
      "input": {
        "note": "Still no contact; lowering another 2 cm — if the cube lands on the red block, j1 should stall around this height.",
        "targets": {
          "left_j1": 2.009,
          "left_j2": 1.534,
          "left_j3": -1.096
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UYNRsRq6VvVhdTXDfqBPsy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=1.9911 left_j2=1.5429 left_j3=-1.1488 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6252 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.335, 5.7231, 0.4029, -0.0366, -0.0317, 0.0708, -0.0752, 1.7709, 7.0222, 1.8535, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4714c3b43d94fad49f56bd876faa56a75edbe9e30c6db38c22b65f0a4d02f77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843ed5ccbbbe9abd0e31e2b8ecc1933300b0dda133093639af39af029b184122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:981d6053bf0da36f089e41318b5d18b77d3bb117f8e319b57363442b98052908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4714c3b43d94
wire blob 843ed5ccbbbe
wire blob 981d6053bf0d
call 35 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1275 left_j1=1.9217 left_j2=1.6516 left_j3=-1.3308 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.623 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.9778, 8.253, 0.2857, -0.0415, 0.0024, 0.0659, -0.2393, 1.8256, 7.2547, 1.8974, -0.0317, -0.0708, -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=-1.1316 left_j1=1.9583 left_j2=1.5917 left_j3=-1.2411 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.6243 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -9.0325, 5.6274, 0.3932, -0.0269, -0.0513, 0.1245, -0.1846, 1.7709, 7.0769, 1.8584, -0.0464, -0.0757, -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=-1.1305 left_j1=1.9911 left_j2=1.5429 left_j3=-1.1488 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6252 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.335, 5.7231, 0.4029, -0.0366, -0.0317, 0.0708, -0.0752, 1.7709, 7.0222, 1.8535, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4714c3b43d94fad49f56bd876faa56a75edbe9e30c6db38c22b65f0a4d02f77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843ed5ccbbbe9abd0e31e2b8ecc1933300b0dda133093639af39af029b184122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:981d6053bf0da36f089e41318b5d18b77d3bb117f8e319b57363442b98052908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4714c3b43d94]
[blob 843ed5ccbbbe]
[blob 981d6053bf0d]
{
  "content": [
    {
      "signature": "CAISlgQKjAEIEBgCKkCix1yz1tHcgeYQFXQ8Qv0vjLWTRZRPTr4V4NDvCqNEXI61wS7vhaYXa+ga4fiw86ys2UcEI3EphfUKLhLWg4pxMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMKMKDzPk1hfkmEsJlGgx5EL4tHRNDAakA0SYiMN28quEgsYVYdtZ71FJzb8e7H2IqirymzscO9llf0BjN10tTaDMIqGm/BbxLIc+ixCq2Ao+RgYpnZk5fxVHEfoBZF0VPifbG4GO6uctPG3lpiKvMMq+dIuMmULodzATFa3fWWLhLasxoUEfwmcpufeKoB9vV4UwRAkhRAIcxUnBMs+djOTh7kUPzA7Tlt3A/PdkMV7XcaXmweJ1xU8ZIxzFe2e8vK7snxUbSe1VsaqKjxvMfPnS5PKnSqALrtsgoMRtdkM4SZlgPczLFUv2YW7QxEFBoosra8ikn/suvT6XFgyyB5qRe1jLRdGXAXIG5wY424+q0DyRCPvhPzFwZP4ShkAQ2vgdAjahQKgBDrHxDQwJo1Z+KFAOmtqeeGZE7RfaZsgJlM8n/a168gAoITdeOacHpNGGl7Rf+m9y1ennwVVkX7Rsoy4DqtxkiMpqr8EJ9K+OeTXvoJ7hjrfdmo+1AojU9krRd1GUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jYiCyV5dWxDDdZyT3FEZD",
      "input": {
        "note": "Lowering another ~2 cm, still probing for the top of the red cube.",
        "targets": {
          "left_j1": 2.04,
          "left_j2": 1.5,
          "left_j3": -1.03
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_016jYiCyV5dWxDDdZyT3FEZD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0068 left_j2=1.5162 left_j3=-1.0882 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6259 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0082 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.5009, 5.1761, 0.4908, -0.0122, -0.0415, 0.0611, -0.1299, 1.5795, 7.2684, 1.8828, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfba3e359d66cebc3135de81708674b473ac7ca750c2fe2317c950f3774abab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b419c08061a1cabb8e1d7d415ebf38bb92e7ea9c79d38700574a72b928b663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e77e95c8333d26935004f78dbc2ce8769ed9ad1d8269df9c87a20cff258bc548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1cfba3e359d6
wire blob 45b419c08061
wire blob e77e95c8333d
call 36 attempt 0 · /messages · status 200 · 9.854 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1316 left_j1=1.9583 left_j2=1.5917 left_j3=-1.2411 left_j4=0.0067 left_j5=-0.0784 left_gripper=0.6243 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -9.0325, 5.6274, 0.3932, -0.0269, -0.0513, 0.1245, -0.1846, 1.7709, 7.0769, 1.8584, -0.0464, -0.0757, -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=-1.1305 left_j1=1.9911 left_j2=1.5429 left_j3=-1.1488 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6252 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.335, 5.7231, 0.4029, -0.0366, -0.0317, 0.0708, -0.0752, 1.7709, 7.0222, 1.8535, -0.0122, -0.0513, -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=-1.1305 left_j1=2.0068 left_j2=1.5162 left_j3=-1.0882 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6259 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0082 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.5009, 5.1761, 0.4908, -0.0122, -0.0415, 0.0611, -0.1299, 1.5795, 7.2684, 1.8828, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfba3e359d66cebc3135de81708674b473ac7ca750c2fe2317c950f3774abab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b419c08061a1cabb8e1d7d415ebf38bb92e7ea9c79d38700574a72b928b663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77e95c8333d26935004f78dbc2ce8769ed9ad1d8269df9c87a20cff258bc548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1cfba3e359d6]
[blob 45b419c08061]
[blob e77e95c8333d]
{
  "content": [
    {
      "signature": "CAISvgsKjAEIEBgCKkDgt4y73GFglz9g8rfqvIRQbptrjm905M17+e9SrMC4N+0nLIDfNxgDgGIC3XCCfdhHuGgvx8+f291rJZ2bRntTMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMiUCuseRmShL6h93gGgzIIwPZBKCzDQQHFrwiML8+l/Fs2pGToJIi/cTHdvBHiXMdaoqhiEGkwafuPZRf6m9grrO2acNX65xzEp/hhireCWJBAors4H1j2lobb2LSGMt6XPjxrz/+fQt868lO3Ju4PlXV2OYdcvEQpBApTBHHUJnZetcdKMpe4hkBiKzHNdArZxRjy51AoVLEF+53SRsOh5sEqrnwRXRDSPFhgHV9ANhnZJ6dddu6FzWEEgMJlB8fppJwpMnxVLTARLGDs9tHd98qnAr2H8tljBzvurLt8gqCGMB4X85K0DsxxaSluOEdYUwemfgb0O3pa0dVJnJRUWz0sNHmv7NibJktXHfh/rSBDdCMWP8flqdp79kR95Sn4VeiGNiPKo4iw8CDSjygaqml86EdPahOibZKb+A30dpfR3PB50++jCCiNmJMKEjq+Q64OwPkOn0SGxPqLAHxUGy2wwiqR1uE3TMWZSBU9u0M7iMRAzTdYMzi387TluzJ4a47eM7Wv/TYEiloEKv3Wws1+E1PCSNv+7/7TWTUPitieHUf8AUWyXlHLBdhtqEraoDr0ssloMi4i7zIHvrj0zXB7K+O14DvFG1mnFstpMluXFiMJ6jxmvtbC62JJTbbAmNAVkT3WY2ez8pEfKN5CQyA2fFwvRUwqtljKXMnmMNINQGVyJCntX+YzJdMgQ588MoyFxr0ROnOxrLD3kxLG6865DSP1Z7lBWdziF0iWkG95n8C8xfaF7+v1MtoYrFiQJtgf1UOdSfkQNKCdEPpMKkrLuRB/G2AA1oH1NItkgWhFXtSmPPY63b9N6fZ42RbLIhiYBi6lSuuUs9Ivp1UOYMsvLKDQWhMdIkgkKUTYcYSLq2/9iSs1aiiwf131OdOcOj5amuxf8yZHBDW6M2pkLgMdt8D6q7+CJ85XttJVHRcf4rFfqmsz+/utb4dYSz57+FimUkVTwTmaQEQPPm3VKfM/LYIz8rfzxSFV8MHUGdQi6OAwaT32eqX6xRAqTtUAwJOgfBvnKbEZVfJNnc75USMzfsZpz3/rDWcEkUA77S4qU6ZeiVEAPNE4gzdbtzI+hEc7S+YbMYkYXSd9hvZDsi0FtVZncVYSGbjxpGYoQQuFA5FK1C2yK3mhegPwZ+w4+UYSFaw5sNzwM0WrbzmRjlmrlzNzCqVDESV44hrj5BSvPz/SoNOIWCRBzcz8KWdJ1Immy1GP6C0stbKb0e6Vkotm9oYC5CK+OQ+uW/HYi75A7JN3ZG3+rqN+fsrQMgHHFyrcUau2tbb9Q/hpHcmXh7pEUOeVTuBO3qmCnfEw/4X8aAstcgqbGVNC756Ktur3W2/Qn3dmb1meI1ixVuQCaVNwrah2XM5Q8x2ugFBn2jnv7vzpWvZbPQft6p3h5c5UZGyf+dssq6f0OfvYdq/tBqwvQh8qTPwCx+xmA6C15ic/Ova/uf+35tnnl74NkYPjcqS1sEdk1xJXtsXlq6/pI1Vkz3SUWKclAEldrwGcvqC9yZkrGcp85htszb4W7FMoBzfSij44Da9OebeMvpS8rxG335eaNIsN4z9xXoeFrVoRCqcWRgxt+inogvxPv0Cz6u0ptll4DiAy6LXs0DhyC5BaMiYAyO/47YsTNET66hkW+a6ghkfcwdVYUZMfTtivy6g/XK3xG4SY6L1HBLKOQwdLkFw6Oqdt7ScaKHD2Ss15a1OxgzFadp8WdHsTEsDkRO0IpW8GpHRjllbLCetnVD1JzzP0o7/b6il3pQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tXSDXZJeS7Npj2EjvvGmw",
      "input": {
        "note": "I've descended past the expected block-top height without contact, so the cube isn't over the red block. Raising the right arm as a second camera to view the area from the side.",
        "targets": {
          "right_j0": 0.5,
          "right_j1": 1.2,
          "right_j2": 1.5,
          "right_j3": -0.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_012tXSDXZJeS7Npj2EjvvGmw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0418 left_j2=1.4998 left_j3=-1.0874 left_j4=0.0071 left_j5=-0.0784 left_gripper=0.6264 right_j0=0.4927 right_j1=1.1893 right_j2=1.4528 right_j3=-0.3153 right_j4=-0.0162 right_j5=-0.02 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -13.1077, 6.9538, 0.1392, 0.0073, -0.0513, 0.0415, 0.2256, -3.8222, 8.3761, 1.9756, -0.0024, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84db20166663161df81e4aef179b5d40df537f774aafa5f81dac85d63bfea7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9377b509fdb87fb87a85c4520de2f522e39c71ba18d25efe1afcb49ad4091a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d1570b960903ed6002226d8b5eef123d3ef1b75b5361da046ce49a316f0d56c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e84db2016666
wire blob 9377b509fdb8
wire blob 5d1570b96090
call 37 attempt 0 · /messages · status 200 · 11.81 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=1.9911 left_j2=1.5429 left_j3=-1.1488 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6252 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.335, 5.7231, 0.4029, -0.0366, -0.0317, 0.0708, -0.0752, 1.7709, 7.0222, 1.8535, -0.0122, -0.0513, -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=-1.1305 left_j1=2.0068 left_j2=1.5162 left_j3=-1.0882 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6259 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0082 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.5009, 5.1761, 0.4908, -0.0122, -0.0415, 0.0611, -0.1299, 1.5795, 7.2684, 1.8828, -0.0415, -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=-1.1305 left_j1=2.0418 left_j2=1.4998 left_j3=-1.0874 left_j4=0.0071 left_j5=-0.0784 left_gripper=0.6264 right_j0=0.4927 right_j1=1.1893 right_j2=1.4528 right_j3=-0.3153 right_j4=-0.0162 right_j5=-0.02 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -13.1077, 6.9538, 0.1392, 0.0073, -0.0513, 0.0415, 0.2256, -3.8222, 8.3761, 1.9756, -0.0024, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84db20166663161df81e4aef179b5d40df537f774aafa5f81dac85d63bfea7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9377b509fdb87fb87a85c4520de2f522e39c71ba18d25efe1afcb49ad4091a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1570b960903ed6002226d8b5eef123d3ef1b75b5361da046ce49a316f0d56c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e84db2016666]
[blob 9377b509fdb8]
[blob 5d1570b96090]
{
  "content": [
    {
      "signature": "CAISxQUKjAEIEBgCKkAgzNYMDdY6g7vDLpga3khPUn/YgKik92VqXCjFQ5t3hE9eRchgRduu7amWnE6ZMiD3Mi0BK+iH+v1NoSSeOPOVMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkKL9IUFgVhg77VKNGgyp9bc209ysNkPEapQiMEduDHx9XSQNpakdSXlVONPvDqdgPtW/NDRwA233OBgl/eHB6VOsqAUkDW2jwj/O7SrlA3ztvMstwVe6FBC7B71btaC6Dj6e8YI+TQjavvm8CpedYsi/fDmsldAnqIn4yLF3dsK0dmQcOHu/9bazVoM9oHxlS4DNNrnPXLrZItbtRmi2Vj0qzXYsOF88b/iV1DD9EyxWF7ncndLpG7QK+jYNACb80vvQIS+omfNVQ6nwCjJn3dLh3Cnw9MohM4k2NyPkOUFqcxazJ/H0o1E/kgQ78Yby9eoHdInWjjACpJYwXx881NZkU+fiERoQPt92EPuKV8mdeLmA3Ls14E2k/9VVWHNMG7P37T8TfVRAc20ysznbRTZMxTmOOzIvfJ0sAuwQFR9V4YYJs6hLq5OTErpdTI4d4msYPUm7Mioqr3zZVO35aBhUXzb3spu9SzsmnBa2e5r/Vw9DkCsS8szuqF3XwiqGNWu54xd27Vy3MyjiIwe99hqB+7t1VqAnzabV0DOM9ZVRHlL2KUEnHAhNQGUqr7GZ3g+RlTlOtroRLKoS+Uqy6PnjLfECUVaE6FL++Y6rqg+srnrFuQYtLeDGiVxgZA7h6lW/4IrDzmUzG9WsI3cCzLUk+bY9Xqiuwmm+u+NpHqUS5RIyxxfm7ZfXKF59/VITi7CiC0Hy1kZCD6eHUSoo7ILkKTknSMCA5jZfk3Tvo1hEYgKFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DV9aZWqDAywySvYWA5yc6y",
      "input": {
        "note": "The right wrist camera is aimed too high at the curtain but shows something at the lower-left; yawing further left and pitching down to look at the block area.",
        "targets": {
          "right_j0": 0.75,
          "right_j1": 1.5,
          "right_j2": 1.6,
          "right_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DV9aZWqDAywySvYWA5yc6y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0407 left_j2=1.4994 left_j3=-1.0866 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6265 right_j0=0.7406 right_j1=1.4887 right_j2=1.5646 right_j3=-0.8371 right_j4=-0.0158 right_j5=-0.0231 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.2222, 5.4496, 0.1441, 0.0073, -0.0562, -0.0024, 0.1983, -6.2838, 9.4427, 1.6337, -0.0366, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe04bd3b0ffaffac2f59200ed306e70913af2b98abe7fba16ccd596ccae9d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe151d9183c19422b0b09c78c221adf1430b5e50de6be11644e99b0de09d8073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05a4856823ddba226a17e21a9f4eb20daccabe85a3ec7cad88a50ad5a849b93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cfe04bd3b0ff
wire blob fe151d9183c1
wire blob 05a4856823dd
call 38 attempt 0 · /messages · status 200 · 10.16 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0068 left_j2=1.5162 left_j3=-1.0882 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6259 right_j0=-0.0029 right_j1=0.0254 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0158 right_j5=-0.0082 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.5009, 5.1761, 0.4908, -0.0122, -0.0415, 0.0611, -0.1299, 1.5795, 7.2684, 1.8828, -0.0415, -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=-1.1305 left_j1=2.0418 left_j2=1.4998 left_j3=-1.0874 left_j4=0.0071 left_j5=-0.0784 left_gripper=0.6264 right_j0=0.4927 right_j1=1.1893 right_j2=1.4528 right_j3=-0.3153 right_j4=-0.0162 right_j5=-0.02 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -13.1077, 6.9538, 0.1392, 0.0073, -0.0513, 0.0415, 0.2256, -3.8222, 8.3761, 1.9756, -0.0024, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0407 left_j2=1.4994 left_j3=-1.0866 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6265 right_j0=0.7406 right_j1=1.4887 right_j2=1.5646 right_j3=-0.8371 right_j4=-0.0158 right_j5=-0.0231 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.2222, 5.4496, 0.1441, 0.0073, -0.0562, -0.0024, 0.1983, -6.2838, 9.4427, 1.6337, -0.0366, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe04bd3b0ffaffac2f59200ed306e70913af2b98abe7fba16ccd596ccae9d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe151d9183c19422b0b09c78c221adf1430b5e50de6be11644e99b0de09d8073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05a4856823ddba226a17e21a9f4eb20daccabe85a3ec7cad88a50ad5a849b93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cfe04bd3b0ff]
