adhoc - adhoc_96d6b525.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 100
max_output_tokens: 16000
max_speed_frac: 0.1
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: fast
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 1200
duration: 551.4 s
total steps: 478

success_at_end

scenes

trials

errored

scene-0

completed

Place the left block on top of the right block

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

done

Operator judgements

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteOverhead view shows a blue block left-of-center and an orange block right-of-center on the table. I'm raising the left arm into a gripper-down hover pose (~35 cm forward, ~25 cm up) so I can see the gripper in the overhead frame and calibrate pixel scale.

move_joints

left_j11.9800left_j21.9600left_j3-1.5500left_j00.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0055 left_j1=0.0074 left_j2=0.009 left_j3=-0.0338 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0109 right_j2=0.0067 right_j3=-0.0246 right_j4=-0.0116 right_j5=-0.0044 right_gripper=0.9994 state[joint_eff]: [0.0889, 1.2103, 6.4068, 2.2344, -0.0562, 0.149, -0.0464, -0.3761, 0.8684, 6.6256, 2.1123, 0.0659, -0.0415, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.98, "left_j2": 1.96, "left_j3": -1.55, "left_j0": 0.0, "left_gripper": 1.0}, "note": "Overhead view shows a blue block left-of-center and an orange block right-of-center on the table. I'm raising the left arm into a gripper-down hover pose (~35 cm forward, ~25 cm up) so I can see the gripper in the overhead frame and calibrate pixel scale."})

tool

executing move_joints over 32 steps (3.2s)

step 32

assistant

agent noteThe left gripper is now visible at the upper-left of the overhead frame; the blue block sits at (91,157) and the orange at (144,155). I'm yawing the base -0.4 rad (a known ~14 cm arc) purely to calibrate the overhead pixel scale and direction of motion.

move_joints

left_j0-0.4000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0055 left_j1=1.9598 left_j2=1.9175 left_j3=-1.4937 left_j4=0.001 left_j5=-0.0261 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9993 state[joint_eff]: [0.4171, -9.5111, 8.0342, 0.1001, -0.0122, 0.0073, -0.0464, -0.1026, 1.6068, 7.0496, 1.8681, -0.0562, -0.0513, -0.0269] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.4}, "note": "The left gripper is now visible at the upper-left of the overhead frame; the blue block sits at (91,157) and the orange at (144,155). I'm yawing the base -0.4 rad (a known ~14 cm arc) purely to calibrate the overhead pixel scale and direction of motion."})

tool

executing move_joints over 7 steps (0.7s)

step 39

assistant

agent noteThe left wrist camera now clearly shows the blue "I" block ahead and to the right of the jaws. I'm lowering the gripper from ~25 cm to ~12 cm above the table (same radius/bearing) so both cameras give a better-scaled view for the final approach.

move_joints

left_j12.1130left_j21.6040left_j3-1.0620

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.374 left_j1=1.9862 left_j2=1.9221 left_j3=-1.5066 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0292 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993 state[joint_eff]: [-0.3077, -12.1231, 5.2444, 0.4322, -0.0366, -0.0366, -0.0171, -0.1436, 1.6205, 7.1179, 1.8926, -0.0513, -0.0317, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.113, "left_j2": 1.604, "left_j3": -1.062}, "note": "The left wrist camera now clearly shows the blue \"I\" block ahead and to the right of the jaws. I'm lowering the gripper from ~25 cm to ~12 cm above the table (same radius/bearing) so both cameras give a better-scaled view for the final approach."})

tool

executing move_joints over 8 steps (0.8s)

step 47

assistant

agent noteFrom ~12 cm height the wrist camera shows the blue block just off the right edge of frame, so the gripper must swing further to the arm's right; I'm yawing j0 by another -0.25 rad (~8 cm arc) and will re-measure the pixel shift.

move_joints

left_j0-0.6200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3721 left_j1=2.0907 left_j2=1.6165 left_j3=-1.1305 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993 state[joint_eff]: [-0.3624, -9.0872, 5.8462, 0.3785, -0.0317, -0.0757, -0.0171, -0.0889, 1.6205, 6.9949, 1.8877, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.62}, "note": "From ~12 cm height the wrist camera shows the blue block just off the right edge of frame, so the gripper must swing further to the arm's right; I'm yawing j0 by another -0.25 rad (~8 cm arc) and will re-measure the pixel shift."})

tool

executing move_joints over 4 steps (0.4s)

step 51

assistant

agent noteThe wrist view is ambiguous about depth, so I'm calibrating height: descending toward a computed z≈6 cm at the same bearing and watching j1 effort/tracking for table contact to learn this arm's z bias.

move_joints

left_j12.2410left_j21.5310left_j3-0.8610

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6128 left_j1=2.1136 left_j2=1.6028 left_j3=-1.1221 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [2.7282, -12.7795, 6.6803, 0.0659, -0.1978, -0.0171, -0.0073, -0.0615, 1.7846, 7.1043, 1.8535, -0.0024, -0.0611, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.241, "left_j2": 1.531, "left_j3": -0.861}, "note": "The wrist view is ambiguous about depth, so I'm calibrating height: descending toward a computed z\u22486 cm at the same bearing and watching j1 effort/tracking for table contact to learn this arm's z bias."})

tool

executing move_joints over 5 steps (0.5s)

step 56

assistant

agent noteIn the overhead view the blue block sits down-right of the gripper (about 8 cm to the arm's right and 7 cm closer to the base), so I'm swinging j0 right and pulling the radius in to ~30 cm while holding ~10 cm height to hover over it.

move_joints

left_j0-0.8500left_j12.0000left_j21.3200left_j3-0.8900

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.617 left_j1=2.1693 left_j2=1.5627 left_j3=-1.0054 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0334 right_j4=-0.012 right_j5=-0.004 right_gripper=0.9993 state[joint_eff]: [0.253, -5.5453, 2.865, 1.5702, -0.0659, -0.0269, -0.0122, -0.1983, 1.7299, 7.1043, 1.9121, -0.0171, -0.022, -0.0073] 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": -0.85, "left_j1": 2.0, "left_j2": 1.32, "left_j3": -0.89}, "note": "In the overhead view the blue block sits down-right of the gripper (about 8 cm to the arm's right and 7 cm closer to the base), so I'm swinging j0 right and pulling the radius in to ~30 cm while holding ~10 cm height to hover over it."})

tool

executing move_joints over 4 steps (0.4s)

step 60

assistant

agent noteThe block has dropped out of the wrist view (it is at or nearer than the grasp point) and the arm now occludes it from overhead, so I'm lifting the gripper back up to ~20 cm at the same bearing to re-acquire it in the wrist camera.

move_joints

left_j11.8200left_j21.5300left_j3-1.2900

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8448 left_j1=2.027 left_j2=1.3483 left_j3=-0.9188 left_j4=0.0078 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0467 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993 state[joint_eff]: [2.2906, -11.1795, 4.9983, 0.5495, -0.0366, -0.022, -0.0122, -0.0615, 1.7299, 7.0496, 2.0537, -0.0659, -0.0562, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.82, "left_j2": 1.53, "left_j3": -1.29}, "note": "The block has dropped out of the wrist view (it is at or nearer than the grasp point) and the arm now occludes it from overhead, so I'm lifting the gripper back up to ~20 cm at the same bearing to re-acquire it in the wrist camera."})

tool

executing move_joints over 6 steps (0.6s)

step 66

assistant

agent noteI can't tell which block I'm looking at because the arm occludes the left half of the overhead view; I'm parking the left arm back near its base to get one clean overhead frame and re-locate both blocks.

move_joints

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

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8497 left_j1=1.8557 left_j2=1.4986 left_j3=-1.2236 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0513 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [0.3214, -10.4821, 7.3915, 0.3248, -0.0317, -0.0464, -0.0122, -0.0205, 1.6479, 7.0085, 1.9707, -0.0171, -0.0415, -0.0171] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": 0.0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6}, "note": "I can't tell which block I'm looking at because the arm occludes the left half of the overhead view; I'm parking the left arm back near its base to get one clean overhead frame and re-locate both blocks."})

tool

executing move_joints over 20 steps (2.0s)

step 86

assistant

agent noteClean overhead view: the red "a" block is at (147,150) and the blue block has been nudged to (135,205) near the bottom edge. I'm sending the left gripper to the bearing/radius I estimate for the blue block at ~15 cm height, to check my pixel-to-arm mapping against where the gripper actually appears.

move_joints

left_j0-1.1300left_j11.8900left_j21.4100left_j3-1.0900

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0151 left_j1=0.6212 left_j2=1.2076 left_j3=-0.6643 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0555 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993 state[joint_eff]: [0.0205, 2.359, 4.9436, 2.4054, 0.0073, -0.0513, -0.0122, -0.0752, 1.6205, 6.9949, 1.9512, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -1.13, "left_j1": 1.89, "left_j2": 1.41, "left_j3": -1.09}, "note": "Clean overhead view: the red \"a\" block is at (147,150) and the blue block has been nudged to (135,205) near the bottom edge. I'm sending the left gripper to the bearing/radius I estimate for the blue block at ~15 cm height, to check my pixel-to-arm mapping against where the gripper actually appears."})

tool

executing move_joints over 21 steps (2.1s)

step 107

assistant

agent noteThe wrist camera now shows the blue "I" block almost centered in x (120 vs jaw line 115) but high in frame, so it is ahead of and below the jaws; I'm descending ~7 cm and advancing ~3 cm radially to bring it toward the grasp point.

move_joints

left_j12.1350left_j21.4450left_j3-0.8810

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1107 left_j1=1.8729 left_j2=1.3819 left_j3=-1.0595 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0669 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.2256, -9.6205, 8.335, 0.149, 0.0024, -0.0269, -0.0122, -0.0615, 1.5932, 7.2137, 1.9756, -0.0415, -0.0757, -0.0171] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.135, "left_j2": 1.445, "left_j3": -0.881}, "note": "The wrist camera now shows the blue \"I\" block almost centered in x (120 vs jaw line 115) but high in frame, so it is ahead of and below the jaws; I'm descending ~7 cm and advancing ~3 cm radially to bring it toward the grasp point."})

tool

executing move_joints over 5 steps (0.5s)

step 112

assistant

agent noteThe wrist view is filled by the blue block's white top, well centered on the jaw line, so the gripper is nearly over it; descending another ~5 cm toward table level to straddle the block, watching j1 effort for contact.

move_joints

left_j12.2690left_j21.4120left_j3-0.7140

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1091 left_j1=2.0869 left_j2=1.4357 left_j3=-0.973 left_j4=0.0071 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0685 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993 state[joint_eff]: [-0.294, -6.653, 5.8188, 1.0574, -0.0269, -0.0464, -0.0122, -0.0615, 1.5795, 6.9949, 1.8828, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.269, "left_j2": 1.412, "left_j3": -0.714}, "note": "The wrist view is filled by the blue block's white top, well centered on the jaw line, so the gripper is nearly over it; descending another ~5 cm toward table level to straddle the block, watching j1 effort for contact."})

tool

executing move_joints over 5 steps (0.5s)

step 117

assistant

agent notej1 stopped tracking and its effort flipped positive, indicating the fingertips have reached table/block level with the block centered on the jaw line; closing the gripper fully to check the grasped thickness from the residual.

move_joints

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1091 left_j1=2.1235 left_j2=1.4658 left_j3=-0.9516 left_j4=0.0067 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.1846, 1.1556, 1.1145, 2.5568, -0.0366, -0.022, -0.0171, -0.0889, 1.6342, 6.9949, 1.873, -0.0708, -0.0855, -0.0171] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0.0}, "note": "j1 stopped tracking and its effort flipped positive, indicating the fingertips have reached table/block level with the block centered on the jaw line; closing the gripper fully to check the grasped thickness from the residual."})

tool

executing move_joints over 10 steps (1.0s)

step 127

assistant

agent noteThe gripper closed to a residual of 0.45 (~4.3 cm) with high gripper effort — the block is grasped. Lifting it ~12 cm straight up to carry it over to the red block.

move_joints

left_j11.9600left_j21.5600left_j3-1.1500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1091 left_j1=2.1078 left_j2=1.4734 left_j3=-0.9543 left_j4=0.0059 left_j5=-0.0261 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.0752, -9.5111, 4.7248, 0.2906, 0.0024, -0.022, 1.033, -0.0889, 1.6068, 6.9949, 1.8926, -0.0562, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.96, "left_j2": 1.56, "left_j3": -1.15}, "note": "The gripper closed to a residual of 0.45 (~4.3 cm) with high gripper effort \u2014 the block is grasped. Lifting it ~12 cm straight up to carry it over to the red block."})

tool

executing move_joints over 4 steps (0.4s)

step 131

assistant

agent noteThe object stays rigidly fixed at the bottom of the wrist frame while the background blurs past, confirming the block is held in the jaws. Raising to ~22 cm to clear the table and get an overhead look at where the red target block is.

move_joints

left_j11.9000left_j21.7600left_j3-1.4200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1091 left_j1=2.0144 left_j2=1.5253 left_j3=-1.0958 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.0752, -12.3966, 7.8154, 0.2857, -0.0562, -0.0659, 1.033, -0.1436, 1.6068, 6.9949, 1.8632, -0.0415, -0.0806, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.9, "left_j2": 1.76, "left_j3": -1.42}, "note": "The object stays rigidly fixed at the bottom of the wrist frame while the background blurs past, confirming the block is held in the jaws. Raising to ~22 cm to clear the table and get an overhead look at where the red target block is."})

tool

executing move_joints over 6 steps (0.6s)

step 137

assistant

agent noteThe overhead view is blocked by the gripper exactly where the red block used to be, so I'm yawing the loaded arm back to the left (j0 -0.45) at height to uncover that area and confirm the red block's position.

move_joints

left_j0-0.4500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.1091 left_j1=1.948 left_j2=1.7195 left_j3=-1.3712 left_j4=0.0063 left_j5=-0.0265 left_gripper=0.4566 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.1846, -12.8752, 8.1436, 0.2808, -0.0415, -0.0269, 1.033, -0.0342, 1.7709, 6.9949, 1.8926, -0.0611, -0.0464, -0.0073] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.45}, "note": "The overhead view is blocked by the gripper exactly where the red block used to be, so I'm yawing the loaded arm back to the left (j0 -0.45) at height to uncover that area and confirm the red block's position."})

tool

executing move_joints over 11 steps (1.1s)

step 148

assistant

agent noteOverhead now clearly shows the red "a" block at (147,152) with the blue block secure in the gripper. Using the pixel offset from where I picked the blue block, I estimate the red block at bearing ≈ -0.8 rad and radius ≈ 0.45 m, so I'm flying there at ~20 cm height to acquire it in the wrist camera.

move_joints

left_j0-0.8000left_j12.4670left_j22.5580left_j3-1.6600

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4728 left_j1=1.9434 left_j2=1.7195 left_j3=-1.3727 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [0.1709, -9.306, 5.6684, 0.2271, 0.0073, -0.0513, 1.0281, -0.0068, 1.6068, 7.1179, 1.9219, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.8, "left_j1": 2.467, "left_j2": 2.558, "left_j3": -1.66}, "note": "Overhead now clearly shows the red \"a\" block at (147,152) with the blue block secure in the gripper. Using the pixel offset from where I picked the blue block, I estimate the red block at bearing \u2248 -0.8 rad and radius \u2248 0.45 m, so I'm flying there at ~20 cm height to acquire it in the wrist camera."})

tool

executing move_joints over 14 steps (1.4s)

step 162

assistant

agent noteThe wrist camera has acquired the red "a" block at the upper-right (185,60), so it lies to the arm's right of the jaw line; I'm yawing -0.15 rad (~7 cm arc) both to move toward it and to measure the wrist-view pixel scale from the resulting shift.

move_joints

left_j0-0.9400

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7883 left_j1=2.4493 left_j2=2.5164 left_j3=-1.6444 left_j4=0.0067 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.4855, -11.9863, 7.8017, 0.1392, -0.0513, -0.0269, 1.033, -0.0615, 1.5932, 6.9949, 1.8632, -0.0464, -0.0855, -0.0073] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.94}, "note": "The wrist camera has acquired the red \"a\" block at the upper-right (185,60), so it lies to the arm's right of the jaw line; I'm yawing -0.15 rad (~7 cm arc) both to move toward it and to measure the wrist-view pixel scale from the resulting shift."})

tool

executing move_joints over 3 steps (0.3s)

step 165

assistant

agent noteThe -0.108 rad yaw moved the red block 40 px left in the wrist view, giving a scale of ~8 px/cm; it is now at (145,50), so I need ~4 cm more to the right and a big descent. Yawing to -0.978 and lowering from ~20 cm to ~6 cm true height, keeping the same radius.

move_joints

left_j0-0.9780left_j12.4850left_j22.3040left_j3-1.3900

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8959 left_j1=2.4611 left_j2=2.5156 left_j3=-1.6611 left_j4=0.0021 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.7863, -14.2017, 5.4359, 0.3394, -0.0024, -0.0708, 1.033, -0.0752, 1.7573, 6.9949, 1.8926, -0.0757, -0.0513, -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_j0": -0.978, "left_j1": 2.485, "left_j2": 2.304, "left_j3": -1.39}, "note": "The -0.108 rad yaw moved the red block 40 px left in the wrist view, giving a scale of ~8 px/cm; it is now at (145,50), so I need ~4 cm more to the right and a big descent. Yawing to -0.978 and lowering from ~20 cm to ~6 cm true height, keeping the same radius."})

tool

executing move_joints over 5 steps (0.5s)

step 170

assistant

agent noteAt the lower height the red block sits at (85,70) in the wrist view — slightly left of the jaw line and still well ahead of the fingertips. Correcting yaw back +0.045 rad and extending the radius ~3 cm to close the remaining gap.

move_joints

left_j0-0.9200left_j12.6680left_j22.6550left_j3-1.5570

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=2.4802 left_j2=2.3142 left_j3=-1.4605 left_j4=0.0032 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.6769, -13.1077, 6.1607, 0.3736, -0.0269, -0.0659, 1.0379, -0.1983, 1.6068, 7.0222, 1.9121, -0.0708, -0.0708, -0.0073] 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": -0.92, "left_j1": 2.668, "left_j2": 2.655, "left_j3": -1.557}, "note": "At the lower height the red block sits at (85,70) in the wrist view \u2014 slightly left of the jaw line and still well ahead of the fingertips. Correcting yaw back +0.045 rad and extending the radius ~3 cm to close the remaining gap."})

tool

executing move_joints over 6 steps (0.6s)

step 176

assistant

agent noteThe red block is now just peeking above the carried block in the wrist view, i.e. a few cm beyond the fingertips, but I am at the gripper-down reach limit; tilting the wrist ~12° forward to buy ~3 cm of extra radius while keeping the same height.

move_joints

left_j12.7430left_j22.7920left_j3-1.3990

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9215 left_j1=2.6446 left_j2=2.6144 left_j3=-1.5574 left_j4=0.0032 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [0.2393, -12.9299, 7.747, 0.3004, -0.0464, -0.0415, 1.0379, -0.0615, 1.6068, 6.9949, 1.8632, -0.0611, -0.0464, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.743, "left_j2": 2.792, "left_j3": -1.399}, "note": "The red block is now just peeking above the carried block in the wrist view, i.e. a few cm beyond the fingertips, but I am at the gripper-down reach limit; tilting the wrist ~12\u00b0 forward to buy ~3 cm of extra radius while keeping the same height."})

tool

executing move_joints over 3 steps (0.3s)

step 179

assistant

agent noteThe red block has slipped behind the carried block in the wrist view and the overhead shows red right at the gripper, so the target should be directly under/just ahead of the load; descending ~4 cm and watching effort — an early stall means the carried block landed on the red block rather than the table.

move_joints

left_j12.7540left_j22.6500left_j3-1.2460

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9199 left_j1=2.7167 left_j2=2.7502 left_j3=-1.5024 left_j4=0.0032 left_j5=-0.0338 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [-0.1709, -13.0803, 7.6923, 0.8327, -0.0464, 0.0317, 1.033, -0.0205, 1.6068, 6.9949, 1.8779, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.754, "left_j2": 2.65, "left_j3": -1.246}, "note": "The red block has slipped behind the carried block in the wrist view and the overhead shows red right at the gripper, so the target should be directly under/just ahead of the load; descending ~4 cm and watching effort \u2014 an early stall means the carried block landed on the red block rather than the table."})

tool

executing move_joints over 5 steps (0.5s)

step 184

assistant

agent notePlacing at the red block's current spot is at the left arm's reach limit and the depth is ambiguous, so I'm changing plan: the left arm retracts (still holding the blue block) to a safe hover on its own side, and the right arm will slide the red block into the shared comfortable zone.

move_joints

left_j0-0.2500left_j11.9800left_j21.9600left_j3-1.5500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9199 left_j1=2.6999 left_j2=2.693 left_j3=-1.3781 left_j4=-0.0013 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993 state[joint_eff]: [-0.0342, -10.5504, 2.6462, 1.6337, 0.0024, 0.2027, 1.0281, -0.0889, 1.7299, 7.1043, 1.8632, -0.0757, -0.0806, -0.0073] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.25, "left_j1": 1.98, "left_j2": 1.96, "left_j3": -1.55}, "note": "Placing at the red block's current spot is at the left arm's reach limit and the depth is ambiguous, so I'm changing plan: the left arm retracts (still holding the blue block) to a safe hover on its own side, and the right arm will slide the red block into the shared comfortable zone."})

tool

executing move_joints over 12 steps (1.2s)

step 196

assistant

agent noteClean overhead: the red cube sits alone at (150,148) and the left arm is safely holding the blue block off to the left. Sending the right arm to hover ~20 cm above my estimate of the red cube (bearing +0.55 rad, radius 0.355 m) to acquire it in its wrist camera.

move_joints

right_j00.5500right_j12.0240right_j21.8170right_j3-1.3640

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2653 left_j1=2.0373 left_j2=1.9759 left_j3=-1.5246 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0692 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992 state[joint_eff]: [0.0068, -12.9983, 6.0786, 0.4469, -0.0269, -0.0317, 1.0281, -0.1846, 2.1402, 6.9812, 1.8681, -0.0317, -0.0855, -0.0171] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55, "right_j1": 2.024, "right_j2": 1.817, "right_j3": -1.364}, "note": "Clean overhead: the red cube sits alone at (150,148) and the left arm is safely holding the blue block off to the left. Sending the right arm to hover ~20 cm above my estimate of the red cube (bearing +0.55 rad, radius 0.355 m) to acquire it in its wrist camera."})

tool

executing move_joints over 33 steps (3.3s)

step 229

assistant

agent noteThe right wrist camera has the red cube at (150,110), a bit to the arm's right of the jaw line; yawing j0 to 0.42 to line it up and dropping to ~7 cm true height for the approach.

move_joints

right_j00.4200right_j12.0950right_j21.6670right_j3-1.1430

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9625 left_j3=-1.533 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.5446 right_j1=2.0052 right_j2=1.7741 right_j3=-1.3315 right_j4=-0.0116 right_j5=-0.0051 right_gripper=0.9992 state[joint_eff]: [-0.4581, -10.5368, 6.6393, 0.2759, -0.0513, -0.0659, 1.033, 0.3761, -10.6188, 8.1573, 0.2027, -0.0024, -0.0122, -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": {"right_j0": 0.42, "right_j1": 2.095, "right_j2": 1.667, "right_j3": -1.143}, "note": "The right wrist camera has the red cube at (150,110), a bit to the arm's right of the jaw line; yawing j0 to 0.42 to line it up and dropping to ~7 cm true height for the approach."})

tool

executing move_joints over 4 steps (0.4s)

step 233

assistant

agent noteCube now at (130,120) in the right wrist view, nearly on the jaw line; nudging yaw 1.5 cm right and descending to near table level to straddle it, watching j1 effort for contact.

move_joints

right_j00.3860right_j12.1880right_j21.5880right_j3-0.9710

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.4274 right_j1=2.08 right_j2=1.6752 right_j3=-1.214 right_j4=-0.0143 right_j5=-0.0051 right_gripper=0.9992 state[joint_eff]: [-0.1846, -10.4274, 5.7641, 0.2222, -0.0269, -0.0513, 1.0281, 0.7179, -10.3316, 6.2427, 0.3736, -0.0122, -0.0659, -0.0073] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.386, "right_j1": 2.188, "right_j2": 1.588, "right_j3": -0.971}, "note": "Cube now at (130,120) in the right wrist view, nearly on the jaw line; nudging yaw 1.5 cm right and descending to near table level to straddle it, watching j1 effort for contact."})

tool

executing move_joints over 4 steps (0.4s)

step 237

assistant

agent noteThe red cube is now centred between the two jaw silhouettes in the right wrist view; descending ~2 cm more so the fingers straddle the cube's mid-height before closing.

move_joints

right_j12.2340right_j21.5690right_j3-0.9050

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.459 right_j0=0.3939 right_j1=2.1662 right_j2=1.599 right_j3=-1.0508 right_j4=-0.012 right_j5=-0.0048 right_gripper=0.9992 state[joint_eff]: [-0.212, -10.4274, 5.5726, 0.1636, -0.0562, -0.0757, 1.0281, -0.4034, -10.6735, 5.5863, 0.3639, -0.0562, -0.0611, -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_j1": 2.234, "right_j2": 1.569, "right_j3": -0.905}, "note": "The red cube is now centred between the two jaw silhouettes in the right wrist view; descending ~2 cm more so the fingers straddle the cube's mid-height before closing."})

tool

executing move_joints over 3 steps (0.3s)

step 240

assistant

agent noteThe red cube sits squarely between the jaws at the bottom of the right wrist view; closing fully to grasp it and read the residual thickness.

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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4596 right_j0=0.3923 right_j1=2.1887 right_j2=1.5871 right_j3=-1.0065 right_j4=-0.0109 right_j5=-0.0048 right_gripper=0.9992 state[joint_eff]: [-0.0752, -10.4137, 5.7094, 0.2027, -0.0611, -0.0562, 1.0183, 0.0205, -7.8291, 3.9043, 1.199, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0}, "note": "The red cube sits squarely between the jaws at the bottom of the right wrist view; closing fully to grasp it and read the residual thickness."})

tool

executing move_joints over 10 steps (1.0s)

step 250

assistant

agent noteRight gripper closed to 0.45 residual with high effort — the red cube is grasped. Lifting it straight up to ~13 cm before swinging it toward the shared zone between the two arms.

move_joints

right_j12.0240right_j21.8170right_j3-1.3640

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4605 right_j0=0.3923 right_j1=2.1864 right_j2=1.5871 right_j3=-1.0191 right_j4=-0.0078 right_j5=-0.012 right_gripper=0.4506 state[joint_eff]: [-0.1026, -10.4274, 5.5453, 0.1929, -0.0415, -0.0513, 0.9109, -0.0752, -11.2205, 5.3402, 0.3394, -0.105, 0.0122, 1.033] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.024, "right_j2": 1.817, "right_j3": -1.364}, "note": "Right gripper closed to 0.45 residual with high effort \u2014 the red cube is grasped. Lifting it straight up to ~13 cm before swinging it toward the shared zone between the two arms."})

tool

executing move_joints over 6 steps (0.6s)

step 256

assistant

agent noteCarrying the red cube, I'm swinging the right arm to the shared zone midway between the two bases (right-frame bearing 0.82 rad, radius 0.41 m) at ~13 cm height, where the left arm can comfortably reach it.

move_joints

right_j00.8160right_j12.2360right_j22.1510right_j3-1.4860

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4609 right_j0=0.3923 right_j1=2.0705 right_j2=1.776 right_j3=-1.3106 right_j4=-0.0078 right_j5=-0.02 right_gripper=0.4538 state[joint_eff]: [-0.0479, -10.4274, 5.5453, 0.149, -0.0415, -0.0611, 0.8913, -0.1573, -13.1487, 7.9795, 0.2515, -0.022, 0.0708, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.816, "right_j1": 2.236, "right_j2": 2.151, "right_j3": -1.486}, "note": "Carrying the red cube, I'm swinging the right arm to the shared zone midway between the two bases (right-frame bearing 0.82 rad, radius 0.41 m) at ~13 cm height, where the left arm can comfortably reach it."})

tool

executing move_joints over 7 steps (0.7s)

step 263

assistant

agent noteThe red cube is now positioned over the shared zone; lowering it to the table (fingertips to ~1.5 cm true height) and watching for the stall/effort rise that signals touchdown.

move_joints

right_j12.3790right_j21.8890right_j3-1.0810

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.462 right_j0=0.7906 right_j1=2.2135 right_j2=2.1086 right_j3=-1.4662 right_j4=-0.0074 right_j5=-0.0238 right_gripper=0.4538 state[joint_eff]: [-0.0889, -10.4137, 5.559, 0.1929, -0.0464, -0.0269, 0.7937, 0.253, -10.1128, 7.6239, 0.2173, -0.022, -0.0024, 1.0281] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.379, "right_j2": 1.889, "right_j3": -1.081}, "note": "The red cube is now positioned over the shared zone; lowering it to the table (fingertips to ~1.5 cm true height) and watching for the stall/effort rise that signals touchdown."})

tool

executing move_joints over 7 steps (0.7s)

step 270

assistant

agent noteThe descent undershot slightly and j1 effort still shows it holding against gravity (no touchdown yet), so I'm re-issuing the descent a bit stronger to set the cube down.

move_joints

right_j12.4200right_j21.8890right_j3-1.0400

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4625 right_j0=0.7918 right_j1=2.3577 right_j2=1.8977 right_j3=-1.1526 right_j4=-0.0078 right_j5=-0.0238 right_gripper=0.4538 state[joint_eff]: [-0.3214, -10.3179, 5.7641, 0.188, -0.022, -0.0464, 0.7888, -0.1846, -11.1385, 5.9692, 0.3687, -0.0366, -0.0317, 1.0281] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.42, "right_j2": 1.889, "right_j3": -1.04}, "note": "The descent undershot slightly and j1 effort still shows it holding against gravity (no touchdown yet), so I'm re-issuing the descent a bit stronger to set the cube down."})

tool

executing move_joints over 2 steps (0.2s)

step 272

assistant

agent notej1 stopped tracking and wrist effort rose — the red cube has touched down in the shared zone. Opening the right gripper to release it.

move_joints

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4621 right_j0=0.7918 right_j1=2.365 right_j2=1.8938 right_j3=-1.124 right_j4=-0.0074 right_j5=-0.0269 right_gripper=0.4538 state[joint_eff]: [-0.1162, -10.4137, 5.7231, 0.1734, -0.0122, -0.0659, 0.5983, -0.3077, -8.212, 5.4222, 1.033, -0.0708, -0.0122, 1.0232] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 1.0}, "note": "j1 stopped tracking and wrist effort rose \u2014 the red cube has touched down in the shared zone. Opening the right gripper to release it."})

tool

executing move_joints over 6 steps (0.6s)

step 278

assistant

agent noteCube released. Lifting the right gripper straight up off the cube before retracting, so the open jaws don't drag it.

move_joints

right_j12.2320right_j22.2260right_j3-1.5650

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4623 right_j0=0.7918 right_j1=2.3638 right_j2=1.8942 right_j3=-1.1282 right_j4=-0.0074 right_j5=-0.0311 right_gripper=0.9956 state[joint_eff]: [-0.1709, -10.4137, 5.559, 0.2418, -0.0708, -0.0366, 0.8425, -0.335, -12.4786, 5.5726, 0.2515, -0.0122, -0.0122, -0.2173] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.232, "right_j2": 2.226, "right_j3": -1.565}, "note": "Cube released. Lifting the right gripper straight up off the cube before retracting, so the open jaws don't drag it."})

tool

executing move_joints over 7 steps (0.7s)

step 285

assistant

agent noteThe red cube stands upright in the shared zone (visible in the right wrist view and overhead). Parking the right arm back near its base so it can't collide with the left arm during the stacking move.

move_joints

right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=0.0002 left_j5=-0.0494 left_gripper=0.464 right_j0=0.7918 right_j1=2.2822 right_j2=2.1857 right_j3=-1.507 right_j4=-0.0078 right_j5=-0.0353 right_gripper=0.9969 state[joint_eff]: [-0.3487, -10.2906, 5.5453, 0.2027, -0.0317, -0.0415, 0.4713, -0.335, -15.4188, 7.5692, 0.2955, -0.0366, 0.0073, 0.1245] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "The red cube stands upright in the shared zone (visible in the right wrist view and overhead). Parking the right arm back near its base so it can't collide with the left arm during the stacking move."})

tool

executing move_joints over 27 steps (2.7s)

step 312

assistant

agent noteThe red cube now sits in the shared zone at overhead (108,168) and the right arm is parked. Swinging the loaded left arm over that spot (bearing -0.80 rad, radius 0.40 m) at ~18 cm height to line up the stack.

move_joints

left_j0-0.8000left_j12.2040left_j22.3030left_j3-1.6700

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.961 left_j3=-1.5326 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.466 right_j0=0.0101 right_j1=0.6201 right_j2=1.2118 right_j3=-0.6701 right_j4=-0.0078 right_j5=-0.046 right_gripper=0.9965 state[joint_eff]: [-0.212, -10.2359, 5.6274, 0.1832, -0.022, -0.0464, 0.5153, -0.212, 2.5368, 5.5179, 2.5031, -0.0122, 0.0611, -0.0611] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.8, "left_j1": 2.204, "left_j2": 2.303, "left_j3": -1.67}, "note": "The red cube now sits in the shared zone at overhead (108,168) and the right arm is parked. Swinging the loaded left arm over that spot (bearing -0.80 rad, radius 0.40 m) at ~18 cm height to line up the stack."})

tool

executing move_joints over 9 steps (0.9s)

step 321

assistant

agent noteThe red cube is visible at (120,90) in the left wrist view, well aligned with the jaw line but apparently still ahead of the load; descending ~9 cm (carried block bottom stays above the cube's top) to see how the cube shifts in the frame.

move_joints

left_j12.2340left_j21.9830left_j3-1.3200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7765 left_j1=2.1887 left_j2=2.2684 left_j3=-1.6604 left_j4=0.0032 left_j5=-0.0525 left_gripper=0.4684 right_j0=0.0063 right_j1=0.6201 right_j2=1.1965 right_j3=-0.6807 right_j4=-0.0086 right_j5=-0.0498 right_gripper=0.9964 state[joint_eff]: [-0.212, -10.4547, 7.5966, 0.1734, -0.0415, -0.0122, 0.2369, 0.253, 1.812, 6.4615, 2.0, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.234, "left_j2": 1.983, "left_j3": -1.32}, "note": "The red cube is visible at (120,90) in the left wrist view, well aligned with the jaw line but apparently still ahead of the load; descending ~9 cm (carried block bottom stays above the cube's top) to see how the cube shifts in the frame."})

tool

executing move_joints over 6 steps (0.6s)

step 327

assistant

agent noteThe cube's top edge peeks just above the carried block, so I'm advancing ~1.5 cm and descending toward table level; where the descent stalls will tell me whether the block landed on the cube (stall ~6 cm) or beside it on the table (stall ~1.5 cm).

