adhoc - opus-1.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: 200
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: anthropic
wire_capture: true
seed: 0
max steps: 12000
duration: 288.1 s
total steps: 143

operator

scenes

trials

errored

scene-0

completed

Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

operator_end

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. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 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.

user

Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.

Raw transcript

system

user

Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.

step 0

assistant

agent noteThe clapperboard sits on the table roughly between the two arms, propped facing away from us (top cam is on the far side). I'm raising the right arm's shoulder and opening the elbow a little to see where the gripper goes and to get the wrist camera looking down toward the board.

move_joints

right_j11.2000right_j20.8000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0063 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9993 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0044 right_j5=-0.0166 right_gripper=0.9995 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": {"right_j1": 1.2, "right_j2": 0.8, "right_gripper": 1.0}, "note": "The clapperboard sits on the table roughly between the two arms, propped facing away from us (top cam is on the far side). I'm raising the right arm's shoulder and opening the elbow a little to see where the gripper goes and to get the wrist camera looking down toward the board."})

tool

executing move_joints over 20 steps (2.0s)

step 20

assistant

agent noteThe right wrist camera now looks down at the empty table, so the arm is reaching forward-down as expected. I'm extending the shoulder/elbow to hover the gripper roughly 35 cm in front of the right shoulder, tilted down-forward, to bring the clapperboard into the wrist camera view.

move_joints

right_j12.1000right_j21.5900right_j3-0.7000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9992 right_j0=-0.0006 right_j1=1.2011 right_j2=0.7708 right_j3=-0.0528 right_j4=-0.0082 right_j5=-0.0189 right_gripper=0.9994 camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.1, "right_j2": 1.59, "right_j3": -0.7}, "note": "The right wrist camera now looks down at the empty table, so the arm is reaching forward-down as expected. I'm extending the shoulder/elbow to hover the gripper roughly 35 cm in front of the right shoulder, tilted down-forward, to bring the clapperboard into the wrist camera view."})

tool

executing move_joints over 15 steps (1.5s)

step 35

assistant

agent noteThe right wrist camera only sees bare table, and in the top view (mirrored) my right arm is at the far left while the clapperboard sits toward the middle, i.e. to the arm's left. I'm yawing the right arm 0.5 rad toward the board and tilting the wrist up slightly to bring the board into view.

move_joints

right_j00.5000right_j3-0.4000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=-0.0006 right_j1=2.1098 right_j2=1.5604 right_j3=-0.7063 right_j4=-0.0151 right_j5=-0.0296 right_gripper=0.9994 camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.5, "right_j3": -0.4}, "note": "The right wrist camera only sees bare table, and in the top view (mirrored) my right arm is at the far left while the clapperboard sits toward the middle, i.e. to the arm's left. I'm yawing the right arm 0.5 rad toward the board and tilting the wrist up slightly to bring the board into view."})

tool

executing move_joints over 8 steps (0.8s)

step 43

assistant

agent noteThe top view shows my gripper has reached slightly past the near edge of the clapperboard, and the wrist cam mostly sees the white support block. I'm pulling the arm back and up ~10 cm so the wrist camera can look down on the whole board and I can spot the striped clapper stick.

move_joints

right_j11.5100right_j21.2500right_j3-0.6400

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.4725 right_j1=2.1094 right_j2=1.5604 right_j3=-0.3901 right_j4=0.0006 right_j5=-0.0288 right_gripper=0.9994 camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.51, "right_j2": 1.25, "right_j3": -0.64}, "note": "The top view shows my gripper has reached slightly past the near edge of the clapperboard, and the wrist cam mostly sees the white support block. I'm pulling the arm back and up ~10 cm so the wrist camera can look down on the whole board and I can spot the striped clapper stick."})

tool

executing move_joints over 10 steps (1.0s)

step 53

assistant

agent noteThe wrist camera now sees the clapperboard with its striped clapper stick, but off to the left of frame; the top view confirms the board is to the arm's left. I'm yawing the right arm another 0.33 rad toward the board to center it.