[blob fe151d9183c1]
[blob 05a4856823dd]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015yGTgSVhTjW9Khcdufjkts",
      "input": {
        "note": "The right wrist camera spots the red block near the right gripper; converting to left-arm coordinates puts it at r≈0.44 m, bearing −1.05 rad — farther out than my overhead estimate. Moving the left arm to hover 10 cm above that point.",
        "targets": {
          "left_j0": -1.045,
          "left_j1": 2.415,
          "left_j2": 2.463,
          "left_j3": -1.619
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_015yGTgSVhTjW9Khcdufjkts",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0767 left_j1=2.4351 left_j2=2.3928 left_j3=-1.5986 left_j4=0.0071 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7185 right_j1=1.4792 right_j2=1.5833 right_j3=-0.749 right_j4=-0.0006 right_j5=-0.0463 right_gripper=0.9992\nstate[joint_eff]: [2.6188, -15.2, 9.7299, 0.0904, -0.0611, -0.0171, -0.0073, 1.4154, -5.6547, 5.559, 0.8181, -0.2027, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5729cd71c0540cdcc6fa7dfc7638ce3fecc612aed9ee048bfc7a5fdc07e5d8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60604c6586727e8820e35a36625c3b7f9c56353d118aed70488e5ae17448eacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1ed08a94a91459bcf2441d05cf092e2e35b759a5bc859c91ae1c4bb3ec5c61d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5729cd71c054
wire blob 60604c658672
wire blob c1ed08a94a91
call 39 attempt 0 · /messages · status 200 · 15.65 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0418 left_j2=1.4998 left_j3=-1.0874 left_j4=0.0071 left_j5=-0.0784 left_gripper=0.6264 right_j0=0.4927 right_j1=1.1893 right_j2=1.4528 right_j3=-0.3153 right_j4=-0.0162 right_j5=-0.02 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -13.1077, 6.9538, 0.1392, 0.0073, -0.0513, 0.0415, 0.2256, -3.8222, 8.3761, 1.9756, -0.0024, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0407 left_j2=1.4994 left_j3=-1.0866 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6265 right_j0=0.7406 right_j1=1.4887 right_j2=1.5646 right_j3=-0.8371 right_j4=-0.0158 right_j5=-0.0231 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.2222, 5.4496, 0.1441, 0.0073, -0.0562, -0.0024, 0.1983, -6.2838, 9.4427, 1.6337, -0.0366, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0767 left_j1=2.4351 left_j2=2.3928 left_j3=-1.5986 left_j4=0.0071 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7185 right_j1=1.4792 right_j2=1.5833 right_j3=-0.749 right_j4=-0.0006 right_j5=-0.0463 right_gripper=0.9992\nstate[joint_eff]: [2.6188, -15.2, 9.7299, 0.0904, -0.0611, -0.0171, -0.0073, 1.4154, -5.6547, 5.559, 0.8181, -0.2027, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5729cd71c0540cdcc6fa7dfc7638ce3fecc612aed9ee048bfc7a5fdc07e5d8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60604c6586727e8820e35a36625c3b7f9c56353d118aed70488e5ae17448eacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ed08a94a91459bcf2441d05cf092e2e35b759a5bc859c91ae1c4bb3ec5c61d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5729cd71c054]
[blob 60604c658672]
[blob c1ed08a94a91]
{
  "content": [
    {
      "signature": "CAISyAkKjAEIEBgCKkDoN+lkDOor9RYwKX2lHqXoSb+YT8xZlkg5wm1QMIfUf5AF0VRtIlBqMY9jgJNZTCXTW+dhEZYz44cpXI2Ia/z4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMukt16HRfE0kBOLtOGgwcwDZABn/qnarCxaoiMKBeOVt57gcz/d7iPyJ3xg4prV9FiZp2CJxcqZv/T8E1Ix5xZkYbxds6DWfLS3xfcCroB8zc+TJf1tuQmCRlVViqfK2Ueit1TuqQErlDCjxd80YrQfC5YI8eaoxOf7bicutlDchNV649tsrO/OOgXbGkUT1p+nDI5SRyzrPYP0eYs7cQcYuJZ8lPuZ8cN03K9qNg3siBPpqSHGR5HvAzFnMwR5vY0dZTpy4CUgmgir/svF38U/DIHBF6bgIYFtMuhSvZLBBkKTi9+Y6N47tPDGSnf0Oc1Od11V0KDqiEPcN8R6voA2T1S84Fw7yv7/r2ZvVDndM73r0qtKGQfjqOSCnZ/aHU5gQ+Gf7RQKugPsOmvCUUs1fvTFWMhvsUTZElDObCzQSM0oDffZGHOK7EHJ8cL4yzvnU02YAocQZY+mMjjUBDSx0QEdtapJLvjLpWZ/bBogvY8mvoEx79mYVCrqxiuJpzk94BaVTGcwEoPcq9HSo8+aA+lrKJhoLAoXLiqIHj2NENVpWB8WvxAj9E33PZMyrZ0QV90C0imbRr/vZIUJGKOH6QF4QholHJzPwlSXMXgVHbsLRjuiA8r3zBAWOnXHVNHhuKwQECMsIFkNpQ8t55V5k6t5jipoTYr+3xzyFH36HOhCZvfNZnu9us0WdbGO+Vj6FMzqyRw5hiGmGzKokp0x1P4+Aq6UsmGL8aIeHq4lKrSw2eJ5QhfdapIcL0yOZCF9dqincT1tP0rj3CJ1bkIPRC3fTDGgFPImm/UxbCY4tQbTFgKjaz/BIZU+4haHavSIkE0eGvnhhRYZeFvq7H1g5rH14BtXb2sQ5C84qz8WjOu9jwl1hGiVxNaK0lC+gvYB2dkVVmHCzqO8rX0z8CQ7aDUmBIaNdXy+vHKJfJanIFJsLcPLGTibPi5CMkbmlafdzxXW7JWYwwhKxUJuuY2GCJO0fakHMmak8U0qeP3rU+MwZkYUzLsnu5YH0p2q7yD111Le9H1IJwkWR17zyWCQRJ3iuhClSMd9pDZU5SKMp80yGU7fDTbcDJruMP/0v9yLv6gn43ozRvgziElho7W//eT4xvbmApwfie6XAhhaz/N97sKZRZgQ11eDHHKm1CruDRMWvw7HxGUabrrWRfpieOq1IOUVV24IW8mx9V/2HPtJfzdGcExQyExJZd80SLEOnsm0EqJKjd2jQiCJ6N6vjd5Dy0McJ6yXtAsZzbDHLD22dLW8rSYwp7yw69KvspmwDybdtYZDgxvqlsF/+aOnDfPr2iKg+WOr0oauxdg/gnbKZCLhClM3QCMHftsaNNM6Yqn1dxSGWZaxAtJkfAVlP0RhsmT+4p+q1EYxWr6M94AYOrXNKhKsxKt5f9odtWIWRQmKph7Q2G/sOEnJIl1UEYFG8gGyEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FPzvjrzds8JeaZbfapPeaP",
      "input": {
        "note": "Left wrist cam finally shows the red block, at the upper-left corner; yawing ~0.27 rad left to centre it and descending ~5 cm.",
        "targets": {
          "left_j0": -0.81,
          "left_j1": 2.422,
          "left_j2": 2.271,
          "left_j3": -1.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FPzvjrzds8JeaZbfapPeaP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9646 left_j1=2.4405 left_j2=2.2864 left_j3=-1.4757 left_j4=0.0067 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7109 right_j1=1.5383 right_j2=1.5764 right_j3=-0.601 right_j4=-0.0006 right_j5=-0.0673 right_gripper=0.9992\nstate[joint_eff]: [12.0547, -14.7897, 4.7795, 0.5104, -0.022, -0.0513, -0.0122, 0.2667, -11.5487, 7.5556, -0.0171, -0.0513, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd6596ad684238c0b408d64900b4bba4dbb9be871a97d0d0693320217f202af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65de7be228b0a079976934d5aa9c66e9474c807668ec78fbf62f2b89e2e58943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71a2e3a944851ece7e66815d9f4d961a4cd94761e033167e25d0e57b9e581cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bcd6596ad684
wire blob 65de7be228b0
wire blob 71a2e3a94485
call 40 attempt 0 · /messages · status 200 · 14.48 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1305 left_j1=2.0407 left_j2=1.4994 left_j3=-1.0866 left_j4=0.0071 left_j5=-0.0788 left_gripper=0.6265 right_j0=0.7406 right_j1=1.4887 right_j2=1.5646 right_j3=-0.8371 right_j4=-0.0158 right_j5=-0.0231 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.2222, 5.4496, 0.1441, 0.0073, -0.0562, -0.0024, 0.1983, -6.2838, 9.4427, 1.6337, -0.0366, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0767 left_j1=2.4351 left_j2=2.3928 left_j3=-1.5986 left_j4=0.0071 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7185 right_j1=1.4792 right_j2=1.5833 right_j3=-0.749 right_j4=-0.0006 right_j5=-0.0463 right_gripper=0.9992\nstate[joint_eff]: [2.6188, -15.2, 9.7299, 0.0904, -0.0611, -0.0171, -0.0073, 1.4154, -5.6547, 5.559, 0.8181, -0.2027, 0.2125, -0.0122]",
      "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=-0.9646 left_j1=2.4405 left_j2=2.2864 left_j3=-1.4757 left_j4=0.0067 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7109 right_j1=1.5383 right_j2=1.5764 right_j3=-0.601 right_j4=-0.0006 right_j5=-0.0673 right_gripper=0.9992\nstate[joint_eff]: [12.0547, -14.7897, 4.7795, 0.5104, -0.022, -0.0513, -0.0122, 0.2667, -11.5487, 7.5556, -0.0171, -0.0513, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd6596ad684238c0b408d64900b4bba4dbb9be871a97d0d0693320217f202af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65de7be228b0a079976934d5aa9c66e9474c807668ec78fbf62f2b89e2e58943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a2e3a944851ece7e66815d9f4d961a4cd94761e033167e25d0e57b9e581cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bcd6596ad684]
[blob 65de7be228b0]
[blob 71a2e3a94485]
{
  "content": [
    {
      "signature": "CAIStiUKjAEIEBgCKkCEnGubW/BW6VBACQHmkDmR91K29XQHnU0OwHe+y40KOcLaS432v/C2PCZzSOM9i4EMGMOhneYufzMXcocCzP5vMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwGMdiikfjPfuuQjmGgxFc0jKWuZGge1DsNkiMGNb58JOdqSWE+9V17bkkJGBUqDagjjz8mewW/qimQxg0BOq9tq78xby/xFYnLymaCrWIxpRYet6+wC2ZTMO0jk3UJKjZyPwqgQKifw9HvQQazrYzZ6JtFBwPlzcESJnQBQtWdosA8J1HGnRgaltM7GIVzWqqPC9JuXXwYUcgrQhPHdQq0s3wDcaP2Ld351LMsA97oL6G2j7LLFyyldP6TBv1LgO5TJph617ybbxmqnIfKNLxz0avQHLkUQxnvfBPW7iQSdQJ6ILM7So7EVEMYNBOY1rIjRLhe1uPcWtEpkRUzgWJiR/Pv3qANXQBPlQDYhjT+NOMwtXZBygonbtqp03IPK1h0ae2SyYy7PvLuU5GvSy0crPr5C4OWq1hldrRtZ/EwSdUrx80J0p82vRFSuM/q79PB1bXE69jyKKNPmUaXL+b9lxivLtRmIN1cD2mSaI2TrJIQ1CBlY3cizECnB7i6JM+k3EX0fN0ciLc/AKpCN6Z5JHssorT9pWdCKShNB+uHOgtSIRGf3JUZ+n6ywYE+568L4wP4tQF+4jsUqeLYw/LExdaT1MxdJh2Mm5brBwlfBJBxDTvp3cOMsjKlWGg2YPW9MjRNTymnUSYOznvvF8VtTKrBwMjQzVLkN8rjtblgAQ7yDAgDVKp/b9km+FKkcuDbklgLvnjlwoKfrA0mP8uFfzxNmRMhqiRe72c+Voi82F7V1JOIpaN0RFl2c/rAqORUS1Y3q6B1r8p1jZRmAxXxf+ZIgnrSBQuU/Xm+pKagoKy9Wf2fWoQoSC0K30QLuLJSfhVe7MudS9rYGTQEPQFEEIi9Kaag7yGYgjMRNdiVjBlwDu0YyAvpCltEBat6t7iWwJB20XOLB2SQunwvRcamFfSBkBb0aJS0EDt6TpF3ApIfrke5jOB6JI/q/11Vw9+2a3GsU2kR8zoUy0yF+qyAxXNb/v/1XbKR7/9/k36OwPiP3InQujRvgh7cnwvBrGGz8MMZuvHH48Z3mq9HLhcDR4DgLpnqjNaMt/NsBqYnd6xWRxboc3UIICcWSBSdqgHYqxTGG19DeL4gMYjCG1uszGAQM39GR27xryblRVkzmf1WJ1KPug75y84bgiEvon5T7ExJRHyn3ISEuiXj2VRon51tGaBwFcrQlHjKg+eRh1mymQ3lw21ClF9WjvS3Jju/32V1RtF8RXmRO1tZZMJK+jJOBjYzs9ctivAlPfDaPAGqRX2tZwjMAmazSiNj++Fi8A2ewumjH0SD5xKYAbdAqxnGNWNijW3UYe1GQUvjvcMpH6O6a0b2ROO8TpM2G74M/sld8yJODDDR4Js1cJYLrQtBrcoaJpRrj+oUnirZC8rgB5z8jKneLws7op4i+h46RLQOujdAA2L10yE3SIrcz+/z/LzCwZN7lRaEuCktYH4CtOvtHcg3Bi8N6y3IrIIjnUMIk9ZytEf4vtZ0MyaN0JUGkdBLsgD0f4S98uYhlzH7oFaznBNZ27vkf6Eag55bEK329s4F7/i7YVLtcGEQhDgA5xIKarwwY/rY0DaE4gCWtDS1acgE1I1JzSpGhlCXVqtZXtRgLDOLkbeYZwOjtdFnQarYbrJj26hEz92Au0ny4YZLGfPFQZlmZEudDuXj4jJDe9jNG9QYjbw7dat6Mt/BUFjuHMv8An5M9Bh4Iv+1RAx6McueJ+SDsAZ0bpm3h+oq1HyqlpF3wRJGy0M9IFXtzrMFoVWwE0PVfq2DVaYdMOlTYydp0ckva34QHZV0GAmLhmcz5g69e4ytiu0sA6EnRabqomBt5KpAzut4B2onegROlu1B3G4hZjx6e6O8Jbb2rL3q44o3eIgQ/gFdtVjS2Ut/4FqqDXANcqAY9iDXYqz7AAe063AQgJMhag1zN2dhppYvMDovwpsTnq9KvgSnVXl3qEa55MJPr3uywFXgjm60o6j+Pt2teKjzrptIwD7SAFHukPxL8QhR5MhcKCGDtjs2lvxpce0EH0qd6gBInRq2/+wMqfNL2Z3M7J4oxDUg95D98T9i3qFA9u6k19SU2E4oJ+dgUgeOqxHEMFWUFSgi8Be9lgoKWLarTjhP14/vvu7owO/2G6QOLrvKE34DgOfSMhoyJ6rOJd9W8si8/V04kMuDRvph2zTOxC1k9xocb9dorzTo+akMsJ6SQG2KRFTo/FMC0uGpjri/FoGdO9soXXAR94cEZMA5gusxDMr9ewizWEviU2ccoHWYUIflCidnf/l/LIoGy91DaxehSGIyVDqMRxuEMxUsyVsTMB7hjTFfvhLTl6bf/G/c6JPdEY1h4mgQ89z20k1hr4Ai6MMWy17yb8gNLgtI0E+wZ9RwHgOg3bheIIqF8ltqanMCM4ZSXuR2e4AsjOjmfnSDo93aRsoltDV1va1NIGpqV2dwZ3+PWAWsJv5AVE0cVdT9c5V5lgudao/231kJcsO7qKNGcW9/jlELfC8Re4dpD7nB85xZwRa60xYvGB33sCQLjJVmusfrPSqJcD6giUqQFGvfuGKrt6RwbFQyJR1K2vuMOg4tkUv4be8xzp+aQ5TsSpb1xvieJiezhOZi6vwbDlTGMhjlToqeugdKkThW4jDdvNZDb48vefySIw0jXc2LxkowMQm2zJDBAseSSgLzK5XNlLI3tESFnSB4ScUZaP+mBMET2Oq/JkZ+tokYXa4XLN0NwNXUSS/tqgFSPIyJPh+t27FiCiFVSWjZ6fMpjFAb4Il0sHghKwAnkMS206Vcg7YESS1boRWacaAfaRHqKktAP3UVXilbyGHscn0VlPEG9vvAX8XRCs5MTRxZ9Ya6dKfBTAeqod9EgsAzt5xOfgmOVC4Be10uKawivqCIIzFb0hPxKV0RLkfwkRdWY/Cafx8+4dFwYuKEj5BEE+JvIgP6l74+kmjRux+pxx95M2Sa03ll+AQu7f9LL7DLjUN624FOx+EZRrZWuurftMO+7xsgkJfwE2TDP8hVtJjS48iUefvE3ynLm4rf5cQ2WZdOHD+HaEXtEvB2Yx61xjMder6SZeTXqmAX9Gf3oxTTVio8sWiMUJ6dBOYGE73dG0Z3mkopscYwq+jhFEMtycXlgoiAI7NqPx6cjABcBKA7JE5robstynXYA5Lml77ppltZL5V/l4y7JuunK2IoycwrKfnQidOQlNSR0iwb8P+ktyNFCDNjCqdyJVKv4usxIgnO1o0DAfT9xNGSK0Z3fp4yeGwqxhVUooULq0kIU/vkCIpa62vtGBwMSsnt75RUIUsMaqdJ2eK7BTvRfgHJWUfxCjPvj8pSp/n7pVURI1vCUE6xUtIUFGO/20bZAXXXjFNP6gk3YYn0a1Nlo4EOiyqPSoorqNzGpEoEqAzYvXRF5GnTe7j/moD7fxY/Gb8Gsoeo+sfxeCD3+lV3MAbTiqlMaaPOLsXO57YfL7nujUAuoNX7EEt4jNRQDNmcMdMtGg75GSGohcdlC55+46j9eKBlrWetWmseM9KO0DhHWXQw5IolqZ82vdc6b2RTEYn4NHzobYm0rdqJ/YDT5WmsMeCgcbi4COnRC7dTAsf+exOtFsgr1P5LR0VtZk21E6RmzlzaT0fKj8A9UJy3cW4WjqEltb0gGv+HZ35RQDHWqc3aHQ8ZJqabhdggyCNXPuOFzMqIu9f4xhEhEAdNc/Ee8gCGPzx1adElIZ4Z80DtMjC+SMcE526F3N/xu9iOHofxyqC+laambOejXJaJHcao2zMao+qZ5nnALtJYdKR6M9plAjMsQiaF2tsAgavoUER8T7ckkKQTCuINutcwutbpD20Fev763BgJWKCeUz22ofjGNuxQuOZqAGwWFjr5TH9WiRUwTAHMANxSxyGp/OC2D22+3rA3V+b6jNwfuaaf7EPWelcJPgEFI5rHP8isxMedd98o0PlaphlilbBJybDxMkFId5dGgziRtyL5puDLKRZy0j/soxRaVFNxJdUgPcsg/fP4p1ZFY6NopVyhCVu7CsNIWOueA4EoZcGljJ+9Lewk3mC4ZEQuktnBLqvlcwDnQLyMrPwvJMf751Nj3FvlaN5jZ+jIqtOg53q8t0juyQauh49iOqdDEy5K1ktMAEJ/kx8idlKmoyzV/b507d/P0hfZ/jSD8Ass7opPB7rbA6UPc2TlD0KH//vhJ1gM+pFhVUYzgGMnU9ZtXC3lmVuHEbmokutMphD5481h2lLuiRCIOyXo77hSStb3tp5KNueoHLOpaG6QyqdFGiyREcuD5Ev0JoPy8Tgr1nyptPDSb9cum4zIVY8ParcXWfI5sP7vjA+wwecEN0G35wtzvY9VXjJuOahkX90y1lNtokhnIuY4/MdmDHoHwmLAfuYA2hpRFZI3NWopYHld3pEYVJVAn5O4EScJzMO0dGqzJmIdNXqRMxKQ/KGpTQjsgpO3KHn3J+o03mLI2kOfO5wpkrTnRvZFDLk9VT4oM7TYMqy2XZPCLyehEV7t6ZsngFKThixcbUb8QbMnYbaz81lXzzQTeaECASUeqUgPKRoO7vEcuIeeBDfIuRK7oZaRLEadO3FQ4YCMAe3DenSLN91QPwjLJkPm2PY4pZX4fK+j1VPx+uS64lVX+gJnzEbcxswJssusdv1gafeD0av0NAB0C2YYdE9oskRNY95lHmQ8X0MY4SudU/+yAvibWnZzNRqmul9VZtClG9xm9ymeGGqbCvpH8m8x9H15D1ovTEnNqyGCSbEKZ42FIOSKyetItZa7rv3ekYtS4Yb6/VRadcLcxAVRxfWzOY0g4r0JDDo/NN5irCglQ718WRB8vEEZADw+qAzD0GHQa7kSc2kxBlrRtgIo14PqDqM6cQSgzWXdK0IdzXwSyBneluNnb+5X6eddX8M6b4UTuMRKI3HWD1O4ZPQsWZKYf+TAEAZJU80HXVLIqKQqCeVmHNqQa2+8t/kXrRQpn6ySn0nWspVfdUqHjhLW5cNtNXUWbp7Rw9bBUAC5ERalhej0d6p+3J7j1hyawnqMrnKp576Q7YvOf4OZqhxzYWzXrRssr2v9YkXF2YehQmNhadtaAq7N3GzyO8ioC7OjoE7iQTNoD00jymcEQWJDRkUT4rpZMJ4y5GdKYXJaG7/BF2O+1Exkxd5lu1WG3vKgMgrClxMSlcfyk4OhdEcGVrsoRB5UjwdtuCSJmwuR3J3R0igjK6R9KiZNTrL8zGnnGrdgb6gDRKJbbNG1GQ7USEHzPAQQg7GRm3iDShJ9ek/8rErcTJWnbqT6nHAD0GhWDl90yJicPf5mLPmkFOqYgY0/OMdXgQs7uTfXJPtpFxfcZMPSZ3vYfBC77qfY2b8L8Ff1EOBKbzVv3zCIQac5OTfkld1ePpw+sQmdYvF22lpsJvYTaGAa8KBzEcJx2RsVsXs24StkPohta6sUztnpxwzYdTpFPj4DMpPgCiDjuRavI+6OS5ntducnfN9WsKQDlAxyXESWKSrlCQzG1zNBz/C8EmkFl3N2FRDGo6KgcUB+sppY2VwtYzVOXS0cWLr5b72fCcVeR4kcGet7zYZ2Frkyu0p9ZRYiK0vTc9mD5DZ/kWtSVkPsMweU53ZmC3v6+5DGmFe+WESinjobynovdA3/m+O32vXbSQdzEg2wq/tscLqI5bQaRwGac1W/vYcA3hgdY4hMbbyuBGSWRh7wQEy9ShC2phtClVsJb2werH/40gRrpCO/UDMCN+MFYRyywJHzugZt+A2uiScVSL2g0SXrxqEq1beTe44Uc+9jC7JgDhrSNbIMw+uiCKXdNv8Bp6QPEt/g11QNu0ZMSe8ELxHaej+vQydttX4Rg1k37ezZSBz0PcSLEH70spmXaouRvJaFuXjihTrngXfU4vA/5boW7okUnBfF5ybGmlsDRkd2YiASVCKtUj8HFzNg1nB+eA23GRJmXK/cqv/Y1HMmM6a5S682Q2lsdyA/c5RNNnbfDta1GoUnikS9H5ym0xgKOKJY3/B1pCW/vAMj5FK+XZRbI1g7N0n+ZGBmmvsQmGVkq5uuGzTuBr2Pmgl/+QTB4uMqhVCtLngOggtLbM4jDldewBfFD30CKge38e+7qj6L5eTKVCNgvAy/Tp+1n5mkPf/h3TPQ8SClh+cKNrlHOlQKA31sZUfr3I44nj+3ihu1HGjGJdN0/FKMY4XHwUqrM2g7yFiG/5ZzJQcZKYZtt/a0ozGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dRw64gcCjDFCy43ea65Za",