move_joints

left_j12.3720left_j21.9660left_j3-1.1650

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7761 left_j1=2.2238 left_j2=2.0003 left_j3=-1.3914 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4704 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7025 right_j4=-0.0086 right_j5=-0.0505 right_gripper=0.9964 state[joint_eff]: [0.0068, -11.0291, 6.0239, 0.3248, -0.0269, -0.0757, 0.2027, -0.1299, 1.7026, 5.3265, 2.0781, -0.0317, -0.0513, -0.0073] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.372, "left_j2": 1.966, "left_j3": -1.165}, "note": "The cube's top edge peeks just above the carried block, so I'm advancing ~1.5 cm and descending toward table level; where the descent stalls will tell me whether the block landed on the cube (stall ~6 cm) or beside it on the table (stall ~1.5 cm)."})

tool

executing move_joints over 4 steps (0.4s)

step 331

assistant

agent noteThe descent passed the cube's top height without stalling and the wrist view changed oddly, so the load is likely beside the cube (or shifted in the jaws). Lifting back to ~13 cm to re-assess from both cameras before trying again.

move_joints

left_j12.2730left_j22.2130left_j3-1.5110

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7761 left_j1=2.344 left_j2=1.977 left_j3=-1.2369 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4721 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7078 right_j4=-0.0082 right_j5=-0.054 right_gripper=0.9964 state[joint_eff]: [-0.1983, -11.8222, 4.8889, 0.398, -0.0317, -0.0317, 0.1734, -0.212, 1.7026, 5.3402, 2.0342, -0.0122, -0.0171, -0.0122] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.273, "left_j2": 2.213, "left_j3": -1.511}, "note": "The descent passed the cube's top height without stalling and the wrist view changed oddly, so the load is likely beside the cube (or shifted in the jaws). Lifting back to ~13 cm to re-assess from both cameras before trying again."})

tool

executing move_joints over 5 steps (0.5s)

step 336

assistant

agent noteReading the overhead frame with parallax correction, the red cube is actually ~4 cm to my left and ~10 cm closer to the base than the fingertips — I had overshot radially. Pulling the radius in to 0.36 m and yawing to -0.71 rad at ~9 cm height, above the cube.

move_joints

left_j0-0.7100left_j12.0850left_j21.7390left_j3-1.2250

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7761 left_j1=2.3222 left_j2=2.1723 left_j3=-1.4574 left_j4=0.004 left_j5=-0.0528 left_gripper=0.4733 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7136 right_j4=-0.0086 right_j5=-0.0574 right_gripper=0.9964 state[joint_eff]: [-0.0752, -15.8427, 7.4325, 0.2955, -0.0415, -0.0513, 0.105, -0.0205, 1.6479, 5.2444, 1.9463, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.71, "left_j1": 2.085, "left_j2": 1.739, "left_j3": -1.225}, "note": "Reading the overhead frame with parallax correction, the red cube is actually ~4 cm to my left and ~10 cm closer to the base than the fingertips \u2014 I had overshot radially. Pulling the radius in to 0.36 m and yawing to -0.71 rad at ~9 cm height, above the cube."})

tool

executing move_joints over 7 steps (0.7s)

step 343

assistant

agent noteThe cube reappeared up-right in the wrist view and moved right exactly as expected when I yawed left, confirming the wrist lateral convention; restoring j0 to -0.78 to re-centre it and pulling the radius in 4 cm at constant height as a clean test of which way radial motion shifts the image.

move_joints

left_j0-0.7800left_j11.9640left_j21.5000left_j3-1.1070

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7143 left_j1=2.1319 left_j2=1.758 left_j3=-1.2655 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.474 right_j0=0.0063 right_j1=0.6201 right_j2=1.195 right_j3=-0.7292 right_j4=-0.0082 right_j5=-0.0578 right_gripper=0.9964 state[joint_eff]: [0.335, -13.4359, 5.8325, 0.5201, -0.0464, -0.0415, 0.0659, -0.0752, 1.6479, 5.2855, 2.127, -0.0073, -0.0317, -0.0122] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.78, "left_j1": 1.964, "left_j2": 1.5, "left_j3": -1.107}, "note": "The cube reappeared up-right in the wrist view and moved right exactly as expected when I yawed left, confirming the wrist lateral convention; restoring j0 to -0.78 to re-centre it and pulling the radius in 4 cm at constant height as a clean test of which way radial motion shifts the image."})

tool

executing move_joints over 5 steps (0.5s)

step 348

assistant

agent notePulling the radius in made the cube grow in the wrist view, proving it is nearer the base than the gripper; continuing inward another 3 cm and nudging ~2 cm to the arm's right to line the carried block up over it (load bottom still ~1.7 cm above the cube top).

move_joints

left_j0-0.8300left_j11.8620left_j21.3560left_j3-1.0650

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.775 left_j1=2.0079 left_j2=1.5146 left_j3=-1.1404 left_j4=0.0029 left_j5=-0.0521 left_gripper=0.4747 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7376 right_j4=-0.0082 right_j5=-0.0643 right_gripper=0.9964 state[joint_eff]: [-0.3897, -12.4376, 5.7778, 0.4957, -0.0122, -0.0415, 0.0562, -0.0068, 1.6479, 5.2855, 2.0733, -0.022, 0.0122, -0.0122] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.83, "left_j1": 1.862, "left_j2": 1.356, "left_j3": -1.065}, "note": "Pulling the radius in made the cube grow in the wrist view, proving it is nearer the base than the gripper; continuing inward another 3 cm and nudging ~2 cm to the arm's right to line the carried block up over it (load bottom still ~1.7 cm above the cube top)."})

tool

executing move_joints over 3 steps (0.3s)

step 351

assistant

agent noteThe cube is now directly in line with the carried block in the wrist view, just further inward; creeping 2 cm further in at constant height so the load ends up right over it.

move_joints

left_j11.7930left_j21.2660left_j3-1.0440

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8188 left_j1=1.9125 left_j2=1.367 left_j3=-1.0836 left_j4=0.0006 left_j5=-0.0517 left_gripper=0.4753 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7475 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.3214, -11.6991, 6.5709, 0.5055, -0.0171, -0.0122, 0.0611, -0.1846, 1.9624, 5.4222, 2.0977, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.793, "left_j2": 1.266, "left_j3": -1.044}, "note": "The cube is now directly in line with the carried block in the wrist view, just further inward; creeping 2 cm further in at constant height so the load ends up right over it."})

tool

executing move_joints over 2 steps (0.2s)

step 353

assistant

agent noteOverhead still shows a sliver of the red cube just inward of the gripper, so I'm creeping ~3 cm further in; when the cube disappears behind the gripper/load in the top view I should be aligned over it.

move_joints

left_j11.7350left_j21.1490left_j3-0.9840

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8276 left_j1=1.8469 left_j2=1.2911 left_j3=-1.0439 left_j4=0.0032 left_j5=-0.0517 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7601 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [0.5675, -11.0838, 6.2291, 0.359, -0.0806, -0.0415, 0.0024, -0.0752, 1.935, 5.2308, 2.0342, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.735, "left_j2": 1.149, "left_j3": -0.984}, "note": "Overhead still shows a sliver of the red cube just inward of the gripper, so I'm creeping ~3 cm further in; when the cube disappears behind the gripper/load in the top view I should be aligned over it."})

tool

executing move_joints over 3 steps (0.3s)

step 356

assistant

agent noteThe wrist view of the cube is a blurry glow and the overhead is ambiguous, so I'm flying the idle right arm up into a side-viewing pose (camera ~30 cm up, tilted ~50° down, aimed along the bearing of the stack site) to see the carried block and the cube from the side.

move_joints

right_j00.7900right_j11.1540right_j21.2500right_j3-0.9970

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8249 left_j1=1.7809 left_j2=1.1648 left_j3=-1.0035 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7662 right_j4=-0.0082 right_j5=-0.065 right_gripper=0.9964 state[joint_eff]: [-0.2803, -10.7556, 6.147, 0.5348, -0.0708, -0.0269, -0.0024, -0.0205, 1.7846, 5.2308, 2.0, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.79, "right_j1": 1.154, "right_j2": 1.25, "right_j3": -0.997}, "note": "The wrist view of the cube is a blurry glow and the overhead is ambiguous, so I'm flying the idle right arm up into a side-viewing pose (camera ~30 cm up, tilted ~50\u00b0 down, aimed along the bearing of the stack site) to see the carried block and the cube from the side."})

tool

executing move_joints over 13 steps (1.3s)

step 369

assistant

agent noteThe right arm's side view shows the red cube sitting just outward of the left gripper's fingertips, so I had been retracting the wrong way; extending the left arm back out to radius 0.35 m at ~7 cm height and will re-check the side view.

move_joints

left_j12.0780left_j21.6400left_j3-1.1330

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8246 left_j1=1.776 left_j2=1.1461 left_j3=-1.0073 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.476 right_j0=0.7715 right_j1=1.1496 right_j2=1.2182 right_j3=-0.9791 right_j4=-0.0078 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.1299, -7.4598, 6.9402, 0.1343, -0.022, -0.0708, 0.0415, -0.0889, -4.041, 9.5111, 1.3114, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.078, "left_j2": 1.64, "left_j3": -1.133}, "note": "The right arm's side view shows the red cube sitting just outward of the left gripper's fingertips, so I had been retracting the wrong way; extending the left arm back out to radius 0.35 m at ~7 cm height and will re-check the side view."})

tool

executing move_joints over 8 steps (0.8s)

step 377

assistant

agent noteBoth the side view and the wrist view now show the red cube directly under/behind the carried block, so I'm lowering ~3 cm; a stall around 6 cm fingertip height means the block has landed on the cube.

move_joints

left_j12.1320left_j21.5890left_j3-1.0280

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8246 left_j1=2.0647 left_j2=1.6001 left_j3=-1.1244 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4762 right_j0=0.7715 right_j1=1.1633 right_j2=1.2152 right_j3=-0.9943 right_j4=-0.0116 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.0889, -10.5504, 7.3368, 0.1148, -0.0366, -0.0513, 0.0073, -0.0205, -4.465, 6.7624, 1.4725, -0.0171, -0.0415, -0.0122] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.132, "left_j2": 1.589, "left_j3": -1.028}, "note": "Both the side view and the wrist view now show the red cube directly under/behind the carried block, so I'm lowering ~3 cm; a stall around 6 cm fingertip height means the block has landed on the cube."})

tool

executing move_joints over 2 steps (0.2s)

step 379

assistant

agent noteThe descent stalled at exactly the height where the carried block's bottom meets the cube's top (fingertips ~6 cm) with wrist effort rising — the block is resting on the red cube. Opening the gripper to release 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=-0.8246 left_j1=2.0838 left_j2=1.6081 left_j3=-1.1107 left_j4=-0.0017 left_j5=-0.0528 left_gripper=0.4768 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9951 right_j4=-0.0116 right_j5=-0.065 right_gripper=0.9964 state[joint_eff]: [-0.0342, -6.5026, 4.506, 1.0818, 0.0708, 0.0122, 0.0757, 0.0342, -3.412, 6.3795, 1.3846, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 1.0}, "note": "The descent stalled at exactly the height where the carried block's bottom meets the cube's top (fingertips ~6 cm) with wrist effort rising \u2014 the block is resting on the red cube. Opening the gripper to release it."})

tool

executing move_joints over 6 steps (0.6s)

step 385

assistant

agent noteGripper released; lifting the left arm straight up ~12 cm to clear the stack and inspect the result from overhead.

move_joints

left_j11.9800left_j21.9600left_j3-1.5500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8249 left_j1=2.0819 left_j2=1.6081 left_j3=-1.1137 left_j4=-0.0002 left_j5=-0.0563 left_gripper=0.9963 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9962 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.0479, -10.6325, 5.6274, 0.3199, -0.0122, -0.022, -0.1245, 0.0068, -3.3983, 6.5436, 1.3309, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.98, "left_j2": 1.96, "left_j3": -1.55}, "note": "Gripper released; lifting the left arm straight up ~12 cm to clear the stack and inspect the result from overhead."})

tool

executing move_joints over 7 steps (0.7s)

step 392

assistant

agent noteRetracting the left arm to its park pose so the overhead and the right arm's side camera get an unobstructed view of whether the blue block is stacked on the red cube.

move_joints

left_j0-0.2000left_j10.6000left_j21.2000left_j3-0.6000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8249 left_j1=2.0228 left_j2=1.9209 left_j3=-1.4849 left_j4=0.0006 left_j5=-0.0605 left_gripper=0.9967 right_j0=0.7712 right_j1=1.1645 right_j2=1.2152 right_j3=-0.9977 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.1983, -12.8889, 7.5692, 0.2369, -0.0171, -0.0073, 0.0366, -0.1709, -3.3299, 6.3932, 1.3309, -0.0806, -0.0171, -0.0122] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.2, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6}, "note": "Retracting the left arm to its park pose so the overhead and the right arm's side camera get an unobstructed view of whether the blue block is stacked on the red cube."})

tool

executing move_joints over 23 steps (2.3s)

step 415

assistant

agent noteOverhead suggests the blue block is sitting on the red cube (red visible beneath blue). Tilting the right arm's camera to a near-horizontal side profile to confirm the stack.

move_joints

right_j11.1290right_j20.8890right_j3-0.1100

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2104 left_j1=0.622 left_j2=1.211 left_j3=-0.6712 left_j4=-0.0002 left_j5=-0.0685 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1656 right_j2=1.2087 right_j3=-0.9981 right_j4=-0.012 right_j5=-0.065 right_gripper=0.9964 state[joint_eff]: [0.3624, 2.3316, 5.3265, 2.3077, -0.0317, 0.0513, -0.0073, -0.1026, -3.3709, 6.9402, 1.3407, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.129, "right_j2": 0.889, "right_j3": -0.11}, "note": "Overhead suggests the blue block is sitting on the red cube (red visible beneath blue). Tilting the right arm's camera to a near-horizontal side profile to confirm the stack."})

tool

executing move_joints over 15 steps (1.5s)

step 430

assistant

agent noteThe blue block sits at the bottom edge of the side view; pitching the right camera down ~20° to centre the block and get a clear profile of whether it rests on the red cube.

move_joints

right_j11.1840right_j21.0490right_j3-0.5650

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0715 left_gripper=0.9968 right_j0=0.7715 right_j1=1.1507 right_j2=0.8913 right_j3=-0.2184 right_j4=-0.012 right_j5=-0.0723 right_gripper=0.9964 state[joint_eff]: [-0.1573, 1.265, 5.9419, 1.9219, -0.0366, -0.0366, -0.0122, 0.0752, -5.7231, 7.3915, 2.4542, -0.0366, 0.0171, -0.0073] camera 'top_cam' (step 430): [image omitted: streamed camera frame] camera 'left_cam' (step 430): [image omitted: streamed camera frame] camera 'right_cam' (step 430): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.184, "right_j2": 1.049, "right_j3": -0.565}, "note": "The blue block sits at the bottom edge of the side view; pitching the right camera down ~20\u00b0 to centre the block and get a clear profile of whether it rests on the red cube."})

tool

executing move_joints over 6 steps (0.6s)

step 436

assistant

agent noteOverhead shows only a thin red sliver beside the blue block, which is what a near-centred stack looks like from above; to be sure, I'm bringing the right camera to a near eye-level side view (~20 cm away, fingers well above the stack).

move_joints

right_j11.5430right_j20.7300right_j30.6130

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1786 right_j2=1.005 right_j3=-0.5053 right_j4=-0.012 right_j5=-0.0727 right_gripper=0.9964 state[joint_eff]: [-0.0889, 1.6068, 5.2171, 1.8877, -0.0171, -0.0659, -0.0122, -0.1709, -3.5214, 9.9077, 1.6679, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 436): [image omitted: streamed camera frame] camera 'left_cam' (step 436): [image omitted: streamed camera frame] camera 'right_cam' (step 436): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.543, "right_j2": 0.73, "right_j3": 0.613}, "note": "Overhead shows only a thin red sliver beside the blue block, which is what a near-centred stack looks like from above; to be sure, I'm bringing the right camera to a near eye-level side view (~20 cm away, fingers well above the stack)."})

tool

executing move_joints over 18 steps (1.8s)

step 454

assistant

agent noteThe near-horizontal side view shows what looks like a two-block stack at the upper-left of the frame; yawing the camera left to centre it for a definitive check.

move_joints

right_j01.0500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7715 right_j1=1.533 right_j2=0.7372 right_j3=0.5076 right_j4=-0.0124 right_j5=-0.0792 right_gripper=0.9964 state[joint_eff]: [-0.1573, 1.7436, 5.3949, 1.917, -0.0269, -0.0708, -0.0122, 0.0889, -6.0376, 6.1607, 2.2637, -0.0317, 0.0464, -0.0073] camera 'top_cam' (step 454): [image omitted: streamed camera frame] camera 'left_cam' (step 454): [image omitted: streamed camera frame] camera 'right_cam' (step 454): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 1.05}, "note": "The near-horizontal side view shows what looks like a two-block stack at the upper-left of the frame; yawing the camera left to centre it for a definitive check."})

tool

executing move_joints over 5 steps (0.5s)

step 459

assistant

agent noteThe near-horizontal view is hard to interpret; parking the right arm back at its base to get a clean, unobstructed overhead frame of the stack site.

move_joints

right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2092 left_j1=0.6277 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=1.0336 right_j1=1.5379 right_j2=0.7311 right_j3=0.5053 right_j4=-0.0154 right_j5=-0.0799 right_gripper=0.9964 state[joint_eff]: [-0.1436, 1.7162, 5.4496, 1.9756, -0.0122, -0.0513, -0.0122, 0.1573, -7.1863, 6.9949, 2.0, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 459): [image omitted: streamed camera frame] camera 'left_cam' (step 459): [image omitted: streamed camera frame] camera 'right_cam' (step 459): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "The near-horizontal view is hard to interpret; parking the right arm back at its base to get a clean, unobstructed overhead frame of the stack site."})

tool

executing move_joints over 18 steps (1.8s)

step 477

assistant

agent noteThe blue "I" block (the left block) is now stacked on top of the red "a" block. Sequence: left arm picked the blue block from the table; the red block turned out to sit at the left arm's reach limit, so the right arm picked it up and relocated it to the shared zone midway between the two bases; the left arm then lowered the blue block onto it — the descent stalled exactly at the predicted stack height (fingertips ~6 cm, load bottom ≈ cube top 4.5 cm) with rising wrist effort — and released. The final overhead frame shows a single blue block with the red block's edge peeking out beneath it, and no other block anywhere on the table.

done

hindsightConcrete lessons from this run: • The planar IK/FK formulas worked well, and this rig's z bias was consistent: formula z ≈ true fingertip z + 0.07 m for both arms (verified once by a table/contact stall, then reused successfully for pick, place and stacking heights). Measure it once early with a contact stall and then trust it — it turns descents into single confident calls. • Contact detection is reliable: j1 stops tracking its target AND its effort relaxes from ≈ -11 toward ≈ -6 while j3 effort rises to ~1. That signature distinguished "block landed on the cube" (stall at formula z 0.131) from "still falling toward the table". • Grasp verification: residual 0.45 ≈ 4.3 cm block, gripper effort ~1.0. Gripper effort decays toward 0.1 while holding statically — do NOT read a decayed effort as a dropped object; check the wrist image instead (a held block stays rigidly fixed at the bottom of the frame while the background blurs past). • Reach matters: with the gripper straight down, formula r > ~0.50 m is unreachable, and anything beyond ~0.45 m becomes near-singular with heavy undershoot. If a target is out of one arm's comfortable radius, it is far cheaper to have the OTHER arm relocate it into the shared zone (~0.40 m radius, bearing ≈ ∓0.8 rad from each base — i.e. the midpoint between the bases) than to fight the reach limit. • Wrist-camera depth is genuinely ambiguous and cost me ~10 calls: image-x is trustworthy (a controlled j0 nudge confirms image-right = arm's right), but image-y conflates height and radius and at times behaved opposite to the documented "image-down = radially inward". Don't infer radius from image-y; instead move a known 3-4 cm radially and watch the object's SIZE change, or use the overhead frame with a parallax correction (ground_px = nadir + (img_px - nadir)·(H-h)/H, H≈0.72 m). • Overhead frame here: both bases are off/near the bottom edge (the left base is off-frame at the bottom-left), scale ≈3 px/cm at table level, and a correctly centred stack looks like the top block with only a thin sliver of the bottom block showing — a good, cheap success check. • The blocks are ~4.5 cm cubes; grasping mid-height puts the block's bottom ~1.5 cm below the fingertips, which is the number you need for placing/stacking heights.

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2092 left_j1=0.6285 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.0177 right_j1=0.6189 right_j2=1.1637 right_j3=-0.5449 right_j4=-0.0257 right_j5=-0.0872 right_gripper=0.9964 state[joint_eff]: [-0.0615, 1.6479, 5.2581, 2.0537, -0.0562, -0.0269, -0.0122, -0.0479, 2.359, 7.7607, 1.9707, 0.0757, 0.0269, -0.0073] camera 'top_cam' (step 477): [image omitted: streamed camera frame] camera 'left_cam' (step 477): [image omitted: streamed camera frame] camera 'right_cam' (step 477): [image omitted: streamed camera frame]

assistant

done({"summary": "The blue \"I\" block (the left block) is now stacked on top of the red \"a\" block. Sequence: left arm picked the blue block from the table; the red block turned out to sit at the left arm's reach limit, so the right arm picked it up and relocated it to the shared zone midway between the two bases; the left arm then lowered the blue block onto it \u2014 the descent stalled exactly at the predicted stack height (fingertips ~6 cm, load bottom \u2248 cube top 4.5 cm) with rising wrist effort \u2014 and released. The final overhead frame shows a single blue block with the red block's edge peeking out beneath it, and no other block anywhere on the table.", "hindsight": "Concrete lessons from this run:\n\u2022 The planar IK/FK formulas worked well, and this rig's z bias was consistent: formula z \u2248 true fingertip z + 0.07 m for both arms (verified once by a table/contact stall, then reused successfully for pick, place and stacking heights). Measure it once early with a contact stall and then trust it \u2014 it turns descents into single confident calls.\n\u2022 Contact detection is reliable: j1 stops tracking its target AND its effort relaxes from \u2248 -11 toward \u2248 -6 while j3 effort rises to ~1. That signature distinguished \"block landed on the cube\" (stall at formula z 0.131) from \"still falling toward the table\".\n\u2022 Grasp verification: residual 0.45 \u2248 4.3 cm block, gripper effort ~1.0. Gripper effort decays toward 0.1 while holding statically \u2014 do NOT read a decayed effort as a dropped object; check the wrist image instead (a held block stays rigidly fixed at the bottom of the frame while the background blurs past).\n\u2022 Reach matters: with the gripper straight down, formula r > ~0.50 m is unreachable, and anything beyond ~0.45 m becomes near-singular with heavy undershoot. If a target is out of one arm's comfortable radius, it is far cheaper to have the OTHER arm relocate it into the shared zone (~0.40 m radius, bearing \u2248 \u22130.8 rad from each base \u2014 i.e. the midpoint between the bases) than to fight the reach limit.\n\u2022 Wrist-camera depth is genuinely ambiguous and cost me ~10 calls: image-x is trustworthy (a controlled j0 nudge confirms image-right = arm's right), but image-y conflates height and radius and at times behaved opposite to the documented \"image-down = radially inward\". Don't infer radius from image-y; instead move a known 3-4 cm radially and watch the object's SIZE change, or use the overhead frame with a parallax correction (ground_px = nadir + (img_px - nadir)\u00b7(H-h)/H, H\u22480.72 m).\n\u2022 Overhead frame here: both bases are off/near the bottom edge (the left base is off-frame at the bottom-left), scale \u22483 px/cm at table level, and a correctly centred stack looks like the top block with only a thin sliver of the bottom block showing \u2014 a good, cheap success check.\n\u2022 The blocks are ~4.5 cm cubes; grasping mid-height puts the block's bottom ~1.5 cm below the fingertips, which is the number you need for placing/stacking heights."})

tool

done: The blue "I" block (the left block) is now stacked on top of the red "a" block. Sequence: left arm picked the blue block from the table; the red block turned out to sit at the left arm's reach limit, so the right arm picked it up and relocated it to the shared zone midway between the two bases; the left arm then lowered the blue block onto it — the descent stalled exactly at the predicted stack height (fingertips ~6 cm, load bottom ≈ cube top 4.5 cm) with rising wrist effort — and released. The final overhead frame shows a single blue block with the red block's edge peeking out beneath it, and no other block anywhere on the table.

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 · 8.957 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=0.0074 left_j2=0.009 left_j3=-0.0338 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0109 right_j2=0.0067 right_j3=-0.0246 right_j4=-0.0116 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.0889, 1.2103, 6.4068, 2.2344, -0.0562, 0.149, -0.0464, -0.3761, 0.8684, 6.6256, 2.1123, 0.0659, -0.0415, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f538b68445077e12c177888fbf9b93e597c1373942ae5c6afee3bf64fca06dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f2661e005d2164acf80150369f2bf2be9b999c58d2bb79754005d3e8c03404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c412ab0c359e3307b88aea3de97eef646658e0cdf7b0c9f3f8d891db4362c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 7.124 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=0.0074 left_j2=0.009 left_j3=-0.0338 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0109 right_j2=0.0067 right_j3=-0.0246 right_j4=-0.0116 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.0889, 1.2103, 6.4068, 2.2344, -0.0562, 0.149, -0.0464, -0.3761, 0.8684, 6.6256, 2.1123, 0.0659, -0.0415, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f538b68445077e12c177888fbf9b93e597c1373942ae5c6afee3bf64fca06dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f2661e005d2164acf80150369f2bf2be9b999c58d2bb79754005d3e8c03404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c412ab0c359e3307b88aea3de97eef646658e0cdf7b0c9f3f8d891db4362c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f538b6844507]

[blob 01f2661e005d]

[blob 0c412ab0c359]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GW9468nrWnPpvAVFGPY8SR",
      "input": {
        "note": "Overhead view shows a blue block left-of-center and an orange block right-of-center on the table. I'm raising the left arm into a gripper-down hover pose (~35 cm forward, ~25 cm up) so I can see the gripper in the overhead frame and calibrate pixel scale.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": 0.0,
          "left_j1": 1.98,
          "left_j2": 1.96,
          "left_j3": -1.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 32 steps (3.2s)",
      "tool_use_id": "toolu_01GW9468nrWnPpvAVFGPY8SR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=1.9598 left_j2=1.9175 left_j3=-1.4937 left_j4=0.001 left_j5=-0.0261 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.5111, 8.0342, 0.1001, -0.0122, 0.0073, -0.0464, -0.1026, 1.6068, 7.0496, 1.8681, -0.0562, -0.0513, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9e51f5009adf59f400bde77b61ae35de26386a2226606db557b354039456af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7adce5b5549563ea119ff776841620534832c4bd157df2af5c8c18e8f10480e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a946bd3d46904ca854cba2d7e7fa9ad5764db93c982ad74dcf61e84a757ad77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 14.84 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=0.0074 left_j2=0.009 left_j3=-0.0338 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0109 right_j2=0.0067 right_j3=-0.0246 right_j4=-0.0116 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.0889, 1.2103, 6.4068, 2.2344, -0.0562, 0.149, -0.0464, -0.3761, 0.8684, 6.6256, 2.1123, 0.0659, -0.0415, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=1.9598 left_j2=1.9175 left_j3=-1.4937 left_j4=0.001 left_j5=-0.0261 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.5111, 8.0342, 0.1001, -0.0122, 0.0073, -0.0464, -0.1026, 1.6068, 7.0496, 1.8681, -0.0562, -0.0513, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9e51f5009adf59f400bde77b61ae35de26386a2226606db557b354039456af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7adce5b5549563ea119ff776841620534832c4bd157df2af5c8c18e8f10480e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a946bd3d46904ca854cba2d7e7fa9ad5764db93c982ad74dcf61e84a757ad77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bc9e51f5009a]

[blob 7adce5b55495]

[blob 7a946bd3d469]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JbUGezmpey24So2nb5HpPx",
      "input": {
        "note": "The left gripper is now visible at the upper-left of the overhead frame; the blue block sits at (91,157) and the orange at (144,155). I'm yawing the base -0.4 rad (a known ~14 cm arc) purely to calibrate the overhead pixel scale and direction of motion.",
        "targets": {
          "left_j0": -0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JbUGezmpey24So2nb5HpPx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.374 left_j1=1.9862 left_j2=1.9221 left_j3=-1.5066 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0292 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -12.1231, 5.2444, 0.4322, -0.0366, -0.0366, -0.0171, -0.1436, 1.6205, 7.1179, 1.8926, -0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a73888d5b898d70a33b5a04ed679e2c91dd29489a3d6fe23260315bf3804f90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc80682be46578cb702ed706ec24fce3f0478c00a459417ffedf0b730e921df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c1e8d01520ac2585a78dc63d7e2f3ed036993ee73b226038e3ca0cf34cb7784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 5.121 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=0.0074 left_j2=0.009 left_j3=-0.0338 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0109 right_j2=0.0067 right_j3=-0.0246 right_j4=-0.0116 right_j5=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.0889, 1.2103, 6.4068, 2.2344, -0.0562, 0.149, -0.0464, -0.3761, 0.8684, 6.6256, 2.1123, 0.0659, -0.0415, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=1.9598 left_j2=1.9175 left_j3=-1.4937 left_j4=0.001 left_j5=-0.0261 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.5111, 8.0342, 0.1001, -0.0122, 0.0073, -0.0464, -0.1026, 1.6068, 7.0496, 1.8681, -0.0562, -0.0513, -0.0269]",
      "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=-0.374 left_j1=1.9862 left_j2=1.9221 left_j3=-1.5066 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0292 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -12.1231, 5.2444, 0.4322, -0.0366, -0.0366, -0.0171, -0.1436, 1.6205, 7.1179, 1.8926, -0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a73888d5b898d70a33b5a04ed679e2c91dd29489a3d6fe23260315bf3804f90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc80682be46578cb702ed706ec24fce3f0478c00a459417ffedf0b730e921df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1e8d01520ac2585a78dc63d7e2f3ed036993ee73b226038e3ca0cf34cb7784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a73888d5b898]

[blob 9cc80682be46]

[blob 7c1e8d01520a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEgpwY7VnYtriwG5iVaZV6",
      "input": {
        "note": "The left wrist camera now clearly shows the blue \"I\" block ahead and to the right of the jaws. I'm lowering the gripper from ~25 cm to ~12 cm above the table (same radius/bearing) so both cameras give a better-scaled view for the final approach.",
        "targets": {
          "left_j1": 2.113,
          "left_j2": 1.604,
          "left_j3": -1.062
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XEgpwY7VnYtriwG5iVaZV6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3721 left_j1=2.0907 left_j2=1.6165 left_j3=-1.1305 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0872, 5.8462, 0.3785, -0.0317, -0.0757, -0.0171, -0.0889, 1.6205, 6.9949, 1.8877, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed41764a8194fa9eb6c044efc3c184e7bd4ca9ddfcf79490d32a09c07484af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262a967dacda579c45cf6213d05a9c31a2b63aff0dad90a1a466b41a89ff31ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8de4dc8e006c6e230597411ba883fb0b1ff30919037c2d5c32a26123c7ad4592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 14.19 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=1.9598 left_j2=1.9175 left_j3=-1.4937 left_j4=0.001 left_j5=-0.0261 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.5111, 8.0342, 0.1001, -0.0122, 0.0073, -0.0464, -0.1026, 1.6068, 7.0496, 1.8681, -0.0562, -0.0513, -0.0269]",
      "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=-0.374 left_j1=1.9862 left_j2=1.9221 left_j3=-1.5066 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0292 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -12.1231, 5.2444, 0.4322, -0.0366, -0.0366, -0.0171, -0.1436, 1.6205, 7.1179, 1.8926, -0.0513, -0.0317, -0.0171]",
      "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=-0.3721 left_j1=2.0907 left_j2=1.6165 left_j3=-1.1305 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0872, 5.8462, 0.3785, -0.0317, -0.0757, -0.0171, -0.0889, 1.6205, 6.9949, 1.8877, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed41764a8194fa9eb6c044efc3c184e7bd4ca9ddfcf79490d32a09c07484af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262a967dacda579c45cf6213d05a9c31a2b63aff0dad90a1a466b41a89ff31ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4dc8e006c6e230597411ba883fb0b1ff30919037c2d5c32a26123c7ad4592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob eed41764a819]

[blob 262a967dacda]

[blob 8de4dc8e006c]

{
  "content": [
    {
      "signature": "CAIS0woKjAEIEBgCKkCdz4J+AjYsXEEznmbP8NMM0ybWZmii+E0vyOuC6MXyllY10BsS9OVLXgipIXG8vmxSYGMFjgYSOzqqy2e2PZ2LMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM6H/BTTLpLm7607JFGgz+TrniHz6QVmnxrFciMHsyGYOZpRQqWBN9O//YaPk+RDgAKXo48nDlrV16zMYjw7I1yBBvAmCiHZ6TH6mgSCrzCFPgb3KWwh7v4BwicwVAX3a5ZgsUNvrDq/HHpzBNTZADB2OPNKw8gD3wKhRuqZU/2EH5WfJPvvUmcfvJAojuf9IcbacuSCbTR0cHWgJ51+gVUL33I5H3o8aXcx1PHjRhUclj1xLFcrAH4OPbd0cQ6SFZS7OD3Fmf9HS5EbnefhkMRs0A3lb39tiWh3vHIMB9KwkvUz0j8NylELBjQ/gle87w0EcJ7iIFHH3tX8qhk1TOHVmq6DjC0f+jCcnU18SL8yr6Yl/IGzAOnRQlsruUTV646NcGeCcGM7KDJztxVSOCwYhzvQUxH/G9TYvuBy5xSDAQqByym6ZrY21vB9smgevTaNxSAqCzrqwd21s/+kvQGjQTq0oXL/C+E+kVMy2b9fxa0q+Us8xiG/Qqdm+DsjvRnAubvW5qjQ7BeNmxFDxeS7gQC5PTUvYKNUzmFE9rEIA/s76sAHTjI8ZQq8hkbU4irlb6Gsjfh6d60vy6ZLaDAXSUbdVte0o7lkdPoiT+RUmYT/YSrKhaZHjQDWCFczFM/uGOzmTF7fPqB5jIOAT4Spb/C3fi+6A/0d1CW8J+32XhAOm9m1GbtGk7Bn2sRTYAjn02vRf9ccX8QOStpABMF1RF5CiQWk+pgQJtY941OtOO0kjl0uyydLVQOi/DozWXjGffXTn6jSOAJCWnPMberqrkJmANDZQdJJOqeYpb1zPFME49pv0qdZcK9eIzpZx1q62Yo0cQRDCPio5Wz4RJzMAYQxSMSZzJ4RNPrUmfJuF7eBNJsXWHtDVcIfHI7o0ErzV0XM23dtW3CjbH/Ld15v9LxKxWvmnlb5yYHR/2VuwwvRrPrrl7ff4zDZ+Mco7HuSC+U3gUWRRruC3XNK+9hW++eQn3Fdaj3zrsI+80ynIEEU1o9bM/oDlet81DOvvWAeokJcA+P4Awn5yB2BM4w4ZjzexOf2cz5Wwki/ofdNntNsn5t63bkKvKuynnCQEpa0PZHxFbr1CODJAIm+SMoEKlV8Kd5M71C/UTu+hzs1UAoeoTEMnHhdahT60oDiL/FP9SBGWNJU1+jHaUGYWrXkc5EpDZapVSFDsufnl2NhVuNtJb1g1LMdd/yDCR6HNye7eWd2499BE4wrZkChzGG8OtqzN3pP/waxY9hAE4Dshs99v4Pk7CsL4aVSFaqIIxJsQNHYUzg28waddjjbcHXjXebQurtQE23aAWH39f87galv8Gf2vUcqs8xxJNRU+Z1I4Kr+25Jby8xYa4zXcLKBdRR4LN6oQf+xJ5znQ/GheCTVTKP2pyjHUfIWf8eythhyXBY17rjURbZK9NbmGghRtcSb2sU6jjxEl4nhHjpjaZjN470VKzKjWQtqANozNhKxUBd2N2AvJG6DP88eEvEM+rtz+W4ZM3l1yEW4SRVeRu7c6afrLJuZoXjcj4C/v0bPY77PVs5Xvd0BPTXdz5m7iTkLWiva8qeIWU03vhjtzlsn9Xq2jvN7wun4XA9zQePEbgEdzs0u1qIpBgJ9keKQy9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDY3aa8f6jmy6XRa6TLdwH",
      "input": {
        "note": "From ~12 cm height the wrist camera shows the blue block just off the right edge of frame, so the gripper must swing further to the arm's right; I'm yawing j0 by another -0.25 rad (~8 cm arc) and will re-measure the pixel shift.",
        "targets": {
          "left_j0": -0.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JDY3aa8f6jmy6XRa6TLdwH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6128 left_j1=2.1136 left_j2=1.6028 left_j3=-1.1221 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [2.7282, -12.7795, 6.6803, 0.0659, -0.1978, -0.0171, -0.0073, -0.0615, 1.7846, 7.1043, 1.8535, -0.0024, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e700f116b0091160beafd360101c4384fc9f01d86d5d7f69ecf43b0544287b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f194c55f890e7876bf2e22d6529ae1f0c042f539c3741493d7efbcbc988fea8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31378be21afd6fef9aaf85554a8a445b8931e0147719ae3c4f1bfd4591481d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 9.515 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.374 left_j1=1.9862 left_j2=1.9221 left_j3=-1.5066 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0292 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -12.1231, 5.2444, 0.4322, -0.0366, -0.0366, -0.0171, -0.1436, 1.6205, 7.1179, 1.8926, -0.0513, -0.0317, -0.0171]",
      "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=-0.3721 left_j1=2.0907 left_j2=1.6165 left_j3=-1.1305 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0872, 5.8462, 0.3785, -0.0317, -0.0757, -0.0171, -0.0889, 1.6205, 6.9949, 1.8877, -0.0464, -0.0513, -0.0171]",
      "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=-0.6128 left_j1=2.1136 left_j2=1.6028 left_j3=-1.1221 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [2.7282, -12.7795, 6.6803, 0.0659, -0.1978, -0.0171, -0.0073, -0.0615, 1.7846, 7.1043, 1.8535, -0.0024, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e700f116b0091160beafd360101c4384fc9f01d86d5d7f69ecf43b0544287b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f194c55f890e7876bf2e22d6529ae1f0c042f539c3741493d7efbcbc988fea8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31378be21afd6fef9aaf85554a8a445b8931e0147719ae3c4f1bfd4591481d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e700f116b009]