move_joints

right_j00.8000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.469 right_j1=1.5379 right_j2=1.2575 right_j3=-0.6266 right_j4=0.0143 right_j5=-0.0299 right_gripper=0.9993 camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.8}, "note": "The wrist camera now sees the clapperboard with its striped clapper stick, but off to the left of frame; the top view confirms the board is to the arm's left. I'm yawing the right arm another 0.33 rad toward the board to center it."})

tool

executing move_joints over 6 steps (0.6s)

step 59

assistant

agent noteThe wrist camera sees the board's near edge (dark bar with the white support clip) high in the frame, meaning the board is still farther forward than my gripper. I'm extending the arm ~12 cm forward at the same height to approach the clapper stick.

move_joints

right_j11.9800right_j21.8000right_j3-0.7400

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.783 right_j1=1.5333 right_j2=1.2552 right_j3=-0.6514 right_j4=0.0185 right_j5=-0.0296 right_gripper=0.9993 camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.98, "right_j2": 1.8, "right_j3": -0.74}, "note": "The wrist camera sees the board's near edge (dark bar with the white support clip) high in the frame, meaning the board is still farther forward than my gripper. I'm extending the arm ~12 cm forward at the same height to approach the clapper stick."})

tool

executing move_joints over 9 steps (0.9s)

step 68

assistant

agent noteThe gripper is now hovering just above the board's near edge according to the top view. I'm pitching the wrist down to look straight at the board so I can see exactly where the clapper stick is and how it is oriented.

move_joints

right_j3-1.3000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9751 right_j2=1.7706 right_j3=-0.7567 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993 camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j3": -1.3}, "note": "The gripper is now hovering just above the board's near edge according to the top view. I'm pitching the wrist down to look straight at the board so I can see exactly where the clapper stick is and how it is oriented."})

tool

executing move_joints over 9 steps (0.9s)

step 77

assistant

agent noteLooking straight down, the wrist camera sees mostly bare table with the board only in the top-right corner, so I'm slightly over-rotated; I'm reducing the base yaw by 0.1 rad to bring the board back toward the center of view.

move_joints

right_j00.6800

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2732 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993 camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.68}, "note": "Looking straight down, the wrist camera sees mostly bare table with the board only in the top-right corner, so I'm slightly over-rotated; I'm reducing the base yaw by 0.1 rad to bring the board back toward the center of view."})

tool

executing move_joints over 2 steps (0.2s)

step 79

assistant

agent noteStraight-down views are hard to interpret, so I'm returning the wrist to a ~55° down-forward angle (where the fingers frame the bottom of the image) and dropping the hand about 5 cm, so I can see the clapper stick relative to my fingertips.

move_joints

right_j12.0350right_j21.6340right_j3-0.5590

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7094 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2915 right_j4=0.0071 right_j5=-0.0376 right_gripper=0.9993 camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.035, "right_j2": 1.634, "right_j3": -0.559}, "note": "Straight-down views are hard to interpret, so I'm returning the wrist to a ~55\u00b0 down-forward angle (where the fingers frame the bottom of the image) and dropping the hand about 5 cm, so I can see the clapper stick relative to my fingertips."})

tool

executing move_joints over 12 steps (1.2s)

step 91

assistant

agent noteThe top view now shows the striped clapper stick along the board's far edge (camera side), with the white support block beyond it, so I must reach over the board. I'm extending the hand ~5 cm further forward while keeping it above the board to look down on the stick.

move_joints

right_j12.2280right_j22.0470right_j3-0.8190

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7162 right_j1=2.0258 right_j2=1.6367 right_j3=-0.6033 right_j4=0.0029 right_j5=-0.0448 right_gripper=0.9993 camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.228, "right_j2": 2.047, "right_j3": -0.819}, "note": "The top view now shows the striped clapper stick along the board's far edge (camera side), with the white support block beyond it, so I must reach over the board. I'm extending the hand ~5 cm further forward while keeping it above the board to look down on the stick."})

tool

executing move_joints over 7 steps (0.7s)

step 98

assistant

agent noteThe hand is hovering over the flat, face-up clapperboard; the wrist cam is filled by the dark slate face. I'm lowering the gripper about 8 cm, keeping the same forward reach, to get down near board level before locating the stick precisely.