      "input": {
        "note": "Geometry says the red block sits ~14 cm beyond the left arm's fingertips, i.e. out of its reach (r≈0.58 m). New plan: the right arm will pick the red block and move it closer. First I retract the left arm (still holding the white cube) out of the way.",
        "targets": {
          "left_j0": -0.5,
          "left_j1": 1.6,
          "left_j2": 1.6,
          "left_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_019dRw64gcCjDFCy43ea65Za",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5144 left_j1=1.6608 left_j2=1.6035 left_j3=-1.2434 left_j4=0.0063 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7136 right_j1=1.5269 right_j2=1.5814 right_j3=-0.5385 right_j4=-0.0151 right_j5=-0.0578 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -8.8821, 6.694, 1.0574, -0.0317, -0.0562, -0.0073, -0.1983, -6.7214, 7.4872, 1.9267, 0.0952, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f518b10193d4a8000e5fdc4e5b0d03c3cda2cec5f6934f1fb02481a0ee281ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22433c6b2fe7e83e243e90c780d9a8c98e29dd1a239c45d62c64ff3792ac9625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a892d7af8a9eed8bc88e1ed400031acdedc354b2b2fadabf1120b0f825668b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f518b10193d4
wire blob 22433c6b2fe7
wire blob a892d7af8a9e
call 41 attempt 0 · /messages · status 200 · 10.42 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0767 left_j1=2.4351 left_j2=2.3928 left_j3=-1.5986 left_j4=0.0071 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7185 right_j1=1.4792 right_j2=1.5833 right_j3=-0.749 right_j4=-0.0006 right_j5=-0.0463 right_gripper=0.9992\nstate[joint_eff]: [2.6188, -15.2, 9.7299, 0.0904, -0.0611, -0.0171, -0.0073, 1.4154, -5.6547, 5.559, 0.8181, -0.2027, 0.2125, -0.0122]",
      "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=-0.9646 left_j1=2.4405 left_j2=2.2864 left_j3=-1.4757 left_j4=0.0067 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7109 right_j1=1.5383 right_j2=1.5764 right_j3=-0.601 right_j4=-0.0006 right_j5=-0.0673 right_gripper=0.9992\nstate[joint_eff]: [12.0547, -14.7897, 4.7795, 0.5104, -0.022, -0.0513, -0.0122, 0.2667, -11.5487, 7.5556, -0.0171, -0.0513, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5144 left_j1=1.6608 left_j2=1.6035 left_j3=-1.2434 left_j4=0.0063 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7136 right_j1=1.5269 right_j2=1.5814 right_j3=-0.5385 right_j4=-0.0151 right_j5=-0.0578 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -8.8821, 6.694, 1.0574, -0.0317, -0.0562, -0.0073, -0.1983, -6.7214, 7.4872, 1.9267, 0.0952, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f518b10193d4a8000e5fdc4e5b0d03c3cda2cec5f6934f1fb02481a0ee281ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22433c6b2fe7e83e243e90c780d9a8c98e29dd1a239c45d62c64ff3792ac9625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a892d7af8a9eed8bc88e1ed400031acdedc354b2b2fadabf1120b0f825668b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f518b10193d4]
[blob 22433c6b2fe7]
[blob a892d7af8a9e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014vcov6VQasWjVhT7PsA6dN",
      "input": {
        "note": "Overhead now clearly shows the red block alone between the two arms. Bringing the right gripper down to ~6 cm above the table near its estimated position to acquire it in the right wrist camera.",
        "targets": {
          "right_j1": 1.924,
          "right_j2": 1.456,
          "right_j3": -1.102
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_014vcov6VQasWjVhT7PsA6dN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6722 left_j2=1.5993 left_j3=-1.2446 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7132 right_j1=1.9011 right_j2=1.4696 right_j3=-1.0218 right_j4=-0.0124 right_j5=-0.0715 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -8.3487, 6.3658, 0.7253, -0.0073, -0.0317, -0.0073, 0.0068, -8.9368, 5.7368, 0.4713, -0.0952, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4403052dfaa1f649a81811922ce7d3ec8f9ac905052ac39c0f4777e759e0476b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557e450b8029a0ebe5b96ee405e8877a3777176d0f76ab89cae1fc23f3a05421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99c5928e91b6f35c9b15a3ae045e330a855aa0796b25a1cffa98c3fa22daae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4403052dfaa1
wire blob 557e450b8029
wire blob 99c5928e91b6
call 42 attempt 0 · /messages · status 200 · 10.49 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9646 left_j1=2.4405 left_j2=2.2864 left_j3=-1.4757 left_j4=0.0067 left_j5=-0.0792 left_gripper=0.6266 right_j0=0.7109 right_j1=1.5383 right_j2=1.5764 right_j3=-0.601 right_j4=-0.0006 right_j5=-0.0673 right_gripper=0.9992\nstate[joint_eff]: [12.0547, -14.7897, 4.7795, 0.5104, -0.022, -0.0513, -0.0122, 0.2667, -11.5487, 7.5556, -0.0171, -0.0513, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5144 left_j1=1.6608 left_j2=1.6035 left_j3=-1.2434 left_j4=0.0063 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7136 right_j1=1.5269 right_j2=1.5814 right_j3=-0.5385 right_j4=-0.0151 right_j5=-0.0578 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -8.8821, 6.694, 1.0574, -0.0317, -0.0562, -0.0073, -0.1983, -6.7214, 7.4872, 1.9267, 0.0952, -0.1148, -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=-0.5133 left_j1=1.6722 left_j2=1.5993 left_j3=-1.2446 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7132 right_j1=1.9011 right_j2=1.4696 right_j3=-1.0218 right_j4=-0.0124 right_j5=-0.0715 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -8.3487, 6.3658, 0.7253, -0.0073, -0.0317, -0.0073, 0.0068, -8.9368, 5.7368, 0.4713, -0.0952, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4403052dfaa1f649a81811922ce7d3ec8f9ac905052ac39c0f4777e759e0476b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557e450b8029a0ebe5b96ee405e8877a3777176d0f76ab89cae1fc23f3a05421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c5928e91b6f35c9b15a3ae045e330a855aa0796b25a1cffa98c3fa22daae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4403052dfaa1]
[blob 557e450b8029]
[blob 99c5928e91b6]
{
  "content": [
    {
      "signature": "CAISnQcKjAEIEBgCKkA/gT0h+edxa9oV2/oQN4xIwIG5mbm7tVrOzWd3ETVbMoohZdb2j7E7n70UmpwpZS07CD4KsVwaKlcAMWMN41oyMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTt4dU5r4wZtiLKMnGgwM6wB5dEhwWrtI3yAiMAy2qY2AhX4UNIVRenvZIEFuSmF/DiifKKFMXwQTvHXCxFJriFizjEd9EjhxEd/dXiq9BbvoSgbaKe21p6mJ7kSXGRr1ribfmbdvxHurbCqnXy8g+uXQ0ubnhdyZvqSvM39MH3RK+qRDJxctfeaGj6wuY4GbVS8vQhHK5l91n2edvA1N8lqUhsFlDzku92BhVZ+CbG7uNUPbLjvvYOkhW37cfcLETgcmvt1NaP50r281RkL0kPkwvR1RzakBz7OrZRbnWzkxO4DEXEwk2M8J0TnzvQhCozr9UiPexV40bL9xI4MaM0//CHiI4iwR/TQsKYt7Y0biPXDmTet5ZM6H3HEJHNuzFkQrj/hSMLJlzOgOMo4RSrcw+1DE5bNYZpdIkf0qHO/eAk0kCfKQVcmDyR8lZKIje7ZO17cZVrq0I8wg/tHHSp2ET0iAVp1K5Ui2uf3N2WWygnYVNVC+TkuBdoDtS8LIhE42zJ66m84yo6hJ8VB8bu9f4l736yI6+tb7KEUD6Rk5mV0Ljo10e3cGAyH/Dt2JgFALEq+1/XlioNuDmRzfu+i5qfM9gJ6U2ULWR2QPWWuArY680jgpubUcjo+isAeKao/Fr+ScJhNgxxlBIKrmg5FBZVqjHLJ7XWmv5uhvOoBl38EZZCmUJCxjQHd/Dm9k8howDwArYoRcw60EvdKcyvTuNmmFSXexDCq9UJ6B2tQ94ehpUg6/r3Vf6U55Z4rDqWa4Io8DvLlJ7NTsbpZ32KmhEQLwK9wOQp5jE6bRgGp1MtnHWTB7m4HTlAmTlyBzaB+5SsVghDo4ooTPIw6aLC7yffqsO2FQChNRwaxDSQmLR833/u3/pB5q1rmgdRLqH6OQMWZYpcMyYZ9hUwO+GM/WzAqqcMNCf8msv61jWih8iW87zNIQz8R3JcR1C7UmHozwv+doBkFfOjzgyrnoF8B13ZL8ZjO3jBAXnI50unmNT4NeBKhdVKuYXao9hz0+pXQ7OqJRlYXSdFplGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0199uEjmpZ9yCh8kcoYfcH49",
      "input": {
        "note": "Right wrist cam sees the red block up-and-right of the jaws; yawing 0.19 rad right and lowering/advancing to bring it into the grasp.",
        "targets": {
          "right_j0": 0.52,
          "right_j1": 2.066,
          "right_j2": 1.481,
          "right_j3": -0.986
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_0199uEjmpZ9yCh8kcoYfcH49",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6737 left_j2=1.5982 left_j3=-1.2465 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.5369 right_j1=2.0228 right_j2=1.4746 right_j3=-1.0103 right_j4=-0.0071 right_j5=-0.0795 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.5419, 6.1333, 0.7595, -0.0611, -0.0317, -0.0171, 0.0479, -7.9385, 6.4752, 0.3199, -0.0366, 0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3769f3f73253952ddb10ac5050b3312c0c85f9397f2ee9c6efaa00b3204301ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a198f1e63e5ff6aad692b89bc972c2d012b9585e305f1160e5d9a12b17296af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a801825ba0e5eacc177fdd03ab2517e0626bdcd935702b608a12194ebff0d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3769f3f73253
wire blob 8a198f1e63e5
wire blob 5a801825ba0e
call 43 attempt 0 · /messages · status 200 · 8.298 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5144 left_j1=1.6608 left_j2=1.6035 left_j3=-1.2434 left_j4=0.0063 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7136 right_j1=1.5269 right_j2=1.5814 right_j3=-0.5385 right_j4=-0.0151 right_j5=-0.0578 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -8.8821, 6.694, 1.0574, -0.0317, -0.0562, -0.0073, -0.1983, -6.7214, 7.4872, 1.9267, 0.0952, -0.1148, -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=-0.5133 left_j1=1.6722 left_j2=1.5993 left_j3=-1.2446 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7132 right_j1=1.9011 right_j2=1.4696 right_j3=-1.0218 right_j4=-0.0124 right_j5=-0.0715 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -8.3487, 6.3658, 0.7253, -0.0073, -0.0317, -0.0073, 0.0068, -8.9368, 5.7368, 0.4713, -0.0952, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6737 left_j2=1.5982 left_j3=-1.2465 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.5369 right_j1=2.0228 right_j2=1.4746 right_j3=-1.0103 right_j4=-0.0071 right_j5=-0.0795 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.5419, 6.1333, 0.7595, -0.0611, -0.0317, -0.0171, 0.0479, -7.9385, 6.4752, 0.3199, -0.0366, 0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3769f3f73253952ddb10ac5050b3312c0c85f9397f2ee9c6efaa00b3204301ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a198f1e63e5ff6aad692b89bc972c2d012b9585e305f1160e5d9a12b17296af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a801825ba0e5eacc177fdd03ab2517e0626bdcd935702b608a12194ebff0d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3769f3f73253]
[blob 8a198f1e63e5]
[blob 5a801825ba0e]
{
  "content": [
    {
      "signature": "CAIS3AUKjAEIEBgCKkCYU5KHGJwOpweTzIMilOfUbFeg9MDoYPW9iNrXSdyn0uQsH+yK5QjHt+srFPG36aTp6ARapz6bNFT8BiHCkkOBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxv5XsqGloWZ9t6X6Ggy4YxN19NZD7zL6BVwiMAPygbmV1Ah6dQktj+R6dmLDSlXlfun2zgR3jzjvEpXp52hJcD2BAEGk7jOwzP8ncSr8A88Pf5NV3kJKGc+RFLsG3bQRiExVtbTidgYKGUgA0NDiKQPS+NKItl+uwBEBI0xHi2VoqVc6e4P2c8nS01JbVyLrJnHqjhxW47513Gm1D1jRozzOisIhzylqoFFTC1+ZEgXuARg1n4yqT6a0yxgH6to7euCNJel7CzToYjN69PUr9r2t0sbr6lNelNleidWkSFVgHRE/fmNgiNaEqXJACGLvo03fCTzB0y6yyG7kDwWx7PWNaZ0igWHnLhWflKRkUtX9Zy+PC12JAaNE5lzklfOw+QXjc7HmGwzdUKaF7l7gEK9BfA487uHP6AfYIED4d6axjnNRKpNbXpp2ENUvY+3MFTFv7+abjaKvEbZH7gA8W60j7oS2eprAtLEZsLsfpNDhLsLiWuhXXYEg+ng+axwUWBgPN8XSdZXc7y11WmESGOYw3FLsaVql29wyNI2U+9KXcoDvraEx0oafedbCwhHgS+leNRiN7TZnL0FAqrXv9OlVaT69w4HAZVw+p01s/3P/w9qgmcUgStJXz5/qpaj7puZZMx6nB87iZpnWTUIHJP0/F0BR5KeRCj/nSMMBv9K5mQNAyRfhc45mXz55SE6ouzB6disExSId/nPydBHroG9p+2nn7y3eOv/++YaTxFfxCEs1p6YedoNQ0D8jfNQIhTZp7mLI670Ur+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KgHUgQCNH9tNmpgBN46CV9",
      "input": {
        "note": "Block is just right of the jaw gap and close; small yaw right plus ~2 cm advance and 1 cm descent to bracket it.",
        "targets": {
          "right_j0": 0.46,
          "right_j1": 2.151,
          "right_j2": 1.574,
          "right_j3": -0.994
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KgHUgQCNH9tNmpgBN46CV9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2499 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4801 right_j1=2.1246 right_j2=1.5398 right_j3=-1.0119 right_j4=-0.0082 right_j5=-0.0834 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.665, 6.065, 0.7692, -0.0122, -0.0708, -0.0073, -0.7726, -9.6615, 7.4872, 0.2906, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faca34b3b55dff65b42d4d22c10f3d550bcd4a2612af406a2782749cf65bdf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8c3cd9e519c92b181fb58b399fed7cbd2c7d590b18d458fd81af5daac36aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca8ccfa1816ca8f698f643108f9bd9f23323a65be5d3d46f8c33a6c22594e868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob faca34b3b55d
wire blob ba8c3cd9e519
wire blob ca8ccfa1816c
call 44 attempt 0 · /messages · status 200 · 8.504 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6722 left_j2=1.5993 left_j3=-1.2446 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.7132 right_j1=1.9011 right_j2=1.4696 right_j3=-1.0218 right_j4=-0.0124 right_j5=-0.0715 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -8.3487, 6.3658, 0.7253, -0.0073, -0.0317, -0.0073, 0.0068, -8.9368, 5.7368, 0.4713, -0.0952, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6737 left_j2=1.5982 left_j3=-1.2465 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.5369 right_j1=2.0228 right_j2=1.4746 right_j3=-1.0103 right_j4=-0.0071 right_j5=-0.0795 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.5419, 6.1333, 0.7595, -0.0611, -0.0317, -0.0171, 0.0479, -7.9385, 6.4752, 0.3199, -0.0366, 0.0562, -0.0171]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2499 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4801 right_j1=2.1246 right_j2=1.5398 right_j3=-1.0119 right_j4=-0.0082 right_j5=-0.0834 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.665, 6.065, 0.7692, -0.0122, -0.0708, -0.0073, -0.7726, -9.6615, 7.4872, 0.2906, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faca34b3b55dff65b42d4d22c10f3d550bcd4a2612af406a2782749cf65bdf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8c3cd9e519c92b181fb58b399fed7cbd2c7d590b18d458fd81af5daac36aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8ccfa1816ca8f698f643108f9bd9f23323a65be5d3d46f8c33a6c22594e868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob faca34b3b55d]
[blob ba8c3cd9e519]
[blob ca8ccfa1816c]
{
  "content": [
    {
      "signature": "CAISvgIKjAEIEBgCKkApm/lyQI7ICOGqs0Ld0I8Ukuu/79iqOH7ezWaCAAPfHqhFmMdj+kWLNBvyFKimk+MaWWsobnwyTkJNxLiHfbzIMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMUQLMuiJ+1P562fGxGgz29t2d2Kcb6LGsaywiMCy4UXD8zqca1+LMQIpwc6THuIuQnn3h5CRHM2ldCBm3s8P603BK1OHf3b24CpuYUCpfXiqL5ie2bJ+fWdQm/Ivl8//pImyk6yPGT/Rxbj4xneCNQs+QS2yi10v/lP7J8bbJ0nIkX6ThEujGUowtQe8hShG2MZ3+JsLpJbmVKoQwRJw+xPagwCTTw4I5vEckEO8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aesb8cpCcZmckg6VXL1tAB",