[blob f194c55f890e]

[blob 31378be21afd]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017W7kmiVSf5t9k9YYMTPsJb",
      "input": {
        "note": "The wrist view is ambiguous about depth, so I'm calibrating height: descending toward a computed z≈6 cm at the same bearing and watching j1 effort/tracking for table contact to learn this arm's z bias.",
        "targets": {
          "left_j1": 2.241,
          "left_j2": 1.531,
          "left_j3": -0.861
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_017W7kmiVSf5t9k9YYMTPsJb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.617 left_j1=2.1693 left_j2=1.5627 left_j3=-1.0054 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0334 right_j4=-0.012 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -5.5453, 2.865, 1.5702, -0.0659, -0.0269, -0.0122, -0.1983, 1.7299, 7.1043, 1.9121, -0.0171, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b562a4c5c9feb26cdfd82d88c39bc8fd5298cc2d24568fff046803ed6e0dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a220e7767614aaff016c596bffab1f4a58389d3e93e6b475a7faaa33c95789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05f1f2d546afea1c9cec4680a9eaff5e46d72d53d87f7cb4b7498b5fa4425a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 9.893 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3721 left_j1=2.0907 left_j2=1.6165 left_j3=-1.1305 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0872, 5.8462, 0.3785, -0.0317, -0.0757, -0.0171, -0.0889, 1.6205, 6.9949, 1.8877, -0.0464, -0.0513, -0.0171]",
      "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=-0.6128 left_j1=2.1136 left_j2=1.6028 left_j3=-1.1221 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [2.7282, -12.7795, 6.6803, 0.0659, -0.1978, -0.0171, -0.0073, -0.0615, 1.7846, 7.1043, 1.8535, -0.0024, -0.0611, -0.0171]",
      "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=-0.617 left_j1=2.1693 left_j2=1.5627 left_j3=-1.0054 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0334 right_j4=-0.012 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -5.5453, 2.865, 1.5702, -0.0659, -0.0269, -0.0122, -0.1983, 1.7299, 7.1043, 1.9121, -0.0171, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b562a4c5c9feb26cdfd82d88c39bc8fd5298cc2d24568fff046803ed6e0dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a220e7767614aaff016c596bffab1f4a58389d3e93e6b475a7faaa33c95789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f1f2d546afea1c9cec4680a9eaff5e46d72d53d87f7cb4b7498b5fa4425a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c3b562a4c5c9]

[blob b6a220e77676]

[blob 05f1f2d546af]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NtGQbFbHxWJbHUHtDxLxHk",
      "input": {
        "note": "In the overhead view the blue block sits down-right of the gripper (about 8 cm to the arm's right and 7 cm closer to the base), so I'm swinging j0 right and pulling the radius in to ~30 cm while holding ~10 cm height to hover over it.",
        "targets": {
          "left_j0": -0.85,
          "left_j1": 2.0,
          "left_j2": 1.32,
          "left_j3": -0.89
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NtGQbFbHxWJbHUHtDxLxHk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8448 left_j1=2.027 left_j2=1.3483 left_j3=-0.9188 left_j4=0.0078 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0467 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [2.2906, -11.1795, 4.9983, 0.5495, -0.0366, -0.022, -0.0122, -0.0615, 1.7299, 7.0496, 2.0537, -0.0659, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03b020eeed9e38ae85ec47bcb2f1443d3a9466a511b8526775d14218c29a533c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:806118c6aabd575094c81041b7dbc55859f618fdf75678e78e7f498d1328c6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0c9fe6c9b8c9f8e96328f62c06302f6a6e5e954a9343a37aa3ff4fe770c4b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 7.342 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6128 left_j1=2.1136 left_j2=1.6028 left_j3=-1.1221 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [2.7282, -12.7795, 6.6803, 0.0659, -0.1978, -0.0171, -0.0073, -0.0615, 1.7846, 7.1043, 1.8535, -0.0024, -0.0611, -0.0171]",
      "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=-0.617 left_j1=2.1693 left_j2=1.5627 left_j3=-1.0054 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0334 right_j4=-0.012 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -5.5453, 2.865, 1.5702, -0.0659, -0.0269, -0.0122, -0.1983, 1.7299, 7.1043, 1.9121, -0.0171, -0.022, -0.0073]",
      "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=-0.8448 left_j1=2.027 left_j2=1.3483 left_j3=-0.9188 left_j4=0.0078 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0467 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [2.2906, -11.1795, 4.9983, 0.5495, -0.0366, -0.022, -0.0122, -0.0615, 1.7299, 7.0496, 2.0537, -0.0659, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03b020eeed9e38ae85ec47bcb2f1443d3a9466a511b8526775d14218c29a533c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:806118c6aabd575094c81041b7dbc55859f618fdf75678e78e7f498d1328c6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0c9fe6c9b8c9f8e96328f62c06302f6a6e5e954a9343a37aa3ff4fe770c4b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 03b020eeed9e]

[blob 806118c6aabd]

[blob f0c9fe6c9b8c]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0182uMK2Y4ZLcM73zH5Wjd3s",
      "input": {
        "note": "The block has dropped out of the wrist view (it is at or nearer than the grasp point) and the arm now occludes it from overhead, so I'm lifting the gripper back up to ~20 cm at the same bearing to re-acquire it in the wrist camera.",
        "targets": {
          "left_j1": 1.82,
          "left_j2": 1.53,
          "left_j3": -1.29
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_0182uMK2Y4ZLcM73zH5Wjd3s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8497 left_j1=1.8557 left_j2=1.4986 left_j3=-1.2236 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0513 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -10.4821, 7.3915, 0.3248, -0.0317, -0.0464, -0.0122, -0.0205, 1.6479, 7.0085, 1.9707, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e245ba163dee7ec354330e70c9be2811fda44717e71af67198cbc5873fefa3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be18e67cb21921fad8229b79d72ca6e5553f6b98d0c3d3a04a007ec54f961c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dda7195005c85c8a6be234d2fc1b8da86bf18fa1ef771e9699ab57f877da4be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 14.92 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.617 left_j1=2.1693 left_j2=1.5627 left_j3=-1.0054 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0334 right_j4=-0.012 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -5.5453, 2.865, 1.5702, -0.0659, -0.0269, -0.0122, -0.1983, 1.7299, 7.1043, 1.9121, -0.0171, -0.022, -0.0073]",
      "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=-0.8448 left_j1=2.027 left_j2=1.3483 left_j3=-0.9188 left_j4=0.0078 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0467 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [2.2906, -11.1795, 4.9983, 0.5495, -0.0366, -0.022, -0.0122, -0.0615, 1.7299, 7.0496, 2.0537, -0.0659, -0.0562, -0.0171]",
      "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=-0.8497 left_j1=1.8557 left_j2=1.4986 left_j3=-1.2236 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0513 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -10.4821, 7.3915, 0.3248, -0.0317, -0.0464, -0.0122, -0.0205, 1.6479, 7.0085, 1.9707, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e245ba163dee7ec354330e70c9be2811fda44717e71af67198cbc5873fefa3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be18e67cb21921fad8229b79d72ca6e5553f6b98d0c3d3a04a007ec54f961c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda7195005c85c8a6be234d2fc1b8da86bf18fa1ef771e9699ab57f877da4be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5e245ba163de]

[blob be18e67cb219]

[blob dda7195005c8]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGkrZQ2kszvXKkhggPy9Q3",
      "input": {
        "note": "I can't tell which block I'm looking at because the arm occludes the left half of the overhead view; I'm parking the left arm back near its base to get one clean overhead frame and re-locate both blocks.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_01MGkrZQ2kszvXKkhggPy9Q3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0151 left_j1=0.6212 left_j2=1.2076 left_j3=-0.6643 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0555 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 2.359, 4.9436, 2.4054, 0.0073, -0.0513, -0.0122, -0.0752, 1.6205, 6.9949, 1.9512, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facb1b908c8b9767532e5715b713845a2bd997c1372b739e8a71776a4872c01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29248818912b91d6eedc07a88683418025f5e2f1b0a8ab7957a797db5a3fe434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d92bb7452fd8cc85538704542be2393c58bca7db034a6f4a010f5368adb74fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 8.12 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8448 left_j1=2.027 left_j2=1.3483 left_j3=-0.9188 left_j4=0.0078 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0467 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [2.2906, -11.1795, 4.9983, 0.5495, -0.0366, -0.022, -0.0122, -0.0615, 1.7299, 7.0496, 2.0537, -0.0659, -0.0562, -0.0171]",
      "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=-0.8497 left_j1=1.8557 left_j2=1.4986 left_j3=-1.2236 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0513 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -10.4821, 7.3915, 0.3248, -0.0317, -0.0464, -0.0122, -0.0205, 1.6479, 7.0085, 1.9707, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0151 left_j1=0.6212 left_j2=1.2076 left_j3=-0.6643 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0555 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 2.359, 4.9436, 2.4054, 0.0073, -0.0513, -0.0122, -0.0752, 1.6205, 6.9949, 1.9512, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facb1b908c8b9767532e5715b713845a2bd997c1372b739e8a71776a4872c01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29248818912b91d6eedc07a88683418025f5e2f1b0a8ab7957a797db5a3fe434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92bb7452fd8cc85538704542be2393c58bca7db034a6f4a010f5368adb74fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob facb1b908c8b]

[blob 29248818912b]

[blob d92bb7452fd8]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pk79ZZquUc9PhUB1kNqEqk",
      "input": {
        "note": "Clean overhead view: the red \"a\" block is at (147,150) and the blue block has been nudged to (135,205) near the bottom edge. I'm sending the left gripper to the bearing/radius I estimate for the blue block at ~15 cm height, to check my pixel-to-arm mapping against where the gripper actually appears.",
        "targets": {
          "left_j0": -1.13,
          "left_j1": 1.89,
          "left_j2": 1.41,
          "left_j3": -1.09
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Pk79ZZquUc9PhUB1kNqEqk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1107 left_j1=1.8729 left_j2=1.3819 left_j3=-1.0595 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0669 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.6205, 8.335, 0.149, 0.0024, -0.0269, -0.0122, -0.0615, 1.5932, 7.2137, 1.9756, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab19ce3826b8ec619f25546456e1cb6451b29d099c4913ab76bfe0c0f38bede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89e10710943e10a11ceca19186d544a4aea3c47217055446a6d17954196f6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ea7215eea0fb81a58391671649d8a4e641f0d2139a28caca7169afe20cfd8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 7.269 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8497 left_j1=1.8557 left_j2=1.4986 left_j3=-1.2236 left_j4=0.0071 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0513 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -10.4821, 7.3915, 0.3248, -0.0317, -0.0464, -0.0122, -0.0205, 1.6479, 7.0085, 1.9707, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0151 left_j1=0.6212 left_j2=1.2076 left_j3=-0.6643 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0555 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 2.359, 4.9436, 2.4054, 0.0073, -0.0513, -0.0122, -0.0752, 1.6205, 6.9949, 1.9512, -0.0269, -0.0317, -0.0073]",
      "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=-1.1107 left_j1=1.8729 left_j2=1.3819 left_j3=-1.0595 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0669 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.6205, 8.335, 0.149, 0.0024, -0.0269, -0.0122, -0.0615, 1.5932, 7.2137, 1.9756, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab19ce3826b8ec619f25546456e1cb6451b29d099c4913ab76bfe0c0f38bede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89e10710943e10a11ceca19186d544a4aea3c47217055446a6d17954196f6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea7215eea0fb81a58391671649d8a4e641f0d2139a28caca7169afe20cfd8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob aab19ce3826b]

[blob d89e10710943]

[blob 3ea7215eea0f]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N87yTYEuhusf2F2oyMopVC",
      "input": {
        "note": "The wrist camera now shows the blue \"I\" block almost centered in x (120 vs jaw line 115) but high in frame, so it is ahead of and below the jaws; I'm descending ~7 cm and advancing ~3 cm radially to bring it toward the grasp point.",
        "targets": {
          "left_j1": 2.135,
          "left_j2": 1.445,
          "left_j3": -0.881
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01N87yTYEuhusf2F2oyMopVC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0869 left_j2=1.4357 left_j3=-0.973 left_j4=0.0071 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0685 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -6.653, 5.8188, 1.0574, -0.0269, -0.0464, -0.0122, -0.0615, 1.5795, 6.9949, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7812fc78128126c66bac763bdad7b5abdab6d0d4ca374ee9aac857473ae39de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135ca80d01ec16be56a9e8e5eec0a6e6832ca01213206bdc81752f5fd9101f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5053ea5421d7f710490f9a8a15187d34a223fd6e5168e6c805c689a1fc3785b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 4.6 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0151 left_j1=0.6212 left_j2=1.2076 left_j3=-0.6643 left_j4=0.0036 left_j5=-0.0265 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0555 right_j4=-0.0124 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 2.359, 4.9436, 2.4054, 0.0073, -0.0513, -0.0122, -0.0752, 1.6205, 6.9949, 1.9512, -0.0269, -0.0317, -0.0073]",
      "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=-1.1107 left_j1=1.8729 left_j2=1.3819 left_j3=-1.0595 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0669 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.6205, 8.335, 0.149, 0.0024, -0.0269, -0.0122, -0.0615, 1.5932, 7.2137, 1.9756, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0869 left_j2=1.4357 left_j3=-0.973 left_j4=0.0071 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0685 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -6.653, 5.8188, 1.0574, -0.0269, -0.0464, -0.0122, -0.0615, 1.5795, 6.9949, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7812fc78128126c66bac763bdad7b5abdab6d0d4ca374ee9aac857473ae39de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135ca80d01ec16be56a9e8e5eec0a6e6832ca01213206bdc81752f5fd9101f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5053ea5421d7f710490f9a8a15187d34a223fd6e5168e6c805c689a1fc3785b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a7812fc78128]

[blob 135ca80d01ec]

[blob d5053ea5421d]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017GHsAwpUr8v4GGF8qdr66N",
      "input": {
        "note": "The wrist view is filled by the blue block's white top, well centered on the jaw line, so the gripper is nearly over it; descending another ~5 cm toward table level to straddle the block, watching j1 effort for contact.",
        "targets": {
          "left_j1": 2.269,
          "left_j2": 1.412,
          "left_j3": -0.714
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_017GHsAwpUr8v4GGF8qdr66N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1235 left_j2=1.4658 left_j3=-0.9516 left_j4=0.0067 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, 1.1556, 1.1145, 2.5568, -0.0366, -0.022, -0.0171, -0.0889, 1.6342, 6.9949, 1.873, -0.0708, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d8c4c86a6802b200db28ba0e847acaa58e9ed033b0cf3c04a21ce039a7d014f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e607c142d7fca23cb19289fe3b37ca4de4cea9b4fd8699df79d6d014da8f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b6e6e328e9f0f3c5202549652067d1f06818ab8ff20c1318407d154f35e42f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 4.549 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1107 left_j1=1.8729 left_j2=1.3819 left_j3=-1.0595 left_j4=0.0032 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0669 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.6205, 8.335, 0.149, 0.0024, -0.0269, -0.0122, -0.0615, 1.5932, 7.2137, 1.9756, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0869 left_j2=1.4357 left_j3=-0.973 left_j4=0.0071 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0685 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -6.653, 5.8188, 1.0574, -0.0269, -0.0464, -0.0122, -0.0615, 1.5795, 6.9949, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1235 left_j2=1.4658 left_j3=-0.9516 left_j4=0.0067 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, 1.1556, 1.1145, 2.5568, -0.0366, -0.022, -0.0171, -0.0889, 1.6342, 6.9949, 1.873, -0.0708, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d8c4c86a6802b200db28ba0e847acaa58e9ed033b0cf3c04a21ce039a7d014f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e607c142d7fca23cb19289fe3b37ca4de4cea9b4fd8699df79d6d014da8f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6e6e328e9f0f3c5202549652067d1f06818ab8ff20c1318407d154f35e42f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9d8c4c86a680]

[blob c9e607c142d7]

[blob 9b6e6e328e9f]

{
  "content": [
    {
      "signature": "CAISmgcKjAEIEBgCKkDs67wZJcCFwHyIQaHpYsWHoB5Kas62AdcgRF+Dh+aRgmfGMLjOHNKTFsZOGXBXJQwaljwEBLm9d08pKlmru1vPMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZaYEJJyG6yeB6yUgGgx5lLKS33uYqRy0WcEiMJQFha3ID612QTuC+f8k5Q50e+JfzUz59ggtSf8Je9TJZxrTyvdj2VURg7mOvRq8Jyq6BWAIS68ZsDOuHeNppVJa+MfxI/AukGI5AF9/9y50+g5lqrKDk2NUiXqhVXauXG3WSkMRNsU6Ehbo4OAOcQJzUPKiILMBQJRl5Es9tOW0CDFCT8X27SlFJPe3if6vNC7KvKmwB8CseE2MyOPOgs+N1+3CHIhT3ox1m2q0x4eTvZa02AzBzvMY+KsZpqDy1rSZJ7EqwDQsNl+sAUN2xNmJkHq3IAONbRPSROf8ub4TGKPBX0G/jrooXFvx0k9giAmp1ocwp+xE7YsQyQJI160hgrG9BX63dKYu2suMkO+34Ivwb4AwW9Gr4szqDohpuV1VYtkXAxdxKHAsdonaWLkLxBmNfszKLGl/NueMKBIo8+IimEHVo4sHUtjcSCctls2wtT2/CO1gMLA3f/3JsAgY3niplamOCx7tbULQ7GbzIrqzbKDvUOLNLmm1F0bIG2W+vshWEIr/ZqbhMOi/1F+Sw2vvqH0mSdaHws5+2q/SB7+N4siIoou1atGFjny14k4Ubc8jB4VRQURbW03QTZwu7kNohMme39xkYQWExn87rqIdNQFUgDsNxcZm3+p8fGMTZ1zmSa4dkTqlpU4DFXddyF28aatDWquLlnVe8lOxAETsq4D7uX6ccyBflC4+wY3EqUaVQ2QplH0WXamDprBTiEmkx23xL9PIbsZxIq10G491UNwIUQiJASnPgKEL1n3AFvFr/A0pkH4UzFwlgbi33BEO4YgFZXNMTpGX/bDW+mSamY5b8Z8ddcbygR729f4UPDCYuwwU4lxcNRlcF4X6DVE18lWPVlWqWJNHwd+l3TUg9ZrHkDOi0H6zr+WsbXpeE7g3Q4eAieqAxB6821OIcYCpfcwZfQD2LSGZc+OdK3T9RszosQXhVtJVETnIQ6N85VzRZ+9Y52RsAfIZTPFrmN/anDxnrCA49TC5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKbjuToT92TRCBeAogxuuA",
      "input": {
        "note": "j1 stopped tracking and its effort flipped positive, indicating the fingertips have reached table/block level with the block centered on the jaw line; closing the gripper fully to check the grasped thickness from the residual.",
        "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_01VKbjuToT92TRCBeAogxuuA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1078 left_j2=1.4734 left_j3=-0.9543 left_j4=0.0059 left_j5=-0.0261 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.5111, 4.7248, 0.2906, 0.0024, -0.022, 1.033, -0.0889, 1.6068, 6.9949, 1.8926, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9eac8d077fae67a93b2e8ccb4b6de9a0b64e51004203e521db49d21975d0e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6641c7c3b20c4e03e580038d4e8d6c0759d1665146b0f3f1b18996a3ecc22bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:094ab5f426fee17f1f7f75ea4989a2c0838f7cf54ebe940ab83d354fc0ea7e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 12.2 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0869 left_j2=1.4357 left_j3=-0.973 left_j4=0.0071 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0685 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -6.653, 5.8188, 1.0574, -0.0269, -0.0464, -0.0122, -0.0615, 1.5795, 6.9949, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1235 left_j2=1.4658 left_j3=-0.9516 left_j4=0.0067 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, 1.1556, 1.1145, 2.5568, -0.0366, -0.022, -0.0171, -0.0889, 1.6342, 6.9949, 1.873, -0.0708, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1078 left_j2=1.4734 left_j3=-0.9543 left_j4=0.0059 left_j5=-0.0261 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.5111, 4.7248, 0.2906, 0.0024, -0.022, 1.033, -0.0889, 1.6068, 6.9949, 1.8926, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9eac8d077fae67a93b2e8ccb4b6de9a0b64e51004203e521db49d21975d0e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6641c7c3b20c4e03e580038d4e8d6c0759d1665146b0f3f1b18996a3ecc22bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094ab5f426fee17f1f7f75ea4989a2c0838f7cf54ebe940ab83d354fc0ea7e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c9eac8d077fa]

[blob 6641c7c3b20c]

[blob 094ab5f426fe]

{
  "content": [
    {
      "signature": "CAISiAcKjAEIEBgCKkCpZRrW7k2ExNtUnzrqQnKCazAeC0oDwu9Bk8R0SjDQmfCLyswik0ECo6hLWyLOqFhmPUQ+f/ZXNCZJZKwrORTyMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfXWhxu8ijhgpKnmGGgxVLxijUSahN2mR06giMOhRe2F/xQLcnX2f3ENv7Q9+fV9m9aHRLcVeSAmSHBoAtyYaMmYFux7wBBi5eJQFqCqoBbBq6WfxG7kEDheQ/B6JHOHxUdhWFA/4OlOg3H6umzrTo1IVWD5oIp9VbGzzylPYTrhbEURzpvOfOm8xREMkxzehiX7UOo6gbxK9uXB+XLY6c7BrVrr9GmdWDwCuYYNprNP2SPPqqcIuNReSDeED3HoSvyRsrMDxstrZJxgTlhJgLLklEry3Q3yVzIooTP8Hv4nqJOFeZSWGCaBDzL+vvm4gBQ35ZVS4IzFQsJigM+8yL2rJV/UyCiHjsMQ+Ey8+nG7QGfidf8Dw0KEPjf3clq3WoftXcVUnrtEMjaBrCMYn+rhjx6mSFc2rfR9zU3tW48MXPoKQclKoXtSGJrUZJMvevIxp5UI7VSxqNwt6Y/ZmLp1zmvyy8nC7v9IBH8HuVFLssuQakCFYbBoP5tkERCQAxiSc+fGUlc3iOE5A0H8vtZtFREKyUiJSw0OdDUhkhhx38SsHQkXPsGIcRdUTqmnodPTJ6XarKt9vGaEh5by1QRCnf0DLz4/HaVIGNsaZQopK/zuLG5YrQ2aJemxwjyfWeCVu1MS4MjWhDaGZEzJAqP4/ShfLAwopU6VEQaR2jLL9KG0c7rz1nZAL2H0RqW3NfBkMYWpaKGw9yDxeqldopmYFUzZ+9lallKxtfX2XanC1nClU1HkdFtzc2DsPS1cod/LxGZo5+FayfK1TBwBIfwaaYQJeE5qCukR/nX75TxQnclqDAHtxYtq8P61a18UHWmolVdEPRCxyrOyH6V454LZSw0WZ3e0HT2J4ZI1CT23ttaWdl8jUp/MZdOnyIfut8AAPyvxX82EzXTS2s0pzeJoaSxOx5kQ++t2RYBQD5XDgk/fI4Pdw20DfwbI3KhMCMBSIKvrw6FmJdaePvBuBfLJPnbvgUyvnZAJR+TOMHWhoA6AVqMVWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013BC2GiGfc8iRF2eLqXcdLt",
      "input": {
        "note": "The gripper closed to a residual of 0.45 (~4.3 cm) with high gripper effort — the block is grasped. Lifting it ~12 cm straight up to carry it over to the red block.",
        "targets": {
          "left_j1": 1.96,
          "left_j2": 1.56,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_013BC2GiGfc8iRF2eLqXcdLt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0144 left_j2=1.5253 left_j3=-1.0958 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.3966, 7.8154, 0.2857, -0.0562, -0.0659, 1.033, -0.1436, 1.6068, 6.9949, 1.8632, -0.0415, -0.0806, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0589602ab518fc828133c4bdc4522c195af06fb03cd60a6688293404450157e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5399f2ecb253091d2dd1993fe2a53a4ee27f030f187282f2d88f5da02ad7a7bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8822903ad3757eb28c698c859742cfa7e9841af62b4c2b27793f7d3e57258ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 4.696 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1235 left_j2=1.4658 left_j3=-0.9516 left_j4=0.0067 left_j5=-0.0261 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, 1.1556, 1.1145, 2.5568, -0.0366, -0.022, -0.0171, -0.0889, 1.6342, 6.9949, 1.873, -0.0708, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1078 left_j2=1.4734 left_j3=-0.9543 left_j4=0.0059 left_j5=-0.0261 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.5111, 4.7248, 0.2906, 0.0024, -0.022, 1.033, -0.0889, 1.6068, 6.9949, 1.8926, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-1.1091 left_j1=2.0144 left_j2=1.5253 left_j3=-1.0958 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.3966, 7.8154, 0.2857, -0.0562, -0.0659, 1.033, -0.1436, 1.6068, 6.9949, 1.8632, -0.0415, -0.0806, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0589602ab518fc828133c4bdc4522c195af06fb03cd60a6688293404450157e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5399f2ecb253091d2dd1993fe2a53a4ee27f030f187282f2d88f5da02ad7a7bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8822903ad3757eb28c698c859742cfa7e9841af62b4c2b27793f7d3e57258ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c0589602ab51]

[blob 5399f2ecb253]

[blob 8822903ad375]

{
  "content": [
    {
      "signature": 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uxO0JyojLAEOyy/ucQlf3SNDPFTKHFn8sEauVerCPriywtPGaopMcFbCwef3hWO3H0pFYk8FrTMTfffe9hbUzAEsCYf9nSuj5fearAhIO09JpCcjGOEtNDnF7PUy6oIHyhezu65WSVumZz/w43xc3t2me30viL5KnHVK5vuZZzK+NmXIrZK4/aphn1lWV8YlobF7o06OjP6ccxsiHULmznyJQquwdCtVH4hw4wOXtiakYFmxgIRKO+QNb/iL8WWAOmpM3XyYOPKWspqIwHmZXZbRMXldKTaX/H4A8H0f9+IFCeJefaPZc8Q+STemIODq53wR74SNC0ikBQA25UMGTEOGQwxWxDrs1/e5diXMl3g5/P83QXZZdUz3FkzJrqOf3I4xX0q1op6jsw0LNaf/Eu004bpnCNmIfsSZXjmQwfrzFoObdZaNU43A0hLidyG6YIFWuL7Ms4QPsUB+bPktCKQj3EVo0MsL6FXhOCMQQ8kjnnIBjg42fPMusYyGHKtOMFrws1jzq0B9gaugXzoLjQpvJZ85wwkyC1itX5SLkklLxWd2Kt2nWGsPwu2lUnX6KtQfGlgFCOa/n+I/B5/OK6WdK6iEpKMjbQhbny/UmalOpB/1KDcVv3aRwDP2uFqxDbKb71AUGlPGIBYeWN2p02/Ynft7pm9seRJx/Pxpu/Ip5Udc0NcjefT2RW8hB+PoVX73CLRI0sy5ddMaoEXNQIt05L9l5YSeHAGLdvkb20PMAW3vj6jM/U329l1dgXDls8kfGQ2aZ9LCVtwIbOaSb04Uf7gYcuirWWQ/WSyb7/2RrJTAnFYkZHwzmGx1FxISJVHH2ht4FVWNnZD6ubEodz+FM3Eki+VNkaWu3X4ASVdqSqs+4aDYDlLz1O0e7vHMm8XSwT4lXgyrSDrXNdl3L5cVt+UysBEmnvDkvmpsxNHBRiGN8ZMmskIlpECBNQt0PHYTFtd6iuYJVdHehAzyF6CMVze0Ta9zbN/zvHl2m8lSepVrtaZUBy+NWACAe7aPW6l++EbhLt5noPgwGeXY07uAGuxlHeEAIvsy2ZhcIII14J+vEqKFgXjn1SUWB9CRLlCLAGy5TL2GyyHbUAw7EPKs3y3a23KGyJ9McvUhg0X37eWlwV9WveYfdAfMl6fWgicu9rYbb9gCoFEwOfXDXJBNShGqIRlIg62y/H+lYfmfJlu1E61Da7W8X9rw5ksIXlL26E7OtyaaRWMzL/Rkqp8ihmMxCukn1Q5nhIb81Ify8gjq60D9OmPAmtwjU5eO52FcI90KxrdPLJL0XsyHNBbNbA/VQLAewpaq/Yb2GP6Dr67kqj+Cr0l2Mrd4ozamL/Ct+LD/XZ7k2WTHf8+5nrZATidSDDrqYEDONfKR+vwgFQi9aUf/67c57d6u+A0So3y+etX8lXuoOE2mEN05Q8CD1dCvcUyylK+t2O+HQ6YdeU5MRQgKu7yBZUJIOZUoiC6e4KzxOPMzTDhiEvDvl8spN3UvBuuqOc8gms0R/MJBh5dHzf3QiK1kq997sd4+bl1Vegg1cZW/Wro8qjo0/V1kUxM/o2YAvzfHH58pDsAt3D1L5zMEVI8GstT0PqzKCIx72AT7czKWB0z53VFkmqgM1wXDEUjjxudMde/A/8Ak743O9+pMFb/v0wxbHj9K9x/yy4dqquRav000YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMU8PRY87SnyhpDnXwRAWf",
      "input": {
        "note": "The object stays rigidly fixed at the bottom of the wrist frame while the background blurs past, confirming the block is held in the jaws. Raising to ~22 cm to clear the table and get an overhead look at where the red target block is.",
        "targets": {
          "left_j1": 1.9,
          "left_j2": 1.76,
          "left_j3": -1.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NMU8PRY87SnyhpDnXwRAWf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=1.948 left_j2=1.7195 left_j3=-1.3712 left_j4=0.0063 left_j5=-0.0265 left_gripper=0.4566 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -12.8752, 8.1436, 0.2808, -0.0415, -0.0269, 1.033, -0.0342, 1.7709, 6.9949, 1.8926, -0.0611, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df67f0426aa935739418f55b221a3c41aa47b525c342c4cd0efb9c64b469b73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92742878d7d7dded0acfba88a69c4a8159ec6b989d02489eabeedc70482af52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45d82373959d832571d9783e52561895078b248e619e1dfe097b2bd79e1d1926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 15.33 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.1078 left_j2=1.4734 left_j3=-0.9543 left_j4=0.0059 left_j5=-0.0261 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.5111, 4.7248, 0.2906, 0.0024, -0.022, 1.033, -0.0889, 1.6068, 6.9949, 1.8926, -0.0562, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-1.1091 left_j1=2.0144 left_j2=1.5253 left_j3=-1.0958 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.3966, 7.8154, 0.2857, -0.0562, -0.0659, 1.033, -0.1436, 1.6068, 6.9949, 1.8632, -0.0415, -0.0806, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-1.1091 left_j1=1.948 left_j2=1.7195 left_j3=-1.3712 left_j4=0.0063 left_j5=-0.0265 left_gripper=0.4566 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -12.8752, 8.1436, 0.2808, -0.0415, -0.0269, 1.033, -0.0342, 1.7709, 6.9949, 1.8926, -0.0611, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df67f0426aa935739418f55b221a3c41aa47b525c342c4cd0efb9c64b469b73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92742878d7d7dded0acfba88a69c4a8159ec6b989d02489eabeedc70482af52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d82373959d832571d9783e52561895078b248e619e1dfe097b2bd79e1d1926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob df67f0426aa9]

[blob 92742878d7d7]

[blob 45d82373959d]