move_joints

right_j12.3320right_j21.8860right_j3-0.5540

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.725 right_j1=2.2147 right_j2=1.9949 right_j3=-0.8738 right_j4=-0.0231 right_j5=-0.0444 right_gripper=0.9993 camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.332, "right_j2": 1.886, "right_j3": -0.554}, "note": "The hand is hovering over the flat, face-up clapperboard; the wrist cam is filled by the dark slate face. I'm lowering the gripper about 8 cm, keeping the same forward reach, to get down near board level before locating the stick precisely."})

tool

executing move_joints over 6 steps (0.6s)

step 104

assistant

agent noteMy arm is blocking the overhead view and I still can't tell which edge of the board carries the clapper stick. I'm swinging the right arm back and up out of the way to get one clean, unobstructed overhead picture of the clapperboard.

move_joints

right_j00.0000right_j11.4000right_j21.0000right_j3-0.6000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7483 right_j1=2.2997 right_j2=1.8946 right_j3=-0.6907 right_j4=-0.0593 right_j5=-0.0444 right_gripper=0.9993 camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.0, "right_j1": 1.4, "right_j2": 1.0, "right_j3": -0.6}, "note": "My arm is blocking the overhead view and I still can't tell which edge of the board carries the clapper stick. I'm swinging the right arm back and up out of the way to get one clean, unobstructed overhead picture of the clapperboard."})

tool

executing move_joints over 15 steps (1.5s)

step 119

assistant

agent noteWith the arm out of the way the overhead view shows the clapper lying flat: a thin black bar with a white support block under its middle. I'm bringing the right hand back toward it at a 45° down-forward approach so the wrist camera can inspect the bar from close range.

move_joints

right_j00.7500right_j12.1320right_j21.5210right_j3-0.1740

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0643 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.0162 right_j1=1.4326 right_j2=1.0157 right_j3=-0.6254 right_j4=-0.0639 right_j5=-0.0597 right_gripper=0.9988 camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.75, "right_j1": 2.132, "right_j2": 1.521, "right_j3": -0.174}, "note": "With the arm out of the way the overhead view shows the clapper lying flat: a thin black bar with a white support block under its middle. I'm bringing the right hand back toward it at a 45\u00b0 down-forward approach so the wrist camera can inspect the bar from close range."})

tool

executing move_joints over 12 steps (1.2s)

step 131

assistant

agent noteThe joints stalled short of their targets and the wrist camera went dark, so I think the hand bumped into the clapper/stand. I'm retracting up and back about 10 cm to clear it and get a proper look.

move_joints

right_j11.7120right_j21.3840right_j3-0.4570

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0711 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6067 right_j1=2.0521 right_j2=1.499 right_j3=-0.2913 right_j4=0.2008 right_j5=-0.0605 right_gripper=0.9988 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": {"right_j1": 1.712, "right_j2": 1.384, "right_j3": -0.457}, "note": "The joints stalled short of their targets and the wrist camera went dark, so I think the hand bumped into the clapper/stand. I'm retracting up and back about 10 cm to clear it and get a proper look."})

tool

executing move_joints over 6 steps (0.6s)

step 137

assistant

agent noteNow I can see the setup: a black clapper (two hinged sticks) lying on small white supports on the table. I'm moving the open gripper to hover roughly 8 cm above the clapper, angled 45° down, to line up on it before descending.