      "input": {
        "note": "Red block is between the right jaws at the bottom of the frame; 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_01Aesb8cpCcZmckg6VXL1tAB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.149 right_j2=1.5417 right_j3=-1.0168 right_j4=-0.0082 right_j5=-0.0872 right_gripper=0.0105\nstate[joint_eff]: [-0.0479, -7.6239, 6.0239, 0.7106, -0.0269, -0.0415, -0.0073, -0.0615, -12.8615, 5.1897, 0.2222, -0.0317, 0.0171, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74688917582c907dc379da89474d20d119f9ffd31eb959c218c06d2f8968105e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:724f5b11a5e8e23d7e7dfd6d5f9099c789c50566ee8714dbea40f7416bac166c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:138e56d2f0d63b30629dc3bd1003a1e749efa74ac3e048a3056ca3c7366675ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 74688917582c
wire blob 724f5b11a5e8
wire blob 138e56d2f0d6
call 45 attempt 0 · /messages · status 200 · 11.69 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6737 left_j2=1.5982 left_j3=-1.2465 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.5369 right_j1=2.0228 right_j2=1.4746 right_j3=-1.0103 right_j4=-0.0071 right_j5=-0.0795 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.5419, 6.1333, 0.7595, -0.0611, -0.0317, -0.0171, 0.0479, -7.9385, 6.4752, 0.3199, -0.0366, 0.0562, -0.0171]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2499 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4801 right_j1=2.1246 right_j2=1.5398 right_j3=-1.0119 right_j4=-0.0082 right_j5=-0.0834 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.665, 6.065, 0.7692, -0.0122, -0.0708, -0.0073, -0.7726, -9.6615, 7.4872, 0.2906, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.149 right_j2=1.5417 right_j3=-1.0168 right_j4=-0.0082 right_j5=-0.0872 right_gripper=0.0105\nstate[joint_eff]: [-0.0479, -7.6239, 6.0239, 0.7106, -0.0269, -0.0415, -0.0073, -0.0615, -12.8615, 5.1897, 0.2222, -0.0317, 0.0171, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74688917582c907dc379da89474d20d119f9ffd31eb959c218c06d2f8968105e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:724f5b11a5e8e23d7e7dfd6d5f9099c789c50566ee8714dbea40f7416bac166c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:138e56d2f0d63b30629dc3bd1003a1e749efa74ac3e048a3056ca3c7366675ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 74688917582c]
[blob 724f5b11a5e8]
[blob 138e56d2f0d6]
{
  "content": [
    {
      "signature": "CAIS2AUKjAEIEBgCKkAD6mB5XkKfyWO3DAAEbrlqUE9TM+59N7EZdyYmV6ETBlzOXnoIxsyV4k4bxycu+1TwehgCaKkZnhbtSFra6NNBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMA6rac4ILaaOEFe93Ggxc7Z3P4NsONFxJXwMiMCCf00P5UuBAqJnh7qRkukDt2H33dooRAOGu0AxYfwqz7oIUVJkJH+TQRK8Hej2LbSr4A+iHjgCKjEPPNcB85W2j0BPmDYsyen1p5HorO5rS17T93JneTyeHqtKzByroH61KUDHnNiy0g37M6WfPVJD0qidGgs2lqyFHds8CxYv0qQcmSd5CxnJykM2xLQtn/NPG9ypauwMx5xL72t38nZJI/hFeaPJuTVYFsuy2VrCtOMYpB/mGjsXu5NJEaziV6bLCCB0juH3ogpAKxf5BnkPsvc9970hpHNjtiggZxH9VaTywdKHkifQiQr5R0htDg0qM4YVKB0OlcUw2LoPe42mnDoWSj5O9vkJk3iX14PfxyiXwOY2JpBXByYkr8PXvAE3rsIesGIConeVJRmfnyvDJngpNtConBs5crRnq/cyuCJXwK8qy0h/2ERZ0tWdsDZ7boDWcceOqZh6r/oGXjWNyRlXQKPPcP4N9Uf6k7juo7lzX/q/ocHHZ/PQCzhk3D7VhbMvAhPGNNrN88PkrrwVSieEnkO3UGC8ExtvFKBJwLyib+Eivq9O7FOVtu1YIBU9a8XXuqUqT02++HQOLVzlelYOqMMeAY7lPN7+7QigAs8Hw4cf44FthM2UBJ6TcS21UYyJkqK+9Vrm+pxa6kHHuPpBEGdqU7xvVxG71KNvQtfH+r65QrAKFDwj+iO5MpqGlo77Fv296kRzbyaGubKbMp2qXkzPIRRlGxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYdv6TUPXj4Boaq53qW1tV",
      "input": {
        "note": "The close came up nearly empty (residual 0.01) and the block is still on the table just ahead of the jaws; reopening and lifting slightly to re-acquire it.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.05,
          "right_j2": 1.52,
          "right_j3": -1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XYdv6TUPXj4Boaq53qW1tV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0838 right_j2=1.5238 right_j3=-1.0504 right_j4=-0.0078 right_j5=-0.0971 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -7.6786, 6.065, 0.7106, -0.0317, -0.0562, -0.0073, -0.212, -13.012, 5.3265, 0.1636, -0.0562, 0.1685, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72fc3375bd00ded771ff3a9f517c528458800dcead90ee27bfcc43decbdc0255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb045d384b626c59c52d85d89130db7a8a7914b2e08ba98cac89f5e57f0d2752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39e7813d2fe4a528e3e073a7408247bb23e97ba950e6f22e92d2638900602020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 72fc3375bd00
wire blob bb045d384b62
wire blob 39e7813d2fe4
call 46 attempt 0 · /messages · status 200 · 7.551 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2499 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4801 right_j1=2.1246 right_j2=1.5398 right_j3=-1.0119 right_j4=-0.0082 right_j5=-0.0834 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.665, 6.065, 0.7692, -0.0122, -0.0708, -0.0073, -0.7726, -9.6615, 7.4872, 0.2906, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.149 right_j2=1.5417 right_j3=-1.0168 right_j4=-0.0082 right_j5=-0.0872 right_gripper=0.0105\nstate[joint_eff]: [-0.0479, -7.6239, 6.0239, 0.7106, -0.0269, -0.0415, -0.0073, -0.0615, -12.8615, 5.1897, 0.2222, -0.0317, 0.0171, 0.8962]",
      "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=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0838 right_j2=1.5238 right_j3=-1.0504 right_j4=-0.0078 right_j5=-0.0971 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -7.6786, 6.065, 0.7106, -0.0317, -0.0562, -0.0073, -0.212, -13.012, 5.3265, 0.1636, -0.0562, 0.1685, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72fc3375bd00ded771ff3a9f517c528458800dcead90ee27bfcc43decbdc0255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb045d384b626c59c52d85d89130db7a8a7914b2e08ba98cac89f5e57f0d2752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39e7813d2fe4a528e3e073a7408247bb23e97ba950e6f22e92d2638900602020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 72fc3375bd00]
[blob bb045d384b62]
[blob 39e7813d2fe4]
{
  "content": [
    {
      "signature": "CAISpAkKjAEIEBgCKkCda6Gp9A/ZBq4NTUCp/6tfmEQ00Lc8+BCDtyWolWGBnOxaAyiBLgR2r2qgP2BxnDcbXG0P6N3oaOctZOuMc6n1MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMS1eFdv93lOiINOPNGgwLMuhB0037OIDz8FciMBLwEPnY1o6OTPkyGrpRQVvkoLWIoauwdqYjnXtPMBlIx6agfyAk2kfiBuo7aGsqPyrEB02Fs0mBoCZ7AA+K+V6nr8qZozW9vKydEQnrmjR8+HuA1LP2V6CDd6HCgP6plT3e8zbfkuwmjJpGsCuZjCZBWFhxu83bTtDn0U2VNQiKeCwxjto1DbrHt63JnSNwxjLKwm/pC5nD7UcEhfjPyBeN00Rw7w5+dkn4gh1jiG+g0kVVNSncAEvE49LtSUtjVEdGz0Ub+Pb9bYp2qV3o2N+xVNkclvpShjZ1SPpBkbVDS3L7rYfkv3CnYQbREwt4ZXezrVnOW4O88sjxuM6TgfS+guxkXMyHSlM8JrVp/SsPsGGPqipiFzBZ+bdeUQtTp0jAd6G4yP94IgAdkOKTPLAYbuwgFuVMytrlkGkFuvB0PNDrc8A0cSMmNQzbNUN/2L5PINx9SFExVbvmU7N3PkJto9/6fZoPbc0a5Keqx1E8H5EbaKua7t8eP5RuOfLmGsqOwXpE+Q9VKGhOrHOvgmpHGLbJ4HkuiIRWsOQbQ6fF2RBOpLN1Akj29/tqzS+8L0PHAMlfcqgGX0f08z9oJBH8LJBAyNeNGQg8AOeC6cxj/yHRBpWwP1Eoq7xQmxdl/EuihGZCVjlkimpQv8yAkNZbFf3EnvxT9oSW7P1GYIEOanrUkux3xqmwNtHm5lcTvI3L6Op1nLwnwxq4QiMCrla7k4lQxrhAht3IRh5pm6T/Wp/iaHt61XdyeCo/X+Et5l96JX82C18Hp+WVz3qdoAG3gBoNUzg0M+mvkMZcu8DTHEyNfB/OWEXp9lLeBqRyCzlJHZteawrr1ZKHjeOnNFKgSAxIA1f8Y0y33tluRGjjP9gb3sgDI+JqtK+EW1t1lDraW5LaptFWOiPgzckD5g1M6u09Ir3/3ukqT7LdKhRdLXybbO3dMhLQJJD1CvmJs7xmcKXNQSwJjJQdJ7hGlQ9SLyd35HNji5jjl2kad0SZx9Z0fuRShiNt0f5IwYCzo6qnzRL0pCnga0OarEVTyvC0k4tRsNlkqb9ww7Jd7Tt/dP0D/+5RPGogrJt0PYtxk9xDRW594GXNXWRuKGVNMwjItbF4XPRv1Wjb2m0ArZwJ+uX1SdL2OaNRkrEQWUT94MH4VADAQIM04cbo8JMkhRoh9sFpy/fGw6YEKsuHPjNw1Y0rC5lUFOAfL0xuGYK9ZYGS0MauwisJlUOMsCBp7le36s5CCAlXcQUMmib3fnB9ICklFlq+nQAjV4pF46RTyVIIqlWu/Vwn5OGD9m5EBbJryGBHIdbH7rJdU0UBI7m7r8I6iVbvgRymNoOAtJIcK+RjFZD90vwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Cgfkr8DRZqBWityYtpAS5",
      "input": {
        "note": "The red block is clearly between the two jaw silhouettes now; advancing ~1 cm and dropping ~1 cm before closing.",
        "targets": {
          "right_j1": 2.135,
          "right_j2": 1.547,
          "right_j3": -0.982
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_013Cgfkr8DRZqBWityYtpAS5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0998 right_j2=1.5261 right_j3=-1.0313 right_j4=-0.0078 right_j5=-0.102 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6786, 6.0513, 0.7253, -0.0122, -0.0708, -0.0171, 0.0615, -8.7453, 7.6376, 0.3639, -0.0122, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fff111dcc6ab3c10158dd6ca27b904c480a78650a7cfa55df3923016465dbdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4f5c4db626ff75a5c04dfe865f361299bd1ff4136720d754c42caa46adc275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ac114731d28a326e73df339c01e32e5bd71f8a22045078207534f3b2c1b4506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8fff111dcc6a
wire blob ad4f5c4db626
wire blob 1ac114731d28
call 47 attempt 0 · /messages · status 200 · 10.23 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.149 right_j2=1.5417 right_j3=-1.0168 right_j4=-0.0082 right_j5=-0.0872 right_gripper=0.0105\nstate[joint_eff]: [-0.0479, -7.6239, 6.0239, 0.7106, -0.0269, -0.0415, -0.0073, -0.0615, -12.8615, 5.1897, 0.2222, -0.0317, 0.0171, 0.8962]",
      "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=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0838 right_j2=1.5238 right_j3=-1.0504 right_j4=-0.0078 right_j5=-0.0971 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -7.6786, 6.065, 0.7106, -0.0317, -0.0562, -0.0073, -0.212, -13.012, 5.3265, 0.1636, -0.0562, 0.1685, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0998 right_j2=1.5261 right_j3=-1.0313 right_j4=-0.0078 right_j5=-0.102 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6786, 6.0513, 0.7253, -0.0122, -0.0708, -0.0171, 0.0615, -8.7453, 7.6376, 0.3639, -0.0122, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fff111dcc6ab3c10158dd6ca27b904c480a78650a7cfa55df3923016465dbdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4f5c4db626ff75a5c04dfe865f361299bd1ff4136720d754c42caa46adc275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ac114731d28a326e73df339c01e32e5bd71f8a22045078207534f3b2c1b4506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8fff111dcc6a]
[blob ad4f5c4db626]
[blob 1ac114731d28]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AvAufTZ9XEktMCwJxxmFhe",
      "input": {
        "note": "Block sits deep between the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AvAufTZ9XEktMCwJxxmFhe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1284 right_j2=1.5242 right_j3=-1.0245 right_j4=-0.0082 right_j5=-0.1066 right_gripper=0.0109\nstate[joint_eff]: [-0.0752, -7.5009, 6.2154, 0.6813, -0.0171, -0.0659, -0.0171, -0.1846, -13.053, 5.7094, 0.1245, -0.0464, 0.0366, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8224f496944b8f785a119a8b11a8c1169c8fa0977599b9813298fcebc0a35c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8074b269af50f85888a9d9c93d21587c784909c4827dc97e64ebe3032c4ce959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:855ac12ff0c7e8dfb6e28e89c4a6eb73d210dbcdc498cb81ec802dea76156e66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f8224f496944
wire blob 8074b269af50
wire blob 855ac12ff0c7
call 48 attempt 0 · /messages · status 200 · 22.18 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0838 right_j2=1.5238 right_j3=-1.0504 right_j4=-0.0078 right_j5=-0.0971 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -7.6786, 6.065, 0.7106, -0.0317, -0.0562, -0.0073, -0.212, -13.012, 5.3265, 0.1636, -0.0562, 0.1685, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0998 right_j2=1.5261 right_j3=-1.0313 right_j4=-0.0078 right_j5=-0.102 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6786, 6.0513, 0.7253, -0.0122, -0.0708, -0.0171, 0.0615, -8.7453, 7.6376, 0.3639, -0.0122, 0.0659, 0.0757]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1284 right_j2=1.5242 right_j3=-1.0245 right_j4=-0.0082 right_j5=-0.1066 right_gripper=0.0109\nstate[joint_eff]: [-0.0752, -7.5009, 6.2154, 0.6813, -0.0171, -0.0659, -0.0171, -0.1846, -13.053, 5.7094, 0.1245, -0.0464, 0.0366, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8224f496944b8f785a119a8b11a8c1169c8fa0977599b9813298fcebc0a35c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8074b269af50f85888a9d9c93d21587c784909c4827dc97e64ebe3032c4ce959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:855ac12ff0c7e8dfb6e28e89c4a6eb73d210dbcdc498cb81ec802dea76156e66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f8224f496944]
[blob 8074b269af50]
[blob 855ac12ff0c7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UL2yuX6puHQhwpjyemhAiC",
      "input": {
        "note": "Empty again — the wrist camera looks ~10 cm past the fingertips, so what looks 'between the jaws' is still ahead of them. Reopening and advancing ~5 cm further out.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.319,
          "right_j2": 1.87,
          "right_j3": -1.122
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UL2yuX6puHQhwpjyemhAiC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4808 right_j1=2.3028 right_j2=1.8347 right_j3=-1.129 right_j4=-0.0082 right_j5=-0.1204 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -7.6923, 6.0376, 0.7106, -0.0317, -0.0659, -0.0171, 0.0889, -11.2068, 7.706, 0.2418, -0.0317, 0.1587, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4a2025cc5051eddd3054e4f06bc54931edd7904b07ed6819bf76af79f30e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0626abf8362b7754bb4b1bb9b6533b0ac05469d3cd0ce83b70380a18cab85226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5e6bae4fdfc2fa7e3bd95c6402c551a983c0fc0458ea259100366b1c42960e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ef4a2025cc50
wire blob 0626abf8362b
wire blob b5e6bae4fdfc