{
  "content": [
    {
      "signature": "CAISvwkKjAEIEBgCKkBciMSSDopO7wceGFpArqMjqxy0PxQ/dJaLsvpatn4wzKLEuHqnpbDeoUrPAN2oiU7so4U+6g91Nur/9oQqCXRdMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMrMywIC1+ofqkrsGgGgwNblY3tvwY/63+R2MiMHfGYdSLQ69q+Y+/BQGdZNucHrR0E/yjr2L7UX0FqEmg8sJtz2Qei04ajzqqVh2WTCrfB28bkDBIXXjOnj4+hmC7DNrcaW224UKqAw0miy1BDMMIYk+wtsJZMZuXew2mVOd9awaVr+A6fy67LRmpz+ss8AHgKUQj4MV5hHOPgkV60jWG6pRUtqJZn/XfZ5xruUkR5P3DrzCwN2J+40yFoVF2+l4hfid72qapCVm6CTxpUTBBR+s3vAGWdbPGOjxcksFu07UGHcmZ18/rIv9+SClfSDVgtbZnFR8CqiWFoOqfIaIIOH6GUmXqtZvMA+71b1oCQWQjSpefSk7nsGMdl7/ggo0dQ2x1ZEVN17LcXq/gDJgmIzi1DvNrKdopE0X5umsUUVSwq5lZnGeYIsu6N0WA6LUWhBSDGp4Vghrrohq6CCcQ/syJNw0ZgE1s5ynYsLtfXv8ny21Kr9c2yufIjJAq1JrIIbp+tgdgDvIZxviS8h0yk1mSOmBw7Pp+LFMEZlMO6THuonC9OfHn4n61vWVj72RF4OxrwIEFPKVbVz4DpurU99NxNdF12pYO3HGkgDyPHiyGemBD9vblGrhe+Yqg2JPPUYhXVZtJGX6x5Z5a9dwMFT7EiSlNi0f+h56/wfjr5tVbDbdvsJtZPSuH+T+Hf7Nz2m76YLKYpH5UuaOpqYFL+DkT4YH4QcC9m4cFHE7rzu//BhvgQH4qNFPvyXckaAV1xnDvvtPYcRARVg80NXo8MWMAbOUayJRIln/Av5NoJeDxEEBaee7yg6HMKWBfCbMKf0StfzabO7tEMvkyFFMbX2BR86RR/T0bRgOLDdQnZjAiKiOFRxyUOIj9yqYW9A+IL2lYtYx0YxXxGIvOs3ToAqUr0ZS6QXj8DojR7h8iSXVLh8tQsFq18MFkPnOLsnp3daNGG8KYa+PgPcV70YV9X55t/6Jeulw321lVNeYsyS9zlPAvNo+kZy+hfQnKBlA+u/8WVo3t11F6VuS/E7azaGpUJTcdRZEAwlvxx7gCF1jvPqOeTIp1zi3pdRw8jMMSmSMSE49Yy4NeJ5jgb0wqgbwzahZY8NiV8aS9ILFu8Ayk7d3hNsBtV+f///B09LgublNk14IDAOUFwbKWY6MCB26nSYwn455j1BRJCSrIMdJKyWAZZdtRZDBKk/glQjLmQQ0HAiTqmik+BqwXGKpc8TiWdK195fWA0wI43bIE19Tf28oQmvCMPDi5rau4uJR4Qz6ESalJS4yoIy785NJqxuRDTUnM7zPREL5GIXHKf/QQeBKFBQyLEGw4WGMGok2JzfL8q0vp1kF36lvOPZs3o5fH076ggbmjtrVLjA8+ikR3DuwfcRqM249xJ2ooDhK0rXKvL3VIAhQbrc33FWsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014spcci9PQcy4KhmroGTTpi",
      "input": {
        "note": "The overhead view is blocked by the gripper exactly where the red block used to be, so I'm yawing the loaded arm back to the left (j0 -0.45) at height to uncover that area and confirm the red block's position.",
        "targets": {
          "left_j0": -0.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_014spcci9PQcy4KhmroGTTpi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4728 left_j1=1.9434 left_j2=1.7195 left_j3=-1.3727 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -9.306, 5.6684, 0.2271, 0.0073, -0.0513, 1.0281, -0.0068, 1.6068, 7.1179, 1.9219, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e21f9ca176954799a90bbe1d9a65a5cc8590024eba90671824a8586b765772c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9a3ce6789b6f944d48d1748b9d2dfa734a9c411a1c92a7576ffa6f94070029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9d586124827ed793ee6e577de8cd530ef9eb0ba45aa488d16bd8b9fb923fa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 9.263 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=2.0144 left_j2=1.5253 left_j3=-1.0958 left_j4=0.0059 left_j5=-0.0265 left_gripper=0.4526 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.3966, 7.8154, 0.2857, -0.0562, -0.0659, 1.033, -0.1436, 1.6068, 6.9949, 1.8632, -0.0415, -0.0806, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-1.1091 left_j1=1.948 left_j2=1.7195 left_j3=-1.3712 left_j4=0.0063 left_j5=-0.0265 left_gripper=0.4566 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -12.8752, 8.1436, 0.2808, -0.0415, -0.0269, 1.033, -0.0342, 1.7709, 6.9949, 1.8926, -0.0611, -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=-0.4728 left_j1=1.9434 left_j2=1.7195 left_j3=-1.3727 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -9.306, 5.6684, 0.2271, 0.0073, -0.0513, 1.0281, -0.0068, 1.6068, 7.1179, 1.9219, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e21f9ca176954799a90bbe1d9a65a5cc8590024eba90671824a8586b765772c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9a3ce6789b6f944d48d1748b9d2dfa734a9c411a1c92a7576ffa6f94070029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d586124827ed793ee6e577de8cd530ef9eb0ba45aa488d16bd8b9fb923fa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1e21f9ca1769]

[blob 3e9a3ce6789b]

[blob e9d586124827]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EHMBts8MaZBWLGsbkzUhfw",
      "input": {
        "note": "Overhead now clearly shows the red \"a\" block at (147,152) with the blue block secure in the gripper. Using the pixel offset from where I picked the blue block, I estimate the red block at bearing ≈ -0.8 rad and radius ≈ 0.45 m, so I'm flying there at ~20 cm height to acquire it in the wrist camera.",
        "targets": {
          "left_j0": -0.8,
          "left_j1": 2.467,
          "left_j2": 2.558,
          "left_j3": -1.66
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01EHMBts8MaZBWLGsbkzUhfw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7883 left_j1=2.4493 left_j2=2.5164 left_j3=-1.6444 left_j4=0.0067 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -11.9863, 7.8017, 0.1392, -0.0513, -0.0269, 1.033, -0.0615, 1.5932, 6.9949, 1.8632, -0.0464, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1385ca5775b233b27b3674b884196609127a897b0f01657f0745c8c6cb9997e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ee0fafc5a25d94f2f90fffabc1c904c03fde724d3e7f910f82f89304092e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:307a72c3ba9457f12687249869a227e6526dbf7ca906aaed37b9e0b5a41d5e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 9.131 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1091 left_j1=1.948 left_j2=1.7195 left_j3=-1.3712 left_j4=0.0063 left_j5=-0.0265 left_gripper=0.4566 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -12.8752, 8.1436, 0.2808, -0.0415, -0.0269, 1.033, -0.0342, 1.7709, 6.9949, 1.8926, -0.0611, -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=-0.4728 left_j1=1.9434 left_j2=1.7195 left_j3=-1.3727 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -9.306, 5.6684, 0.2271, 0.0073, -0.0513, 1.0281, -0.0068, 1.6068, 7.1179, 1.9219, -0.0366, -0.0757, -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=-0.7883 left_j1=2.4493 left_j2=2.5164 left_j3=-1.6444 left_j4=0.0067 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -11.9863, 7.8017, 0.1392, -0.0513, -0.0269, 1.033, -0.0615, 1.5932, 6.9949, 1.8632, -0.0464, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1385ca5775b233b27b3674b884196609127a897b0f01657f0745c8c6cb9997e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ee0fafc5a25d94f2f90fffabc1c904c03fde724d3e7f910f82f89304092e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307a72c3ba9457f12687249869a227e6526dbf7ca906aaed37b9e0b5a41d5e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f1385ca5775b]

[blob 76ee0fafc5a2]

[blob 307a72c3ba94]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192sHk7aFSBDjoGbPk1TYFs",
      "input": {
        "note": "The wrist camera has acquired the red \"a\" block at the upper-right (185,60), so it lies to the arm's right of the jaw line; I'm yawing -0.15 rad (~7 cm arc) both to move toward it and to measure the wrist-view pixel scale from the resulting shift.",
        "targets": {
          "left_j0": -0.94
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_0192sHk7aFSBDjoGbPk1TYFs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8959 left_j1=2.4611 left_j2=2.5156 left_j3=-1.6611 left_j4=0.0021 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -14.2017, 5.4359, 0.3394, -0.0024, -0.0708, 1.033, -0.0752, 1.7573, 6.9949, 1.8926, -0.0757, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071eb04d005fe2b2a6907283424b6d59216027d725f31609ef9bb153a24f8c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5ff8bda6b48d484a62e7ed6f82c4c01caa375cb1725d652570510ad4f7348c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4db28d19472c39b3e588f60a6c95326e7f15e230e195875aa9e09febeb65279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 10.18 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4728 left_j1=1.9434 left_j2=1.7195 left_j3=-1.3727 left_j4=0.0048 left_j5=-0.0261 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.012 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -9.306, 5.6684, 0.2271, 0.0073, -0.0513, 1.0281, -0.0068, 1.6068, 7.1179, 1.9219, -0.0366, -0.0757, -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=-0.7883 left_j1=2.4493 left_j2=2.5164 left_j3=-1.6444 left_j4=0.0067 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -11.9863, 7.8017, 0.1392, -0.0513, -0.0269, 1.033, -0.0615, 1.5932, 6.9949, 1.8632, -0.0464, -0.0855, -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=-0.8959 left_j1=2.4611 left_j2=2.5156 left_j3=-1.6611 left_j4=0.0021 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -14.2017, 5.4359, 0.3394, -0.0024, -0.0708, 1.033, -0.0752, 1.7573, 6.9949, 1.8926, -0.0757, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071eb04d005fe2b2a6907283424b6d59216027d725f31609ef9bb153a24f8c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5ff8bda6b48d484a62e7ed6f82c4c01caa375cb1725d652570510ad4f7348c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4db28d19472c39b3e588f60a6c95326e7f15e230e195875aa9e09febeb65279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 071eb04d005f]

[blob be5ff8bda6b4]

[blob e4db28d19472]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WFE8jyp6Nr1J3SueTKKuGc",
      "input": {
        "note": "The -0.108 rad yaw moved the red block 40 px left in the wrist view, giving a scale of ~8 px/cm; it is now at (145,50), so I need ~4 cm more to the right and a big descent. Yawing to -0.978 and lowering from ~20 cm to ~6 cm true height, keeping the same radius.",
        "targets": {
          "left_j0": -0.978,
          "left_j1": 2.485,
          "left_j2": 2.304,
          "left_j3": -1.39
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WFE8jyp6Nr1J3SueTKKuGc",
      "type": "tool_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=2.4802 left_j2=2.3142 left_j3=-1.4605 left_j4=0.0032 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.1077, 6.1607, 0.3736, -0.0269, -0.0659, 1.0379, -0.1983, 1.6068, 7.0222, 1.9121, -0.0708, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae134e7b3ada8dd1fcd03ac71f1a26db4e4172c0937ce36721fbae021fcf901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80395aeab14fbb6830a8ec3adce9bd34407337d5b3c071317c948bec02b2aa1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d23904081d3f317daaf835dd6e8e7e37d37da4aedf58e6a7478fd9d405c4481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /messages · status 200 · 12.26 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7883 left_j1=2.4493 left_j2=2.5164 left_j3=-1.6444 left_j4=0.0067 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -11.9863, 7.8017, 0.1392, -0.0513, -0.0269, 1.033, -0.0615, 1.5932, 6.9949, 1.8632, -0.0464, -0.0855, -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=-0.8959 left_j1=2.4611 left_j2=2.5156 left_j3=-1.6611 left_j4=0.0021 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -14.2017, 5.4359, 0.3394, -0.0024, -0.0708, 1.033, -0.0752, 1.7573, 6.9949, 1.8926, -0.0757, -0.0513, -0.0073]",
      "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=-0.9646 left_j1=2.4802 left_j2=2.3142 left_j3=-1.4605 left_j4=0.0032 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.1077, 6.1607, 0.3736, -0.0269, -0.0659, 1.0379, -0.1983, 1.6068, 7.0222, 1.9121, -0.0708, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae134e7b3ada8dd1fcd03ac71f1a26db4e4172c0937ce36721fbae021fcf901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80395aeab14fbb6830a8ec3adce9bd34407337d5b3c071317c948bec02b2aa1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d23904081d3f317daaf835dd6e8e7e37d37da4aedf58e6a7478fd9d405c4481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5ae134e7b3ad]

[blob 80395aeab14f]

[blob 9d23904081d3]

{
  "content": [
    {
      "signature": "CAISrxoKjAEIEBgCKkCSyRv7pvgPlK7HoaDrwYsK/3ihdJErpav5ZOdnfzOR1VttlUpKd6y4lj4h+EVjEMxssgkT70etFwmhVh6rhlemMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMvSqNGpVxpOc9VIL7GgxTWE9gIaqZ7pXRS6wiMMQSr1L5VRvtG6T3jxcL0Qvo5n/BMgzd8OIYAthwTC/ohuXQulNgpzCWQlmxeNzc4irPGOgM2Un672KS/ImyAkLb/7UF15yatQPihTv8aleFvfYQQZ/OzWfyX7vWMXPt/dB5cdiOXRHxQ8+h2XACrH8awOrk5pVEYcvOIan1siKc5odkF5nqA7rtK8xssiAotAG1HkxoVEWrInKR036XYVX4ZUWOoZp8wGp8J/I2E0cLYJ1YY8GYMUzTSzrOFbaFgolLI7MpeEElAZ/iI4csWC0f+luno9jcJ7j4e814EP4QlJy2cw85z/jsYPMO8nNFoKUpKd1xYUCXZqYyGhFB4bWsGR+xRwCp5CtseX4pW6aCo0o8Z4PgH319fblwj6u6igIkpAsbA7L45mPdySZPqVprigv/xbQZ0CZeiqt8Z5sYv/ig0AzVlQL7gocH2PKXethUgC9GzIrlpBmbySMF6QXQRjnGCYEXgVsLWORADbIeQmK2OtXk9inJirLRwpva5SSIBkU0zuccvrqc9xqAypGVxsripKzACRbxd/JE0TAdKRctedJpUuZ7wl7Xq9Se3dBaduuEsE9MbDEItWsw3DT2NOyCQ3wJYBPYOdYfTY9k17Wz9ZuZ8M8x9ilZIZql4g9J1f4PBgyhAg80/14VLGAFsJJgf/OufcPISJE2aBvcybaW0YtCLXC66a8IhL7DYuj7ShWAd34aQG1b7Vw1w5mjjco7MGdUt6CNLLvnUlKDRi7cZUDpe0FgeM/COn5bzjB8s6C3AEzOz+lfJPO1SduS1a+4wislXdLaW6wp/70KmpT6Kf77wC1Xa44s19MEOzfLKAWoydQVPhAHSSeZQ8iKP3alBjPzo2LPa+SvAT+LM7CnaTpFRExOJJTA6xa1vCfWxozVyk1zPClHrE0OpNtYA8dx2sn3yevLm/NZqpMDuNVXTy0CDV6N+rXGFExB8gZbdK7y71q/WoaWAzTjjl4dSyd2zJkn0NrrgKWRnzM8LbH2lQK4yVWyKxdW8YCYRvv7u3Pt68muxaUIBT/YiXXHJzStsQM/1xNxU384Ya2Pykc48vH17bzj05AaGpUiFG/HiNkVDxuaC/QMWgmQLWKY6yuSf2HZs0nRbcRfAp+7agKOsbBtCtB0zVzkBOi2psZr5qVnNhsqyJThEKOlKmXqu8DDlI8UBYJejm+MDTlAD3JbT4/mNlIJsJPYFvdiReFRpLWokfbhiGvCHdVnssYMXErYMGkXWwFEy1hHvds3sHQSGlgEvrzv7TnWfKouuJnsFfkJMqKtL3EnKDObpDc1jvMLH93YeaQPVfEq3X6pzMtYGQFWZSqa33Is/oawFTly72z8vTf1ZRQApnj2cWkLAP5oHA1AqmAs5bUSz7WjPCRFyfMIeDCZtUUgcHve2Ycll3UdzOvlN5I885oyHWBqqR5BGmlcSVGClKOLIMoII+58dbwQ+U82XqUpZpxR3Ye3uq+xUn9V9ut2Sj+1gZ32Rzqyz4Xl4kiPcDpI2JRT7Z7LMQ8nPlcjyckruHv6687ZSrJALobICmhhssLSowQSugDbG/ND4ng6XfUSugVgg5I8PESdLRcilesagThPGeSawtMb0k88aF6vPVU6BDvZuXZ1vLIxIMiGFTmPua/ROc5FRrTpWZRGw/4I77Zc3G1fk0dixntVJfSRzDkXPelwBdP/pcvjzERuQFi6Kep1G7ZZTWvDxNlPPEe+azLMcFLuV91CRGwNJlInMdoZzpoKAKBH+0cYHVlKkT/syWzZpqynpNs5k6UYkQ3sv5yP4AbXFaLX/NfVqymi4vgcV9Tv9NfWoONiintPhpcMs1HLiuiLxSZo79dzG9KW8Ui2eX9/Ynpu47IbL5/5OeEiu1uOaEBlJM1dqCbTitPOEFEnyoFlT9h7B3Yc5RHN/5E3HvpvcuBWHGdKG4a+Pj9ygKc6qdG7+2OLM+88pjppJTByQMCOyn6qVjhesaHr4QveSi6XhHBZI4xMI/mkx+fH2RvUSHq1FvIoIWp8vIfV75SEX71aemvktbGYeyQ0NTnHDAosz477JOcVzIlC0BB68s+K4idedFDI8uDPKc5IeeDyBsdtN642mX4TW7fTMxkWrH7X8HVj0hnd4ROKAjT/gGePZ/yt6MZEC47fsqse1UqlVJeRkjh7wogKA2+HSibPv2ScSBYXDCTX27Ky8i9wfAXaBdBdLCZEWoc2LiamkyDq2qzfPd3XwHTIKH+emhYyCIkvRcEJWb62iQm/89ZNO9O1hx3Cz0cw4Ggto5C8uytgCUz0QjzCNt2VD9e1n8z7jFo7SZtAmfgprNy1bSc0mkkSRDTz6RXGL4tdiYleYPYPr5wN7CzSieXqGCMKgEUoxxzOMn7KWPznjApjUkEp1UFCTxi8lgZjq+90eQnNPdsWIHShPSlk1sM6kfUKs0LjT1W0yvuoGUvixCSv1XbYnAJZbRkCqx6ee28GL1BV7G/TaZh2B4qeIVFOMOPUoVC0/wX5Mz4YVOSvJybiQmbFxkvx0a34uThlwqfFGRA/WwKY/KjnsmjffQJPbDNHZ3XHgT5Vp5X5xap/dxWB9mox0aqUUaEAZclCU//Cz1quec4Qc1vEucIzl3vaaFpaXAVajXhbpbH4w/xdYEaAAvK36tI0RQ3dOWoipyPPc4YRgP6PtpKcBjvC5niPZUKDTPRM4V++oC27EG/2NrNrOqatR7Nr63m9KwTLCVdOgfgzj7mq5x+yAripfkjd6G8MQaC6/nQg6Ps+URrSb3eg9cYzAt8QVTclSHiEL6kHUyIKFL7MYuaOJ13CmxUlb8Y1dzeNWklzQU3GBBysOM9UNJs323TOBFSAWgdQsGeCOfh3qYd7qVdh5oA9cNGuEHlWFkUshoWHHhf3lGmUD1VmCb9GpUggAcaiZPFVOir5Rq+pAiZwMny8QcLH78xbON4SDjf6ZER8ldL+kK8HT2dhLt3/Sz7sYc42W0Hk9ak8fMY1mDHkz2AIlAt+tYRCD+AalYa5GPfB0Bou2c5rkurypZHVwwO0Qnh7DXggrGmoLpjgyc+Y5MnzdTxFE6WUUtG0W9iiXxGsCNPtui5fs7ueXlD4y0lxDOMKAoXVfqgDpWGuXSZ1BAIfKRrHmgi2jWd2TX5F8aC5MhW6AgzjZCqFtIWl6CFKFbk4+dQosMWdYA8e5dUhOZWoDFtcu2xoGwuH/nH1zIFtnNi7+hf/BRWB7uIp73rtPbIL/VjcyPcQD8vawBCzKJSIDtJo+RotO2DiAfGRHoJPNOOgHjUTn9FXayXvp/E34zmBp4L0ZOwEzO6ZSajGWviAyxeQTroTtRyxUUzkUmqwSGs4rNgQRqSTBs6OaScDqGss7azSQBt6S4/4bszY0a6aGk5S/mEFk6b0hc6oXFDpVS/mIbj+DN8F8zdQZVSejj2Eu6F/N13OZcVbWFInG2rBhopy0nIzE0mMjhQzI5Rn/nHAe6G2t68L6SQLm2xWt8toWrzSRHNDbJdvCJ2fWlzW4hLPrBTsYeG7rGbjJVhiAbuhzKx3dGFUk0vjahc921kd6CMmZBG4zqXRxpS7zrs0W7QhBVvJE19oPtySmjWUbzmqCmLuNQbOGOnUhjdAVBsnNc1A16N4sXQ0TBr1CeY+L5vjFFaa2c0Q2L2/AZQ7tdH7+6FLFuJ1ibu4Ue/dVgWNQdRrtBWdsBd0ZkXuaJiuMFTxp3FrE1skVVb5Fw0gHuSrK8UsH9OVfGlBBsRI0vFd2IK0SXYtJDwze8FGIGQwP6/B8M4/1Nd1jYoX8gOeUNMWm1pmghZyld9EcRXK8XHAtUzCsnW/mUKo+suJhPRmdb4aBP5yVZMatgNtz9zC86mnAMb4w/FC8gIdN+GWZ9dhuJN1xvarO6eku/K2YEKZeo3t8txsf83nWEorgZOZ9EPnhiVXcpQGYi0ys/Iw85soB/APT1SxphjqyTHblnOboWVaPwNoMwggIdrVSKlfAAP5kbFy33tpaPHFewVp68XvDU1Z5dYuVSo86qE54uTnTXp5t9bBWqYkSZwvafpiyzzUApBr3jbknHieh087+N+vwR+WeOji9PtkOyJgXANh9pXKTIQu4a1kn8N8dJyzNxUDcZHCthKz3kh2sd8u2yOqaBPlwxdrpXggqg/zmy7EUdIMOHa/XZ4ykbVKtxOkqUk7GqiC7cI76WdJFk0e4jfM50GffE5ta51+3AERUtyIeeqA6SnfFRNavj7YdFlhQ6OAx2viYk4hQbKdAxfR4UloxuqiapWPCULXWzbXOfMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1cfFCYn79yXWbfo98b1y1",
      "input": {
        "note": "At the lower height the red block sits at (85,70) in the wrist view — slightly left of the jaw line and still well ahead of the fingertips. Correcting yaw back +0.045 rad and extending the radius ~3 cm to close the remaining gap.",
        "targets": {
          "left_j0": -0.92,
          "left_j1": 2.668,
          "left_j2": 2.655,
          "left_j3": -1.557
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01N1cfFCYn79yXWbfo98b1y1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9215 left_j1=2.6446 left_j2=2.6144 left_j3=-1.5574 left_j4=0.0032 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.9299, 7.747, 0.3004, -0.0464, -0.0415, 1.0379, -0.0615, 1.6068, 6.9949, 1.8632, -0.0611, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904cbe8bbf5071e90bfdd9863dad74ff17286502f8972633420f9ebeaf0c107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e8765359522f3cfcc402d730dba99f96118724636fcec749a580e90fc06740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10ab41730c7f72f8da6ac579f43d828f3331e608dc75450dcc29cb8196ad77f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 20 attempt 0 · /messages · status 200 · 14.24 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8959 left_j1=2.4611 left_j2=2.5156 left_j3=-1.6611 left_j4=0.0021 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.7863, -14.2017, 5.4359, 0.3394, -0.0024, -0.0708, 1.033, -0.0752, 1.7573, 6.9949, 1.8926, -0.0757, -0.0513, -0.0073]",
      "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=-0.9646 left_j1=2.4802 left_j2=2.3142 left_j3=-1.4605 left_j4=0.0032 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.1077, 6.1607, 0.3736, -0.0269, -0.0659, 1.0379, -0.1983, 1.6068, 7.0222, 1.9121, -0.0708, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9215 left_j1=2.6446 left_j2=2.6144 left_j3=-1.5574 left_j4=0.0032 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.9299, 7.747, 0.3004, -0.0464, -0.0415, 1.0379, -0.0615, 1.6068, 6.9949, 1.8632, -0.0611, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904cbe8bbf5071e90bfdd9863dad74ff17286502f8972633420f9ebeaf0c107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e8765359522f3cfcc402d730dba99f96118724636fcec749a580e90fc06740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ab41730c7f72f8da6ac579f43d828f3331e608dc75450dcc29cb8196ad77f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2904cbe8bbf5]

[blob 6e8765359522]

[blob 10ab41730c7f]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BsZC3mcuQigrtW2CzKg9eL",
      "input": {
        "note": "The red block is now just peeking above the carried block in the wrist view, i.e. a few cm beyond the fingertips, but I am at the gripper-down reach limit; tilting the wrist ~12° forward to buy ~3 cm of extra radius while keeping the same height.",
        "targets": {
          "left_j1": 2.743,
          "left_j2": 2.792,
          "left_j3": -1.399
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BsZC3mcuQigrtW2CzKg9eL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9199 left_j1=2.7167 left_j2=2.7502 left_j3=-1.5024 left_j4=0.0032 left_j5=-0.0338 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.0803, 7.6923, 0.8327, -0.0464, 0.0317, 1.033, -0.0205, 1.6068, 6.9949, 1.8779, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9363febbe2966aab373eb63fb699c65c0aa0ba1622cfbf34fcc0bf5aba47f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3adc70d8b6aef5c3153bbbbb36171f64b56d930786ec70c61084a3feafb08aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49b408425852ff8d349cda7c1d1d9aac6ac3ca7ba4ba893b3bf624a6220f6ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 21 attempt 0 · /messages · status 200 · 13.05 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9646 left_j1=2.4802 left_j2=2.3142 left_j3=-1.4605 left_j4=0.0032 left_j5=-0.0265 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.1077, 6.1607, 0.3736, -0.0269, -0.0659, 1.0379, -0.1983, 1.6068, 7.0222, 1.9121, -0.0708, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9215 left_j1=2.6446 left_j2=2.6144 left_j3=-1.5574 left_j4=0.0032 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.9299, 7.747, 0.3004, -0.0464, -0.0415, 1.0379, -0.0615, 1.6068, 6.9949, 1.8632, -0.0611, -0.0464, -0.0073]",
      "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=-0.9199 left_j1=2.7167 left_j2=2.7502 left_j3=-1.5024 left_j4=0.0032 left_j5=-0.0338 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.0803, 7.6923, 0.8327, -0.0464, 0.0317, 1.033, -0.0205, 1.6068, 6.9949, 1.8779, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9363febbe2966aab373eb63fb699c65c0aa0ba1622cfbf34fcc0bf5aba47f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3adc70d8b6aef5c3153bbbbb36171f64b56d930786ec70c61084a3feafb08aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49b408425852ff8d349cda7c1d1d9aac6ac3ca7ba4ba893b3bf624a6220f6ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0f9363febbe2]

[blob c3adc70d8b6a]

[blob 49b408425852]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PpB1Bf1E5sgB1xXaGQ3SQV",
      "input": {
        "note": "The red block has slipped behind the carried block in the wrist view and the overhead shows red right at the gripper, so the target should be directly under/just ahead of the load; descending ~4 cm and watching effort — an early stall means the carried block landed on the red block rather than the table.",
        "targets": {
          "left_j1": 2.754,
          "left_j2": 2.65,
          "left_j3": -1.246
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PpB1Bf1E5sgB1xXaGQ3SQV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9199 left_j1=2.6999 left_j2=2.693 left_j3=-1.3781 left_j4=-0.0013 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.5504, 2.6462, 1.6337, 0.0024, 0.2027, 1.0281, -0.0889, 1.7299, 7.1043, 1.8632, -0.0757, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c00cd3129ba96f7914aa81cd7171dbdfe72d9cad02c2f1afd7a31501027dbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f242e5344bc821e7e72fdc6751296dc437db12989c6428da75342f9db596cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e10bedb04a3559d371c3545343580066ee0dcb87b99a10ee26e615ea5cc95fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 22 attempt 0 · /messages · status 200 · 5.609 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9215 left_j1=2.6446 left_j2=2.6144 left_j3=-1.5574 left_j4=0.0032 left_j5=-0.0269 left_gripper=0.4589 right_j0=0.0048 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.9299, 7.747, 0.3004, -0.0464, -0.0415, 1.0379, -0.0615, 1.6068, 6.9949, 1.8632, -0.0611, -0.0464, -0.0073]",
      "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=-0.9199 left_j1=2.7167 left_j2=2.7502 left_j3=-1.5024 left_j4=0.0032 left_j5=-0.0338 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.0803, 7.6923, 0.8327, -0.0464, 0.0317, 1.033, -0.0205, 1.6068, 6.9949, 1.8779, -0.0806, -0.0562, -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=-0.9199 left_j1=2.6999 left_j2=2.693 left_j3=-1.3781 left_j4=-0.0013 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.5504, 2.6462, 1.6337, 0.0024, 0.2027, 1.0281, -0.0889, 1.7299, 7.1043, 1.8632, -0.0757, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c00cd3129ba96f7914aa81cd7171dbdfe72d9cad02c2f1afd7a31501027dbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f242e5344bc821e7e72fdc6751296dc437db12989c6428da75342f9db596cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e10bedb04a3559d371c3545343580066ee0dcb87b99a10ee26e615ea5cc95fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d9c00cd3129b]

[blob a9f242e5344b]

[blob 7e10bedb04a3]

{
  "content": [
    {
      "signature": 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Sv2I/XjKqlvnT9n530FCUx59J7FJD99wM5NaoTegCZ1RvXePiGUZV0Bp7EiP9hHWpN6D5ycUt9s6YE3om1n01dikiGJEB5WZLazjsEvAXa3XsgT5ELJsLUkaVTOet4lVMR9R5dabti/9HYV04q9Raa4b8dCmM+MYm9h2+WMEooE7vNcdXaCsvJ9wCHZI4LfDrlq8AG+XBlxHlflo1jR6Rq4G04RoPV790xMsBoXGzvsshzYvgiucm6dnRGWCDjjOUmjZJwkRZCi6vKTN9jXj46qgU2Rx8FmN4qUxpZCBQ034mPZ33zecuYf3mziWClool8Xa1G4ZGb13AmkuFS1snNEcLMPpn43p2gwUKfe5I5zVkBMS0ZuTGvFka/cP3iHjRe/ZaP3reOthXJSyOrB1IcZmzGIP2w351VNTtRC/hB8EDFsfXHmh4wyislXzjNHmnKR1L81zdOUpdIy3n2eZ71P3++R1ik6VkZVO1cojDuudPilyyCrRrBN/qRKUBwzDC6UJl/bG0IeV6ZqPpVqJEyRqSxB8nnLQdExYE886qJmgjPcjKL1y4zN5z7PoZAlillSIEL9h1d/YsbA5awqnI8BnvaDQn48Pr1I8/ER/OgKLTT4FNFhzfMrqX+NUtkjj7hI7y1NvS8VP/8C8S5uvluKzmO7jKwGTqfBJpFQtPNgjA+BzFHXyir5JWXMTNk6jnq03xz12nEPlLXgzYwFA9279httx8HHA9FZF6KawCxvnYrl/zNZsl6SC1/KuqoIMA/4ivU2S5dr+Inn2X3xU8GldL9lxVPCDJyrYEuRIoK4gfwXQOUtNqF1p3WKuU2J6ek+3juEoDZm1OcRjLt7TFPkgy8rJLUXxDZ9unt5pz5ClJ8hfEknXEOnjdU/pcUO12qrhR+61wnWimYqGhSSxVAhT10tpkCHNRQoocjIp5fPxAALXCpZigRMwDue+Geg6tCt3KfBy3QZZoChqAVSn52RgFyOwD8ZQEC1vQpQEM3QTrwsIlyzHOPPJNEjgnpde6qSHwW022Ga9biBOo0ytsxWXp/ovCCqpvrZhZFUW2gloIidnMOgaE1lyQeunqhyi6e9FjR6CAXKPdg27YJuCZf7TFQD+NAU98rqgahOeDtUbefMRpg9RLaUKVd047NZeLEBBsIciA6c4FIXTl4bEOjPenRQiD05jgtLl4Dwd/PBv1Ic4ltvTGSNaC1PELXfW1Evqs5ZJZVkk2d/mHD7tAD0Y7kaEtJbBNFxGnvAoOCXcvLMwpaVqogPE1BDC83/RtFP/wWBiQ8dOWsq652plht1jGxJLQuw+LUL6DqwBcbu0/Mst4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EEgrFLXD5JiGLLaozD7kJQ",
      "input": {
        "note": "Placing at the red block's current spot is at the left arm's reach limit and the depth is ambiguous, so I'm changing plan: the left arm retracts (still holding the blue block) to a safe hover on its own side, and the right arm will slide the red block into the shared comfortable zone.",
        "targets": {
          "left_j0": -0.25,
          "left_j1": 1.98,
          "left_j2": 1.96,
          "left_j3": -1.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01EEgrFLXD5JiGLLaozD7kJQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2653 left_j1=2.0373 left_j2=1.9759 left_j3=-1.5246 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0692 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -12.9983, 6.0786, 0.4469, -0.0269, -0.0317, 1.0281, -0.1846, 2.1402, 6.9812, 1.8681, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f619119b5087fb0ccd5703beec9e00ec311fe8078b0adf7dfe62754645d47053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe20e6d19623f9d3b7c1e89ce36f35698e1dcb8e7260457cfc73e07afa72a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daaab8e5dcc21988f064c7fb39c091150ca21a12f03f99f334a3588baaf5254d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 23 attempt 0 · /messages · status 200 · 6.234 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9199 left_j1=2.7167 left_j2=2.7502 left_j3=-1.5024 left_j4=0.0032 left_j5=-0.0338 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.0803, 7.6923, 0.8327, -0.0464, 0.0317, 1.033, -0.0205, 1.6068, 6.9949, 1.8779, -0.0806, -0.0562, -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=-0.9199 left_j1=2.6999 left_j2=2.693 left_j3=-1.3781 left_j4=-0.0013 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.5504, 2.6462, 1.6337, 0.0024, 0.2027, 1.0281, -0.0889, 1.7299, 7.1043, 1.8632, -0.0757, -0.0806, -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=-0.2653 left_j1=2.0373 left_j2=1.9759 left_j3=-1.5246 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0692 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -12.9983, 6.0786, 0.4469, -0.0269, -0.0317, 1.0281, -0.1846, 2.1402, 6.9812, 1.8681, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f619119b5087fb0ccd5703beec9e00ec311fe8078b0adf7dfe62754645d47053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe20e6d19623f9d3b7c1e89ce36f35698e1dcb8e7260457cfc73e07afa72a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daaab8e5dcc21988f064c7fb39c091150ca21a12f03f99f334a3588baaf5254d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f619119b5087]

[blob bfe20e6d1962]

[blob daaab8e5dcc2]