move_joints

right_j00.6200right_j11.9560right_j21.6960right_j3-0.5250

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.009 left_j2=0.0067 left_j3=-0.0719 left_j4=-0.0082 left_j5=-0.017 left_gripper=0.9991 right_j0=0.6086 right_j1=1.7348 right_j2=1.4029 right_j3=-0.4194 right_j4=0.1864 right_j5=-0.0708 right_gripper=0.9988 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": {"right_j0": 0.62, "right_j1": 1.956, "right_j2": 1.696, "right_j3": -0.525}, "note": "Now I can see the setup: a black clapper (two hinged sticks) lying on small white supports on the table. I'm moving the open gripper to hover roughly 8 cm above the clapper, angled 45\u00b0 down, to line up on it before descending."})

tool

executing move_joints over 5 steps (0.5s)

step 142

assistant

agent noteThe overhead view shows my gripper is still to the robot's right of the clapper and slightly behind it. I'm yawing the base 0.16 rad further left, which should also tell me clearly how the wrist-camera image maps to motion.

move_joints

right_j00.7800

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0746 left_j4=-0.0093 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6209 right_j1=1.9461 right_j2=1.6505 right_j3=-0.5278 right_j4=0.1791 right_j5=-0.0792 right_gripper=0.9988 camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.78}, "note": "The overhead view shows my gripper is still to the robot's right of the clapper and slightly behind it. I'm yawing the base 0.16 rad further left, which should also tell me clearly how the wrist-camera image maps to motion."})

tool

executing move_joints over 3 steps (0.3s)

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": {
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason"
      ],
      "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. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 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.",
    "type": "text"
  }
]

call 0 attempt 0 · /messages · status 200 · 34.37 s

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

{
  "content": "Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0063 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9993 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0044 right_j5=-0.0166 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f0148c434f181f70dbf91436e93a2bb4e7d71d72f62d9f47afb6a7ab6851af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30bc31b5705f76c03ca701b8ea763091aff69bf6ae5a2a05df9c0cf72d933b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:365501e50705290a12e89aec7e75fd9ff74bbc1b370faa6abeec399e79e919e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 9.855 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0063 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9993 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0044 right_j5=-0.0166 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f0148c434f181f70dbf91436e93a2bb4e7d71d72f62d9f47afb6a7ab6851af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30bc31b5705f76c03ca701b8ea763091aff69bf6ae5a2a05df9c0cf72d933b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365501e50705290a12e89aec7e75fd9ff74bbc1b370faa6abeec399e79e919e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d4f0148c434f]

[blob b30bc31b5705]

[blob 365501e50705]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HJf79UEcd598N45SHvMPqu",
      "input": {
        "note": "The clapperboard sits on the table roughly between the two arms, propped facing away from us (top cam is on the far side). I'm raising the right arm's shoulder and opening the elbow a little to see where the gripper goes and to get the wrist camera looking down toward the board.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.2,
          "right_j2": 0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_01HJf79UEcd598N45SHvMPqu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9992 right_j0=-0.0006 right_j1=1.2011 right_j2=0.7708 right_j3=-0.0528 right_j4=-0.0082 right_j5=-0.0189 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d089f2e2c929c73cf2ea477a818f5a0e63aea98d344506a1d76545605da3e159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057343e21d2a8bcd1a407e3395c33f7193ed968f8411d79b75f2f3fc5cb86b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56186eda5f4e81b254820d12ebd882ae9e71b015a28e17268fc60a7fde2a9791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 12.5 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0063 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9993 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0044 right_j5=-0.0166 right_gripper=0.9995",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9992 right_j0=-0.0006 right_j1=1.2011 right_j2=0.7708 right_j3=-0.0528 right_j4=-0.0082 right_j5=-0.0189 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d089f2e2c929c73cf2ea477a818f5a0e63aea98d344506a1d76545605da3e159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057343e21d2a8bcd1a407e3395c33f7193ed968f8411d79b75f2f3fc5cb86b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56186eda5f4e81b254820d12ebd882ae9e71b015a28e17268fc60a7fde2a9791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d089f2e2c929]

[blob 057343e21d2a]