call 49 attempt 0 · /messages · status 200 · 12.05 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.0998 right_j2=1.5261 right_j3=-1.0313 right_j4=-0.0078 right_j5=-0.102 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6786, 6.0513, 0.7253, -0.0122, -0.0708, -0.0171, 0.0615, -8.7453, 7.6376, 0.3639, -0.0122, 0.0659, 0.0757]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1284 right_j2=1.5242 right_j3=-1.0245 right_j4=-0.0082 right_j5=-0.1066 right_gripper=0.0109\nstate[joint_eff]: [-0.0752, -7.5009, 6.2154, 0.6813, -0.0171, -0.0659, -0.0171, -0.1846, -13.053, 5.7094, 0.1245, -0.0464, 0.0366, 0.9646]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4808 right_j1=2.3028 right_j2=1.8347 right_j3=-1.129 right_j4=-0.0082 right_j5=-0.1204 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -7.6923, 6.0376, 0.7106, -0.0317, -0.0659, -0.0171, 0.0889, -11.2068, 7.706, 0.2418, -0.0317, 0.1587, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4a2025cc5051eddd3054e4f06bc54931edd7904b07ed6819bf76af79f30e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0626abf8362b7754bb4b1bb9b6533b0ac05469d3cd0ce83b70380a18cab85226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e6bae4fdfc2fa7e3bd95c6402c551a983c0fc0458ea259100366b1c42960e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ef4a2025cc50]
[blob 0626abf8362b]
[blob b5e6bae4fdfc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GEZ9EME3CrdRfEWvXjhf2a",
      "input": {
        "note": "Block dropped out of the wrist view after advancing, so I overshot; pulling back ~4 cm to r≈0.36 m to re-acquire it.",
        "targets": {
          "right_j1": 2.153,
          "right_j2": 1.649,
          "right_j3": -1.067
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GEZ9EME3CrdRfEWvXjhf2a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.215 right_j2=1.665 right_j3=-1.0958 right_j4=-0.0078 right_j5=-0.1246 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.665, 6.1744, 0.7057, -0.0415, -0.0317, -0.0073, -0.0068, -15.0769, 6.6667, 0.5885, -0.0317, 0.0122, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b09a04477de4180e02ce84a7edf25aad36ee2cc35e97655416644adb4be46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc41259d33b23d02a0008ed398251fb3e6158679bc92f636e0ba73f2965c2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efabef9f924ac28d407cc762538093c97877fe726e645314aac327cc90631da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a6b09a04477d
wire blob acc41259d33b
wire blob efabef9f924a
call 50 attempt 0 · /messages · status 200 · 7.18 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5978 left_j3=-1.2518 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1284 right_j2=1.5242 right_j3=-1.0245 right_j4=-0.0082 right_j5=-0.1066 right_gripper=0.0109\nstate[joint_eff]: [-0.0752, -7.5009, 6.2154, 0.6813, -0.0171, -0.0659, -0.0171, -0.1846, -13.053, 5.7094, 0.1245, -0.0464, 0.0366, 0.9646]",
      "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=-0.5137 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4808 right_j1=2.3028 right_j2=1.8347 right_j3=-1.129 right_j4=-0.0082 right_j5=-0.1204 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -7.6923, 6.0376, 0.7106, -0.0317, -0.0659, -0.0171, 0.0889, -11.2068, 7.706, 0.2418, -0.0317, 0.1587, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.215 right_j2=1.665 right_j3=-1.0958 right_j4=-0.0078 right_j5=-0.1246 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.665, 6.1744, 0.7057, -0.0415, -0.0317, -0.0073, -0.0068, -15.0769, 6.6667, 0.5885, -0.0317, 0.0122, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b09a04477de4180e02ce84a7edf25aad36ee2cc35e97655416644adb4be46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc41259d33b23d02a0008ed398251fb3e6158679bc92f636e0ba73f2965c2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efabef9f924ac28d407cc762538093c97877fe726e645314aac327cc90631da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a6b09a04477d]
[blob acc41259d33b]
[blob efabef9f924a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTpzDq8DUhQBgE3LWzdCBR",
      "input": {
        "note": "A red sliver is visible at the very bottom edge of the right wrist view, so the block is right at the jaws; dropping the fingertips to table level before closing, in case previous closes happened above the block.",
        "targets": {
          "right_j1": 2.158,
          "right_j2": 1.535,
          "right_j3": -0.948
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YTpzDq8DUhQBgE3LWzdCBR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6749 left_j2=1.5974 left_j3=-1.2526 left_j4=0.0032 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.17 right_j2=1.5581 right_j3=-1.0092 right_j4=-0.0048 right_j5=-0.128 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -7.5145, 6.0513, 0.8181, -0.0464, 0.0024, -0.0171, -0.1162, -11.6034, 4.7248, 0.4469, -0.0611, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b3fb2fba1cedb30be84a19ea39f5861782c2ad4e99efd1954cef7aeb940522f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90de96357b6a235fef347e3fe9634e8fab1e21dac229e376a5a4764b60653b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f62ba15e7528e7a9567aaecd9d58179bf2f5ac742b710d75185dfff2934b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5b3fb2fba1ce
wire blob d90de96357b6
wire blob 0f62ba15e752
call 51 attempt 0 · /messages · status 200 · 10.89 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4808 right_j1=2.3028 right_j2=1.8347 right_j3=-1.129 right_j4=-0.0082 right_j5=-0.1204 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -7.6923, 6.0376, 0.7106, -0.0317, -0.0659, -0.0171, 0.0889, -11.2068, 7.706, 0.2418, -0.0317, 0.1587, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.215 right_j2=1.665 right_j3=-1.0958 right_j4=-0.0078 right_j5=-0.1246 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.665, 6.1744, 0.7057, -0.0415, -0.0317, -0.0073, -0.0068, -15.0769, 6.6667, 0.5885, -0.0317, 0.0122, 0.1294]",
      "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=-0.5133 left_j1=1.6749 left_j2=1.5974 left_j3=-1.2526 left_j4=0.0032 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.17 right_j2=1.5581 right_j3=-1.0092 right_j4=-0.0048 right_j5=-0.128 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -7.5145, 6.0513, 0.8181, -0.0464, 0.0024, -0.0171, -0.1162, -11.6034, 4.7248, 0.4469, -0.0611, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b3fb2fba1cedb30be84a19ea39f5861782c2ad4e99efd1954cef7aeb940522f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90de96357b6a235fef347e3fe9634e8fab1e21dac229e376a5a4764b60653b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f62ba15e7528e7a9567aaecd9d58179bf2f5ac742b710d75185dfff2934b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5b3fb2fba1ce]
[blob d90de96357b6]
[blob 0f62ba15e752]
{
  "content": [
    {
      "signature": "CAISrgIKjAEIEBgCKkAmBEoqq42dzE/ax6XweXeWSPmf5mrtuIlNfdO/dBtNClvqcChg067U8hZD0hNkpHbslABKLXNnwenULp9b8/ocMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBQ9oqeO+uOGXE6iJGgwxu8ZyKvNRSgh2xvYiMCu1Lu/G5WsFS6JeZRi4Hw+JvuQmo/DbDImFlGMSu4RtZWZlvk1F+iP4DizBNTvP2ipPdhC43HcOm8jJNyiuHAekP9YOV+yLAWXI5y5DkVsSpugqkoLekB3pD8UOMw125UL3Z7mYK/7HmalYNVHE5nFFctnWW6ApIEoWGyfT4JH7GxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sxbvrmx2u1BjBw5nfYZGvx",
      "input": {
        "note": "Red block sits between the jaw tips at table height; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Sxbvrmx2u1BjBw5nfYZGvx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6749 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1635 right_j2=1.5486 right_j3=-1.0168 right_j4=-0.0055 right_j5=-0.1322 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -7.4872, 6.065, 0.7448, -0.0562, -0.0366, -0.0122, -0.1026, -10.6598, 6.188, 0.2369, -0.0317, 0.0024, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4bb330b5eff9c62ac4fea0545fa0222e8cdb0a5cb4c66c8b1df137c40c8256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063826310552abcd62222dd9ea704f0db93ed4da76838dd96aa916ef730ea5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0997adb143a643ccd276df17e133f4b6647dd971a94edee2c6221a0851f50110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ae4bb330b5ef
wire blob 063826310552
wire blob 0997adb143a6
call 52 attempt 0 · /messages · status 200 · 22.11 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6741 left_j2=1.5974 left_j3=-1.2514 left_j4=0.0036 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.215 right_j2=1.665 right_j3=-1.0958 right_j4=-0.0078 right_j5=-0.1246 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.665, 6.1744, 0.7057, -0.0415, -0.0317, -0.0073, -0.0068, -15.0769, 6.6667, 0.5885, -0.0317, 0.0122, 0.1294]",
      "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=-0.5133 left_j1=1.6749 left_j2=1.5974 left_j3=-1.2526 left_j4=0.0032 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.17 right_j2=1.5581 right_j3=-1.0092 right_j4=-0.0048 right_j5=-0.128 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -7.5145, 6.0513, 0.8181, -0.0464, 0.0024, -0.0171, -0.1162, -11.6034, 4.7248, 0.4469, -0.0611, -0.0024, 0.0024]",
      "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=-0.5133 left_j1=1.6749 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1635 right_j2=1.5486 right_j3=-1.0168 right_j4=-0.0055 right_j5=-0.1322 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -7.4872, 6.065, 0.7448, -0.0562, -0.0366, -0.0122, -0.1026, -10.6598, 6.188, 0.2369, -0.0317, 0.0024, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4bb330b5eff9c62ac4fea0545fa0222e8cdb0a5cb4c66c8b1df137c40c8256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063826310552abcd62222dd9ea704f0db93ed4da76838dd96aa916ef730ea5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0997adb143a643ccd276df17e133f4b6647dd971a94edee2c6221a0851f50110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ae4bb330b5ef]
[blob 063826310552]
[blob 0997adb143a6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CGcz5tLTQvHivz8YbdzRHk",
      "input": {
        "note": "Reading the overhead frame properly (arm bases are at the TOP of the image, so image-down is forward), the red block is ~15 cm forward and ~5 cm right of the right gripper. Reopening and driving out to r≈0.49 m at that bearing.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.355,
          "right_j1": 2.763,
          "right_j2": 2.72,
          "right_j3": -1.528
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01CGcz5tLTQvHivz8YbdzRHk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.3649 right_j1=2.7445 right_j2=2.674 right_j3=-1.5208 right_j4=-0.0078 right_j5=-0.1535 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -7.665, 6.0239, 0.696, -0.0024, -0.0708, -0.0171, -0.8957, -13.7368, 8.0068, 0.2906, -0.0073, 0.1636, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6788904d19265fdaf253fb0ee97666dc455aa85d0d147636b480308214b2e7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9817dc79547381593f9de813c1a172e7d270c3921e18f4cf54c4020adacd13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fdad9b3ce3bf8cd7f000cb9093092d854316cb2d89da8a8a796913679e64609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6788904d1926
wire blob f9817dc79547
wire blob 9fdad9b3ce3b
call 53 attempt 0 · /messages · status 200 · 11.02 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6749 left_j2=1.5974 left_j3=-1.2526 left_j4=0.0032 left_j5=-0.0784 left_gripper=0.6266 right_j0=0.4805 right_j1=2.17 right_j2=1.5581 right_j3=-1.0092 right_j4=-0.0048 right_j5=-0.128 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -7.5145, 6.0513, 0.8181, -0.0464, 0.0024, -0.0171, -0.1162, -11.6034, 4.7248, 0.4469, -0.0611, -0.0024, 0.0024]",
      "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=-0.5133 left_j1=1.6749 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1635 right_j2=1.5486 right_j3=-1.0168 right_j4=-0.0055 right_j5=-0.1322 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -7.4872, 6.065, 0.7448, -0.0562, -0.0366, -0.0122, -0.1026, -10.6598, 6.188, 0.2369, -0.0317, 0.0024, 0.9304]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.3649 right_j1=2.7445 right_j2=2.674 right_j3=-1.5208 right_j4=-0.0078 right_j5=-0.1535 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -7.665, 6.0239, 0.696, -0.0024, -0.0708, -0.0171, -0.8957, -13.7368, 8.0068, 0.2906, -0.0073, 0.1636, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6788904d19265fdaf253fb0ee97666dc455aa85d0d147636b480308214b2e7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9817dc79547381593f9de813c1a172e7d270c3921e18f4cf54c4020adacd13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fdad9b3ce3bf8cd7f000cb9093092d854316cb2d89da8a8a796913679e64609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6788904d1926]
[blob f9817dc79547]
[blob 9fdad9b3ce3b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2oHQQ6t5HGE5WoJxKHDtG",
      "input": {
        "note": "Measuring the block against the right arm's base in the overhead frame puts it at r≈0.33 m, bearing ≈0.87 rad — closer and further left than I've been reaching. Moving there.",
        "targets": {
          "right_j0": 0.87,
          "right_j1": 1.996,
          "right_j2": 1.319,
          "right_j3": -0.894
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 22 steps (2.2s)",
      "tool_use_id": "toolu_01F2oHQQ6t5HGE5WoJxKHDtG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.676 left_j2=1.5967 left_j3=-1.2518 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8612 right_j1=2.0285 right_j2=1.3396 right_j3=-0.9314 right_j4=-0.0078 right_j5=-0.1547 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -7.5829, 6.147, 0.7204, -0.0366, -0.0513, -0.0122, 0.1709, -11.1248, 5.4222, 0.6032, 0.0513, 0.0122, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f92f9abe45477e2911b4d382fc90c282d40153d7e889192c399dbee4699ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4dd7db94707d3fc93ad61e2d01e89044e6c5e078615fc088ab5275a3b380eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e18aaf20ba3f3abfa07c081cb35df01f14e9dd0f0884c0f63490f5f8aab4e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e7f92f9abe45
wire blob a4dd7db94707
wire blob 9e18aaf20ba3
call 54 attempt 0 · /messages · status 200 · 8.482 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6749 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.4805 right_j1=2.1635 right_j2=1.5486 right_j3=-1.0168 right_j4=-0.0055 right_j5=-0.1322 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -7.4872, 6.065, 0.7448, -0.0562, -0.0366, -0.0122, -0.1026, -10.6598, 6.188, 0.2369, -0.0317, 0.0024, 0.9304]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.3649 right_j1=2.7445 right_j2=2.674 right_j3=-1.5208 right_j4=-0.0078 right_j5=-0.1535 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -7.665, 6.0239, 0.696, -0.0024, -0.0708, -0.0171, -0.8957, -13.7368, 8.0068, 0.2906, -0.0073, 0.1636, -0.1392]",