{
  "content": [
    {
      "signature": "CAIS9wkKjAEIEBgCKkDf/0cP3V4Ei0+60HpmUTU1E1v4GBKgIKbi/Y41Ygtwy147KKkNhwpFqOFyvyuGA35IXWjq2Z0giQax5t+wP5XwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBBkWfZuvOIuPBDbeGgx92FHs5CNLFOO8Pw8iMEcGEycsprHz6BMZUuYmNrpEHWyw9oNR4Z+nsSsjUskbsj2CG6VPadD/vNFk6443yiqXCEfQ3sASDtsu1LFGFMsyEq3YXlxTMekEdYH3HtbUhIPhfdMW5RNu4WqCxNrxbkITGXrs3/UMLZIEwM/GCmASp3z3NPbx7gPTI4ojBZ9anZGJ4geqSmxMPu/UKKEVDhbUXlAWnIhD6D2h3DOE1yEIB5H6h0yrqoI75XiAWNn8OIwR137gjoTIRzhHeNnKz7TVmqyfrJumio8MbHScvoxcUbuqpKtInI66ykY5iyuHnAZvH/zJD9Dz4qn38gy6+cQwjtitoWL2IzCMX+AN4aDbflO67g+iVJxduK5/r9eEkBRsl1gPvmwXKQDwqDnyqBzHVYjmjpH2dXLDAX4k46rmDOgP/UkS1jwJFILo+XOm/2WG33cRIN0zdaZrf5jAsxuoSJ21Q1++z4Wf8hynkBBmuWPvgNij2pWOjbXDwD0SValI2EAzIATvXsNUmA4SLOlt7dt0mNpdDDl7pXZFUZ83d2MKMN4No/OnidHSoZXT2ZMOxOa79cvR2GrzyYexD0/vii9y9irVsAFpxc1yT6IHescYk5ZkcwjG8kEh0kfueUShiJqiJ5j9+kuIYzbUG9GnfAY8DmyFIfyv95sl/jUDjB7YXWomChztMyJem7HyqYiSruLuDxAwIW98SC9nLg9rBNnAdqm+qNikYR23OTf5UM0H6krxjQEJGp78ug6uoxzC+6+XvpOC2WL1ZDR+uBLjMCwUMfPwuU067u1UWMbJVyonMfIA/rHToBs+4HA3jP5VZOwDxrh1xSeriDc8+OB6mgfTETrv+nZrgYCjolQzWD/ciTKHXtm6XRWIKFUa69PfdlTUjaiJbAQ4kBkhOTXXdVETN0Xt+Xr8PJ25K60a8o3x0O/wdH3FP+kIlgR3YYeGvVW4FFCeQAeDuKz1IBLtfrJyCqSW6NjBjuF28J8fHQbSeYf3Lm91LUe8iCL7IAhlCkk5om8cMt9aFWg2jAN3RDM3AftJMwcUEsIIRhiwSeVNbQCCwE7PnnpNEkxqx1nvZYrSlSXL8P2iyuO0kRJq3P5c+n3nBc6q/eN7Fpo07gEsikUEuJuLNJlhxxGlYQHg7lcceXMgCuD3l4IQ54fAdxqEd5z2Du4KZFrbb40I6nkNVtZMWHTlrT+JEctMJU7HPAa8wZKg5uQdQvqycgowH7tQRarid0Hn+BP/DJuRoilZYj3j/UEkqI4aOJ44ddZfNgsPF1KQEilPLQ+IkLJC03jO7v6vzpMAuOuson5viJc4hLYARaMMUgF71NEKr+O+gtTqFlhZzfwlVSdG1D/bBrilRjAxD1ejQJU4/ux3b//OGCyLfY93dyU9ZkAJZCMPROCdEpypujVEH1vJg2f+28qG0w2JjV1NAMYPZmlhimFP5PHo03auImQoaoB/qZdYD91/S9Cr9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WH27ddR8DmoXfxpH9yKfQr",
      "input": {
        "note": "Clean overhead: the red cube sits alone at (150,148) and the left arm is safely holding the blue block off to the left. Sending the right arm to hover ~20 cm above my estimate of the red cube (bearing +0.55 rad, radius 0.355 m) to acquire it in its wrist camera.",
        "targets": {
          "right_j0": 0.55,
          "right_j1": 2.024,
          "right_j2": 1.817,
          "right_j3": -1.364
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_01WH27ddR8DmoXfxpH9yKfQr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9625 left_j3=-1.533 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.5446 right_j1=2.0052 right_j2=1.7741 right_j3=-1.3315 right_j4=-0.0116 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -10.5368, 6.6393, 0.2759, -0.0513, -0.0659, 1.033, 0.3761, -10.6188, 8.1573, 0.2027, -0.0024, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d03e3566b6a6344b5f0840db9adb5f9e3c858ac90c0b8746d346cf1c1c8228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8df2a86ee2e1f8e895546ad3f99b4700c4b9e31bda5c8d38020cd5d9e135d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb10276b51d4263cdaea21428d371477541cf4a49cac20970ba6b74f4615aa11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 24 attempt 0 · /messages · status 200 · 4.751 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9199 left_j1=2.6999 left_j2=2.693 left_j3=-1.3781 left_j4=-0.0013 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.012 right_j2=0.0067 right_j3=-0.0689 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.5504, 2.6462, 1.6337, 0.0024, 0.2027, 1.0281, -0.0889, 1.7299, 7.1043, 1.8632, -0.0757, -0.0806, -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=-0.2653 left_j1=2.0373 left_j2=1.9759 left_j3=-1.5246 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0692 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -12.9983, 6.0786, 0.4469, -0.0269, -0.0317, 1.0281, -0.1846, 2.1402, 6.9812, 1.8681, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9625 left_j3=-1.533 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.5446 right_j1=2.0052 right_j2=1.7741 right_j3=-1.3315 right_j4=-0.0116 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -10.5368, 6.6393, 0.2759, -0.0513, -0.0659, 1.033, 0.3761, -10.6188, 8.1573, 0.2027, -0.0024, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d03e3566b6a6344b5f0840db9adb5f9e3c858ac90c0b8746d346cf1c1c8228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8df2a86ee2e1f8e895546ad3f99b4700c4b9e31bda5c8d38020cd5d9e135d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb10276b51d4263cdaea21428d371477541cf4a49cac20970ba6b74f4615aa11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 77d03e3566b6]

[blob cd8df2a86ee2]

[blob fb10276b51d4]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015S8rAUEXBvLtceRzh7ChxB",
      "input": {
        "note": "The right wrist camera has the red cube at (150,110), a bit to the arm's right of the jaw line; yawing j0 to 0.42 to line it up and dropping to ~7 cm true height for the approach.",
        "targets": {
          "right_j0": 0.42,
          "right_j1": 2.095,
          "right_j2": 1.667,
          "right_j3": -1.143
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_015S8rAUEXBvLtceRzh7ChxB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.4274 right_j1=2.08 right_j2=1.6752 right_j3=-1.214 right_j4=-0.0143 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -10.4274, 5.7641, 0.2222, -0.0269, -0.0513, 1.0281, 0.7179, -10.3316, 6.2427, 0.3736, -0.0122, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e32bec91298a8e43af607e5b107dd8d85b5b19c5feb3b8ac25a1312c7eb689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f53770fb0ba2effba523b9ecb4df85e77bd3a471a9624d73429d28e83cad418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf7a96d9e515a9bae0eb6378d883e58006da937a733e803261b55d6c88576b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 25 attempt 0 · /messages · status 200 · 7.877 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2653 left_j1=2.0373 left_j2=1.9759 left_j3=-1.5246 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4589 right_j0=0.0044 right_j1=0.0124 right_j2=0.0067 right_j3=-0.0692 right_j4=-0.0124 right_j5=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -12.9983, 6.0786, 0.4469, -0.0269, -0.0317, 1.0281, -0.1846, 2.1402, 6.9812, 1.8681, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9625 left_j3=-1.533 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.5446 right_j1=2.0052 right_j2=1.7741 right_j3=-1.3315 right_j4=-0.0116 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -10.5368, 6.6393, 0.2759, -0.0513, -0.0659, 1.033, 0.3761, -10.6188, 8.1573, 0.2027, -0.0024, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.4274 right_j1=2.08 right_j2=1.6752 right_j3=-1.214 right_j4=-0.0143 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -10.4274, 5.7641, 0.2222, -0.0269, -0.0513, 1.0281, 0.7179, -10.3316, 6.2427, 0.3736, -0.0122, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e32bec91298a8e43af607e5b107dd8d85b5b19c5feb3b8ac25a1312c7eb689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f53770fb0ba2effba523b9ecb4df85e77bd3a471a9624d73429d28e83cad418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7a96d9e515a9bae0eb6378d883e58006da937a733e803261b55d6c88576b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d1e32bec9129]

[blob 7f53770fb0ba]

[blob cf7a96d9e515]

{
  "content": [
    {
      "signature": "CAISjggKjAEIEBgCKkAbKJMjTy/h8uDDdmiPsDna/MPnmdjIc+R+hOix+nlwqVUi9fiqVzPzZjAhAXanIcQT42iEX6l+A+WAUAx/iGa0MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMF5Q7WCLsTwcO1M6GgwKM9W8nuZTOJbZnZ0iMBcIDdieuiy6zKaTZpZmnPVEA+xVo1L5HyhdmlbHIOIBdaQDoApYujf0hX06z2OPbyquBuboV7UIcEEbGdmQDQzMQguUeel3MIwd6S8nQQ4RWgwVsn8TUOSykGDPmfhU30xbSzen4Dp/e6ApKdqHHL5N8LPmZryAQUNUiWavxX2M9JqEIZ1AFdvlschXNagVsbGp+Qlr22wUImFZxsr4QXJaO4Y0pSbQHHRDBr633wHVFs2Zc0Z8LSHobbBNs96cElK6F7iZBwmZY6fihv3VA+Dw4kOf57+5rLF35ZRFSaUYR5IgUfOL+v3sHMO9CbSOQiRB50zsCEvj7RrnHArnDx+fT2Eoj7V0EpZv+EaBhFDJ5Gz5NfL6e3tv+A05yQwF3WdsUTyOE581rW0oaRy1vEqRwVWKALhIDj7uo/tmjaLytL+U+d0Elsx4iZPjilEwJxSy5okyS7bPkyrcBdoFTVLN3FdsmrHG0SY0GSW+SQ2cSccDV0o8yyrfAYwNim48g5rjEk6AlUoO/fuCGLjrvFVA1CaG+iI7eQuKT3vhqPU7bFs6hlICPQFvRDFcIs49jvQ4j5OGNhJGfpKixgTOYL2SdmuNQC+WxxDbu4J9zomeU8i1d2FgmbUU8JqYSfEoo5BQpRERUa9oHg1pxEC4hUuWoqhGuRF1qmGdJ5nKhy3fmGy2410xAM09LE1TgJSobpsYFichDu4rwERr+v2dYIZMRLND961KZRfXecApjmvP4TM25mPCuGRdn9aHXz15KW6I+xEcnvohKT/mDSSWltwd6/ER64a5ORDurv2yF7xePXTJCC/THUw8QGtpKUGQRsrsqUttZlgloP+P97Biun4Wes3C4xifjEC9j0BDu/nhY+nYzSvx8+eZLuRlNSexlpFrNtO3HsGr9y36dLC1U9hTjf2OMB2HAIAnS3gRCM/hr4wdX2u2fYd1HXYTtdSKTp8cbhjHH0Xnp770tukwHyldLyz88bokt0wgsgfepUKowTWfY09AheMbaZqK8GXWJ5iOs1dSyof66WXNyeqzv8JWIcWmzMf7eKStXSHA25phhxNVEAeS5YjHbCmlTn1Alyl/qUsqIzOSKZhDC4C9TRkqAN/Zix2yt7QhReAZVLhQfIWZDhzeawkLknayaVqO0/cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VbJdtopahgQzAvN4pubnLm",
      "input": {
        "note": "Cube now at (130,120) in the right wrist view, nearly on the jaw line; nudging yaw 1.5 cm right and descending to near table level to straddle it, watching j1 effort for contact.",
        "targets": {
          "right_j0": 0.386,
          "right_j1": 2.188,
          "right_j2": 1.588,
          "right_j3": -0.971
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VbJdtopahgQzAvN4pubnLm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.459 right_j0=0.3939 right_j1=2.1662 right_j2=1.599 right_j3=-1.0508 right_j4=-0.012 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -10.4274, 5.5726, 0.1636, -0.0562, -0.0757, 1.0281, -0.4034, -10.6735, 5.5863, 0.3639, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b82faa967f1853b5876cf6b558272500354882c75f1b95b65f28b46b3adf511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf98120832fee051c34972da306c07113ba525fe28e3b20553efc0a1425f2df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e40de6739a8e2f1e51403dd7a125d8f158cfe64552dbbc0d086259dd3ecdeaea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 26 attempt 0 · /messages · status 200 · 3.048 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9625 left_j3=-1.533 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.5446 right_j1=2.0052 right_j2=1.7741 right_j3=-1.3315 right_j4=-0.0116 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -10.5368, 6.6393, 0.2759, -0.0513, -0.0659, 1.033, 0.3761, -10.6188, 8.1573, 0.2027, -0.0024, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.4274 right_j1=2.08 right_j2=1.6752 right_j3=-1.214 right_j4=-0.0143 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -10.4274, 5.7641, 0.2222, -0.0269, -0.0513, 1.0281, 0.7179, -10.3316, 6.2427, 0.3736, -0.0122, -0.0659, -0.0073]",
      "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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.459 right_j0=0.3939 right_j1=2.1662 right_j2=1.599 right_j3=-1.0508 right_j4=-0.012 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -10.4274, 5.5726, 0.1636, -0.0562, -0.0757, 1.0281, -0.4034, -10.6735, 5.5863, 0.3639, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b82faa967f1853b5876cf6b558272500354882c75f1b95b65f28b46b3adf511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf98120832fee051c34972da306c07113ba525fe28e3b20553efc0a1425f2df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40de6739a8e2f1e51403dd7a125d8f158cfe64552dbbc0d086259dd3ecdeaea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7b82faa967f1]

[blob cf98120832fe]

[blob e40de6739a8e]

{
  "content": [
    {
      "signature": "CAIShwsKjAEIEBgCKkD3B6HU4Z7cziPXuDqkRN9RejHx6p8wGWh+VInZIwKgcunXYwElDlJdsR0JkUvhxVKbAs5xHLNGP49gsUtSOOtrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMCUTAomAaPIZ+38nIGgz1FRNp5WVntswb3ioiMMo71BMmGqxXG28yobf1QnU7gK7Om9DJqXIMiM/en67FfhPwN7LtVQ61DkIvWg0CaSqnCcrUGin53rn6Oh89dGZVVCysBcfpJxLamb6fKvTaR0cMvlJNlcvRbpDp/F4jGCEeMbxNXbV6eBpXEoMlSvElwYyqpt8MbPQ4L3fNAWzWZacJ5NUFFlMwjm+R0rgGfoR8W4IKpk7bmGGQLBxiPlTBqwruBPkMHNRlQG5y4eTOEvqGeLzdpDXlsvJLM963o//eee7+P9C42ggkUsE0D42kY+IdAwlGxAMTogxGJeh7x+oWUvj0Oyvl1v3OLSKEed5Q07PxDXop9I6BAj+7T4APmNewPLPYlcA8lQ7ooGJRndQwKaV5VmWofofXJH/Zv617ExSl03/bAx/mDhb5nBr44emffVlP7KRrq3PuJeJV8l4vjZKKcy2ftSpdjkII8JuWflwhuygn392f15RoEUIOt5m9U0vY3UnWPMd/QUQ91VvunVHYu7VIQK6JilcJzuhfWh6WyFjXGOel+I59RKORigw027LRmLvQkpWCJRsm6YNkZGdV8r8U2wmTxpcJ0q2qzH4OkBuPffPqFewgi6io9r1t1yaZcWoDqIvlNtu6gyAKs2s2DkhcFYFsEEH3GrsrvcQfI2LdPUwKKvWq/Kpzv0yHAGr2F/dONsbfvJGCAoxaINcaiQoDPNuFIvUEbrW7O5cMpTmUusiW5PRiDZ4VRkxHJAWe72Q2g24Pt2txi8khnDqaj15fxYu9sUyfoppnxIPZkB0eqCaCFajgiJ/6wp7JvpQGnpBQwGtwOQJ0TdjC8Qgcbp+EnF9lS/0SQjk2wUVkp439bN1Ekv8lOIYhY7cto1WY6QZtVQu1Y6TUAhlpNtsmVIGigibwGedPbREtywzwUKXX9gFz5TNBdzVT7wDBuWoQw3/ZvpUV9zdsnNs0y/NGisvrsTpY/zy2iuCw7U+aT9iHXZfmHNkOZtMBWA95E1rPcxFh+ZN3bIBT22Ad6tNqPi71bLK/hm2VnL9FsYQ6/fzGcPHkNAjGECZ2ECSWTUQiGmdBG7e+QtxSZQmfY+bYVLmXMV4ATQO9dOttN94pCyUu8jLtETmOEZGdGvCb04NPZMgk+q3K4cnTGoc9LVSR6jD1TFMXrGeGT4vT9l4M/gNU6RubKhpEJk3xhiJPu4bkQxIOPJzEBMGvi9AxO5Qa/qe6yfCc+qZny6w3a+4Lj+RoP/npaFXyUmVY4j85huGYMrIne+f7zUKoHTvVdiK8qQ3Llw2+TpjAMSAkb979WOVOcIoZ7+Yr6qoTlvxlZbT+sOEl+J0DrEMl82wpb5Zq0xBReDIK9+Uewhu2PPM0JthchknrNi9M1/dXKBDThiMZPDP1pULATwK97CgUK81dfvWqpxcDMgIRzWmVVZARFalFCuzzg3NFF+QnpjoEp+JMlEj+2iKeBzsB+19g8RnWcFSHQo3UfcpAZ6RtkLQWMgYIJby8an7Yk60iN0uJMO224uVWovoM1DHpPzQhKvE1GnYcBezURZ4xtOj+xyrXkS97I3nJ93eYsBrAn2SjsXvOsRfazGrg2MlaM5098hI35QEljTNaAwKe2AcGA/xGeqsFFcBIQn7TaYVAKicnR1fSVdublLwpjGc3bFAMh+f4NwQcEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLR4g7t75mfRhAGaTrCmzm",
      "input": {
        "note": "The red cube is now centred between the two jaw silhouettes in the right wrist view; descending ~2 cm more so the fingers straddle the cube's mid-height before closing.",
        "targets": {
          "right_j1": 2.234,
          "right_j2": 1.569,
          "right_j3": -0.905
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KLR4g7t75mfRhAGaTrCmzm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4596 right_j0=0.3923 right_j1=2.1887 right_j2=1.5871 right_j3=-1.0065 right_j4=-0.0109 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.4137, 5.7094, 0.2027, -0.0611, -0.0562, 1.0183, 0.0205, -7.8291, 3.9043, 1.199, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668fbc6e790691e447db369eb1c38aacd50adce0f83f9144f837d84be923d4ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0865eb9817e1926258727005126870bacd349c28aaa37128e3ec3311a2545b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a188c358715303ff6364eb2452803638522270fd99c07fb1e4b5cbab973a7dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 27 attempt 0 · /messages · status 200 · 8.389 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4589 right_j0=0.4274 right_j1=2.08 right_j2=1.6752 right_j3=-1.214 right_j4=-0.0143 right_j5=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -10.4274, 5.7641, 0.2222, -0.0269, -0.0513, 1.0281, 0.7179, -10.3316, 6.2427, 0.3736, -0.0122, -0.0659, -0.0073]",
      "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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.459 right_j0=0.3939 right_j1=2.1662 right_j2=1.599 right_j3=-1.0508 right_j4=-0.012 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -10.4274, 5.5726, 0.1636, -0.0562, -0.0757, 1.0281, -0.4034, -10.6735, 5.5863, 0.3639, -0.0562, -0.0611, -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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4596 right_j0=0.3923 right_j1=2.1887 right_j2=1.5871 right_j3=-1.0065 right_j4=-0.0109 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.4137, 5.7094, 0.2027, -0.0611, -0.0562, 1.0183, 0.0205, -7.8291, 3.9043, 1.199, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668fbc6e790691e447db369eb1c38aacd50adce0f83f9144f837d84be923d4ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0865eb9817e1926258727005126870bacd349c28aaa37128e3ec3311a2545b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a188c358715303ff6364eb2452803638522270fd99c07fb1e4b5cbab973a7dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 668fbc6e7906]

[blob a0865eb9817e]

[blob a188c3587153]

{
  "content": [
    {
      "signature": "CAISgAMKjAEIEBgCKkA46jsNJkTM2hHZ8gbTgpH+AlfYZk8/wYmJV0B9/2bBdxWhn4miH/4guAFfQ+yr72mvZ6KriBk2UDiOVx8Oh/dNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM111z5/IcFS5ejTQtGgye4O2BdmY7T/ZHfZUiMGNKcXrQhSiOmNASEq/t7R3V2GIbO8rssKl4JKAoAAKEnj/1V0MCH/mXR8C88u6w3SqgAdYWoWOi2oINirulnrkewJesfbO23I/7wFdlG4SObS8X0zCnOVst6V4kw6UFDFNLuWktKPsSUWl7Xqf7NK7sQRUj0b4UA3QecF73vNozZl1UupKmNn/SWxJeTWV4VB5/AfGSgLjS8+jtcKLFQCQyXP8xJOlX2AntS2AKt08yc5q5TCuaMH9XzvRgLI+rJ8KqU0Zzx4T1gpxHx1rDBoSMewoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJUfz8hqZyibr9FN61ZNvp",
      "input": {
        "note": "The red cube sits squarely between the jaws at the bottom of the right wrist view; closing fully to grasp it and read the residual thickness.",
        "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_01CJUfz8hqZyibr9FN61ZNvp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4605 right_j0=0.3923 right_j1=2.1864 right_j2=1.5871 right_j3=-1.0191 right_j4=-0.0078 right_j5=-0.012 right_gripper=0.4506\nstate[joint_eff]: [-0.1026, -10.4274, 5.5453, 0.1929, -0.0415, -0.0513, 0.9109, -0.0752, -11.2205, 5.3402, 0.3394, -0.105, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620a7ceacb72f84e4c9576ad9cc7ab09dcf14ee10904eead8620e8421a52e54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c231d40d0e9b143b1097dbffa883c45bb844e3dedaed7d9b96aa672e96b818e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9bc5afca7c2e541d2d1bea5b10bb21a4c67de12ad0a0cb4dc79dceb135a56b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 28 attempt 0 · /messages · status 200 · 5.06 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.459 right_j0=0.3939 right_j1=2.1662 right_j2=1.599 right_j3=-1.0508 right_j4=-0.012 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -10.4274, 5.5726, 0.1636, -0.0562, -0.0757, 1.0281, -0.4034, -10.6735, 5.5863, 0.3639, -0.0562, -0.0611, -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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4596 right_j0=0.3923 right_j1=2.1887 right_j2=1.5871 right_j3=-1.0065 right_j4=-0.0109 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.4137, 5.7094, 0.2027, -0.0611, -0.0562, 1.0183, 0.0205, -7.8291, 3.9043, 1.199, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4605 right_j0=0.3923 right_j1=2.1864 right_j2=1.5871 right_j3=-1.0191 right_j4=-0.0078 right_j5=-0.012 right_gripper=0.4506\nstate[joint_eff]: [-0.1026, -10.4274, 5.5453, 0.1929, -0.0415, -0.0513, 0.9109, -0.0752, -11.2205, 5.3402, 0.3394, -0.105, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620a7ceacb72f84e4c9576ad9cc7ab09dcf14ee10904eead8620e8421a52e54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c231d40d0e9b143b1097dbffa883c45bb844e3dedaed7d9b96aa672e96b818e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9bc5afca7c2e541d2d1bea5b10bb21a4c67de12ad0a0cb4dc79dceb135a56b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 620a7ceacb72]

[blob 5c231d40d0e9]

[blob f9bc5afca7c2]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EB45VjcfjVtUMsBB1mhPhh",
      "input": {
        "note": "Right gripper closed to 0.45 residual with high effort — the red cube is grasped. Lifting it straight up to ~13 cm before swinging it toward the shared zone between the two arms.",
        "targets": {
          "right_j1": 2.024,
          "right_j2": 1.817,
          "right_j3": -1.364
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EB45VjcfjVtUMsBB1mhPhh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4609 right_j0=0.3923 right_j1=2.0705 right_j2=1.776 right_j3=-1.3106 right_j4=-0.0078 right_j5=-0.02 right_gripper=0.4538\nstate[joint_eff]: [-0.0479, -10.4274, 5.5453, 0.149, -0.0415, -0.0611, 0.8913, -0.1573, -13.1487, 7.9795, 0.2515, -0.022, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a441e9414e0315273d228291569d6cc13032817e0d435664bfe223fe5d43ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:743ab31e239a1e35221d4bcfaacb9f0be0a0f5bf951f233c62fcf43fa574f78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba2cca72c629febcb0a32924e48e44631c2fefc635982465f38009d63c5b3e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 29 attempt 0 · /messages · status 200 · 5.86 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4596 right_j0=0.3923 right_j1=2.1887 right_j2=1.5871 right_j3=-1.0065 right_j4=-0.0109 right_j5=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -10.4137, 5.7094, 0.2027, -0.0611, -0.0562, 1.0183, 0.0205, -7.8291, 3.9043, 1.199, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4605 right_j0=0.3923 right_j1=2.1864 right_j2=1.5871 right_j3=-1.0191 right_j4=-0.0078 right_j5=-0.012 right_gripper=0.4506\nstate[joint_eff]: [-0.1026, -10.4274, 5.5453, 0.1929, -0.0415, -0.0513, 0.9109, -0.0752, -11.2205, 5.3402, 0.3394, -0.105, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4609 right_j0=0.3923 right_j1=2.0705 right_j2=1.776 right_j3=-1.3106 right_j4=-0.0078 right_j5=-0.02 right_gripper=0.4538\nstate[joint_eff]: [-0.0479, -10.4274, 5.5453, 0.149, -0.0415, -0.0611, 0.8913, -0.1573, -13.1487, 7.9795, 0.2515, -0.022, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a441e9414e0315273d228291569d6cc13032817e0d435664bfe223fe5d43ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:743ab31e239a1e35221d4bcfaacb9f0be0a0f5bf951f233c62fcf43fa574f78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2cca72c629febcb0a32924e48e44631c2fefc635982465f38009d63c5b3e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 73a441e9414e]

[blob 743ab31e239a]

[blob ba2cca72c629]

{
  "content": [
    {
      "signature": "CAISwggKjAEIEBgCKkDc/HPSdEM0YlQXhbL5Q13np7JWNXpDj/ww9n/LbO+sZUPaz9FivuBjLJK07xRNsNyvGz7iKc+uUdw2cyTFMMKrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLSqIAK3BSD6N16jIGgzDnI+S0yV7exYWVwUiMN3qD6IsEeJRJxxcCQW8KeJR6Pxvp+shq2xO1ExSvf0ILW4b2KuyKj57NhE4X54k4yriBkjrrv3yZfCeJ1GKvH5mpSpG+ZclmWCgUgj08iiXW5DshZhhAPS3/GjnbsR8BYOqOkiCZFM0VAbxywAZm7Z7VRFk5gTBp9Z1bk4w6bEon+fXfku8NuOTzowtOvPiytTmbUX35E3Lxu35lpHAb8U7yZQGyucWVL9dXqdSwzpyUVbS8vxxYHF9z/lwsn+IIwU7zJHB+tX2gt/w0ZPAZJrBJVAa8krtiMb9JhCtu6xBdLOH3dPB+ooa9lz3iPyO2X4SLxufYdDYdelx/Ivk3ZtGb1b5J37lIEXnWUb7MnVa+AhygNT8WH2q1kT/W8vNbDQnRo6PgRP9LpHt6dAez/zHmIcOrD2mn98Keh7pYYMPm67j+FrFuVkqZu26G+luSGJBWXqoYEcJec/96PmL+Tl1z/UTCC5QaqigWzDRkwZqCeZEMcPsVBfVQo9+MB7INTdR3gnxP9S6JiqOIrPe2DYTLWneemijPAbCF/foUHsjS8ILi3NNd7rd3zYDxCzYQ5ACF5KnrqV61PQXeMa4H5vU7Iwh3bvJ8RJXSwkIQajbCMV3UZwgpOF2LnElyhb1M7tdWp5JOL8BKF/TAcgBXak+UmrM32ZimpQI1K8IahTSWLYlPhquZvsPqfIDPPuOvF4xde0s4QLxto+mEhCV7FrppUuiMUdFJv5JXP87BLKWXhD2snXGx0EBhNtFTFPnzJB0ga0+vSZo3Awhtt4bfoI6g+vTGtPQI0LXs3dip8XBU+hwVKLdt8syl80QS51tWTkPRahbjDTMZ9JxnHemWz7/nJooSEVt9ODWPr8kp3qDr73F4cNonbAbGEVtgBRD4LuOHBBESHRwrl02oU+/Xf6E0mtqACLVy6Kv1E8rnCMsVfltNJ03wxd9QaMFJvpHERmtkiiis7vdbp/ySKJv5t6K8wMWJEM2sZPYA3BFkfywlDqpKpn7nkcwFkB3aiiUEJMRxdTJ1HD60jZGgMeBh5R9T29r7NAWbqToueYLfqCsuxHl7/MFxJFqvoquvUiq3HQbo1n9OK2BBILhBMmQjucxnfx4lXQmwe9nofFs3pdHgM+lOC38bD3Rd1Up4pDe+oCIR5iEQomq53okMc30FfbX//6M6HqfgHdzfEbOPOqyyZxG1D0pwgvCuMvQapiHk503hnXTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ecbRb52WhfmKH2jmwPJvg",
      "input": {
        "note": "Carrying the red cube, I'm swinging the right arm to the shared zone midway between the two bases (right-frame bearing 0.82 rad, radius 0.41 m) at ~13 cm height, where the left arm can comfortably reach it.",
        "targets": {
          "right_j0": 0.816,
          "right_j1": 2.236,
          "right_j2": 2.151,
          "right_j3": -1.486
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_014ecbRb52WhfmKH2jmwPJvg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.462 right_j0=0.7906 right_j1=2.2135 right_j2=2.1086 right_j3=-1.4662 right_j4=-0.0074 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.0889, -10.4137, 5.559, 0.1929, -0.0464, -0.0269, 0.7937, 0.253, -10.1128, 7.6239, 0.2173, -0.022, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798fbd5feb64ecc7c61a499b8a07d185cbbae531125af37e72fd73b06133c3e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9cbe253e8da22219609542457f2650447ea4cc5c2c9791cc13e7ad7b5560b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a29457edd261acb277fc26c23fbeb364f8cfce6f72ac0c20ee97d0d07d3637d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 30 attempt 0 · /messages · status 200 · 3.456 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4605 right_j0=0.3923 right_j1=2.1864 right_j2=1.5871 right_j3=-1.0191 right_j4=-0.0078 right_j5=-0.012 right_gripper=0.4506\nstate[joint_eff]: [-0.1026, -10.4274, 5.5453, 0.1929, -0.0415, -0.0513, 0.9109, -0.0752, -11.2205, 5.3402, 0.3394, -0.105, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4609 right_j0=0.3923 right_j1=2.0705 right_j2=1.776 right_j3=-1.3106 right_j4=-0.0078 right_j5=-0.02 right_gripper=0.4538\nstate[joint_eff]: [-0.0479, -10.4274, 5.5453, 0.149, -0.0415, -0.0611, 0.8913, -0.1573, -13.1487, 7.9795, 0.2515, -0.022, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.462 right_j0=0.7906 right_j1=2.2135 right_j2=2.1086 right_j3=-1.4662 right_j4=-0.0074 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.0889, -10.4137, 5.559, 0.1929, -0.0464, -0.0269, 0.7937, 0.253, -10.1128, 7.6239, 0.2173, -0.022, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798fbd5feb64ecc7c61a499b8a07d185cbbae531125af37e72fd73b06133c3e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9cbe253e8da22219609542457f2650447ea4cc5c2c9791cc13e7ad7b5560b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a29457edd261acb277fc26c23fbeb364f8cfce6f72ac0c20ee97d0d07d3637d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 798fbd5feb64]

[blob af9cbe253e8d]

[blob 3a29457edd26]

{
  "content": [
    {
      "signature": "CAIStwcKjAEIEBgCKkDBs0ofzdzEKs6VoBFpWqjDfvsNjDfSQFPWdSa4C5qLZOPjfB2M8inwcBX32F/AMjw7YM+W97Rj6e/UF1zjWTzjMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMqw+HCS7oj0P4voRqGgzdUOnPCUKe1PN0RroiMK1Or6wYZkQT+MYaUJeh+xCIDX229Gu5mVTTlCtSwJwUaelJ5lVl+QrCIrLlUqBy4CrXBUrJKc3krxVVY1Y8UoiEMx6NcqbgP1WSKxwdwWgxvvYFoACsU6oA7XLtLmxWgzs0tVxEyxgK4c6hnCusJmqUpHDRZuam6jEpAAIcUDZ05RxkI78FFDaWGPIVEjqgBRqrnjrSOL7cPaCzrSXPRpPrQJhu8UuujH9H/Hod/mWnLsPzIJ/XF52gylvTnZlFsJLuUMGp6wzd/c1U1Cf+SVHZs/QMTUvKsA2QTXyo4v139Nn+UDqoW/6zuw9pwVzHPOlNdBTVcaVDarTEXZkUy4Ykhxx0qMVYs/kpeeABNk9XWviGyyAYoOosyolxhSVDStt16G/0VGumEZ23oe/9RhnsCBb1pfLJCN/12UJlklZBftqTFCjK4h30slEF6IRgvXubSFGT24CVPwC1hnI2QEbFM7whJ5/z3m3/NLSbJfmIKr6PVzF/qlezu1HsvigDXAZeOsNoRVtvmAXpOTbjXnLtfkkvmfGP2WmTV3QXmG0AFnFbyJZpuVa0oxauUXTuQwokFcTD3y9hkq4NHnMgGaZMwG8xhbhBlUqGxXWD4CWbnpmxzmJqjDjklubG2XpiRaSDq6E0iOk2SILDun1WJkuaqFQCqpaAdrjRaqQsE3WrEqrKTzL3NnRriCY12LtDOp9d9Ioc2wJpfbg5XSDtyLWwGjLJpgYRLWJYtSaGDao5r9HH3IKZplBZi0oQBzci+64sbIlsqO8aot2gcPczS6vF0IIBC6yZCDf3bSopfCAfPCYr3Ts8NSj4pHstfaINe5tCFpVr8T1CU6PGOmzuACQKfRNIcx41H5eBFG/J0ldGuS4u7gRyjIuLSNV0LikXpaug+SjNcX0fuKEVeNxQyJgrAo5pMG/M7sMTPtlDNaZfGgHBG6EUy5Gy9OidBc1onlxyckpDs/V1y5l00VekIHiEJ+Gbg4rshTFv/9uJ375GAAmZlTDbmg7G5yGj0G3KgQ6hqbkrkv5COrgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EjJ12db6MNyRUepWWcu6i",
      "input": {
        "note": "The red cube is now positioned over the shared zone; lowering it to the table (fingertips to ~1.5 cm true height) and watching for the stall/effort rise that signals touchdown.",
        "targets": {
          "right_j1": 2.379,
          "right_j2": 1.889,
          "right_j3": -1.081
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_017EjJ12db6MNyRUepWWcu6i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4625 right_j0=0.7918 right_j1=2.3577 right_j2=1.8977 right_j3=-1.1526 right_j4=-0.0078 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.3214, -10.3179, 5.7641, 0.188, -0.022, -0.0464, 0.7888, -0.1846, -11.1385, 5.9692, 0.3687, -0.0366, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe932f398e236cbbba825f0eb873124889c971c1c9b6b9316d6ff1a0724d9ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be36c07eea7cb4e6b919097ca25a87efdad9c1e7277a4f1cc4fb54dff44fdbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e0eb498ff9e807df7c6095c96651919b7057c637d9b55343ceaa4f74b8567c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 31 attempt 0 · /messages · status 200 · 3.476 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4609 right_j0=0.3923 right_j1=2.0705 right_j2=1.776 right_j3=-1.3106 right_j4=-0.0078 right_j5=-0.02 right_gripper=0.4538\nstate[joint_eff]: [-0.0479, -10.4274, 5.5453, 0.149, -0.0415, -0.0611, 0.8913, -0.1573, -13.1487, 7.9795, 0.2515, -0.022, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.462 right_j0=0.7906 right_j1=2.2135 right_j2=2.1086 right_j3=-1.4662 right_j4=-0.0074 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.0889, -10.4137, 5.559, 0.1929, -0.0464, -0.0269, 0.7937, 0.253, -10.1128, 7.6239, 0.2173, -0.022, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4625 right_j0=0.7918 right_j1=2.3577 right_j2=1.8977 right_j3=-1.1526 right_j4=-0.0078 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.3214, -10.3179, 5.7641, 0.188, -0.022, -0.0464, 0.7888, -0.1846, -11.1385, 5.9692, 0.3687, -0.0366, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe932f398e236cbbba825f0eb873124889c971c1c9b6b9316d6ff1a0724d9ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be36c07eea7cb4e6b919097ca25a87efdad9c1e7277a4f1cc4fb54dff44fdbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0eb498ff9e807df7c6095c96651919b7057c637d9b55343ceaa4f74b8567c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0fe932f398e2]