[blob 56186eda5f4e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XQwdunHMBqh9zroiAQfs6v",
      "input": {
        "note": "The right wrist camera now looks down at the empty table, so the arm is reaching forward-down as expected. I'm extending the shoulder/elbow to hover the gripper roughly 35 cm in front of the right shoulder, tilted down-forward, to bring the clapperboard into the wrist camera view.",
        "targets": {
          "right_j1": 2.1,
          "right_j2": 1.59,
          "right_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01XQwdunHMBqh9zroiAQfs6v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=-0.0006 right_j1=2.1098 right_j2=1.5604 right_j3=-0.7063 right_j4=-0.0151 right_j5=-0.0296 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f673d451170d011fbed197dff4e130ea3b030244c1de9c55df4acc5bd1afca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f85ffb73861658abb4b3df1032d3eed80c1a9b58547637a6bd1ca91328c54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:050a183b9438426a1e72b77a3dd40bc9dd99cd01fb71fa0b360abe45316e0a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 11.73 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0063 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9993 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0044 right_j5=-0.0166 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9992 right_j0=-0.0006 right_j1=1.2011 right_j2=0.7708 right_j3=-0.0528 right_j4=-0.0082 right_j5=-0.0189 right_gripper=0.9994",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=-0.0006 right_j1=2.1098 right_j2=1.5604 right_j3=-0.7063 right_j4=-0.0151 right_j5=-0.0296 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f673d451170d011fbed197dff4e130ea3b030244c1de9c55df4acc5bd1afca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f85ffb73861658abb4b3df1032d3eed80c1a9b58547637a6bd1ca91328c54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050a183b9438426a1e72b77a3dd40bc9dd99cd01fb71fa0b360abe45316e0a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2f673d451170]

[blob 5f85ffb73861]

[blob 050a183b9438]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N6p3R4PPHU5cNHRtE7CwJW",
      "input": {
        "note": "The right wrist camera only sees bare table, and in the top view (mirrored) my right arm is at the far left while the clapperboard sits toward the middle, i.e. to the arm's left. I'm yawing the right arm 0.5 rad toward the board and tilting the wrist up slightly to bring the board into view.",
        "targets": {
          "right_j0": 0.5,
          "right_j3": -0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01N6p3R4PPHU5cNHRtE7CwJW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.4725 right_j1=2.1094 right_j2=1.5604 right_j3=-0.3901 right_j4=0.0006 right_j5=-0.0288 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6381fd438f586e453da923a2a714ad0cbaffd4653e1e7760da5f02324f3d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd6dfc5949c8ee2c096e091907f8ba80fa983b1ca9166ea22079b3d76eb0084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f77278398aae590b6d56f80d137ec61b2d55dde707d29cfd7b9b776dad9c65e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 8.459 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9992 right_j0=-0.0006 right_j1=1.2011 right_j2=0.7708 right_j3=-0.0528 right_j4=-0.0082 right_j5=-0.0189 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=-0.0006 right_j1=2.1098 right_j2=1.5604 right_j3=-0.7063 right_j4=-0.0151 right_j5=-0.0296 right_gripper=0.9994",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.4725 right_j1=2.1094 right_j2=1.5604 right_j3=-0.3901 right_j4=0.0006 right_j5=-0.0288 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6381fd438f586e453da923a2a714ad0cbaffd4653e1e7760da5f02324f3d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd6dfc5949c8ee2c096e091907f8ba80fa983b1ca9166ea22079b3d76eb0084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f77278398aae590b6d56f80d137ec61b2d55dde707d29cfd7b9b776dad9c65e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob eb6381fd438f]

[blob 5dd6dfc5949c]