      "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=-0.5133 left_j1=1.676 left_j2=1.5967 left_j3=-1.2518 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8612 right_j1=2.0285 right_j2=1.3396 right_j3=-0.9314 right_j4=-0.0078 right_j5=-0.1547 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -7.5829, 6.147, 0.7204, -0.0366, -0.0513, -0.0122, 0.1709, -11.1248, 5.4222, 0.6032, 0.0513, 0.0122, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f92f9abe45477e2911b4d382fc90c282d40153d7e889192c399dbee4699ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4dd7db94707d3fc93ad61e2d01e89044e6c5e078615fc088ab5275a3b380eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e18aaf20ba3f3abfa07c081cb35df01f14e9dd0f0884c0f63490f5f8aab4e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e7f92f9abe45]
[blob a4dd7db94707]
[blob 9e18aaf20ba3]
{
  "content": [
    {
      "signature": "CAIS2AgKjAEIEBgCKkCQvr6AduN3mMUaptuyI9e507XIWwN0mra7PI3bKum1dQtAHFp4o3m1WBWFiVa89UPDVdBk+RA9tVcMq7dn+lgoMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjGqR0Du75jhvBkytGgxCuM3X+ykGC1C4OeEiMF4jAZe1IHAWlVUS6ZWSrIF1yeX+PwsWoOuNOveh3/wR4dxNy/VJ4E56MMBtU60nNSr4BufccImLKhD8SIxz3XJxOsrr9Ma9gcJUlwsh3zEVlgCkVUhNtiXT+Egg4DpumTn78QFu3wMrwCa8/yWfuqzWM0IGch+aY3VxT8EAdZLx2CCWcf5OSauKxzrmFZ5gX0gpYrn0eVQXWLFZSI6lavgue+IxNigPbRFaMo5pXrIBtR6AsX0QPS1XO68/oqQ3lid6JNXzszbSxSIn6PWhVdJf0Yfn/i03CXWxCcXfQSsLHEhSW2nhafgilpx0t/N4UztL335N0F9NbTHwGIFvk+Yl029XUWgGLZRHXW1NlRgmIFxQh9ttbE3uGaZL9QtUfLtNhsggCcxb216EfY0I0nESpZJSdBri2+3RbIDmwFYQF3TGNKMNiDd0IUku07/PdlucC+/QnmRlIHL+0q/c8WyEorPTi4mbSE5XY8lsEqfUvbQNX507zDcjGXiZZS1c56UhnRZEdpXd9ElC/i/mUBSG9Fu/1LG8xuLYVmqf/7c5tO2F/5AmMo8K0mMq6gNv13n0lyXrkUWku1kz3XI4oMZ3sw7UIUajFlEdra/+njwLsqkAMvhJP07WO8LQjQp7eTTfmPsA0Azd/r9l5zOcrJP+qiUHVuXdyWhC3FSV7rWrE1A5mqZlHHKsvyhHn8amJkGBQnjwLEyk9hb5CIldtMDV99TUVRKR+Nk/kcmTaGV7W0PMZ8XiXsZlseA8Ru72znyJYHIFZG2fL3ywLLR79g+pIdsvLsvFTBd7cr5DZe4/vdpWuQmDw3qN6RPcaic0DlvHuQUFyphpVP5KkzjbzIXdkhYnEoBINp+ZAYXvv5rZgQVu1Ys8sZEsuX2oQpyagZCJWbCC3QKv1MgOZ+aLoz69wQkwaZYSMCxgKSnSEy9m9x6FDB7BgrlUCs4tFfApdCvpFvo7XBF3BXey3h+8QeHHQuixeITdkQ8MbQYIAcKGDL+dMhcQoHUzZlWB+toaw2+YT+ES3a07bYLQ06rYWR/0r4/SjiNdF17qzC8Fqtk65BIv0x1bJqcGlKV74lErk+59sxYrD15UIwc02QJrT9HcsgNnzmepXaDbd6Ldate8smFAEJOl6Tvu+YZLL2Dnj8J5algmxdvsq41HSiYwnlJ5jTmezQ6DDUWcTSSIo1pCHZiw2cIXmnjq5J+ek7hiegpNYDCGw8dJbPCgP9yylPSRGMsWCoBWAj8HKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012pUWwnrRdBwxsUjmY85Bak",
      "input": {
        "note": "Block vanished from both the overhead (occluded by the gripper) and the wrist view, so it should be at/behind the jaws; retracting 3 cm to bring it back into the wrist frame.",
        "targets": {
          "right_j1": 1.906,
          "right_j2": 1.181,
          "right_j3": -0.846
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_012pUWwnrRdBwxsUjmY85Bak",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8635 right_j1=1.935 right_j2=1.1999 right_j3=-0.87 right_j4=-0.0078 right_j5=-0.1543 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -7.665, 6.0239, 0.7009, -0.0562, -0.0611, -0.0171, -0.335, -9.9487, 5.6821, 0.5104, -0.0513, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 424):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b56cba06fef06d8895aa498bffa1e6b239428e38184b7189eb42384a653ecce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 424):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e656119d3675f9d922d839506b1787b1a1fd02455c7c675cf7e9b3c16991c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 424):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cd60252fb7200f5eb00dda9792a2ebfddc25bbf9ab0f733fbf004ddc304c08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5b56cba06fef
wire blob 4e656119d367
wire blob 2cd60252fb72
call 55 attempt 0 · /messages · status 200 · 16.91 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.3649 right_j1=2.7445 right_j2=2.674 right_j3=-1.5208 right_j4=-0.0078 right_j5=-0.1535 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -7.665, 6.0239, 0.696, -0.0024, -0.0708, -0.0171, -0.8957, -13.7368, 8.0068, 0.2906, -0.0073, 0.1636, -0.1392]",
      "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=-0.5133 left_j1=1.676 left_j2=1.5967 left_j3=-1.2518 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8612 right_j1=2.0285 right_j2=1.3396 right_j3=-0.9314 right_j4=-0.0078 right_j5=-0.1547 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -7.5829, 6.147, 0.7204, -0.0366, -0.0513, -0.0122, 0.1709, -11.1248, 5.4222, 0.6032, 0.0513, 0.0122, 0.1099]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8635 right_j1=1.935 right_j2=1.1999 right_j3=-0.87 right_j4=-0.0078 right_j5=-0.1543 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -7.665, 6.0239, 0.7009, -0.0562, -0.0611, -0.0171, -0.335, -9.9487, 5.6821, 0.5104, -0.0513, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 424):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b56cba06fef06d8895aa498bffa1e6b239428e38184b7189eb42384a653ecce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 424):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e656119d3675f9d922d839506b1787b1a1fd02455c7c675cf7e9b3c16991c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 424):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd60252fb7200f5eb00dda9792a2ebfddc25bbf9ab0f733fbf004ddc304c08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5b56cba06fef]
[blob 4e656119d367]
[blob 2cd60252fb72]
{
  "content": [
    {
      "signature": "CAIS7AUKjAEIEBgCKkD0ALv6K4pxcgzk2BO1Cpfw8AbwIeagm+WsKMNXHPVYgkGicia0+nst4eKuElFQpKVpDBNOFqSf9E58cSp1wx2xMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlKzS20GJQ+NDpDuUGgzE7nQt1WhXlGVmI5AiMIHg115dNOG8Q4wNJAO2+zO9qIY7vMt/gdj+tEyPx6NTrX0nRPHg8AjXWAAd0I60yiqMBDOZN+mEQIq9FJcvcYhQP4VLcZZeCrYmqq2Z6XUndq3hftHntVyIv+yTkfFHx3wE9Yjn1JMzMrrdKH7tEQY+OhLvtJPFqzyZJQT178xJHUM4J1bf8nG23SMGwJ1bgBAw0nRreYyUr2BKA+YEK8IfftutMoB4TJhPQRW8n9wvVwtuXniKWRbvf3zyC8cUlcqyZS6rUtZZPSwPS2Asa+k8Z4Ds6HjYLEVSuJ5AhDS1U/65A7miALVYpik23nJZ9PIlXQJSk+G1ZNZn/LDA67XMB4ay+dzS5ulq4Q5thVpIDun2rF6Jmx+QkdZWfS62xcxun8meyPmjdMDaJpI7PzkC/Xn6pwHD0vX/r1k+C0vmtPCjDzWUluY5F6FiknfuxNbao3L+ftL/Wz6hdkGwH6dicptZ1BayFQw5CRUfvysgdos9OdC82vPNW58RQr/mIbfUBeslsz05hKC1OGqWQ17oJBMaLZgzINPtXfOJZHXtERW2Slvu5gDknTDt/s5VJHQ2OEc0hMnWSrRHMTdTfCMMyUDPrOEYUOBIPS9t35KFSxUi6WMdEvuEOYwy5kQtyEuAH/V13k70joZPDijDFc2hPwGRuh502md5N3RH4bhNhDPTMw7Ckn852vnh0eS3NB6yWl7CCqs24f3Z9d28g477Vkpd+Acpz6ZS1nswzfjiK0ze8cPUgVknYyxgNfiAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ly48ZfWZuQEESMyJyaZS7X",
      "input": {
        "note": "Nothing visible; pulling the right arm back toward its base to clear the overhead view and find where the red block actually is now.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 1.2,
          "right_j2": 1.4,
          "right_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Ly48ZfWZuQEESMyJyaZS7X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2514 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.0196 right_j1=1.2327 right_j2=1.3582 right_j3=-0.8474 right_j4=-0.012 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -7.5009, 6.0376, 0.7888, -0.0317, -0.0415, -0.0171, 0.0615, -4.6564, 9.4974, 2.0049, -0.0269, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98866520a15525f933b6da695998880e70da92c2059c6539ad57f402fc4f27a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ef19f5882216f363437af2d52459484f371c785bbde6ff5336be3e1dc58252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e692aa28e227173fb14350560ae8b70f8ab5df23f48e3636cc333c26d631b861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 98866520a155
wire blob 88ef19f58822
wire blob e692aa28e227
call 56 attempt 0 · /messages · status 200 · 10.38 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.676 left_j2=1.5967 left_j3=-1.2518 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8612 right_j1=2.0285 right_j2=1.3396 right_j3=-0.9314 right_j4=-0.0078 right_j5=-0.1547 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -7.5829, 6.147, 0.7204, -0.0366, -0.0513, -0.0122, 0.1709, -11.1248, 5.4222, 0.6032, 0.0513, 0.0122, 0.1099]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8635 right_j1=1.935 right_j2=1.1999 right_j3=-0.87 right_j4=-0.0078 right_j5=-0.1543 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -7.665, 6.0239, 0.7009, -0.0562, -0.0611, -0.0171, -0.335, -9.9487, 5.6821, 0.5104, -0.0513, -0.0073, 0.0024]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2514 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.0196 right_j1=1.2327 right_j2=1.3582 right_j3=-0.8474 right_j4=-0.012 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -7.5009, 6.0376, 0.7888, -0.0317, -0.0415, -0.0171, 0.0615, -4.6564, 9.4974, 2.0049, -0.0269, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98866520a15525f933b6da695998880e70da92c2059c6539ad57f402fc4f27a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ef19f5882216f363437af2d52459484f371c785bbde6ff5336be3e1dc58252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e692aa28e227173fb14350560ae8b70f8ab5df23f48e3636cc333c26d631b861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 98866520a155]
[blob 88ef19f58822]
[blob e692aa28e227]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sz5hBaX8Sk46cxgP4DLMcp",
      "input": {
        "note": "Overhead now shows the red block clearly with the right arm retracted. Bringing the left arm (still holding the cube) out to its reach limit at r≈0.48 m, bearing −0.95, at block-top height to try the stack directly.",
        "targets": {
          "left_j0": -0.95,
          "left_j1": 2.68,
          "left_j2": 2.78,
          "left_j3": -1.671
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Sz5hBaX8Sk46cxgP4DLMcp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9386 left_j1=2.661 left_j2=2.7338 left_j3=-1.6665 left_j4=0.0044 left_j5=-0.0799 left_gripper=0.6266 right_j0=0.0185 right_j1=1.2385 right_j2=1.3525 right_j3=-0.8635 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -13.8325, 7.8974, 0.2222, -0.0073, -0.0366, -0.0073, 0.0615, -4.5744, 6.9265, 1.6777, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 457):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b6ec52cbcf51e3eff72153b51d752b554eb451fe0612ea2fe184fbe2ddb7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 457):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173016d17a9793357a161d42176dd43f4830797179d940050dfbfdc120fe4fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 457):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0db50e850fd0705b739f55a3670a8cf83146c4d8691309f015d7e4871249105a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 44b6ec52cbcf
wire blob 173016d17a97
wire blob 0db50e850fd0
call 57 attempt 0 · /messages · status 200 · 9.338 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2522 left_j4=0.0036 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.8635 right_j1=1.935 right_j2=1.1999 right_j3=-0.87 right_j4=-0.0078 right_j5=-0.1543 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -7.665, 6.0239, 0.7009, -0.0562, -0.0611, -0.0171, -0.335, -9.9487, 5.6821, 0.5104, -0.0513, -0.0073, 0.0024]",
      "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=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2514 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.0196 right_j1=1.2327 right_j2=1.3582 right_j3=-0.8474 right_j4=-0.012 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -7.5009, 6.0376, 0.7888, -0.0317, -0.0415, -0.0171, 0.0615, -4.6564, 9.4974, 2.0049, -0.0269, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9386 left_j1=2.661 left_j2=2.7338 left_j3=-1.6665 left_j4=0.0044 left_j5=-0.0799 left_gripper=0.6266 right_j0=0.0185 right_j1=1.2385 right_j2=1.3525 right_j3=-0.8635 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -13.8325, 7.8974, 0.2222, -0.0073, -0.0366, -0.0073, 0.0615, -4.5744, 6.9265, 1.6777, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 457):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b6ec52cbcf51e3eff72153b51d752b554eb451fe0612ea2fe184fbe2ddb7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 457):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173016d17a9793357a161d42176dd43f4830797179d940050dfbfdc120fe4fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 457):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db50e850fd0705b739f55a3670a8cf83146c4d8691309f015d7e4871249105a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 44b6ec52cbcf]
[blob 173016d17a97]
[blob 0db50e850fd0]
{
  "content": [
    {
      "signature": "CAISoQoKjAEIEBgCKkCxmsfGqwQ6Is4kdXPqFWl/S1FsIGWBemzQO0HZjowweRgsk2v3GtfzHAFN2pnKhR5FS0xZBEVm+z8hDgPAvnG0MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLwsvAKk0hHgzXnTtGgwg/P3Z9xsQivMOc2ciMIjtRAzALWwA+3szbMJp9L9Vy69MTURvRBqXqRvqmevCzHeRZ1KMIDh81GM8m+d8sirBCB7VsBc02UvEaT2E+lLfIQTjVxgXqMFW8W3l7AtlExDFUTCSJsZCI23dnprAO+oIAFjuJgkdKQ2h7ehge605DUW7GVPCrT2fO8qfD5jgdggfY+V21p5RE69wJ2MkC2RuMqmo/HynIE9MC4zJLoQhPLnwQm2YhFC60OylWJYUJR4gHW7KdC7MigMdsKmW8d8SLhUFdsPviZIhsHQF/DVQL0RPckNoxvqTRP3jO8lJwrtXWbuNXGALmzuYWAx6f23sqzYKTe98Z1Uaw7Rxzo/JrhTJN0/ENSW4yWrO/L3Fm7HW13J1EAn0q/yYAN0S/8G8NoykZILOjLfLEPewzj++UvR0NBkH4Qq7c0Zmr3Zz2+kGwz9KHFjqxbYqFIPUs1zXmWLs4y43NUZ4Q2XMgw8jEWQXx+wQWH8R5gX7vk+iirWle6I5vTYxzLIVjmB5cohWPSj2bu7RWwfLpiB4LnnVOXWPb+wmVnS6B/XYfiIT13zm4n1mi1HLV9zXnQwVvltj/eAdBCvKAnvjzObIWZ6qE2AM3KEV4hpSgNxgeFiizsYw2CbMPPLrbNPZhmazAxTWRucOniXwrJQOuuS2NUiGQ2g4RxAzSYECJXM+f/sTbg1lNk3tFIfA6Tdm5v22regQI0LXIELUxsYP+Ib5bKmj0UzxzZOLn7gViSvNaVrqa+TaU36g29hrzdlbkALkYM7JIHvsM0MuDYq2pG76PYzFuxqG+AYZYbbswAZdgo+mOtDmRU6HcoU6oY+OjzJ9PkgUNLjWohlgtex5NDqwgF6fwYJIVbDMsR5DVc14nDXNz7wII6KNUT6dworUAaD4trPTO8Ii9sJSubHF1xpXHtkZPhlCjYbuCfxCZCJgCvMEls2Lh2sPsHXU3Fm8v84VmqMC+Lzms2Yt12ohuOKQrt190yztN6arbou5pdW6WuwfA7xm3u0zZJMlixxGdgooXZIlLIKtqPX5k3Eokmjqr+mNeUQKkSkg6JUXx3HQaz00jWqAcvXy/k6WyKXlV7WyRZEMmcxsduRNVIQ2FEDYccSXULZQ2UOwzRRA5PCJwCwyql0AHmhAA1CBsoOHpWOadbMoZ90q0vTVugV3QfHh+QEHUI6YRF2ijWTpnTcdxOpSrOLl1Z4rVDUi8wfGYCuHuR69v2MMYIDz6/GVy0Dvye1X4vBuq36bekCAlIpl95UqpGmog2s8taA3LgK0+riz9/BggHgBIeEvQbzf24U4gSE6PxhZn4KxHR0SNCIVcgsiH3yvzJzlV+MtVUVF0ZixyLt8/E4xPCXJ3dULmfWw+kVnJcXpsQCJD0mtg3RhItDr1WtkM+Yf7EyIp60d+1oKUh3Cyvq6EkTrcz4vOYlHFSyovJ9x8Vx/seUZ06q55bsNvjB9HftCjvmVc1mmwRlpapTQS5If5OWjVGZFynZygi5NleBAlGbIbnlFbihIWJP3OXuLmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0152kkBY2bojZPgUa7tZJs6K",
      "input": {
        "note": "The red block is visible up-and-right in the left wrist view. Shifting 3.5 cm right and pitching the gripper ~25° forward to gain reach, pushing the fingertips out to r≈0.53 m at block-top height.",