[blob be36c07eea7c]

[blob 4e0eb498ff9e]

{
  "content": [
    {
      "signature": "CAIS6wMKjAEIEBgCKkBpAhA8NrkMH5Uh33dYk3wOjmHpCvbN5VWC3pa8o/XaRGEbYGkY4qdoLg+7WFZtz4RqXmbnzns33mIm1mYu/KG2MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmktsvaYCv5z+ySSUGgzHwT8H16vPaA4lUvgiMMSEyOBo9Ek6m5Sa6wh4QZjSr+RWT4P6+wxx3KBk0Y7yol+dRVUWaNFTKIv9jOgzTSqLAqMDGcPbwvs8cwbThLQG87t7ch/yylEjhqi99IatjxWip/pXzkJO2KZXTXL61sEF4ItqhOyYcb9jBAMkvmHXRJMd6tP1W7swzkI+l8+86w0a/qLmhgk0bpKqDJQkz1TpM0+WuAzBnbglC5ygwjjbUqRIKnQV8lqWreUCQYmjCAvy+GOMKd8BFmyNyGdVT8qwWkqkGEK1JeY1NOl+gDKtx0pESK2SUIM1Ht/5Wf7v765ro2nsoQoMydoy1NdansR3lB65GvW0xUy7aCwIdfYzwAXlGFUaTRi8afaS/z+zXALpoYKtAXlRl4aUd3GB+17n5F4VYMmSQpmVsCutE+kAH3q/I6irvnVe0W55+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EuzumHRsiu9psANhN6aLra",
      "input": {
        "note": "The descent undershot slightly and j1 effort still shows it holding against gravity (no touchdown yet), so I'm re-issuing the descent a bit stronger to set the cube down.",
        "targets": {
          "right_j1": 2.42,
          "right_j2": 1.889,
          "right_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EuzumHRsiu9psANhN6aLra",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4621 right_j0=0.7918 right_j1=2.365 right_j2=1.8938 right_j3=-1.124 right_j4=-0.0074 right_j5=-0.0269 right_gripper=0.4538\nstate[joint_eff]: [-0.1162, -10.4137, 5.7231, 0.1734, -0.0122, -0.0659, 0.5983, -0.3077, -8.212, 5.4222, 1.033, -0.0708, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7975d8c94db7305ce682a92491eb96e7afb042e966b8d54604f99783fd5c939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8be5b037a6ad76f5008e0fa794a145a22d0f0371271ec6e8e6eee425eeda43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5e6d2ccd185e0d0424efc287a4a5cfc16c9d34b558da2246ff053c2eee55896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 32 attempt 0 · /messages · status 200 · 5.294 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.462 right_j0=0.7906 right_j1=2.2135 right_j2=2.1086 right_j3=-1.4662 right_j4=-0.0074 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.0889, -10.4137, 5.559, 0.1929, -0.0464, -0.0269, 0.7937, 0.253, -10.1128, 7.6239, 0.2173, -0.022, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4625 right_j0=0.7918 right_j1=2.3577 right_j2=1.8977 right_j3=-1.1526 right_j4=-0.0078 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.3214, -10.3179, 5.7641, 0.188, -0.022, -0.0464, 0.7888, -0.1846, -11.1385, 5.9692, 0.3687, -0.0366, -0.0317, 1.0281]",
      "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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4621 right_j0=0.7918 right_j1=2.365 right_j2=1.8938 right_j3=-1.124 right_j4=-0.0074 right_j5=-0.0269 right_gripper=0.4538\nstate[joint_eff]: [-0.1162, -10.4137, 5.7231, 0.1734, -0.0122, -0.0659, 0.5983, -0.3077, -8.212, 5.4222, 1.033, -0.0708, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7975d8c94db7305ce682a92491eb96e7afb042e966b8d54604f99783fd5c939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8be5b037a6ad76f5008e0fa794a145a22d0f0371271ec6e8e6eee425eeda43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e6d2ccd185e0d0424efc287a4a5cfc16c9d34b558da2246ff053c2eee55896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f7975d8c94db]

[blob 1e8be5b037a6]

[blob e5e6d2ccd185]

{
  "content": [
    {
      "signature": "CAIS+wIKjAEIEBgCKkAtOLUPtw9Kd0fsPq5LVYEiL/Onj0TKLa8gJ0f6aedqkUCKsGW0Cf5HHd1KZDaZO07QCWmUbscYg3W8TZSNsxdxMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMU8OK2q06BE1KhM1mGgxI2M7ZhWjTeFyOvE8iMLgM8KK5sLXVOzqYkrvkgRaFgTSaICy8uU7ttbJE3v3AttQHwTe0k7ge0LhwzvsrACqbAXuujCAVUx+AmKa8vNPRM+3GxocpiQpOXCaGFFMTxTOFusDfW65E2+Mqf5Z4VyWnuBMHFD0ZeyYZnpo/oCp3VbMTx2y8ykyD/wt88oWwrSsvPOQFiacSBSSjAR8abexuWe0Q3PRvIoixBPxEfk5GYZEwONYm3lF0lBsl5N0RVFKQTJoeAn+n/dNR8/64+ezESJ5tPD846DAR8TdYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TbvmbN52gMwwXPfkujYDex",
      "input": {
        "note": "j1 stopped tracking and wrist effort rose — the red cube has touched down in the shared zone. Opening the right gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TbvmbN52gMwwXPfkujYDex",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4623 right_j0=0.7918 right_j1=2.3638 right_j2=1.8942 right_j3=-1.1282 right_j4=-0.0074 right_j5=-0.0311 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -10.4137, 5.559, 0.2418, -0.0708, -0.0366, 0.8425, -0.335, -12.4786, 5.5726, 0.2515, -0.0122, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d292bc0059a43344580eab985b013cc5a4f59cac76658c0198f3009a1d1d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2668046790a998cb283393d865ff8bf27c131a8dd7f2fdd16dd73ec258c2b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fae90069a131d1534e4a57e55136ca94b1ff67b0f24ce364b64cf1a38eec8b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 33 attempt 0 · /messages · status 200 · 6.032 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5341 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4625 right_j0=0.7918 right_j1=2.3577 right_j2=1.8977 right_j3=-1.1526 right_j4=-0.0078 right_j5=-0.0238 right_gripper=0.4538\nstate[joint_eff]: [-0.3214, -10.3179, 5.7641, 0.188, -0.022, -0.0464, 0.7888, -0.1846, -11.1385, 5.9692, 0.3687, -0.0366, -0.0317, 1.0281]",
      "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=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4621 right_j0=0.7918 right_j1=2.365 right_j2=1.8938 right_j3=-1.124 right_j4=-0.0074 right_j5=-0.0269 right_gripper=0.4538\nstate[joint_eff]: [-0.1162, -10.4137, 5.7231, 0.1734, -0.0122, -0.0659, 0.5983, -0.3077, -8.212, 5.4222, 1.033, -0.0708, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4623 right_j0=0.7918 right_j1=2.3638 right_j2=1.8942 right_j3=-1.1282 right_j4=-0.0074 right_j5=-0.0311 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -10.4137, 5.559, 0.2418, -0.0708, -0.0366, 0.8425, -0.335, -12.4786, 5.5726, 0.2515, -0.0122, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d292bc0059a43344580eab985b013cc5a4f59cac76658c0198f3009a1d1d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2668046790a998cb283393d865ff8bf27c131a8dd7f2fdd16dd73ec258c2b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae90069a131d1534e4a57e55136ca94b1ff67b0f24ce364b64cf1a38eec8b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 19d292bc0059]

[blob f2668046790a]

[blob fae90069a131]

{
  "content": [
    {
      "signature": "CAISlAkKjAEIEBgCKkCVuY+hpx51iMDtJZW3gHSW14hMGwPgJb1UZvM3wgj+8tvtELdzn/N+yud9qef9QrF6+DLjsyHGFUlheSQR7YPCMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJhAMYZUS33vcUiaXGgyPJ8uU9uKVu1J+75siMDoQy43M94Z/Zwga7kC1j2aNcTz+rGiZRGa/MSZO5QqUjJFEZ4c8ostDhyUkn430BSq0B4sXE7ps8N/ABsAjPE5SsoQg4gJ90SOtp0D/k6BTpVfptDkjfGjbKQ5MILwyfYFDx0SAlgxmXHAmDUnStsTgXYPP2fV0F5WqJQtyaLBQrhAL7E0kZm33wEa0JB+k3cz18IISDCtp5XZepXEN1E966oGjsJBkKAUA9W5kdrLtDYJoDAcCpxIyc0t7bR2V5TRL6OmxyTs3xZU80PzGxRx4PRO25eEzI0PIV7vj/jW7Mg75i32/x6WyKKU2dgb2A9TeQ1dRcqHSadHcyUgip7T0USYu7et+4zM5K6+jRvbvzoD3G6Bdu3X7mLUc1V4wk7Vk1BbmdUF1jfIXwktMu1d0Y0kmYd/iu7syZHN1o3UETeGcZeDvbbKnFxGx/nNnvmVVO3lYZWMe20GttWzBIEHhDhHSx0s9cGVU6b6koJo2gAlMrp/d8CLQEkldaSYt5W5hLci07xjG0D1Cx+YbWBBR2iol4Fia0lpYPBL0UQZm5j7Lh/zIl3/MMQErc4awdHWwqYVWe0BX3rmEEvbR1LE+Ypsl7ewmgaQLRlnp1mswMSRVelROT64ndJwIeQzon0scfy9uD6Ewq1AdgmWWokcyE8Tup5JOfWeMbVWCGamY3euUWrBEnipMfmldWfxI1aZmh9SXFgHSV1gLExLBfht4DtxVNaOkgxjNk6n440PZ0XllRCA9ThBSG8gX9hGw/Sus5uPhpXrezLB9FaYja6p6QMD69X83mkw+t0iwYmv56xDvL9XeqyacJkS8A3GUK/BPM7cZ/V0yfcblexsHP0BPvuliLOiX1lek5DPAswL290t3h4c6LNNZousWM9SnW9i4GSVulsPlYg+VWa8KhHOdvB72eIXWBHWt/6H48v2xhSNtSvCiWdW/P3GtLf0n0Fni1q3XmpiFLYqtQBKuTJ25DiAoMiuyTDP/+pbGcah8WxN/kkE3vejzr23Q2r0+t3JWyiIhrQ8tXW+409wph1Am80OqQF+SQRx19gdFGSiEiZFB2gdHaQGOegfNnO+lpqXzIcEoBUGSD7zXbJHuBdRD6ZAZNJGCiOGgwZOy1TY/TSAJvDYP667iDqX9IuUqv+VCKBOkThGzZM/b1fDL4vhNFXt0cjAB9HJpOedtjksOAJyYFRil3wUM6RKQCIJfMQNiFXbBPtuaT/WKwWisv6E+4T8NTCoVeuCBpkNVveBvVS/mZQNzaCZ4hJGODFOP5KvnurEfYYOwlnJBacgjW6gtjQE19fTDX9KuaVT7TAmLvSPm6Gr8cBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Mi5Ket4fwaXriB7EyPhRj",
      "input": {
        "note": "Cube released. Lifting the right gripper straight up off the cube before retracting, so the open jaws don't drag it.",
        "targets": {
          "right_j1": 2.232,
          "right_j2": 2.226,
          "right_j3": -1.565
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_019Mi5Ket4fwaXriB7EyPhRj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=0.0002 left_j5=-0.0494 left_gripper=0.464 right_j0=0.7918 right_j1=2.2822 right_j2=2.1857 right_j3=-1.507 right_j4=-0.0078 right_j5=-0.0353 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -10.2906, 5.5453, 0.2027, -0.0317, -0.0415, 0.4713, -0.335, -15.4188, 7.5692, 0.2955, -0.0366, 0.0073, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc669737407cad95425ae40e54e3d5e86689705806a006183878df3e1d48c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7516c8ea4b0de1abab030b73a1ba300d0803b08a76695ea68179c16599035bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2ec16914d64f54241d5a9b32acade988cb9d74245d7fa7527e4d5299077e650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 34 attempt 0 · /messages · status 200 · 5.257 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.4621 right_j0=0.7918 right_j1=2.365 right_j2=1.8938 right_j3=-1.124 right_j4=-0.0074 right_j5=-0.0269 right_gripper=0.4538\nstate[joint_eff]: [-0.1162, -10.4137, 5.7231, 0.1734, -0.0122, -0.0659, 0.5983, -0.3077, -8.212, 5.4222, 1.033, -0.0708, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4623 right_j0=0.7918 right_j1=2.3638 right_j2=1.8942 right_j3=-1.1282 right_j4=-0.0074 right_j5=-0.0311 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -10.4137, 5.559, 0.2418, -0.0708, -0.0366, 0.8425, -0.335, -12.4786, 5.5726, 0.2515, -0.0122, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=0.0002 left_j5=-0.0494 left_gripper=0.464 right_j0=0.7918 right_j1=2.2822 right_j2=2.1857 right_j3=-1.507 right_j4=-0.0078 right_j5=-0.0353 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -10.2906, 5.5453, 0.2027, -0.0317, -0.0415, 0.4713, -0.335, -15.4188, 7.5692, 0.2955, -0.0366, 0.0073, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc669737407cad95425ae40e54e3d5e86689705806a006183878df3e1d48c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7516c8ea4b0de1abab030b73a1ba300d0803b08a76695ea68179c16599035bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ec16914d64f54241d5a9b32acade988cb9d74245d7fa7527e4d5299077e650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob abc669737407]

[blob b7516c8ea4b0]

[blob f2ec16914d64]

{
  "content": [
    {
      "signature": "CAIS1gMKjAEIEBgCKkCjQzOPwZvW8ij7zVOqtGy4aHcmh/TOQ3uCIiziYy27zxjT99nZ4qQ0mgFOkTznfBDP6dxcQgO3L/2UOtkl7+BnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMXHh5DB3wm4SIb+NzGgxTlhmAfZQFgJUJ8CsiMH8aVrWyfaLjp5eGvrX+MxSTQrHO8hSplqCzSklLfw6U58I3GBpLDn9oRhSLPJg6Gyr2ARVtsJFnZ3AjS6KWFoB9f0p11tZTRe/1kCeWDu83oU1Vlan/7cGReBhiIbAjnWHEr31/x50LLAWVdeuujFWQW6a7TgPpnIGuGsFOw+w6kOKAsdcbrUNjQrwCS7SNpDHJw6c/9+IEi3nCuZl5qXh5C8jzpKq7bxekV9m8gDT7uTTmINT8m2RZsXRJhkgLlYJSjPLkmlHILOcnKoNitvgbkKFjNWfaxgKQk2OVnZ+2wlKpwXAuZ2pII2Z07LW8EJ6cnW7y9XcCFkt54OemJWf/zAGr9S+6vI2FjU9AnQdbaSzQbwG4PeV86tN8LGKUsJoZdZxf3wMBVhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015kCXrThnFKnEyMLk7Dz3we",
      "input": {
        "note": "The red cube stands upright in the shared zone (visible in the right wrist view and overhead). Parking the right arm back near its base so it can't collide with the left arm during the stacking move.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 27 steps (2.7s)",
      "tool_use_id": "toolu_015kCXrThnFKnEyMLk7Dz3we",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.961 left_j3=-1.5326 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.466 right_j0=0.0101 right_j1=0.6201 right_j2=1.2118 right_j3=-0.6701 right_j4=-0.0078 right_j5=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -10.2359, 5.6274, 0.1832, -0.022, -0.0464, 0.5153, -0.212, 2.5368, 5.5179, 2.5031, -0.0122, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffc8638be404ca1fde065e6350ae2ea4d342a56d7a34a983ac6ef4921d06766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec2f3c9aea30fe6cce6a95c5b4571743ca5161a0c3fbe702bd4343b1672a580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a5399a6a06a92258eeb0dea55f0b8d467910f334d82bad399cc4310befb4a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 35 attempt 0 · /messages · status 200 · 11.27 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=-0.0002 left_j5=-0.049 left_gripper=0.4623 right_j0=0.7918 right_j1=2.3638 right_j2=1.8942 right_j3=-1.1282 right_j4=-0.0074 right_j5=-0.0311 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -10.4137, 5.559, 0.2418, -0.0708, -0.0366, 0.8425, -0.335, -12.4786, 5.5726, 0.2515, -0.0122, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=0.0002 left_j5=-0.0494 left_gripper=0.464 right_j0=0.7918 right_j1=2.2822 right_j2=2.1857 right_j3=-1.507 right_j4=-0.0078 right_j5=-0.0353 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -10.2906, 5.5453, 0.2027, -0.0317, -0.0415, 0.4713, -0.335, -15.4188, 7.5692, 0.2955, -0.0366, 0.0073, 0.1245]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.961 left_j3=-1.5326 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.466 right_j0=0.0101 right_j1=0.6201 right_j2=1.2118 right_j3=-0.6701 right_j4=-0.0078 right_j5=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -10.2359, 5.6274, 0.1832, -0.022, -0.0464, 0.5153, -0.212, 2.5368, 5.5179, 2.5031, -0.0122, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffc8638be404ca1fde065e6350ae2ea4d342a56d7a34a983ac6ef4921d06766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec2f3c9aea30fe6cce6a95c5b4571743ca5161a0c3fbe702bd4343b1672a580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5399a6a06a92258eeb0dea55f0b8d467910f334d82bad399cc4310befb4a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bffc8638be40]

[blob 6ec2f3c9aea3]

[blob 7a5399a6a06a]

{
  "content": [
    {
      "signature": "CAIStgkKjAEIEBgCKkB5KiVzWxX5nhYee9S//MfOeIBfYVKlOV669/SlRfXDADcxgT8gQc7BJdOsBL/+sZlPSA0PNmnrGKC64Z+662qRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJDbS/R98NKRwbTxkGgys4T63Gqe79CtBdg8iMELfGWWm1GQfHeVCklMFYcpGxw1pmpTABvD+x9gCR/XZzU2pPIYsIHNi1+lBTfH2QCrWB0qqH6+lhMWNxYL1e2+R9Uty6kJ7dXYxxRlQAwFRjfd3bI8+7AGArQzlvfL3Zq8wOU7++vOJYYwwQkxdZNR4ZWCnd2bnWm9kQ9hHht4SvvBwHR7QrUp1fRSVGNMGC4koSTJdeGOLa/h8pmlPA8Sed0bMmmSyNmCxMfwbr094NZkc0woNoU/oNCELxz6wgrZvshWxPSOQ5g42nXy/hcaQZGxlbNHYePjqrikH7Atj3ll4/igkgVGmT8j9geMDCrfPFh5snQPu2Yn45NpMMeZqQexxNGA4G3BSvGJscFpmhgGwp29eKTTfdyRFpme87MMhFLy/4E4/JV/YofoMsvaRpUFC/y1zj/Apdi06kCXZDFcReHt7go07IT+hBhVRbYL7iW7uCXd3GZL6vEHdAuI2UX2wy05FC2e0DhRP724Z8r1F74boA5UJvqnX0/zMQef0UskL7Ao/YoTsmWf5847HTQwNPliy/zSc6Rx9bvmbRbZCxRAVwlrY6SjLjsBUxZWZoKbv+z1JsrkqCRFXhtgJe0ZgMnkpPt2uCWYHM7VnOTLJ6W8bF9IWHQ6wdtQ9PmrHLU0l0cG7zoxrraLpOOLyBRrxOuLUSU90+th7XZBt1ML8haFVTpEKV8A45Ed2JQVabRfIrgjyKtMn/6EJ1AZMWJdO+vXWoA8nsznqKU+u2s/3J9ZfhmiqVFQMMiTSBE/LykqjO/MhWUzOnlFnJHVWefE1RZnvfTt0sJ22OOWwF4RbdHSCWK5lfHyzf1C8KWbbQVIWgoGzQThFeUaaUvxDUzbw2k9jy5Zfsoo5yGqQtUwH7exVpJutmj9pxChxII8y3m6QAdQjy8ORQUMhSTtETKW1+y0qwHTVkd3xerIXW0+0dVoUV04tp+3jtmcHstXg7RnSevAdXySXedTxSBfuaVORRyBUjxbyuHtr+nuh0qRs06Y2r148NK2EoBWsa3GrUgfhtkP6QfdVm0w/0kPW9EB5A26XnN6D1AzPvSjLX/pTAUw2ObZvBlaKvGHE4sSzm4xbC2At650kCnkn3x3y1NVgcibWTZH1IeyC6YCn+iOPGeF+trtUAFWB3yQukwZQYNN1BwoBOq04N3XlSJywbtsiMmTjahJscAlHFWXrtfJ3PTTdYQ87E7nSLwQh/9A5iS689zgSFDtEC2G/ofISStbmDPisnwv2HxT6vULzWxsI7f6iro6LJqMM0K4HMGXxSyZVWg2OlbfrQySGvDYZKSkDBjIf9WKJAHFHUse60JOJPlaTI/3jPWVsgTvUZuzLdhQxaj2Ob4Mh8yZExf76wphoDHiZL5oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVHrzX1mFeNuL3fwqpNrnZ",
      "input": {
        "note": "The red cube now sits in the shared zone at overhead (108,168) and the right arm is parked. Swinging the loaded left arm over that spot (bearing -0.80 rad, radius 0.40 m) at ~18 cm height to line up the stack.",
        "targets": {
          "left_j0": -0.8,
          "left_j1": 2.204,
          "left_j2": 2.303,
          "left_j3": -1.67
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YVHrzX1mFeNuL3fwqpNrnZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7765 left_j1=2.1887 left_j2=2.2684 left_j3=-1.6604 left_j4=0.0032 left_j5=-0.0525 left_gripper=0.4684 right_j0=0.0063 right_j1=0.6201 right_j2=1.1965 right_j3=-0.6807 right_j4=-0.0086 right_j5=-0.0498 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -10.4547, 7.5966, 0.1734, -0.0415, -0.0122, 0.2369, 0.253, 1.812, 6.4615, 2.0, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65cdbdb4da07631c0299a34dc5af461996fa4a2f236c07628961aa90b788d2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d0eda4cab2223a9d2784ddbff6746881e787c88e461beb33e68f5f88832766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aee661a2e0a56759f172347abc2bf639abe5861aaf6639dfd8c04f8e43600ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 36 attempt 0 · /messages · status 200 · 8.551 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.9621 left_j3=-1.5337 left_j4=0.0002 left_j5=-0.0494 left_gripper=0.464 right_j0=0.7918 right_j1=2.2822 right_j2=2.1857 right_j3=-1.507 right_j4=-0.0078 right_j5=-0.0353 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -10.2906, 5.5453, 0.2027, -0.0317, -0.0415, 0.4713, -0.335, -15.4188, 7.5692, 0.2955, -0.0366, 0.0073, 0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.961 left_j3=-1.5326 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.466 right_j0=0.0101 right_j1=0.6201 right_j2=1.2118 right_j3=-0.6701 right_j4=-0.0078 right_j5=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -10.2359, 5.6274, 0.1832, -0.022, -0.0464, 0.5153, -0.212, 2.5368, 5.5179, 2.5031, -0.0122, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7765 left_j1=2.1887 left_j2=2.2684 left_j3=-1.6604 left_j4=0.0032 left_j5=-0.0525 left_gripper=0.4684 right_j0=0.0063 right_j1=0.6201 right_j2=1.1965 right_j3=-0.6807 right_j4=-0.0086 right_j5=-0.0498 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -10.4547, 7.5966, 0.1734, -0.0415, -0.0122, 0.2369, 0.253, 1.812, 6.4615, 2.0, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65cdbdb4da07631c0299a34dc5af461996fa4a2f236c07628961aa90b788d2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d0eda4cab2223a9d2784ddbff6746881e787c88e461beb33e68f5f88832766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aee661a2e0a56759f172347abc2bf639abe5861aaf6639dfd8c04f8e43600ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 65cdbdb4da07]

[blob 81d0eda4cab2]

[blob 3aee661a2e0a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GYP8QaUyqjzPqYS44ZKiTm",
      "input": {
        "note": "The red cube is visible at (120,90) in the left wrist view, well aligned with the jaw line but apparently still ahead of the load; descending ~9 cm (carried block bottom stays above the cube's top) to see how the cube shifts in the frame.",
        "targets": {
          "left_j1": 2.234,
          "left_j2": 1.983,
          "left_j3": -1.32
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GYP8QaUyqjzPqYS44ZKiTm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.2238 left_j2=2.0003 left_j3=-1.3914 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4704 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7025 right_j4=-0.0086 right_j5=-0.0505 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -11.0291, 6.0239, 0.3248, -0.0269, -0.0757, 0.2027, -0.1299, 1.7026, 5.3265, 2.0781, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e221783ee522354c58e274f3092eef8d7ea302a570ee4aed8f21e306c5f41012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50a7026d8aaae5c26a065b99e42266849493c89540807ff34b636791265f591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6690733713efc2d36da0d8cd915d6a18e45b0e01291c94353a20f78d49d26c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 37 attempt 0 · /messages · status 200 · 9.578 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2619 left_j1=2.0388 left_j2=1.961 left_j3=-1.5326 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.466 right_j0=0.0101 right_j1=0.6201 right_j2=1.2118 right_j3=-0.6701 right_j4=-0.0078 right_j5=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -10.2359, 5.6274, 0.1832, -0.022, -0.0464, 0.5153, -0.212, 2.5368, 5.5179, 2.5031, -0.0122, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7765 left_j1=2.1887 left_j2=2.2684 left_j3=-1.6604 left_j4=0.0032 left_j5=-0.0525 left_gripper=0.4684 right_j0=0.0063 right_j1=0.6201 right_j2=1.1965 right_j3=-0.6807 right_j4=-0.0086 right_j5=-0.0498 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -10.4547, 7.5966, 0.1734, -0.0415, -0.0122, 0.2369, 0.253, 1.812, 6.4615, 2.0, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.2238 left_j2=2.0003 left_j3=-1.3914 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4704 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7025 right_j4=-0.0086 right_j5=-0.0505 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -11.0291, 6.0239, 0.3248, -0.0269, -0.0757, 0.2027, -0.1299, 1.7026, 5.3265, 2.0781, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e221783ee522354c58e274f3092eef8d7ea302a570ee4aed8f21e306c5f41012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50a7026d8aaae5c26a065b99e42266849493c89540807ff34b636791265f591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6690733713efc2d36da0d8cd915d6a18e45b0e01291c94353a20f78d49d26c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e221783ee522]

[blob e50a7026d8aa]

[blob 6690733713ef]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ALNiw8nFkNUwQCEwWKYc3",
      "input": {
        "note": "The cube's top edge peeks just above the carried block, so I'm advancing ~1.5 cm and descending toward table level; where the descent stalls will tell me whether the block landed on the cube (stall ~6 cm) or beside it on the table (stall ~1.5 cm).",
        "targets": {
          "left_j1": 2.372,
          "left_j2": 1.966,
          "left_j3": -1.165
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_017ALNiw8nFkNUwQCEwWKYc3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.344 left_j2=1.977 left_j3=-1.2369 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4721 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7078 right_j4=-0.0082 right_j5=-0.054 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.8222, 4.8889, 0.398, -0.0317, -0.0317, 0.1734, -0.212, 1.7026, 5.3402, 2.0342, -0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aba101b27b4f70baa598ace34d976f2217222ac9ea9b7defaa9c71eaa55bbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:744b8f97c016789a50d6b38253c67305b865087dfc365a57b92fb3f30a9742e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d02243b4278e17ccf255b8c928fbf26fd0b77d7a2780532e088f5d8d7fb27676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 38 attempt 0 · /messages · status 200 · 17.1 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7765 left_j1=2.1887 left_j2=2.2684 left_j3=-1.6604 left_j4=0.0032 left_j5=-0.0525 left_gripper=0.4684 right_j0=0.0063 right_j1=0.6201 right_j2=1.1965 right_j3=-0.6807 right_j4=-0.0086 right_j5=-0.0498 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -10.4547, 7.5966, 0.1734, -0.0415, -0.0122, 0.2369, 0.253, 1.812, 6.4615, 2.0, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.2238 left_j2=2.0003 left_j3=-1.3914 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4704 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7025 right_j4=-0.0086 right_j5=-0.0505 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -11.0291, 6.0239, 0.3248, -0.0269, -0.0757, 0.2027, -0.1299, 1.7026, 5.3265, 2.0781, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.344 left_j2=1.977 left_j3=-1.2369 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4721 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7078 right_j4=-0.0082 right_j5=-0.054 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.8222, 4.8889, 0.398, -0.0317, -0.0317, 0.1734, -0.212, 1.7026, 5.3402, 2.0342, -0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aba101b27b4f70baa598ace34d976f2217222ac9ea9b7defaa9c71eaa55bbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:744b8f97c016789a50d6b38253c67305b865087dfc365a57b92fb3f30a9742e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02243b4278e17ccf255b8c928fbf26fd0b77d7a2780532e088f5d8d7fb27676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5aba101b27b4]

[blob 744b8f97c016]

[blob d02243b4278e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AemSg4zR7Zjh7PdkYV7RWL",
      "input": {
        "note": "The descent passed the cube's top height without stalling and the wrist view changed oddly, so the load is likely beside the cube (or shifted in the jaws). Lifting back to ~13 cm to re-assess from both cameras before trying again.",
        "targets": {
          "left_j1": 2.273,
          "left_j2": 2.213,
          "left_j3": -1.511
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AemSg4zR7Zjh7PdkYV7RWL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.3222 left_j2=2.1723 left_j3=-1.4574 left_j4=0.004 left_j5=-0.0528 left_gripper=0.4733 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7136 right_j4=-0.0086 right_j5=-0.0574 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -15.8427, 7.4325, 0.2955, -0.0415, -0.0513, 0.105, -0.0205, 1.6479, 5.2444, 1.9463, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e0347b7064576a9c5086513c360d79ef0a344f9345561488d7230ab2a146dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ba68477b4c7c7a77b5594f604fb319581a2500053424cedcaa1843ee5c6c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8e9285051940da1efd1b4220323dcaefbfaa26e73622e8622e07c9a8b589581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 39 attempt 0 · /messages · status 200 · 13.8 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.2238 left_j2=2.0003 left_j3=-1.3914 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4704 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7025 right_j4=-0.0086 right_j5=-0.0505 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -11.0291, 6.0239, 0.3248, -0.0269, -0.0757, 0.2027, -0.1299, 1.7026, 5.3265, 2.0781, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.344 left_j2=1.977 left_j3=-1.2369 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4721 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7078 right_j4=-0.0082 right_j5=-0.054 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.8222, 4.8889, 0.398, -0.0317, -0.0317, 0.1734, -0.212, 1.7026, 5.3402, 2.0342, -0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.3222 left_j2=2.1723 left_j3=-1.4574 left_j4=0.004 left_j5=-0.0528 left_gripper=0.4733 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7136 right_j4=-0.0086 right_j5=-0.0574 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -15.8427, 7.4325, 0.2955, -0.0415, -0.0513, 0.105, -0.0205, 1.6479, 5.2444, 1.9463, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e0347b7064576a9c5086513c360d79ef0a344f9345561488d7230ab2a146dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ba68477b4c7c7a77b5594f604fb319581a2500053424cedcaa1843ee5c6c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8e9285051940da1efd1b4220323dcaefbfaa26e73622e8622e07c9a8b589581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 04e0347b7064]

[blob 59ba68477b4c]

[blob b8e928505194]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TrJa2BUnYFY7s2jyWpk1GS",
      "input": {
        "note": "Reading the overhead frame with parallax correction, the red cube is actually ~4 cm to my left and ~10 cm closer to the base than the fingertips — I had overshot radially. Pulling the radius in to 0.36 m and yawing to -0.71 rad at ~9 cm height, above the cube.",
        "targets": {
          "left_j0": -0.71,
          "left_j1": 2.085,
          "left_j2": 1.739,
          "left_j3": -1.225
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TrJa2BUnYFY7s2jyWpk1GS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7143 left_j1=2.1319 left_j2=1.758 left_j3=-1.2655 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.474 right_j0=0.0063 right_j1=0.6201 right_j2=1.195 right_j3=-0.7292 right_j4=-0.0082 right_j5=-0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -13.4359, 5.8325, 0.5201, -0.0464, -0.0415, 0.0659, -0.0752, 1.6479, 5.2855, 2.127, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f668fc5d8ec99e3334c5cf3beb19c10c1b1d3c16446004d954fceec97ac6587d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3364e80e890dfb3f2b486793dd8e2f97bd07d826264c3f928915f0082a3fb24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2487e69ad5c24bd53e11e504df6b8f389e394307d6520b6c4af30aa1fecca06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 40 attempt 0 · /messages · status 200 · 8.251 s

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

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.344 left_j2=1.977 left_j3=-1.2369 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4721 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7078 right_j4=-0.0082 right_j5=-0.054 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.8222, 4.8889, 0.398, -0.0317, -0.0317, 0.1734, -0.212, 1.7026, 5.3402, 2.0342, -0.0122, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.3222 left_j2=2.1723 left_j3=-1.4574 left_j4=0.004 left_j5=-0.0528 left_gripper=0.4733 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7136 right_j4=-0.0086 right_j5=-0.0574 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -15.8427, 7.4325, 0.2955, -0.0415, -0.0513, 0.105, -0.0205, 1.6479, 5.2444, 1.9463, -0.0659, -0.0269, -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=-0.7143 left_j1=2.1319 left_j2=1.758 left_j3=-1.2655 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.474 right_j0=0.0063 right_j1=0.6201 right_j2=1.195 right_j3=-0.7292 right_j4=-0.0082 right_j5=-0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -13.4359, 5.8325, 0.5201, -0.0464, -0.0415, 0.0659, -0.0752, 1.6479, 5.2855, 2.127, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f668fc5d8ec99e3334c5cf3beb19c10c1b1d3c16446004d954fceec97ac6587d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3364e80e890dfb3f2b486793dd8e2f97bd07d826264c3f928915f0082a3fb24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2487e69ad5c24bd53e11e504df6b8f389e394307d6520b6c4af30aa1fecca06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f668fc5d8ec9]

[blob 3364e80e890d]

[blob 2487e69ad5c2]

{
  "content": [
    {
      "signature": 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35ghVM5smXOH3cos44CWZLiO1I9yj9Gi+UiKQIO9D1EMHWUdRpwXcw/3n2TG0OYDmBA9bEX0D8TMvhOZXcaIQqG7AIQ76C0fDx+tVhwjVOl17zb+FVmrk2yYdGKui1afAB62Fgueg3VUOYlYQm+i9AzB7ZreuNF+4ZLWzeFVJ8clwD2R6CbknxZXf/Wp1gmyBnQqcOvZ7PlqwNHiuxRDbCTi9moJx6rsq3HwYElb7XWWhBZbif2zbWGzrlsobOeXFLbK8rVXuUIPBrChxUfTPnWr0KxYSRbwnnUcp0bpyrkbWYgijdRK7ylnDDKQieO8w2TBKI5cFvGMN72x7/xlb2G0cAIpjcjm4V6aw7VPs3UwvM9PI1IF22iLF3Iqh7zOivuVFAQ2okyDXh+uZN/Kif0K6HFQyU/RNjDqKEyJDZNCjPpsYAYa72DYJg169OKETeChfAZ1Qy+HHHYAGll6uwYouqOQFnQjGSO03UnB+zX2f699hdhOK4BwDKu1g2Bsd4KsIEjpuXJWkMtTCULGhtkP2a8P4omGvkP/Bs69GBDc4CZoB1kZPVsXLnpiw64vnH10PjPtArfA3VjYFGTQtSWkdHVWct+Hn7WgcKZ5g0D/QVD2KBMfiOcbfj3jSukD0N2mcnUcPZN+wv1q0nBeF5A6GvsjbXEJVyalZw9zRbkbhPBhdYyXbpisVJs9cb2gU9ERCFGMhvVCsofw3vO+BRTBOwltEqimCX6U0EbOwKMJHjMemRKeI8lGKhqXhbyP1SD0+wSW0cqsIX4u6aocSqTgu25KjsSSk2re13p0VuydjzGk8COiPswzCPnAhh0zWaBR+ezjK50E7Cx+qYPWACkq5LekALR8PLSXnyFa3R/EXd79PqsQXJIYYISz6U0cIWAqVLkqEQQ/L2qdTgVFABBrvnqcfE6Y7nkzrZYBIzeKjjMNuamnIJ++q8FW6cWK0Ou6k6+KIruB1/r4fsM+nOe/pwv6NXgTkM4uC3dYA085Q68xEKhuY5TCR7lOPGeFXGJWwVa1mfH5bhczJBUycQEqZ/n3EACPPXt/7coGTICP5n4l6u94UtxiSuV/kuBYtYye/XNPovV6PlzK2Hxl8qVCr91CJvwOl/RM4r8x3fBdbxc5EaRte7/zMsoa0uJCkW09/KwHpRr170F6NlhNv1oXhOwtnrA57q5yM+WLECxlbIdRd8r3dibWCRSJsH3itEvRFrEoq6cnkJpgYZ9oT5s6FBseMIg1unwLI58UlsZ9LC1nFoyLFKE22FOE3RcI1CtjHLuPTf6g3+NlX9P0+fh28qcmYPBNZFS/U6+ts9Zk7yOGwgFafGPqiY9qXSJ0iIIuAdFPybiLvUIPYxgaaS6LmgSzZRDpNUisTpioBgVQAIUPkAqd67mxpp0R+L4BMJ/x1CL2vozNuWavA/MW2SJ+jTiRf+La/odRZfoW69EZow6p73N7Q0XGIcfKmA1HXGhvZ/Pr3Bcx2+rYPputSywu6rFeOCxWxHZ49MUZYKISXJQwItjRU9a9CALPRmfw3mEuf9mwh1A+holNGlc8/wo+9iQ/x+syGFD8fsIGhiMgwtnIakDKUfm5Jgjyyo3+YQu0PbEOOclSF8PdetBMjgXX31EPkmTLKptsoTgSoyoYbk4IyOEw0oRiJEBsUUOfTHB5PXZdB64O7Ebw84R/tkelJd/akNflEaEmbLVcXJmscGre8+OocisLA8WV+k2VjQ+TYVEj9nWuAwnJprG+if8SUSZr6FxmOvCgG6uc1O38tEkKiSggR4oifhobSMt/KIehy6YygIN8bp2KSQamHZSg3+yMSS9gFZw3boCjp9B1WorCcL3GUE0xqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0127DfqVEjwFGS4dKw4YaMS1",
      "input": {
        "note": "The cube reappeared up-right in the wrist view and moved right exactly as expected when I yawed left, confirming the wrist lateral convention; restoring j0 to -0.78 to re-centre it and pulling the radius in 4 cm at constant height as a clean test of which way radial motion shifts the image.",
        "targets": {
          "left_j0": -0.78,
          "left_j1": 1.964,
          "left_j2": 1.5,
          "left_j3": -1.107
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_0127DfqVEjwFGS4dKw4YaMS1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.775 left_j1=2.0079 left_j2=1.5146 left_j3=-1.1404 left_j4=0.0029 left_j5=-0.0521 left_gripper=0.4747 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7376 right_j4=-0.0082 right_j5=-0.0643 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -12.4376, 5.7778, 0.4957, -0.0122, -0.0415, 0.0562, -0.0068, 1.6479, 5.2855, 2.0733, -0.022, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d7144585b7c3858c0e3901544722911bc961c3191688bd0325abf225e8dc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a36abce8bb2f6048a65d3dc44fd0a16b349063bac04715c120309465633998b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54cdf021d29cb28496a2020c7e0112daa448b9cd427b9fae28dc7052dcffa089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 41 attempt 0 · /messages · status 200 · 7.687 s

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

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7761 left_j1=2.3222 left_j2=2.1723 left_j3=-1.4574 left_j4=0.004 left_j5=-0.0528 left_gripper=0.4733 right_j0=0.0063 right_j1=0.6201 right_j2=1.1954 right_j3=-0.7136 right_j4=-0.0086 right_j5=-0.0574 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -15.8427, 7.4325, 0.2955, -0.0415, -0.0513, 0.105, -0.0205, 1.6479, 5.2444, 1.9463, -0.0659, -0.0269, -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=-0.7143 left_j1=2.1319 left_j2=1.758 left_j3=-1.2655 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.474 right_j0=0.0063 right_j1=0.6201 right_j2=1.195 right_j3=-0.7292 right_j4=-0.0082 right_j5=-0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -13.4359, 5.8325, 0.5201, -0.0464, -0.0415, 0.0659, -0.0752, 1.6479, 5.2855, 2.127, -0.0073, -0.0317, -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=-0.775 left_j1=2.0079 left_j2=1.5146 left_j3=-1.1404 left_j4=0.0029 left_j5=-0.0521 left_gripper=0.4747 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7376 right_j4=-0.0082 right_j5=-0.0643 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -12.4376, 5.7778, 0.4957, -0.0122, -0.0415, 0.0562, -0.0068, 1.6479, 5.2855, 2.0733, -0.022, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d7144585b7c3858c0e3901544722911bc961c3191688bd0325abf225e8dc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a36abce8bb2f6048a65d3dc44fd0a16b349063bac04715c120309465633998b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54cdf021d29cb28496a2020c7e0112daa448b9cd427b9fae28dc7052dcffa089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 09d7144585b7]

[blob 5a36abce8bb2]

[blob 54cdf021d29c]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K8LdqbnQb1tnuznWL1KYkC",
      "input": {
        "note": "Pulling the radius in made the cube grow in the wrist view, proving it is nearer the base than the gripper; continuing inward another 3 cm and nudging ~2 cm to the arm's right to line the carried block up over it (load bottom still ~1.7 cm above the cube top).",
        "targets": {
          "left_j0": -0.83,
          "left_j1": 1.862,
          "left_j2": 1.356,
          "left_j3": -1.065
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K8LdqbnQb1tnuznWL1KYkC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8188 left_j1=1.9125 left_j2=1.367 left_j3=-1.0836 left_j4=0.0006 left_j5=-0.0517 left_gripper=0.4753 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7475 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -11.6991, 6.5709, 0.5055, -0.0171, -0.0122, 0.0611, -0.1846, 1.9624, 5.4222, 2.0977, -0.0122, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e538d5aa67008628d174d1aaef73f3bd8ec805ebbb1cea988b7bd368f61b9b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d5acf83fed9619b65fcf3acdd1f847d9124186d80f6b80591e6e7edcfafe9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8c90e3f9b634883edec59c1f24d2ee02d1732b03d3ec545fa3129c6eba6ec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 42 attempt 0 · /messages · status 200 · 9.716 s

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

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7143 left_j1=2.1319 left_j2=1.758 left_j3=-1.2655 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.474 right_j0=0.0063 right_j1=0.6201 right_j2=1.195 right_j3=-0.7292 right_j4=-0.0082 right_j5=-0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -13.4359, 5.8325, 0.5201, -0.0464, -0.0415, 0.0659, -0.0752, 1.6479, 5.2855, 2.127, -0.0073, -0.0317, -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=-0.775 left_j1=2.0079 left_j2=1.5146 left_j3=-1.1404 left_j4=0.0029 left_j5=-0.0521 left_gripper=0.4747 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7376 right_j4=-0.0082 right_j5=-0.0643 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -12.4376, 5.7778, 0.4957, -0.0122, -0.0415, 0.0562, -0.0068, 1.6479, 5.2855, 2.0733, -0.022, 0.0122, -0.0122]",
      "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=-0.8188 left_j1=1.9125 left_j2=1.367 left_j3=-1.0836 left_j4=0.0006 left_j5=-0.0517 left_gripper=0.4753 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7475 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -11.6991, 6.5709, 0.5055, -0.0171, -0.0122, 0.0611, -0.1846, 1.9624, 5.4222, 2.0977, -0.0122, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e538d5aa67008628d174d1aaef73f3bd8ec805ebbb1cea988b7bd368f61b9b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d5acf83fed9619b65fcf3acdd1f847d9124186d80f6b80591e6e7edcfafe9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c90e3f9b634883edec59c1f24d2ee02d1732b03d3ec545fa3129c6eba6ec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e538d5aa6700]

[blob 79d5acf83fed]

[blob f8c90e3f9b63]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DgSQEsnpkXXF1LBdxm5pzG",
      "input": {
        "note": "The cube is now directly in line with the carried block in the wrist view, just further inward; creeping 2 cm further in at constant height so the load ends up right over it.",
        "targets": {
          "left_j1": 1.793,
          "left_j2": 1.266,
          "left_j3": -1.044
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DgSQEsnpkXXF1LBdxm5pzG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8276 left_j1=1.8469 left_j2=1.2911 left_j3=-1.0439 left_j4=0.0032 left_j5=-0.0517 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7601 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -11.0838, 6.2291, 0.359, -0.0806, -0.0415, 0.0024, -0.0752, 1.935, 5.2308, 2.0342, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84fc54008d967f5592e46033829f07399ceed8686ec8891fea01105e67a5cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cecde481783276e5ec4cd25bd0f968bd9f62e8346a2f77174e8cf49c3908a7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cb9b8f8769bcd392df98b4e941aa64c14def474ea55d3d0fec5296735780ae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 43 attempt 0 · /messages · status 200 · 13.75 s

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

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.775 left_j1=2.0079 left_j2=1.5146 left_j3=-1.1404 left_j4=0.0029 left_j5=-0.0521 left_gripper=0.4747 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7376 right_j4=-0.0082 right_j5=-0.0643 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -12.4376, 5.7778, 0.4957, -0.0122, -0.0415, 0.0562, -0.0068, 1.6479, 5.2855, 2.0733, -0.022, 0.0122, -0.0122]",
      "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=-0.8188 left_j1=1.9125 left_j2=1.367 left_j3=-1.0836 left_j4=0.0006 left_j5=-0.0517 left_gripper=0.4753 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7475 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -11.6991, 6.5709, 0.5055, -0.0171, -0.0122, 0.0611, -0.1846, 1.9624, 5.4222, 2.0977, -0.0122, -0.0366, -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=-0.8276 left_j1=1.8469 left_j2=1.2911 left_j3=-1.0439 left_j4=0.0032 left_j5=-0.0517 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7601 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -11.0838, 6.2291, 0.359, -0.0806, -0.0415, 0.0024, -0.0752, 1.935, 5.2308, 2.0342, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84fc54008d967f5592e46033829f07399ceed8686ec8891fea01105e67a5cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cecde481783276e5ec4cd25bd0f968bd9f62e8346a2f77174e8cf49c3908a7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb9b8f8769bcd392df98b4e941aa64c14def474ea55d3d0fec5296735780ae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f84fc54008d9]

[blob cecde4817832]

[blob 7cb9b8f8769b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UpqKnW2NPVb2nzFkW4MHs1",
      "input": {
        "note": "Overhead still shows a sliver of the red cube just inward of the gripper, so I'm creeping ~3 cm further in; when the cube disappears behind the gripper/load in the top view I should be aligned over it.",
        "targets": {
          "left_j1": 1.735,
          "left_j2": 1.149,
          "left_j3": -0.984
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UpqKnW2NPVb2nzFkW4MHs1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=1.7809 left_j2=1.1648 left_j3=-1.0035 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7662 right_j4=-0.0082 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -10.7556, 6.147, 0.5348, -0.0708, -0.0269, -0.0024, -0.0205, 1.7846, 5.2308, 2.0, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f60b43bd976e3a6e5184c20f4ac4bbc2603899d561c8d0121ab3b8a96e7f4b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263467798f0e66f07f242102580b5395bf486edc955d493754ae2ed055b00b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df3b4b4c1bea79fa11a774fd856603a38a4f196ce1d456f01e120cf9ef002ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 44 attempt 0 · /messages · status 200 · 9.517 s

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

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8188 left_j1=1.9125 left_j2=1.367 left_j3=-1.0836 left_j4=0.0006 left_j5=-0.0517 left_gripper=0.4753 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7475 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -11.6991, 6.5709, 0.5055, -0.0171, -0.0122, 0.0611, -0.1846, 1.9624, 5.4222, 2.0977, -0.0122, -0.0366, -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=-0.8276 left_j1=1.8469 left_j2=1.2911 left_j3=-1.0439 left_j4=0.0032 left_j5=-0.0517 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7601 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -11.0838, 6.2291, 0.359, -0.0806, -0.0415, 0.0024, -0.0752, 1.935, 5.2308, 2.0342, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=1.7809 left_j2=1.1648 left_j3=-1.0035 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7662 right_j4=-0.0082 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -10.7556, 6.147, 0.5348, -0.0708, -0.0269, -0.0024, -0.0205, 1.7846, 5.2308, 2.0, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f60b43bd976e3a6e5184c20f4ac4bbc2603899d561c8d0121ab3b8a96e7f4b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263467798f0e66f07f242102580b5395bf486edc955d493754ae2ed055b00b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3b4b4c1bea79fa11a774fd856603a38a4f196ce1d456f01e120cf9ef002ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f60b43bd976e]

[blob 263467798f0e]

[blob df3b4b4c1bea]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLXM4YpcSFxPT4vA8V4gNn",
      "input": {
        "note": "The wrist view of the cube is a blurry glow and the overhead is ambiguous, so I'm flying the idle right arm up into a side-viewing pose (camera ~30 cm up, tilted ~50° down, aimed along the bearing of the stack site) to see the carried block and the cube from the side.",
        "targets": {
          "right_j0": 0.79,
          "right_j1": 1.154,
          "right_j2": 1.25,
          "right_j3": -0.997
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01FLXM4YpcSFxPT4vA8V4gNn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=1.776 left_j2=1.1461 left_j3=-1.0073 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.476 right_j0=0.7715 right_j1=1.1496 right_j2=1.2182 right_j3=-0.9791 right_j4=-0.0078 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.4598, 6.9402, 0.1343, -0.022, -0.0708, 0.0415, -0.0889, -4.041, 9.5111, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dd15103ec4db7e47c2a70654636bcddb05fc82feb2dd3f18e3cec3f2924b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed31cf935a9fa4981a84232579074060157b69a2725aac410022adc0409b6c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1266f9cb462160c6d72d4ed1433cdf13aaa2ac78c0cb648de89a39a0b9457239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 45 attempt 0 · /messages · status 200 · 7.125 s

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

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8276 left_j1=1.8469 left_j2=1.2911 left_j3=-1.0439 left_j4=0.0032 left_j5=-0.0517 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7601 right_j4=-0.0082 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -11.0838, 6.2291, 0.359, -0.0806, -0.0415, 0.0024, -0.0752, 1.935, 5.2308, 2.0342, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=1.7809 left_j2=1.1648 left_j3=-1.0035 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7662 right_j4=-0.0082 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -10.7556, 6.147, 0.5348, -0.0708, -0.0269, -0.0024, -0.0205, 1.7846, 5.2308, 2.0, -0.0464, -0.0513, -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=-0.8246 left_j1=1.776 left_j2=1.1461 left_j3=-1.0073 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.476 right_j0=0.7715 right_j1=1.1496 right_j2=1.2182 right_j3=-0.9791 right_j4=-0.0078 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.4598, 6.9402, 0.1343, -0.022, -0.0708, 0.0415, -0.0889, -4.041, 9.5111, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dd15103ec4db7e47c2a70654636bcddb05fc82feb2dd3f18e3cec3f2924b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed31cf935a9fa4981a84232579074060157b69a2725aac410022adc0409b6c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1266f9cb462160c6d72d4ed1433cdf13aaa2ac78c0cb648de89a39a0b9457239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 74dd15103ec4]

[blob ed31cf935a9f]

[blob 1266f9cb4621]

{
  "content": [
    {
      "signature": "CAISixoKjAEIEBgCKkAmF/Dt0xHOTKuKl09Y8P2ngki0FBrJTJCwMJQVO0o5CV7y90lJTIcTXFkrbhftbPYpqOFuVUs88f9NG3XFaHWYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMA7+1MWCrj1rMS8aNGgy32+cRNYK6seyZvGwiMGEMysz7BzLjDf6dk/biZxbUoWdPBmmKdDevpLMIVti1kCAoVj7MYb0LvUz4L2DDMSqrGNTpXn0ouEIgeqvoXBRIT6MxLOkef3c4alEWFqgIpzPKV9/lsmGXSke+CrH7iQZYZzSW5iO1jcrvzERqbzN4ynsWhbL71kQLalCC7SoXviK/hUtGBdJtmXF1v4Or74TNIGkaCzsa2p/ukzEEiukhpxzUa7m9sallQYPP0pqGjD+xPHtki//tV2xrxeADZwGFfkxesJKvnGNPxfSmoCtcijeJFHsK2XeGjHt1ABijRspPaEey7rT2NSnZIYVjwKPQHe4y1F8SQ6u3iLhRKM/nr0g2UVkwSLo+rqOFdB/Qm7sDAejv6+dJifoWEZ/gPANGX9p3/VwjsGxudM7Q+RBrgXmGdOmvuG/4NQsQ1u1jCpJii50QfuH1ss36Zd12Rb5dI+C9UkUrIU5bDJETM97Yim3p2i9SzYMSuItOPkGJkPZIQEyDRjOX+YHkdQRIYUDAuxqDbEypSdeD5aS0caNnqUO+OuPX3QdQkr/UDxsKLM75F8yqUp0ixmFm/2Eh7FDB3cXyzLnumPkuoQhrwDxv+bM7XBgpNZ3/h6MLFzGEyOu0m2Cb7+pcbL6+x+fr3t0LdJuw4b/dnkRlWxIRGXBDd/ux8l0UaCqNB9fKhOSQeZ4ERkGyIJ7OAKAL1Zest3Oo5Is7e/IV9jh6k7+X3YtrM/IHmzDvveFTGF+bCTibrkD3kbREBHPhbzC4JTz+EzPylRTDeeC2pBaKFNlfR0Hda97+YzJaPYaULHJBaOD30nGy8zS2wB2ecZzHUZ6eeeV4a+SxmI9LkovYwaE4wJd0Ng+pMKpXuqTmK4P8He3aTPO3gXBs8//V5w5Ji3O2G+VQ0DS1iLcDB4LHCyKUwHaJysDngxtLaGMQdb8d+Gk44jNNkMkNQvukcnc7Vy04VrjsMtdvSAS+JETGejg5PaSMWBWMx++7RwYQYqHyrlqOpDBm3fcdIjV6R5O7U1hG8VTMHHlgntzaKoemV7s6NmvoCeSRTA+XdaS9LBBDRaAW29gsC/RbdVun8TwO8zDgNIXFLWZMUuugDiGAz8Mheb5Dzwcy0vVMS5SxSeKD2rH+aBwViyG1nRS12wei2xyhjOCOY2TEmCAnx17fFcABhtERtQSWXbXqBDrGZpA6ftju9KivYo1QdyzeyX92ATWaqlrFLkyPAn4cwiKbCMM2ozBhWULyzvs5YKGMbn6dOu59zr609ej6Z6GvwItmRl1Iqeeor6CpOyFKkhzaIwBfDr3rf3BGFixWKNcBRe+Ej+/9nhk+ZtlqhqnH7g4dm0a1rRa6AKYrvQQQWyX3eBBdUgDNCe6mfH7xNrJ0bdCsBH8W3Ah5uQygMQZ5Iza6cgswNfl02hzTPOjrHjaxr/v24ClAfuqwiqyudDICk5kqfrlBCJWEiYOZdLd4maHWUiIcrYZixyYnNnaXpW3KhJKVxL3iA98NynMI6TN/bW/9RHSq8Grprkf/NFZVldveechwdF7+9n1j94PEh5pmWf4XYjvntbM9NHDiUG05P9J01EtE7onquv2p0bJCAn3kIx+AT/CAiaO0lLsVBtffOryKeNr7Qydl4R43DsIZd08SyX3BU7N045lREUGhOVI9ylGcinei5gklP2iPCgTJqqzG3jIKo9m6A9jnDJvdNLeCd2qaISV3lC/8TBWZMb0fz2qG2JePFgwnAHLiapaACydPvzxkQOmV0/fGWKDTXHJLyhwTk/tND9W8NAEeyYrR4YmXhO+FM1vxSv4LFx+e05x5a0VjPOuec2Q8PRWn5vCo/SvDTByyWXzRga19jnokHta6O8NeaTkIhvRZmWUegjNypQnhC2jDYsInUA2fA1MnT05XaHkB6y/DemooHLSWGIADELErekSUGOac7oqMZ4IioitQdcng3j3mUXlNQ5X8vh/NM6k13SuuAI/cpLgftMZWjvCN17lWHxfisR4ew43BRawTvn28ISp8FrUlRXqps51eY5whs7eeZgCfOLqfuYCveEaM+dX7FopmL1uXeH8dEIRuSE9cbgZvefcOf0l8YFqETiHqmiUcKGMkIewjjH86xuzY9esyFuYEaAQlUJ6ECg+qvYPk0m1IYeHiSqUulYjXgaSHuf+KkoE7Mi+szuPVholDHJwJfsCrGVUUrVBie6i1ojrpktTydpB32tqPvgWypqBprmFepIvwk1SnB45b09/ALhkZXsKKsrk8wT8tlCyvHtvm6IggkuWPBtSZCefn0Gy0jsqDXJ0LI5+yopzhpPTVmjWmSgJVYe2F7DfiEZTtXHAmTXlwwwlXlHVz86jTfmhHci2UCOgs/F0DoNEf3z5JlpYiqpdnHGGxVl/eR6jSLPiHxTx+bjc559vJqPqh8ceVv+LfziAN3Klh3qIAEsLVYjUp10mxsV2+qZ4PrRBD/Ygekxvsnwt2TC2SBf92wDnzporfZsvcVzsQNoqVrfaV7p8qLXorE6dLob60CqrOlK0QIXm6XMr2S6St9zsT3sc7Z3hGlRh2yry3twB5Tv/8nWpVRi0AkcXiiTWPoBFMIsbOKu03NWXlu26CeWF+kywPqCdRjZHaguDf0r40caSdcoVOFWii0qwbhCarxJK4CF6z1usw21J1FUDam6QdDiCnEvgjlSAEwpaVEUrPnnIiTT6WzDRPcRMJvnkjBYL1KRgLuimS4oh72VWXZki2Ab/EBVtSVKw4hhkRz3RWfj3NdwmskdO+WdGKRSUrHoP34VML5Le96N/jg5+3ktIEClxcHIXgjnngxFyO/5AWvCITnyCaXRKz9DjKHhnhbeQJ9ts6vFNYZxNKq5mlROK+ghPtF4yFyuk825FbUMxPDXkDpYJ+e0BK2DeHgd1B7uBTlYreLNXcs369WH2QuRCMPt9UtcORc2vgxGlcFbEbcJht+tw/TURWIfgeptwewrzgPIGi+oyGJeldsdI2rQvKPCPs2bWxvsgbWBdyOukn8muYTTD7LSs3mfAW6w+Yfx0P5SQp92xpgRadJRnZQ+d2ASwIyFCsuYoX2PbuEu6rk2vszmGKlj4YRDMF1zNJv1zTfx8OYp4//9H613vh1QnTfb7RoD/siKKJgIvxESUES0BOqalvDLWvLyNhF02fFP7boG7mehkY1q+GUU/NHtTM+WmhB6g8PdBUTI6nQ50LnPAYiAlseX9naNGAmSAq0abddkcu6SuVjfKkjdv7rvjGMNlB6cCjUFAKTIG7gdzz3ey437WuJLD3pNPt4+x/EHlHAkkO2X9bgGup5jo2VEx76RxqEmGUFIV2enWq2q9pOIv291qNUbKqIv9xmBRmtscpvDweHp514R5QQntAg4g7nWrrU7FBP/tYeIcpotoF6ztd1VX1I8zOJeE93gFESvc59uGL+qQDhIvpsLw5zCtprvKimd6Kbtu+mdjzuk3GnTY2uPFqIknlra29ujNQewchW63y0iqq5ZIhwzmLxHS8uhlIYfbBG5qwHOf40FGGqTVcs46QXMHO2Y3fkUoKcptbGbw/qrFHQXIaxlShy2rbsoN4HH4fFOUnJsu3JSn0S3tcf9c7BstZEoUYc/FLMn9NTjTGEXgyZKH1eodfKakj/S8vzj+dD9xZsXPvKt5eOphPFHk/ZB5x+jowe29tbXz9niY6ywPHeNBrI9prs3L7VG59930TZJOozjagu0q4O7jtRZznRZbR0ZPBDiyJrbUpwMCAxzGfSa69zmfXqApiJ06VeYXbbJ/Lsr0+idu1ahxyue5HnXd85CJ+jFnesyz+xuWFyIFdxbZUW/djYhtyoPnkNcEFRGfDWjYfadgDdeUFP2kx2E477Z2nGoCJKPvWGRps3fMHcXOxwR8mkkzyGSHFAACbWrIwevgoCc6GXeEtXplUycARC2dYc7GX529FhzknJzlCDnB81xGND57Xz5I3E2jpQvVJQMgoEYJiXXXAqq7ZJ2XMVHDQGXUlwfLE/SCxT7O6DXPlcZ26Gu8/xv99nS26D0EkVMETSKMcwhnp9NXQ0QzNIJBNcjka76c4p0omQL/vMEywQpruHf+9d2rqCtZjT87tiy30S9JWrnZgYT6Gb/oPya9UzHSNNptq/vAlAzgj2H9BlBgGGzbKRKzv/ffq5KrY88xqwCVRytDe3bURwB/aXtRnvHM0rDCfF4cZUcKhcePj/3yWHD+n7j6oFXkPRd3f4CZG2SMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WnbvuMgS9JgKzhYQ4bKC3",
      "input": {
        "note": "The right arm's side view shows the red cube sitting just outward of the left gripper's fingertips, so I had been retracting the wrong way; extending the left arm back out to radius 0.35 m at ~7 cm height and will re-check the side view.",
        "targets": {
          "left_j1": 2.078,
          "left_j2": 1.64,
          "left_j3": -1.133
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_018WnbvuMgS9JgKzhYQ4bKC3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0647 left_j2=1.6001 left_j3=-1.1244 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4762 right_j0=0.7715 right_j1=1.1633 right_j2=1.2152 right_j3=-0.9943 right_j4=-0.0116 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -10.5504, 7.3368, 0.1148, -0.0366, -0.0513, 0.0073, -0.0205, -4.465, 6.7624, 1.4725, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79df456e2b5e532f25301ad2ac6214619af20f070c80fd35b57bbc3983be7e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a7ff34291eee0e1fd86f1278430b471fd5fbc9b706ca908fa2953a6c098ca5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cad5be42eda9e46fe06cc53b362269339e21727b5c117b99e513026090e221d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 46 attempt 0 · /messages · status 200 · 6.276 s

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

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=1.7809 left_j2=1.1648 left_j3=-1.0035 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.4755 right_j0=0.0063 right_j1=0.6201 right_j2=1.1946 right_j3=-0.7662 right_j4=-0.0082 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -10.7556, 6.147, 0.5348, -0.0708, -0.0269, -0.0024, -0.0205, 1.7846, 5.2308, 2.0, -0.0464, -0.0513, -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=-0.8246 left_j1=1.776 left_j2=1.1461 left_j3=-1.0073 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.476 right_j0=0.7715 right_j1=1.1496 right_j2=1.2182 right_j3=-0.9791 right_j4=-0.0078 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.4598, 6.9402, 0.1343, -0.022, -0.0708, 0.0415, -0.0889, -4.041, 9.5111, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0647 left_j2=1.6001 left_j3=-1.1244 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4762 right_j0=0.7715 right_j1=1.1633 right_j2=1.2152 right_j3=-0.9943 right_j4=-0.0116 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -10.5504, 7.3368, 0.1148, -0.0366, -0.0513, 0.0073, -0.0205, -4.465, 6.7624, 1.4725, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79df456e2b5e532f25301ad2ac6214619af20f070c80fd35b57bbc3983be7e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a7ff34291eee0e1fd86f1278430b471fd5fbc9b706ca908fa2953a6c098ca5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cad5be42eda9e46fe06cc53b362269339e21727b5c117b99e513026090e221d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 79df456e2b5e]

[blob 1a7ff34291ee]

[blob 7cad5be42eda]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XG9N6MzwaSwyyXDaDFWQHh",
      "input": {
        "note": "Both the side view and the wrist view now show the red cube directly under/behind the carried block, so I'm lowering ~3 cm; a stall around 6 cm fingertip height means the block has landed on the cube.",
        "targets": {
          "left_j1": 2.132,
          "left_j2": 1.589,
          "left_j3": -1.028
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XG9N6MzwaSwyyXDaDFWQHh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0838 left_j2=1.6081 left_j3=-1.1107 left_j4=-0.0017 left_j5=-0.0528 left_gripper=0.4768 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9951 right_j4=-0.0116 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -6.5026, 4.506, 1.0818, 0.0708, 0.0122, 0.0757, 0.0342, -3.412, 6.3795, 1.3846, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2028adbdd528dcb8f6a9036b76f16d98fb95b54a26dd479acd52393b6e3511f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a35d65c9ed287a626703b3de7fa78efa3810eea18fd2cadff7d9c3d985c1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:585ed4ebcf7a987c55aedcceea62bd236fa8326d3406943385d8361101ae6011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 47 attempt 0 · /messages · status 200 · 4.125 s

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

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=1.776 left_j2=1.1461 left_j3=-1.0073 left_j4=0.0032 left_j5=-0.0521 left_gripper=0.476 right_j0=0.7715 right_j1=1.1496 right_j2=1.2182 right_j3=-0.9791 right_j4=-0.0078 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.4598, 6.9402, 0.1343, -0.022, -0.0708, 0.0415, -0.0889, -4.041, 9.5111, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0647 left_j2=1.6001 left_j3=-1.1244 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4762 right_j0=0.7715 right_j1=1.1633 right_j2=1.2152 right_j3=-0.9943 right_j4=-0.0116 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -10.5504, 7.3368, 0.1148, -0.0366, -0.0513, 0.0073, -0.0205, -4.465, 6.7624, 1.4725, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0838 left_j2=1.6081 left_j3=-1.1107 left_j4=-0.0017 left_j5=-0.0528 left_gripper=0.4768 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9951 right_j4=-0.0116 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -6.5026, 4.506, 1.0818, 0.0708, 0.0122, 0.0757, 0.0342, -3.412, 6.3795, 1.3846, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2028adbdd528dcb8f6a9036b76f16d98fb95b54a26dd479acd52393b6e3511f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a35d65c9ed287a626703b3de7fa78efa3810eea18fd2cadff7d9c3d985c1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:585ed4ebcf7a987c55aedcceea62bd236fa8326d3406943385d8361101ae6011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2028adbdd528]

[blob d0a35d65c9ed]

[blob 585ed4ebcf7a]