        "targets": {
          "left_j0": -1.01,
          "left_j1": 2.715,
          "left_j2": 2.805,
          "left_j3": -1.19
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_0152kkBY2bojZPgUa7tZJs6K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0031 left_j1=2.706 left_j2=2.764 left_j3=-1.3289 left_j4=0.004 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3525 right_j3=-0.865 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 9.2786, 1.5165, -0.0366, 0.1929, -0.0122, -0.1436, -4.1231, 6.5026, 1.6093, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf821157addcb930d364cb43f535d3684da59a9a3438cb3cf0176dc3462e30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc4ba01b15f93d6ecf937e4164c2e16df84c9aac97ce1269916be446994d89b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f95e94b45b889da5181112bc779c890d0c89f28f47ca14adfb3d9a389a4314c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ccf821157add
wire blob bc4ba01b15f9
wire blob 5f95e94b45b8
call 58 attempt 0 · /messages · status 200 · 8.766 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=1.6756 left_j2=1.5967 left_j3=-1.2514 left_j4=0.004 left_j5=-0.0788 left_gripper=0.6266 right_j0=0.0196 right_j1=1.2327 right_j2=1.3582 right_j3=-0.8474 right_j4=-0.012 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -7.5009, 6.0376, 0.7888, -0.0317, -0.0415, -0.0171, 0.0615, -4.6564, 9.4974, 2.0049, -0.0269, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9386 left_j1=2.661 left_j2=2.7338 left_j3=-1.6665 left_j4=0.0044 left_j5=-0.0799 left_gripper=0.6266 right_j0=0.0185 right_j1=1.2385 right_j2=1.3525 right_j3=-0.8635 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -13.8325, 7.8974, 0.2222, -0.0073, -0.0366, -0.0073, 0.0615, -4.5744, 6.9265, 1.6777, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0031 left_j1=2.706 left_j2=2.764 left_j3=-1.3289 left_j4=0.004 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3525 right_j3=-0.865 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 9.2786, 1.5165, -0.0366, 0.1929, -0.0122, -0.1436, -4.1231, 6.5026, 1.6093, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf821157addcb930d364cb43f535d3684da59a9a3438cb3cf0176dc3462e30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc4ba01b15f93d6ecf937e4164c2e16df84c9aac97ce1269916be446994d89b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f95e94b45b889da5181112bc779c890d0c89f28f47ca14adfb3d9a389a4314c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ccf821157add]
[blob bc4ba01b15f9]
[blob 5f95e94b45b8]
{
  "content": [
    {
      "signature": "CAIS4wkKjAEIEBgCKkB0Zlw0slronuDJvKYzgq+r+4wQjcLRIQKSdHc42emg20141JknM5UvLFGo31aoKj+U3IcNPAnVJ67t6E9O+FM9MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxgfDu6r0hkXZTkkvGgyHZCeMFNVmskq7oeoiMIljfn6xwjwEogDkwex/z/0/axn2veKl93vZLlx5ueVpDGL3osoJ9HxrVrt3T5vf+CqDCOKh4AM6ygsk726JLuvQouDAIbSPxKIjC9WyKFQfXeRuS9pcf0Z/k7R3Yf9n+j241QV7j3SwWf/58SXuk8JT4IFyZHY2lOKEjaqXmxZdU96welE0QQKIvKOFRG/Wqi0ziJCVUhMnFOVKBLk4kh6dzIdYIRRqL76S09Bn1LRTfl/1GtMiREkric/bEtY/Ft/ov6h1SVMthsNU/ny+5J6NUMgrCFazfVr1exWgbLu3raVgR7sDUVu03VB1IogS7jXnIDkex+oNaZNgjOTGvD5EXmJ+k9uTs6VIqcZ+5mn1ibtfxy5AoXLaQ1OYf0grBf6UKrCs/+8fVRaFIUbslCHZQ7WKMr9CoPblFkFnWu1LSd6v8YWZb4cDyHMI625IHbzW0y2LMsveLizkJ8MmiWpkdu4fTe6EEfM2eSgb9GJxfNIQRGXtjb2I+6twEOIv6KS2hYNMFkYt3+6a6MeunFAMFcNRdzCdyf2nxfuBS9V03rFm9b7FfGlogV1c4gTaxGd6+KlRlzk0kOhFahSIcSQdLWylZlMZz5Deic/GGzpSJ4hPQLWM32ZarbJodLk4f9P4+B8FWA3lWgfgaEcN5UJY4AG1p0rzhevwRff4VNO4VwvYlXqA9bmPlBMyT34ZEPTEDxsQ+I4UZyhX6Ph4fPqHlucHxCA7NyAaJXwflUiUamY5pJeQATQIQfjPVwtkcwUyy25za5BfWzZ1mr9eCQg64rSDMnRuxvTqPT89mpHbP8TkSv2sYMP8Hni2p/0G4m1/jkxT//U+1GLaVo0/I2xs0JCa56xZKSBUClintrOR8kuRzrEWsU04KQb65SB3xgOXi6Ek5VYedHEvpKCHPmAVD8DKAsx5oeXrexsjwKfwnt/tKY5CDGdpEknBa6cE/vlQG0j5dHwZJZbs/53ErDk1MTg8gCkAD9oavhTMAFB7B+O5WKN6rhFDU8q0rO44aVPrOrYLOMwyffoWbBVJy4LhDoRjgfYXq5vIFvE7pJ0Md7QjHsZQo1V22dN8d2wr/HtJBaTPPyl1PL3KgxbkMdzrH32qpJJUV9sxD2b/tsn18rbPwPqS1zqRzJekLhgXBaAZtFFGF/QFmXrwnAlnqqMi1cLcgSfLcJeI/ooIU6t8IuAFYjk8yQ68g7MvDfMm3/9djduaXv9ucRSvEXEQVWCjs3oTio/1a41PexORqUqPXcau6SkF1fScPo9lURGQAgMtSgC+I0omvc8T6y8tGY0s6tXfVwRXt/ILdr/LYSpem/A7ToH52UHtwahofSNrNqEj5dXpw1dJG3O+azvD7wcv1D1HOLHcZcp8Nto44qsuwZJGtQ2K6EX8Teyr/Cf2O0EMzgttr5IAf0pxqByEXuhFH/NDBkIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kv6xAGuS6S85yEztGiGsV6",
      "input": {
        "note": "A sliver of the red block shows at the lower-left beside the held cube, and the overhead view shows red right under the jaws; nudging ~2 cm left to centre the cube over the block before releasing.",
        "targets": {
          "left_j0": -0.963
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01Kv6xAGuS6S85yEztGiGsV6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.008 left_j1=2.7098 left_j2=2.7697 left_j3=-1.2659 left_j4=0.0036 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8795 right_j4=-0.0082 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -14.7487, 8.8274, 1.6581, 0.0073, 0.1343, -0.0122, -0.1299, -4.0957, 6.5573, 1.6825, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01de3c858ca1860ecca1783a979d5c7f35d16d3a1ef93734a559bb01c05fc2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0780e96a09ef4d849410fa9a9f9730cd1eb420332d6a31d9914903d7269ef794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7674d1daa7e258d1c006f357146f839598072942d9d32ff9d789ccf8ca23cbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 01de3c858ca1
wire blob 0780e96a09ef
wire blob 7674d1daa7e2
call 59 attempt 0 · /messages · status 200 · 9.005 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9386 left_j1=2.661 left_j2=2.7338 left_j3=-1.6665 left_j4=0.0044 left_j5=-0.0799 left_gripper=0.6266 right_j0=0.0185 right_j1=1.2385 right_j2=1.3525 right_j3=-0.8635 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -13.8325, 7.8974, 0.2222, -0.0073, -0.0366, -0.0073, 0.0615, -4.5744, 6.9265, 1.6777, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0031 left_j1=2.706 left_j2=2.764 left_j3=-1.3289 left_j4=0.004 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3525 right_j3=-0.865 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 9.2786, 1.5165, -0.0366, 0.1929, -0.0122, -0.1436, -4.1231, 6.5026, 1.6093, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.008 left_j1=2.7098 left_j2=2.7697 left_j3=-1.2659 left_j4=0.0036 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8795 right_j4=-0.0082 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -14.7487, 8.8274, 1.6581, 0.0073, 0.1343, -0.0122, -0.1299, -4.0957, 6.5573, 1.6825, -0.0366, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01de3c858ca1860ecca1783a979d5c7f35d16d3a1ef93734a559bb01c05fc2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0780e96a09ef4d849410fa9a9f9730cd1eb420332d6a31d9914903d7269ef794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7674d1daa7e258d1c006f357146f839598072942d9d32ff9d789ccf8ca23cbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 01de3c858ca1]
[blob 0780e96a09ef]
[blob 7674d1daa7e2]
{
  "content": [
    {
      "signature": "CAIS5AQKjAEIEBgCKkBPoQ4DSky5s9Nlt3Rcq4A+SVfinpkInC70jYjEGU4kxwhI5tVZoizIX691/PeVN0f3polwp80O58XNo2mRcChkMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlAaRa7msfdCvW6HpGgyk4P33vtCCivCQr34iMKJMyeE9Ind31CM0vw9nwnLLmYTSbhU21ytYipIaVpNvQGnNlK3QE80YBSk7nUquOSqEAxkx9FT0mMAxxl3pPvJqf73GEdpgWBxmQf6hs3hWGXIbkHMJ8KfMSMBLa2vfZxNrtrw6+Scork6P40LDDSaZqEDEfHhvBL/eWTaYozVcDof/76VCkiyz0WMIMM/vJ7SCtvshXsRmhzrzwLx0BpMfVUA2M0HhZVUCdNGxkLKbpcO7eNy1GB14awj2dS/VNKWdT+ooswdaOocCll/cb45nVDSrp2Qv17njjAG7IR+CEg/RQOIcA+U9zWt5H2f7bDnxEs1OzH+cX0/yqzo4QaOpIvk/tJh8HwzFBw/orvUGXQ+fpjiQeVkADJS7J8R/mCfnqLf7X8C7on+7Cp+dDFcCPgjiA727EidcT4xzMlnROlLL/O0kG6vHRygqSGNY+CSjPwxGRXZL03C19GX/FFXUfNvUkWhzO5dk5UHVbjCuhx5HOzJrBeFcjR+z1ZmZL+cZxC4UKeisz4i8cRJ2UwrWkF8FL+kF+I+7a8OOyEdyij7PzYJyUEJOv6xjZFoyKpaV6FO1i8EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UCuL1fkaFGkk3CKMXx8JVk",
      "input": {
        "note": "The yaw nudge didn't take (controller undershoot), so I'm commanding further, to j0=-0.90, to shift the held cube ~4 cm left over the red block.",
        "targets": {
          "left_j0": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UCuL1fkaFGkk3CKMXx8JVk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9455 left_j1=2.7098 left_j2=2.767 left_j3=-1.3136 left_j4=0.0074 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8856 right_j4=-0.0078 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [2.865, -15.0769, 6.147, 1.1648, -0.0464, -0.0464, -0.0171, -0.1846, -4.1094, 6.6667, 1.6288, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092b3295a08ba96e0dddf4c8bb1e6599cba9965ef2fecb323ca4f3d8a06c02a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ab9fecac0eaf4c9ab16d4d4568f5d884453f6a5004b861b02aa4460ede85db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 468):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29a1d88d90d9fe600e54f55a590045dc99cbe26c98757df96dc7ddc8f6220a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 092b3295a08b
wire blob 66ab9fecac0e
wire blob 29a1d88d90d9
call 60 attempt 0 · /messages · status 200 · 13.15 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0031 left_j1=2.706 left_j2=2.764 left_j3=-1.3289 left_j4=0.004 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3525 right_j3=-0.865 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 9.2786, 1.5165, -0.0366, 0.1929, -0.0122, -0.1436, -4.1231, 6.5026, 1.6093, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.008 left_j1=2.7098 left_j2=2.7697 left_j3=-1.2659 left_j4=0.0036 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8795 right_j4=-0.0082 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -14.7487, 8.8274, 1.6581, 0.0073, 0.1343, -0.0122, -0.1299, -4.0957, 6.5573, 1.6825, -0.0366, -0.0024, -0.0122]",
      "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=-0.9455 left_j1=2.7098 left_j2=2.767 left_j3=-1.3136 left_j4=0.0074 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8856 right_j4=-0.0078 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [2.865, -15.0769, 6.147, 1.1648, -0.0464, -0.0464, -0.0171, -0.1846, -4.1094, 6.6667, 1.6288, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092b3295a08ba96e0dddf4c8bb1e6599cba9965ef2fecb323ca4f3d8a06c02a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ab9fecac0eaf4c9ab16d4d4568f5d884453f6a5004b861b02aa4460ede85db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29a1d88d90d9fe600e54f55a590045dc99cbe26c98757df96dc7ddc8f6220a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 092b3295a08b]
[blob 66ab9fecac0e]
[blob 29a1d88d90d9]
{
  "content": [
    {
      "signature": "CAIStQoKjAEIEBgCKkAzWvZKQ961mUcowhsB7H64FiyidJCMk8PKvfP03zvg0wZBykfG5zaZM842SnXT99CCsSiTz/zqmqrJntOT169GMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMhK//5I8eFRllqHFqGgzPq7qLt4eNijHGeLoiMKRfboq42FPF0YT/LPtJd0gglW6vU9NbQxdbRktWiZvJHxIcF8bPTK/UZ27RrBwbHCrVCCxoOCOqMBlUF72XG/rtUiAzibxBRmY9ACMsoof22KQub3HZonhTk4KPvcTD3zTrCtIU+h42nf0njGPbFEd6kWQXdZrhdGYBgYkgWLNsZyRLwnVbNLNR8nlVrLJH9A4tKXiioetRQcitkUWmCrwVgpFXGIFDvU8CYyOZxLCvrmr76EJlbWJ2Qn3J7oUy4EdmqQkqPT+hO9U4vmPTi8VD/Znz9EFyiz62DltM5o1z6SGZbTTHJXIPryHJBIzmSVuoVr+oX1mIwizaQr2/KIB8wSvcwPXsuvlVZDqFugDBu7865Cdehf1jNj747DdHv5o4+mDmkensdA67lUp1e15bOxlDPyByfZh8M9/oVH4/VtQOVwmSuGCjIbHtbkAgBOC0mFlPqlLiP32M2lMhBpmVL9EL4uVduqk1mangVanRnSAmz3sL7T6XDAmnPccr/u51YkLf/bJpE7tzhpf/o5Ku7+PR2XZrXmmYfu6GqAJ2L0klfGqiuNFNBLlvaXFNSb+OAQxOfEBweArKeh3ZkCA2Quf8x+tUfXjcAsSaleFcB2r3pUJhLkIFsNpSEJ8shAYnNGCacQuLEIWDf7pApyf+mB/3Baa5xwiTu3N4PmpyBmpE5zdom/ZzGJ/VcfhBMz6sWC+Dfb1o8X82Drw/guob1RfnlKz15YdE/MvR0bd6j6Ty3pYMyLR7GyLNcQAKbhI+VtIUDx+2pVkM8u2LMTMqmRk0qRwYYc/NXg0D5oJVq4cWe3FQw7NnaltpIgExioVFqAMHu+uZecpFnRUelRHBp1MjpfgU1mQjdb7k/vwbukTPEL3X1yRkOdc/jrTYfMBmUQmlwin29KscNut3BP58azGtWj7mQcY8kI7f45/eUoqluacORS7yuMOije3xwpmell9XuT4zCTbQiveHZJntj23ODu9pm+2EfJsXYWYP1iBT9hrrjpfBL3tc5uRqCTzTgS83eJNWPLTvX9rOQc/HN9I/I31ZtOyJ9kEGelMg6p4h/kYXjb0jZOSMiESmQ7a+6f9TA7vVZ2b+EAAhDTGA5C1AQEuJ7NuXOPRjcB6hHhAI/DDVlVvHchf0wkkOEpq7swT9n2osfTZ9MflxAsP0cS9AHCdy0R2i15i77ACU9cBW/yZVWxM2nTn7beJqQ7tQAp6QsA/4NXXiFDNjv3vke5f1buGhDBEDFdpvkUHcmhyw4xGyS+HTU0r4rqeMH7Y/eVxktmaAYH59O6J8ujNxXwSkv63NydtIMaE8MdyL3wIc4hDRO+TWZjDWoxi4MyEyMRY4mfXiwrs76bJzGMY8yJ8Su2m/mgGgtUV2F+aIo9zyUo28NLvZ3m6eM45/6VlKe1g6oJEaQohJdSCjwIrn4fP4Ol9lnBvXRNwUVMy7oQzvAz15ie4+fQCh1Gk820GggszaS1U6/6qUFj/z4YWSXxTQwEIG82GYfezj8K1YmmQPQITnY2fY6jkWHDPUZU1EjalAhZQAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FbNN2UgSMTLLjMTyRYKEhe",
      "input": {
        "note": "Based on the wrist view before the shift, the cube should now sit directly over the red block at block-top height; opening the gripper to release it onto the stack.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FbNN2UgSMTLLjMTyRYKEhe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9508 left_j1=2.7098 left_j2=2.767 left_j3=-1.3197 left_j4=0.004 left_j5=-0.1055 left_gripper=0.995 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8867 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [0.6496, -15.0496, 6.065, 0.9744, -0.022, -0.0171, -0.0806, -0.335, -4.0957, 6.4615, 1.5311, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f169d8efa135e13485559305c386b5922efb1aeff4cfac8c7b40fd82a2b90a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb394a6f71fa3afcf6f2fad1dfcfe1175f9169c17e48c85daf6ed863fe3b1354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dec84f2b929771108f0d524df666b24023c416c5eb7134cf6618f43bcc6343b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f169d8efa135
wire blob cb394a6f71fa
wire blob dec84f2b9297
call 61 attempt 0 · /messages · status 200 · 6.139 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.008 left_j1=2.7098 left_j2=2.7697 left_j3=-1.2659 left_j4=0.0036 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8795 right_j4=-0.0082 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -14.7487, 8.8274, 1.6581, 0.0073, 0.1343, -0.0122, -0.1299, -4.0957, 6.5573, 1.6825, -0.0366, -0.0024, -0.0122]",
      "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=-0.9455 left_j1=2.7098 left_j2=2.767 left_j3=-1.3136 left_j4=0.0074 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8856 right_j4=-0.0078 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [2.865, -15.0769, 6.147, 1.1648, -0.0464, -0.0464, -0.0171, -0.1846, -4.1094, 6.6667, 1.6288, -0.0366, -0.022, -0.0122]",