{
  "content": [
    {
      "signature": "CAIS5wkKjAEIEBgCKkBYAPZzH905xD62dwl2O47QdQHXRFnOAtPo/4TwdPrlnpmQIrvrQlwl/p5h5W8m5zxq0RMGxUnC7Dq3WiwqkX26MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/CkQYl9jaYrOElMoGgyXS1fuQ2ZpDD8X3KYiMK9Y1moc6EfFL4y97S2zi/5X1ffa1HURIXJ7vsN6+Ick43v8vH5XchkT1qmKf7dp9SqHCDs9CTkHG0GZrTddPX16U+uPaRn4TYovvv8kFnQuykWccEYsgBGZ2Tjg291hR+qwdXaUCTGGEjlTs4MRGfW/ScpX3brFluP8Dm71z/zIDQE1p9RBn3shYP0Z+33ZFXhWxkBoaCL79LR0udGK2wQUBnLPr7GnhtAS52Q4JISQbc3zWCrKi/OfHkwqsw/t0KYY3x4sGPFQE3zsluSkfjkugSF7AvU9+tkjRlBYNOcaC6Wx8V1hTBBnaFa2GN6goiVj/uNOdxEtYXNnCmBxO0UiAmMO+5W1b4eBKmy/Vzeotjyn4W5qzalEM+1ttfqKt+vJR+d7q+L6EWyfkPR2QJq5zaFYl1fylaaScYisvyThHJ5NQJ9eLtVMD3QQ65skVU0iGW5sTZxtAavj3JgBmEF9uReR5oP9KW8sR8IsvN8yrMBX9yBT4fhafvik1Q1tzDluZKVMb9U2uL5ZEyXUyuGA0DHZX99AVhDu36bFrIYfBFNpaEL3d+zr6GN7jflwsvWtgXZy+oGgKatbCWJqNRA+xyDblioYS+FNFfJmjTqqByT4uMIvYeYp9AvS9mVnRNA0sQcIRyb7pmP146iQObDavAseoyRLFXxufpH1EdnN+YOvurPB5NDHjAZWCfuz6U9cHr3fzs3q4o83SG2JuiEx8PJ/ugVv2UNLOHKLkItJURcgavB0a1SrYWzcUZ0RcukpuJCkYpvted98MoypZevZkTBL8A1/+wC2L869Mpmu74seqvLGHYcIfH8acrtEfAcE+9zK5k3p3nghs9fLkevn2El5E1A5NNiheK9rtktP3O3RMpdeOSOdDu5x/1hOkcrtGD7+JbcBNOzDsE6a+f+T0fOxYRkNPfQsGWOAr7ck7JeljTkoLBJMAGwIxgBYh3Qi+zXA1wGgTm6wOrq2sur0/mwD4ocg4Ncb0XIbLFgEtA9/7e8Kq9VBvgLpThrG+jDL6Jidwq7gnoP/TbCq/nQoCP6cz1Eg/dwi90jnfxR1JlR6icjdpLhgXAHgldUKhxYqynfeEDKx84xnaZgW4OYEuUKqh3HqqiO6qiGchQHhdc/bw9TSsMkny2d0b88E3+ehnopFuXLXVODTulxF/f6xW3ZrTsf55YIBcqGmaU4YMX5nKoWCCFJXmT21dewfRvvqAwl58DshKklU0KdYaV1//pNBAltspV4x2WwOehJ1KfSrtXuu6UPb2IZ08tpYtxsBRLgCWpU/iEBwQZYkJ0gdN85gmV4sZiKEL19ifNgO2N4p2JeNbgFtTN9PnIcrJtlrRhO8yUWmS3MhP7OgRUFTvDRHHjxXf6khOsM25FvDtaq99SZpDuiFDmgS03SLzwF9l5IJJXkzIXyU0KQTmGCFbUmL3CPTHgjHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F73rCM39LL5WZZt9GZEamQ",
      "input": {
        "note": "The descent stalled at exactly the height where the carried block's bottom meets the cube's top (fingertips ~6 cm) with wrist effort rising — the block is resting on the red cube. Opening the gripper to release 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_01F73rCM39LL5WZZt9GZEamQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0819 left_j2=1.6081 left_j3=-1.1137 left_j4=-0.0002 left_j5=-0.0563 left_gripper=0.9963 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9962 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -10.6325, 5.6274, 0.3199, -0.0122, -0.022, -0.1245, 0.0068, -3.3983, 6.5436, 1.3309, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee13b8c6a4c90c5b83a7a7e199631d19a30f7ede173c88c70041cd098928eca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:998775367ea72602798d72ba8bfada40212e02b90e0b5c96256ec02707660f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8771d5b594b7ae4163915ca01137f74c3dd71878245daf41e539fb0016a435cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 48 attempt 0 · /messages · status 200 · 5.131 s

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

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0647 left_j2=1.6001 left_j3=-1.1244 left_j4=0.0036 left_j5=-0.0525 left_gripper=0.4762 right_j0=0.7715 right_j1=1.1633 right_j2=1.2152 right_j3=-0.9943 right_j4=-0.0116 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -10.5504, 7.3368, 0.1148, -0.0366, -0.0513, 0.0073, -0.0205, -4.465, 6.7624, 1.4725, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0838 left_j2=1.6081 left_j3=-1.1107 left_j4=-0.0017 left_j5=-0.0528 left_gripper=0.4768 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9951 right_j4=-0.0116 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -6.5026, 4.506, 1.0818, 0.0708, 0.0122, 0.0757, 0.0342, -3.412, 6.3795, 1.3846, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0819 left_j2=1.6081 left_j3=-1.1137 left_j4=-0.0002 left_j5=-0.0563 left_gripper=0.9963 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9962 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -10.6325, 5.6274, 0.3199, -0.0122, -0.022, -0.1245, 0.0068, -3.3983, 6.5436, 1.3309, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee13b8c6a4c90c5b83a7a7e199631d19a30f7ede173c88c70041cd098928eca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:998775367ea72602798d72ba8bfada40212e02b90e0b5c96256ec02707660f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8771d5b594b7ae4163915ca01137f74c3dd71878245daf41e539fb0016a435cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ee13b8c6a4c9]

[blob 998775367ea7]

[blob 8771d5b594b7]

{
  "content": [
    {
      "signature": "CAIShAUKjAEIEBgCKkChaR+lqAKxnx/FYgmUaPC+FJ7YPN1Mbx5ZFrk2H15cryUb3hgtnMZQg+VaSWrWZnPu2VQ5ip5iLgCj7ESFrghgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMSh/9b1KpJtZr8kV0GgxY1mm+t23kh2K1XIQiMDWp7p6jyuEg35WOwQLNc/odJUTQizA7l1chPpaW6O8JE25+xvcW49bTZvWiSJrmLSqkA1DjFO90jmYbqV4JndDPv3KZN7Z2Tvyw3SWu5wzkvWQO4DsffJYIUkmWCOzCjsdaNFsHWd6rKcffKUISkEpQ9LOCJZcNlAjNOERHkMJtPQ2QTexvrmqPPW2tMxanIYvCV6Epxj5S9JhmfeHjri0vlflQ9cxNuoSVkizwC3BrnZlzgu2H2j0wnuPdNgrQqUYdF1wDQQ0Q9xoUUqmavN/zbGvqP3lfGoR2oy9jpt5mtCWnpHC1UiyPPu1PNUFVxq6uGCuNqe8hJ23bMiMSaoorJTzmhL2gzXJ+dq6rkYGgt7r85oYXe6y3qhdTLT2834/Wo74XKGIFNWEi8FDo9yXO+rT2qDmwxaxCxvasg865s9F8JlgUASolnoqsD+aKqkk9KLd7I1d7qiPMxes6hzkqvdG4qBvMwGolanpUYjsrKsdH8sq+4bYnhDDmBrdwNJqup/IRPzige2wLzyB7LjJHZ/qmo8FHyf3I3L2UW3+SPxElPaGlEqQ5Sil3CLH5IUoJnUxbh7yskij0++GCtH1qAq8AZ8QgmWZB5ln/NYVwXH2g9TdXVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AbYoEtXkR8iispLTd6Geo8",
      "input": {
        "note": "Gripper released; lifting the left arm straight up ~12 cm to clear the stack and inspect the result from overhead.",
        "targets": {
          "left_j1": 1.98,
          "left_j2": 1.96,
          "left_j3": -1.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AbYoEtXkR8iispLTd6Geo8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0228 left_j2=1.9209 left_j3=-1.4849 left_j4=0.0006 left_j5=-0.0605 left_gripper=0.9967 right_j0=0.7712 right_j1=1.1645 right_j2=1.2152 right_j3=-0.9977 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -12.8889, 7.5692, 0.2369, -0.0171, -0.0073, 0.0366, -0.1709, -3.3299, 6.3932, 1.3309, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c7d84dc4ccb2411447234096884286a4157523593ffd7fb29a354d692dc4fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af0ac7ab6696a310ea05e877ea8ab5c064c6946aa71eeeecba2436206dd24f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30fc9dfe7135b134c4d3785d2ea967de48426978d8ec67631a064e7969c77fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 49 attempt 0 · /messages · status 200 · 7.941 s

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

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8246 left_j1=2.0838 left_j2=1.6081 left_j3=-1.1107 left_j4=-0.0017 left_j5=-0.0528 left_gripper=0.4768 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9951 right_j4=-0.0116 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -6.5026, 4.506, 1.0818, 0.0708, 0.0122, 0.0757, 0.0342, -3.412, 6.3795, 1.3846, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0819 left_j2=1.6081 left_j3=-1.1137 left_j4=-0.0002 left_j5=-0.0563 left_gripper=0.9963 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9962 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -10.6325, 5.6274, 0.3199, -0.0122, -0.022, -0.1245, 0.0068, -3.3983, 6.5436, 1.3309, -0.0611, -0.0415, -0.0122]",
      "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=-0.8249 left_j1=2.0228 left_j2=1.9209 left_j3=-1.4849 left_j4=0.0006 left_j5=-0.0605 left_gripper=0.9967 right_j0=0.7712 right_j1=1.1645 right_j2=1.2152 right_j3=-0.9977 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -12.8889, 7.5692, 0.2369, -0.0171, -0.0073, 0.0366, -0.1709, -3.3299, 6.3932, 1.3309, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c7d84dc4ccb2411447234096884286a4157523593ffd7fb29a354d692dc4fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af0ac7ab6696a310ea05e877ea8ab5c064c6946aa71eeeecba2436206dd24f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30fc9dfe7135b134c4d3785d2ea967de48426978d8ec67631a064e7969c77fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7c7d84dc4ccb]

[blob 8af0ac7ab669]

[blob 30fc9dfe7135]

{
  "content": [
    {
      "signature": "CAIStwsKjAEIEBgCKkCJXbvK8uo7rpBiAEufw1uIcjMAgwVQ0bdtkaCejGCXC4CdxTyMDSRepYu4a3aot2d4o48WJLl/12uI82stejcYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMl/v+GpE8nNb8UuZmGgz9O3Hab6wKNNZ8jF0iMGEBvFy1aIP8zsVlr/fsVsv3tmMHQr1oVfin3C55L8v+xEmVdmiMgtvs3v2dk0G+IirXCbMt+SZRliGKipLwtfqdM5eL/pwvBSHdgjOL6nzhHEMqT7/fwc7/xBlonTpi9mtybPbP7XN1Wsh+f3VU+7AWEUjWsbThR2QKW7cH5pTPDLO1WvbmHSp5Lun1gphbtJkrIz0bhGRDqm5xEUc3y+ctVBYYBG8IGdzwhdZtq2HMBRJqKXbnz44CHGy6861tHz3Fn0GHEGIVOUlAKuaWTDa5pi6SZpkkX/aKl0QwEK6brcMdrtLJ2FrCsdjJy/tXGxszljxK3d45Hp1Ve/5bKaXEhGYrjoENgH8W5HVUYyKMqgbRu+Ti3FSgaygdgsazRbD7LJo/kAiXDlGaaKfzWCkcTeCFazDBjmpG0l4IVBk0+IdVYiygDf/a7jSPlqMBf75fNBlgZ3BqMJ0sWIypdxSHTmNhSumPWyaAjHrCnjPXAKbgbMd8/zjS2RAaN6OVScBB2waGNM3Gb6DgJ2IVJZ8jhQ+nTqgXCVMF3CmrvCk3k7VIrDHfqkpdaw0wBB0JCh5+spsJgJ9m5EGSkB4WtgZrMhr9v5yuTWt+0RZfd6ZFUeIfcxukEFQWiT3OpttioTfAqflXEcaxERZqv/DM83H69tGMW8D1FlT9MDPdXfv87lwKyhjWrbrhiHrDlAeYh+eSI7NhT7JfE2Te/HuRcNGmcGWLjxXgqzhr9uUOzeQ+8N0rBtXYvZtDwxQ5fJDF5mL0rIxAf658PQKRhA78O7YrSCGCQYYTtdat7u2TpimKT7vGgJZToRe7FRJmE5FJDCEMOXOaO1L5C8Dh128qJkQD95f9QkSplwFVSdjY9dfL1hxm1/AM71MYOMMKIqa0OwMmicgMOcZE8ZmWQSJDCqSv6WiEp0KOnClIgyKXfakURnnJNJh4ztYGosdwzn/WxGYXlfYPkPbtFilLmtyxZbJBZRdFN/fwbu3BRKLCewWKQgTiWfCeSLcbYUyi0h3cWVoWb9uDLOCU8ufw9ljWzlVMiewoSUfsm7wcvPX4BBtUH1qCrCU7ZV7c0swTXgvsMiahmABIQz8VYsbA1QxA62Bffu8q4ddqKNEaDLc6xzKmnimRpu+xPectQEEsg2J0Ll0K+8ioGjva5u9dlZcekOXPRwR0E58ZefVc1M7YMQMGxT6keCN964obw0FnYUptSog1PVUTSo7E3KvZ4i0DOjN3BiOD6z/42n3xWIXQtBWaJuR/EijQFi1J20SieapZIzPJvW7AfWIbd/u1QqknDR9fpVf+SsnGYL4Oi45R+WE4Kl62A5OFIAQtqBQNmkS+Ro1fZq9OPAqXIEIRPcYaPXmulUyIvmMTs474UQnRKuXtyYk1kZLmMMAGczOHU6/ttw+CfVb19KOJKZJX0mXulzFADbCuB7x0wwTPIsQA7GH+iuseo6RPIZRJ4Ey7UxFXPZ10mIqoHYHZT15OyEE8aGbAD8eXIXoy8WuGER3V5dKbTULGiouBo9uGH1vlwcFfCNsFmsFgaPqF4lsDmJ7ETVclAC34f1bevyTEJGSrTn/ZdxzZuK5x6W6OTb//SJpp6IR40GhAQmdWGpIZPA7hxUyZlJakIl2Ikm2MI0GmZMSwzk/TNqrxsdGY24L/NG8ZyQUVGfsJgweKsgnM8IFsib30sgC/ppzP3B+VLLm6K9H5tWGFcPMsslMEZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xqm4AvqFKeKz9zfwWC4pzg",
      "input": {
        "note": "Retracting the left arm to its park pose so the overhead and the right arm's side camera get an unobstructed view of whether the blue block is stacked on the red cube.",
        "targets": {
          "left_j0": -0.2,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Xqm4AvqFKeKz9zfwWC4pzg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2104 left_j1=0.622 left_j2=1.211 left_j3=-0.6712 left_j4=-0.0002 left_j5=-0.0685 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1656 right_j2=1.2087 right_j3=-0.9981 right_j4=-0.012 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [0.3624, 2.3316, 5.3265, 2.3077, -0.0317, 0.0513, -0.0073, -0.1026, -3.3709, 6.9402, 1.3407, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e007c0b738ae6e9e0afbb1bc690545fb5ad2a654d1ecfda1b6d7fb0c01698c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb8df1a01a5baa364c62d0d30e4e84de65dd7e622ae8a6d2516cb1c3ff498ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4de36d4c55b0da76d2a912ae331372e9114d508728bdb7203cd861100c80274b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 50 attempt 0 · /messages · status 200 · 8.913 s

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

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0819 left_j2=1.6081 left_j3=-1.1137 left_j4=-0.0002 left_j5=-0.0563 left_gripper=0.9963 right_j0=0.7715 right_j1=1.1637 right_j2=1.2152 right_j3=-0.9962 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -10.6325, 5.6274, 0.3199, -0.0122, -0.022, -0.1245, 0.0068, -3.3983, 6.5436, 1.3309, -0.0611, -0.0415, -0.0122]",
      "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=-0.8249 left_j1=2.0228 left_j2=1.9209 left_j3=-1.4849 left_j4=0.0006 left_j5=-0.0605 left_gripper=0.9967 right_j0=0.7712 right_j1=1.1645 right_j2=1.2152 right_j3=-0.9977 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -12.8889, 7.5692, 0.2369, -0.0171, -0.0073, 0.0366, -0.1709, -3.3299, 6.3932, 1.3309, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2104 left_j1=0.622 left_j2=1.211 left_j3=-0.6712 left_j4=-0.0002 left_j5=-0.0685 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1656 right_j2=1.2087 right_j3=-0.9981 right_j4=-0.012 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [0.3624, 2.3316, 5.3265, 2.3077, -0.0317, 0.0513, -0.0073, -0.1026, -3.3709, 6.9402, 1.3407, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e007c0b738ae6e9e0afbb1bc690545fb5ad2a654d1ecfda1b6d7fb0c01698c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb8df1a01a5baa364c62d0d30e4e84de65dd7e622ae8a6d2516cb1c3ff498ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4de36d4c55b0da76d2a912ae331372e9114d508728bdb7203cd861100c80274b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4e007c0b738a]

[blob cb8df1a01a5b]

[blob 4de36d4c55b0]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RGd7Nzqq7V6oMJJxH3HSaH",
      "input": {
        "note": "Overhead suggests the blue block is sitting on the red cube (red visible beneath blue). Tilting the right arm's camera to a near-horizontal side profile to confirm the stack.",
        "targets": {
          "right_j1": 1.129,
          "right_j2": 0.889,
          "right_j3": -0.11
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01RGd7Nzqq7V6oMJJxH3HSaH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0715 left_gripper=0.9968 right_j0=0.7715 right_j1=1.1507 right_j2=0.8913 right_j3=-0.2184 right_j4=-0.012 right_j5=-0.0723 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.265, 5.9419, 1.9219, -0.0366, -0.0366, -0.0122, 0.0752, -5.7231, 7.3915, 2.4542, -0.0366, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8743da3c9268e47a080aea29125a5d2b7577a6df73f2b71741186f63275937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1c4e06f1da01caa151f97aa72a5752285d5abc1d02bbf5bb95ef4a946fafdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a892eaad726b405b9446c90d70ab09ed470e49763f4a9cacb746f24613c2f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 51 attempt 0 · /messages · status 200 · 11.72 s

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

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8249 left_j1=2.0228 left_j2=1.9209 left_j3=-1.4849 left_j4=0.0006 left_j5=-0.0605 left_gripper=0.9967 right_j0=0.7712 right_j1=1.1645 right_j2=1.2152 right_j3=-0.9977 right_j4=-0.012 right_j5=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -12.8889, 7.5692, 0.2369, -0.0171, -0.0073, 0.0366, -0.1709, -3.3299, 6.3932, 1.3309, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2104 left_j1=0.622 left_j2=1.211 left_j3=-0.6712 left_j4=-0.0002 left_j5=-0.0685 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1656 right_j2=1.2087 right_j3=-0.9981 right_j4=-0.012 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [0.3624, 2.3316, 5.3265, 2.3077, -0.0317, 0.0513, -0.0073, -0.1026, -3.3709, 6.9402, 1.3407, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0715 left_gripper=0.9968 right_j0=0.7715 right_j1=1.1507 right_j2=0.8913 right_j3=-0.2184 right_j4=-0.012 right_j5=-0.0723 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.265, 5.9419, 1.9219, -0.0366, -0.0366, -0.0122, 0.0752, -5.7231, 7.3915, 2.4542, -0.0366, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8743da3c9268e47a080aea29125a5d2b7577a6df73f2b71741186f63275937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1c4e06f1da01caa151f97aa72a5752285d5abc1d02bbf5bb95ef4a946fafdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a892eaad726b405b9446c90d70ab09ed470e49763f4a9cacb746f24613c2f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ab8743da3c92]

[blob dc1c4e06f1da]

[blob 9a892eaad726]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A9yd1ZYcDzMmSQoK5iu443",
      "input": {
        "note": "The blue block sits at the bottom edge of the side view; pitching the right camera down ~20° to centre the block and get a clear profile of whether it rests on the red cube.",
        "targets": {
          "right_j1": 1.184,
          "right_j2": 1.049,
          "right_j3": -0.565
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01A9yd1ZYcDzMmSQoK5iu443",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1786 right_j2=1.005 right_j3=-0.5053 right_j4=-0.012 right_j5=-0.0727 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, 1.6068, 5.2171, 1.8877, -0.0171, -0.0659, -0.0122, -0.1709, -3.5214, 9.9077, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957a5d07562981bd9dd26b9729331dbd96ef9747f0b20aa9b0f80e14d2c826a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f130c496baefda529d613650ad8adbea1cc5844da2094dccb3d659d6c071c5ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eef22f93fa07bfcbb618f25f786ac25f67000a772892a4491f98014b0900cb44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 52 attempt 0 · /messages · status 200 · 5.438 s

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

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2104 left_j1=0.622 left_j2=1.211 left_j3=-0.6712 left_j4=-0.0002 left_j5=-0.0685 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1656 right_j2=1.2087 right_j3=-0.9981 right_j4=-0.012 right_j5=-0.065 right_gripper=0.9964\nstate[joint_eff]: [0.3624, 2.3316, 5.3265, 2.3077, -0.0317, 0.0513, -0.0073, -0.1026, -3.3709, 6.9402, 1.3407, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0715 left_gripper=0.9968 right_j0=0.7715 right_j1=1.1507 right_j2=0.8913 right_j3=-0.2184 right_j4=-0.012 right_j5=-0.0723 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.265, 5.9419, 1.9219, -0.0366, -0.0366, -0.0122, 0.0752, -5.7231, 7.3915, 2.4542, -0.0366, 0.0171, -0.0073]",
      "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=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1786 right_j2=1.005 right_j3=-0.5053 right_j4=-0.012 right_j5=-0.0727 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, 1.6068, 5.2171, 1.8877, -0.0171, -0.0659, -0.0122, -0.1709, -3.5214, 9.9077, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957a5d07562981bd9dd26b9729331dbd96ef9747f0b20aa9b0f80e14d2c826a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f130c496baefda529d613650ad8adbea1cc5844da2094dccb3d659d6c071c5ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef22f93fa07bfcbb618f25f786ac25f67000a772892a4491f98014b0900cb44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 957a5d075629]

[blob f130c496baef]

[blob eef22f93fa07]

{
  "content": [
    {
      "signature": 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FvZo6yrg5sqfUef9OGtYGo8qervvjP/H5MOEvz9DG0YoffuxV1jcP0a5kolm9gbbqIpGe4xKB7g+Pcqp0/tyA0xaeuiEebIENqSxZ1tjeimAC/r3T0emxI2p6+s1L+3UTLUROlBqGAXlvIxTVD0rmSXk2RhJSl40vzjP3XDUn0/H+J64oKuOjJF7nwrBefDM3QxmAWPN2NLkTGj3Qlk4xJP3qaJwWZtiprxZSLzrCH+f6A1PolJ0h/mJ84wO8bRSL+M8wPg2BCkUQdZdWIRrDRJKTnbTl5dMuDImp9PXvmNTs6rZmO7sL9X+8nQb8cOzv1n2Ol63ppek5lqEEzez7K1yWKuTgBGG07FkCtwUKCP292rk/R1MmQVpdp6W7novkcH8EKb/qMyDgZRO2BVL2e2XFJX/Fbw+9y9yaJrrIV7J5tzbquucHrTgTVJT8GWRwZp5qTP7HYeEEw00lno4YT46ZiK2YCotp8ggVrO8VknTouGdoW0eqssg0ly9BhpRjhb8rNShssGqfSxRZqI6qHLhuE4rdPI2ZVTVIUeSqOv/DlhmcFr0AFumTPne7vZg6sJdY17ijHUyYimfCdrHRkmOZS8AWVqERAhg+Z0YtnMsWqyWrUAl9LcJErZx68JjaIDFfJ53RHKF8mYBv3ElKKhVW4iMfpSt/WwSlLAuqcDkE49MO9aBFussWhFqB2q5ODEmN1Qc0B4LgjQeoLAc/1eHub90nDr2S8XoMlIyhIrMp4bnZ3fcR1Ba/zXkEwxwhXQrSCGnvgIOXtLciPxH7Er5xeib8LzjJRPZbe+F6u5W3Ev8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M1iT9ajJV2ACLQhqhjBGoB",
      "input": {
        "note": "Overhead shows only a thin red sliver beside the blue block, which is what a near-centred stack looks like from above; to be sure, I'm bringing the right camera to a near eye-level side view (~20 cm away, fingers well above the stack).",
        "targets": {
          "right_j1": 1.543,
          "right_j2": 0.73,
          "right_j3": 0.613
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 18 steps (1.8s)",
      "tool_use_id": "toolu_01M1iT9ajJV2ACLQhqhjBGoB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7715 right_j1=1.533 right_j2=0.7372 right_j3=0.5076 right_j4=-0.0124 right_j5=-0.0792 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.7436, 5.3949, 1.917, -0.0269, -0.0708, -0.0122, 0.0889, -6.0376, 6.1607, 2.2637, -0.0317, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 454):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc08cb1db0e5a77456325c88b15462af8a0c12d01845f5c45149b54aa8039a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 454):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89c73dd3cd172fd900431ce95b9819fde8e198505b9238343f8179a4edc712a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 454):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03138b6caede5647e912d2f8584e70310aef5d1cbe44bdcfcea3bb3ab550a4ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 53 attempt 0 · /messages · status 200 · 12.29 s

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

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0715 left_gripper=0.9968 right_j0=0.7715 right_j1=1.1507 right_j2=0.8913 right_j3=-0.2184 right_j4=-0.012 right_j5=-0.0723 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.265, 5.9419, 1.9219, -0.0366, -0.0366, -0.0122, 0.0752, -5.7231, 7.3915, 2.4542, -0.0366, 0.0171, -0.0073]",
      "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=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1786 right_j2=1.005 right_j3=-0.5053 right_j4=-0.012 right_j5=-0.0727 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, 1.6068, 5.2171, 1.8877, -0.0171, -0.0659, -0.0122, -0.1709, -3.5214, 9.9077, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7715 right_j1=1.533 right_j2=0.7372 right_j3=0.5076 right_j4=-0.0124 right_j5=-0.0792 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.7436, 5.3949, 1.917, -0.0269, -0.0708, -0.0122, 0.0889, -6.0376, 6.1607, 2.2637, -0.0317, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 454):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc08cb1db0e5a77456325c88b15462af8a0c12d01845f5c45149b54aa8039a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 454):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89c73dd3cd172fd900431ce95b9819fde8e198505b9238343f8179a4edc712a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 454):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03138b6caede5647e912d2f8584e70310aef5d1cbe44bdcfcea3bb3ab550a4ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob adc08cb1db0e]

[blob c89c73dd3cd1]

[blob 03138b6caede]

{
  "content": [
    {
      "signature": "CAISlAkKjAEIEBgCKkCJep3THE1Rg9YOKgKuS6VEgjqHm0Gq7D+dngrfZ5zqgPajylveX4kZL6IoTDMxwKeu9d2XmTgeJADEMneJU0i7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMAmgOsBt6QIOsAfaYGgyH7+l/U6PV9H3KEKwiMH+6PdPzU37EgHEcg2Tu15eOrcF1FTDhG2Z5bTqzCF76pmFSSWit02ZA7JcDVICtKCq0B+CCirn2AFFkmbcDM9UmGljnkEGz9jdZazKBxrdO9ofibfgaPWjksf2Y3fYRzwkW+FIqEq9jbD+Q6YTkD0sS1lKAgjRcj6EXn9zekPO0ZD1OHQgPmRyKoDJX4Xae0SeZKTeYApBebCACQiMwpGKdjDJFKy5fJbOxGpM6yPaW4caMLMzy9am6PV5idxyV1n9EPgLfuNp8JbsSxTAQfgA6p0ZtGR6uk8rsn5/tTVmoT5vbLzmRgThnLLW1407AMaoifq7C235eAYCSqid6753nWk9LTLDoUL/RjiNaWvJqQPN9+PD2WW/fo+WXUvcOMmNOePji5/MXrxVGQ6daKmDaxMT3OWAlTPtpxR3pbx4cFcbvA90FBicbm4EvjYP8ufaZtKgVBSXAabzDGQak6bFyd+AeT5/7tMGPI0+JvOV35mFpbnC8fA7lzH7KYfeyIMHCDQciT2SPYt9Jm+3SvG/Wt7TDn+zo1bmq6PaXfWNWmwtgRVkHTkteWU6AKhusFMOyuLQi17HzMZJMObDnPO9KSy349faCrKmQyHpS0UnVdMqyiid+NMwBUWx8TOryQIgOAoOxYdD4sPHDWF8Prw4J1HfdWFljufpjAfD30IGGMXsVo9HluPtDa4kaq0T+6U9/zJYll8Kgoo66QBDhrqwuMIrUYIRmYBtAbIWuacN2ilYW560MWN1Rn1uMTC1lV0QYe1osdmqHnKNjwcY2kPGDw/KN+Ii53SxrzIBF3gZRnMDQQOqMxypMO/NObR08+CiGmYq/koq5NZzbq6eHFPP77mvpyfXVFro6G2SDG4svp7MFd/vs3tHO2u0d9JgJ4d0N3l9k3QMyyy+21n1d7/wFe7jTBU7HIeZNmb7jRYXmF7OpFDSktDXbI6JFC9L4/3EZT2KxIHImd6W64Mz7EOutGJJqNPtpAjMHD0jBT/COxBtSJTlBQjMg5yEUJlUlaDbzHxrASbKB0E8AdNLgb4gGbiF/OViG66mAij5SotYJaPHxDGGPpVULQ2YwJ0PBDnVxrvdJk2J1as7V38H8WkexHEL0yJAMBcnCtRTXCBWGx1NzMpFcl+7pbixPKkL/yWz2QxSHTPcaxDaRiTFUJiulYoSxWLsX7Hy0eDFUlu3ZubxhQwJ01JMDU5+s+O3IIEUgtT41hdeLY8beq4QjMPlZqQRYAbjGo32KwiW+XQLRepNJioRrT3/xMS3rHMJIqgPLkdCOowhHRpB7mNyEIaXwjfjdqk7zrB9ql3Ih2iQH6CKs+ZMMDhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WTnoKgZXAdjbpHdrVYcPm",
      "input": {
        "note": "The near-horizontal side view shows what looks like a two-block stack at the upper-left of the frame; yawing the camera left to centre it for a definitive check.",
        "targets": {
          "right_j0": 1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_015WTnoKgZXAdjbpHdrVYcPm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6277 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=1.0336 right_j1=1.5379 right_j2=0.7311 right_j3=0.5053 right_j4=-0.0154 right_j5=-0.0799 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, 1.7162, 5.4496, 1.9756, -0.0122, -0.0513, -0.0122, 0.1573, -7.1863, 6.9949, 2.0, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b4242d12ef1216b54d09fce5f3ebda223c207b20aae3f310812a44db652a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47bf253f92dc08fa205bdf5de83906028eca5a59f771b8eb62f20e927c756b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85f9597c94706bd1bc956ed8714fe63e0e932a7e0770522416ec60b85b704fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 54 attempt 0 · /messages · status 200 · 10.15 s

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

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6762 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7712 right_j1=1.1786 right_j2=1.005 right_j3=-0.5053 right_j4=-0.012 right_j5=-0.0727 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, 1.6068, 5.2171, 1.8877, -0.0171, -0.0659, -0.0122, -0.1709, -3.5214, 9.9077, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6266 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.7715 right_j1=1.533 right_j2=0.7372 right_j3=0.5076 right_j4=-0.0124 right_j5=-0.0792 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, 1.7436, 5.3949, 1.917, -0.0269, -0.0708, -0.0122, 0.0889, -6.0376, 6.1607, 2.2637, -0.0317, 0.0464, -0.0073]",
      "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=-0.2092 left_j1=0.6277 left_j2=1.2022 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=1.0336 right_j1=1.5379 right_j2=0.7311 right_j3=0.5053 right_j4=-0.0154 right_j5=-0.0799 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, 1.7162, 5.4496, 1.9756, -0.0122, -0.0513, -0.0122, 0.1573, -7.1863, 6.9949, 2.0, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b4242d12ef1216b54d09fce5f3ebda223c207b20aae3f310812a44db652a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47bf253f92dc08fa205bdf5de83906028eca5a59f771b8eb62f20e927c756b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f9597c94706bd1bc956ed8714fe63e0e932a7e0770522416ec60b85b704fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f8b4242d12ef]

[blob 47bf253f92dc]

[blob 85f9597c9470]

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  "content": [
    {
      "signature": 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JugX5Tihwn+yEahhETMe0Cpzw/W0IKbgtldjkc+HJzNFH2s+y//WBzZ2SEGdziQ/exMT1HnrNNegS6Ds2FK00Y/7w2xd87wqfD11ai4HYGjtjMGQpXKSAW/kv2fR5sPAbNRFTP8U5BraITNfTmym/6fIoLT5ZQKPXSfN+bCDFWPjev+B3hdaHONjetYBQYTD7fN3Fls/t+oSQljWtNP+IeNeJUaVEmAjhZugT89kTjyHR3Gra3kTiadxwmZeSlmUOqR3HwC0sUPqLeuuAz33Ok0G4dRfzqdj3YIW3qM6lrhiVniN3wROlc7kuvTaYQXIllxkmXALUUR4OrcxZx5TNCvPGIOSSsk6+MRCit8wSYDEGrftGKwZV09AWWU4DAVS+CCf0iLmkLoQAT+KPGUqKunDMIY5Kyv1IAY1YfD0iq2jV+8KqggDiBd+BaHfjoipO6lDpes3eVGnZ/tEJn3SgRETO9z0ccWqEclZKHZE+DE4zAYVyyYL2MvcafUroxOiahut+iV71OA8llWygGLKMj7NSL7QRPrRd+EPhtzVLAJbPyoP9r38N68iEeCW8RZYdtMAWK6G0BneEW+8PcARefvbeaZmXV2wzqfU96+iBpJn9CfEM+s+OwHcEQLmdF06Socv/ge2eUoD2KVnhcY2n3b6fdooABOuEzlhb2zWcNgiwbqqJwAo1s+LNt4DG2OAoeYWVnmFxM68KARUjqgnBC4UsA67Pil+WISMWjAg6NoKJF7zSvzph7lXsoTuIfa2bllstht4DWKvsewMo6U/y0tGJGFlAnthda4mcyqTz1jiZM19ZgehnDG8nLXn4arG97yOD8uW0B7a9HAwda3tpr2DzjbgNSfiU+uihiMJduwdbWOueBE74IynL/8Sll+whoyGdZPWHfn3cvwKBMDDUjmLYRDaIImPIowjKoXWTXElRJmTdR6K4tC8YEzj8SIeOJFea57ZTw5+cjSpuw7l7WcPK/PH1cNSUgAPCzWP7dqL0lS01QvHM8BJkTHj/5ck0p/BtLdgALwvLa7dd9wpqTcKD4NrlexU4CvvERfkwqQJVYr3rO5+TfIuIvz1AOe6V9lVuFhFYWNYxREr92pHFLGG1PUlw1B1nWYfIb12meQQr0NFGnQsZt934PL5ztGW1iBh14sD1vu8S1+xPKGhAB2hacvyaxFW0y0bS6IhbadwFz7cAhSPwSk/piF3IknrZtdtAM1nt9knaXSfEC9trBHZvWbaLPp9HGW5P2+2dzjHf3h7/BoRvRm/hLBegUeBP0+/bNvBFya+b3KcNObQTHIKTb6QKl8VjXrkRXCIKvaRVJqeYy6biGWrBRL1Pk8d07pR89u+KOZjMi3cIkNfz+5yyBKtUiAodUdOAvHumYkjR4jrphLgobBmJZPvpwGFcRSf2rOFtkKe9avvqAePDgJO1bmZRqrFv/FHp5hRxDrWu0Dk/gF1Rxesd9s3fm9zlMrjW5PzbpVR2di6TRvuZgHVJxr/RA/xNiroYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WVyNbPExCekHETNnwHjML2",
      "input": {
        "note": "The near-horizontal view is hard to interpret; parking the right arm back at its base to get a clean, unobstructed overhead frame of the stack site.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 18 steps (1.8s)",
      "tool_use_id": "toolu_01WVyNbPExCekHETNnwHjML2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2092 left_j1=0.6285 left_j2=1.2018 left_j3=-0.6922 left_j4=-0.0002 left_j5=-0.0719 left_gripper=0.9968 right_j0=0.0177 right_j1=0.6189 right_j2=1.1637 right_j3=-0.5449 right_j4=-0.0257 right_j5=-0.0872 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, 1.6479, 5.2581, 2.0537, -0.0562, -0.0269, -0.0122, -0.0479, 2.359, 7.7607, 1.9707, 0.0757, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 477):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3105af1e42c83ecc455717d83edacb21fd8956e6b40589d00a55aa75a2b3bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 477):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d5be8db848e651babe33d6d0a81445fc653197c2d5d2e955080469aaf4a4f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
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