      "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=-0.9508 left_j1=2.7098 left_j2=2.767 left_j3=-1.3197 left_j4=0.004 left_j5=-0.1055 left_gripper=0.995 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8867 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [0.6496, -15.0496, 6.065, 0.9744, -0.022, -0.0171, -0.0806, -0.335, -4.0957, 6.4615, 1.5311, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f169d8efa135e13485559305c386b5922efb1aeff4cfac8c7b40fd82a2b90a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb394a6f71fa3afcf6f2fad1dfcfe1175f9169c17e48c85daf6ed863fe3b1354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec84f2b929771108f0d524df666b24023c416c5eb7134cf6618f43bcc6343b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f169d8efa135]
[blob cb394a6f71fa]
[blob dec84f2b9297]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ATcs9BfCsQhFNmsJnMS8fy",
      "input": {
        "note": "The release missed: the blue cube landed on the table just up-left of the red block instead of on top of it. Reaching out and left to re-grasp the cube.",
        "targets": {
          "left_j0": -0.83,
          "left_j1": 2.823,
          "left_j2": 2.775,
          "left_j3": -0.952
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ATcs9BfCsQhFNmsJnMS8fy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.831 left_j1=2.809 left_j2=2.767 left_j3=-1.0821 left_j4=-0.0002 left_j5=-0.1249 left_gripper=0.9959 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8909 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.6906, -14.8034, 7.0632, 1.7118, -0.0024, 0.1734, 0.0904, -0.0752, -4.0957, 6.4615, 1.5556, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ef31f5e1be323394201c53dab1cc4f57269d00ccf4a0f4db733357594a2c712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9d9326ff51a83b6ee969a5aedfc9d8e2480b07c793005a29f56bb7858b4f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce425d2227f0c2286330eb04e7e592505c2534a8e79725561fcdcfc5013dee70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ef31f5e1be3
wire blob 3f9d9326ff51
wire blob ce425d2227f0
call 62 attempt 0 · /messages · status 200 · 8.708 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9455 left_j1=2.7098 left_j2=2.767 left_j3=-1.3136 left_j4=0.0074 left_j5=-0.102 left_gripper=0.6266 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8856 right_j4=-0.0078 right_j5=-0.1581 right_gripper=0.9985\nstate[joint_eff]: [2.865, -15.0769, 6.147, 1.1648, -0.0464, -0.0464, -0.0171, -0.1846, -4.1094, 6.6667, 1.6288, -0.0366, -0.022, -0.0122]",
      "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=-0.9508 left_j1=2.7098 left_j2=2.767 left_j3=-1.3197 left_j4=0.004 left_j5=-0.1055 left_gripper=0.995 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8867 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [0.6496, -15.0496, 6.065, 0.9744, -0.022, -0.0171, -0.0806, -0.335, -4.0957, 6.4615, 1.5311, -0.0317, -0.0562, -0.0122]",
      "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=-0.831 left_j1=2.809 left_j2=2.767 left_j3=-1.0821 left_j4=-0.0002 left_j5=-0.1249 left_gripper=0.9959 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8909 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.6906, -14.8034, 7.0632, 1.7118, -0.0024, 0.1734, 0.0904, -0.0752, -4.0957, 6.4615, 1.5556, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ef31f5e1be323394201c53dab1cc4f57269d00ccf4a0f4db733357594a2c712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9d9326ff51a83b6ee969a5aedfc9d8e2480b07c793005a29f56bb7858b4f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce425d2227f0c2286330eb04e7e592505c2534a8e79725561fcdcfc5013dee70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ef31f5e1be3]
[blob 3f9d9326ff51]
[blob ce425d2227f0]
{
  "content": [
    {
      "signature": "CAISkQUKjAEIEBgCKkDgTgQyOg63RN1Hhkrkb0ITxwVi54etePmBavoYCqaDQxnbC6U+CgSDJo9K1f8sNeUr47OWUQVLlNi6k+eYzahKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMM5MJIp1skPsK9v4fGgzt/3tFgPLG6j0kftYiMOq7onj4VA1ySWYupH5dbDUJicOVAx94rZgFF0Ue0veFmyN+27wlcFCJoFWzKoRVBCqxAyVlou0OE5WWlvhQS8D4UtR9KE6DzMELgsObxkRdoj39ZGaoB09SkSyyhSAAWtL2K/YZO/sC5lM8C/AGs90nBywRgqNriBPzIjBMGBm5PQNtwxMcrsUJAVNw9otQ3o6xIhLv9N5mEGLsxLonMxD6tQViu/IRb4LT8mJALwtA/be5ZVZgcta8QGUtGvnsG8Oncyv9PUBBHcQ6XJTOV7ngBum6OILyZ11zCg0Mxjtyy793qjwKhQNdmBE7VgSCbDo+4BPv5RyHAWBHXVTX9Vaa+HWnTrZSyw2Dm+GvnwWDPkFl9t4rJqar+7BX+gRsLOd2PO9jHE8W7OaO62vJV1BQ3o6W7QiBTA1REQPYRNZUxshgnDULim0xLTRXEoynXk0hBLzX6Il9OZV8F/3egqR+7LWHr9mEubWq9NPwWeHZgKcdFLHo6UDP9XZPH6/EwOqziXGL/z8VoCIcSZBtS8C/o5ozd54X23BZk8DCT+IEa9IfRDN3Zb5X0V2Efjl8ICjIZWcSOKLqPSuVUUT/SDdHCrMP8CZdVVUCXdiKDhhRt6X/B2sln8nEZ9Dk1TSYD5Ac18oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012gzNPbuBKYS3nzHcEJY4VV",
      "input": {
        "note": "The blue cube is right at the jaws, slightly right of centre; nudging 2 cm right and closing to re-grasp it.",
        "targets": {
          "left_gripper": 0.0,
          "left_j0": -0.88
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012gzNPbuBKYS3nzHcEJY4VV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8669 left_j1=2.8239 left_j2=2.7663 left_j3=-1.0863 left_j4=-0.0013 left_j5=-0.1314 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-1.1556, -16.7863, 6.5436, 1.0965, -0.0611, 0.0024, 1.033, -0.335, -4.0957, 6.4615, 1.5653, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d504d17fb7b0595d08ad426d61a8c9095ad47d7b0878f711d7b9d1fdac7c98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b4938fe3f8b08b41d84ae4f7c37df2329abf872097d60fbb31f12fc8ce8992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9da897a2c5d6c9ecc03a9350cfda68ae59e08c6b38271b8b5325a83427bd8548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9d504d17fb7b
wire blob 02b4938fe3f8
wire blob 9da897a2c5d6
call 63 attempt 0 · /messages · status 200 · 9.114 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9508 left_j1=2.7098 left_j2=2.767 left_j3=-1.3197 left_j4=0.004 left_j5=-0.1055 left_gripper=0.995 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8867 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [0.6496, -15.0496, 6.065, 0.9744, -0.022, -0.0171, -0.0806, -0.335, -4.0957, 6.4615, 1.5311, -0.0317, -0.0562, -0.0122]",
      "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=-0.831 left_j1=2.809 left_j2=2.767 left_j3=-1.0821 left_j4=-0.0002 left_j5=-0.1249 left_gripper=0.9959 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8909 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.6906, -14.8034, 7.0632, 1.7118, -0.0024, 0.1734, 0.0904, -0.0752, -4.0957, 6.4615, 1.5556, -0.0366, -0.0659, -0.0122]",
      "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=-0.8669 left_j1=2.8239 left_j2=2.7663 left_j3=-1.0863 left_j4=-0.0013 left_j5=-0.1314 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-1.1556, -16.7863, 6.5436, 1.0965, -0.0611, 0.0024, 1.033, -0.335, -4.0957, 6.4615, 1.5653, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d504d17fb7b0595d08ad426d61a8c9095ad47d7b0878f711d7b9d1fdac7c98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b4938fe3f8b08b41d84ae4f7c37df2329abf872097d60fbb31f12fc8ce8992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da897a2c5d6c9ecc03a9350cfda68ae59e08c6b38271b8b5325a83427bd8548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9d504d17fb7b]
[blob 02b4938fe3f8]
[blob 9da897a2c5d6]
{
  "content": [
    {
      "signature": "CAIShwsKjAEIEBgCKkDOiv78px68dvKaUJpjqOu+bmxvfh1IZFuJUlrEhmM+8Uh6ZjtUFc9kYnXqBgzVSevvbc65nOgc5FqDYLH6Qu1xMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMgSkbx+T/5i9xXBNhGgwyHxCXY5q/4PbL4cgiMF5BAzepEbryTGzKnl5REQwUxWKChP9O07a3u2mZqiiWtf73LSbqcnVjaUTEFKGv/SqnCUJxk8Y8PVbAm9HL9wxsgR0AWdaia2n/RsdPxGD3Fj0GpUU4jKQmjDTNWmNmhMrlibqQlIck3/RoxjLZt1Muur3ZLOIWKn84CtW1LuMs0WwWRJYbvUXDFRhAdJuZ3mffjayYIK+Xrpmz2Cg8pHzsqW+tqi0OU6Rtx7DX6VaVssAPMPoeWtrmRAECJCureCeZs3PowF4o6ltrhHjkc/rEggICfNrQqpj5j80goY2cP0U4pXxbHewUYSGDE6m62RsOn+WGu+QuUdz8Z43MHf0Z74s5AZWRJ6sygDgk0HbkoCzWWGbIKXwTlJofkMfqFBNAtO+urLnDMwNSePr1K2a8bdOOtzwyijU68uZTIP2FtYAyKWcScJwQ1WomfcWAI8q1+iMbxGzHLc1Cfo9p/fBIji5li5XMA50maY6DojL6v5uDJIzoOiPMf6S2IZnUI04HqZSK0ezG2RffSPJWk8KYOXnTSw1+7m4LzkfnS4i78wOv32aW2aPB2Ak3EBafDWRBO5J93MfWZBd3FgU8A04izmvbJ5jISMPDnNXJdXimpIXltsZKE+6g8q+Z8B2SRcUiUEfoNEE9/0LuYbon6PKR4UMG0uMrwucLUAOM/MxX+fZw5dTQv/DQGQHkYGqQBjweIBGe1v1NKhYxczCWjtA/pQ/VxJd2O1gynhHE7nv0taZV5kF+sD8DTCkel1l59+EF6oWmafsSy/vMjKZqdHjnSD3rpTMe6bHf9XS/yGesOHFUjwgPmvhU8la7cWZtDbE9at5P/ZTfT8xaNeNAYlGfkityb+/0pLFEPF9InOp5MomYiH050cvR0e/SBe6qMkFk0qqYAJQqgSM4QczH9UqqRljHyyHIy1ABQ/KqVy4W1NFRxDf+dOX8NuhbCkM5YK8Hg+x2irZtOEad/aKIXx4IIBF+hZ/l39Qu2/5bgqnzbBZkUhukbUeD7Eywy9pgwJFOs33embdbtL9MA6ng5PV1c+WTlqr76G2NdiwQNc2ImLd0nyyC3W4fb34AZK2vk+dvWWi3LOakra4F98c5FQTa8zVeZBSCMCYA3QeXAkeus8YIkir7iRnaNlVi8P/IptkWkKfH0qLYuCldItolU/ABULit14SGLTlL4zjI5QHrjn7Akon/qUWLKMSw37mAWjj3HxeIHymOF/JrKXDGnQJIU1Z7BkolmRMoupD8Kw9RR/WP7GgwgmJsIkitmbYYsyv60O8FfsXmOE7VPFcLhYtIZdHrE9uQ1niOu5+uFHq5SRnvAV6EZ0T+7hz88GmkCTJeHkq4JBb/P+PFNfsSDoMnhXNYhRgRpNZf0BvLKib8RRPUXk5l8SQZGGUipL3HiOoUF9D1HvmVd1fkPjnXNuoeesTpZ9JJjvi4mnSH6uJ/1dsoNj/R+U+0f2JR5fJasaiKffWCw0Jbc5QzH8MI2xu/9oqsyE6wXIYYuKketmQXeZiOgY2B+1Jmw9OVfY+LQLt/9JxkONo7zZcQMMIbuNq3RP78B0jXC3gXGuVTSpTEnzSDgkg9PjbXwgS/ZA48dvJ7Xadh6btMaYtbvoAZPindw+m26FFqoqg5WC3NJjPuZV9Jd75IATaxbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KQKmoMxdmfEQ3LfWexU4zX",
      "input": {
        "note": "Re-grasped the cube (residual 0.43, high effort). Moving ~4 cm right and ~6 cm back to hover over the red block at its top height.",
        "targets": {
          "left_j0": -0.95,
          "left_j1": 2.45,
          "left_j2": 2.272,
          "left_j3": -0.922
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KQKmoMxdmfEQ3LfWexU4zX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9451 left_j1=2.5198 left_j2=2.2875 left_j3=-0.9604 left_j4=0.0002 left_j5=-0.1318 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3499 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -17.9214, 6.8444, 1.3358, -0.0513, -0.0269, 1.0183, -0.1709, -4.0957, 6.6803, 1.5311, -0.0171, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f392804b0ccb3569e18493623ee99a7c44dff442ca0abcb23a953a801318946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:138e1414b7347dd00b72c2d6d2975724b4619e2ed4390443006ea3a608beecd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6857e7ed2bbc6536c148adbf2f98a021f68e5fa7b754b775e7f503ded1d202f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6f392804b0cc
wire blob 138e1414b734
wire blob c6857e7ed2bb
call 64 attempt 0 · /messages · status 200 · 8.645 s
model
claude-opus-5
effort
low
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.831 left_j1=2.809 left_j2=2.767 left_j3=-1.0821 left_j4=-0.0002 left_j5=-0.1249 left_gripper=0.9959 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.8909 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.6906, -14.8034, 7.0632, 1.7118, -0.0024, 0.1734, 0.0904, -0.0752, -4.0957, 6.4615, 1.5556, -0.0366, -0.0659, -0.0122]",
      "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=-0.8669 left_j1=2.8239 left_j2=2.7663 left_j3=-1.0863 left_j4=-0.0013 left_j5=-0.1314 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3518 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-1.1556, -16.7863, 6.5436, 1.0965, -0.0611, 0.0024, 1.033, -0.335, -4.0957, 6.4615, 1.5653, -0.022, -0.0611, -0.0122]",
      "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=-0.9451 left_j1=2.5198 left_j2=2.2875 left_j3=-0.9604 left_j4=0.0002 left_j5=-0.1318 left_gripper=0.4294 right_j0=0.0177 right_j1=1.2385 right_j2=1.3499 right_j3=-0.894 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -17.9214, 6.8444, 1.3358, -0.0513, -0.0269, 1.0183, -0.1709, -4.0957, 6.6803, 1.5311, -0.0171, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f392804b0ccb3569e18493623ee99a7c44dff442ca0abcb23a953a801318946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:138e1414b7347dd00b72c2d6d2975724b4619e2ed4390443006ea3a608beecd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6857e7ed2bbc6536c148adbf2f98a021f68e5fa7b754b775e7f503ded1d202f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6f392804b0cc]
[blob 138e1414b734]
[blob c6857e7ed2bb]
{
  "content": [
    {
      "signature": "CAISuwcKjAEIEBgCKkCoIBGG8U0L5QjZd1Qsz1jkbhumxsARMdAiM+SjBX2w9gcbvs3bXkciPF2iGd9iII1BXmzKS6pehZH/XnSx/TlgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMn3rqx63655RJ9mYQGgw86gkFIGM6b/yKzrwiMPVrh88ETGFtLXwR42TwIdYwGypPYmRYa/WtSujQABR10VpLBveLLwgSl+AJbP2aLyrbBW8ib1QjSvGzSK+FZkvmCG1NZrVu/Ncqvcfhh3400MVdOeS6xKau4WSr3l7+SZ1emztssLlPfHW5VaKTBU76fJzDigztXiIOZ1xv9sMxzTxOYB4ibKGu7sM7o0F9hi94K3SEPdtZf/CE3/hklU+L9HMWK3jHhEbBOrGxUz4JBrFIAVX29IlOl4e4NwfVct/m22gt29D3Rmri/hwpZQDdZQOyKgsa3RSkotHVYTAI6xD+dbX8vYZF7l+f/wrtKwljagXUU5FLUXE5N6qWL9/NO4wcMihRvKFmBe4aebuhLy2YbrAno/RRbggmQeq3CVfgdQwpgosBtW++tgFD69XKJAcRRcx/7nBEK/knmCMS4+gEWd1ArB8h30rzun3ypTbZ/kmeVMkBWQ3MkXkW8uEwg8Ut/zlHi92uXE8/oMt5A1KMU3UAE1otDAZ7QQC7PWd+D1+CdCnPwaArGQPs5++LtL37vVF5JWCZZPXHAxybXU/NvDtGfdf0UE8CcGb0mHRT+6J3w5q+8zOxEKhucWUgA6XeST033n9kN4drsXXx15SNWgnzGbC7JjNz/5xHalmlW7caBXTZjcPZVbAdC1ukOBm5HYwx8A92hVtsHLuGeLG7zTbgMVJi/xGB4EhctSVL3ZH2oCdxB8pMiHobBHaGThv/5bGjsGqyPDOPfpfFnlaJH5eZTzgcK8+dE5tdFqNgzJHxHvZ34MSC3wN2pUymkFnWr5AP/KXGftdHJ8/HtHoQUbE+jj9a0xcOpgKthe83djlSJRkPrgKERfXMzBinUILXtSjT7cnBY/wKy9mc5SD7cQe0Fg4o5dBV+JQfgNLr9kV0hOwoL/Xyr/KGg1YSiPU+etgC96sw7X83U05uZ+83JZLW2pjI2LPkzbBQzot7/S/v9xvwLhlwNGJHHHh/efCS8B4qmWa1S1vsgZron4mxVBs5UDZNhoCIn6sTXTaX/BsNlWxK2KH6g3C2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zMmo1bv2ton85MDWrJfk4",
      "input": {
        "note": "Hovering over the red block at its top height with the cube in the jaws; opening to release the cube onto it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_014zMmo1bv2ton85MDWrJfk4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9485 left_j1=2.5156 left_j2=2.2738 left_j3=-0.9642 left_j4=0.0002 left_j5=-0.1398 left_gripper=0.9947 right_j0=0.0177 right_j1=1.2385 right_j2=1.3479 right_j3=-0.8944 right_j4=-0.0082 right_j5=-0.1585 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -14.0103, 7.4325, 0.9353, -0.0317, 0.0366, -0.0952, -0.253, -4.0957, 6.6393, 1.5214, -0.0513, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30de382d17de4b84f71e350975d3168595a992908f486609abd9b51e92707436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d1fa5c7cb3adb35ba0e7633bc5f693e4344d1b303ac567de2f9be8886afd00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e4394e64012b87374b12c8ae66805f14e643d8729996cee536d4a7bc3603e59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 30de382d17de
wire blob b5d1fa5c7cb3
wire blob 8e4394e64012