[blob 2f77278398aa]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CX23yu4KpJ5vyXjpqYtEgA",
      "input": {
        "note": "The top view shows my gripper has reached slightly past the near edge of the clapperboard, and the wrist cam mostly sees the white support block. I'm pulling the arm back and up ~10 cm so the wrist camera can look down on the whole board and I can spot the striped clapper stick.",
        "targets": {
          "right_j1": 1.51,
          "right_j2": 1.25,
          "right_j3": -0.64
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CX23yu4KpJ5vyXjpqYtEgA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.469 right_j1=1.5379 right_j2=1.2575 right_j3=-0.6266 right_j4=0.0143 right_j5=-0.0299 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bfb8a226419ffe0ac0bf9a5457c2a0caacba16ac3f9d125cb9c14ece40f8f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05a194993eb030797c58be9bd6fec894ed9a09f0375155ef6bd252d6dfcda4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdd269922946870f22d5ca0a3bf42164825e29a6fc6e3cb052f327e0d47ebc6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 12.58 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=-0.0006 right_j1=2.1098 right_j2=1.5604 right_j3=-0.7063 right_j4=-0.0151 right_j5=-0.0296 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.4725 right_j1=2.1094 right_j2=1.5604 right_j3=-0.3901 right_j4=0.0006 right_j5=-0.0288 right_gripper=0.9994",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.469 right_j1=1.5379 right_j2=1.2575 right_j3=-0.6266 right_j4=0.0143 right_j5=-0.0299 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bfb8a226419ffe0ac0bf9a5457c2a0caacba16ac3f9d125cb9c14ece40f8f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05a194993eb030797c58be9bd6fec894ed9a09f0375155ef6bd252d6dfcda4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd269922946870f22d5ca0a3bf42164825e29a6fc6e3cb052f327e0d47ebc6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 24bfb8a22641]

[blob 05a194993eb0]

[blob fdd269922946]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01785nWyRRTJmeA393KD8hik",
      "input": {
        "note": "The wrist camera now sees the clapperboard with its striped clapper stick, but off to the left of frame; the top view confirms the board is to the arm's left. I'm yawing the right arm another 0.33 rad toward the board to center it.",
        "targets": {
          "right_j0": 0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01785nWyRRTJmeA393KD8hik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.783 right_j1=1.5333 right_j2=1.2552 right_j3=-0.6514 right_j4=0.0185 right_j5=-0.0296 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3374c9309da6e97a89ae97321b33d8bd94c420054a0eeb780134810ce1d86e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a2f12bc9ba5415f1cfc72bcca09799ddac397fb2e144e3c87c08493e252e947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dd6b5460926fbb625763c56d07bf1afc7081cf8eeb030889d144391653906d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 9.962 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.4725 right_j1=2.1094 right_j2=1.5604 right_j3=-0.3901 right_j4=0.0006 right_j5=-0.0288 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.469 right_j1=1.5379 right_j2=1.2575 right_j3=-0.6266 right_j4=0.0143 right_j5=-0.0299 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.783 right_j1=1.5333 right_j2=1.2552 right_j3=-0.6514 right_j4=0.0185 right_j5=-0.0296 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3374c9309da6e97a89ae97321b33d8bd94c420054a0eeb780134810ce1d86e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a2f12bc9ba5415f1cfc72bcca09799ddac397fb2e144e3c87c08493e252e947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd6b5460926fbb625763c56d07bf1afc7081cf8eeb030889d144391653906d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3374c9309da6]

[blob 9a2f12bc9ba5]

[blob 7dd6b5460926]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JzSQgG4fniiMxGrHAC84mD",
      "input": {
        "note": "The wrist camera sees the board's near edge (dark bar with the white support clip) high in the frame, meaning the board is still farther forward than my gripper. I'm extending the arm ~12 cm forward at the same height to approach the clapper stick.",
        "targets": {
          "right_j1": 1.98,
          "right_j2": 1.8,
          "right_j3": -0.74
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JzSQgG4fniiMxGrHAC84mD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9751 right_j2=1.7706 right_j3=-0.7567 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d412a4822c6bbb9a23fc9b5b6491deb6b5ee79366e9bad0436a61d4261946ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a85de6ada023d7f0e7067f11b09e7a3e5ccb26879b09d4be1079be0ee2b0eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:270ba98fbae44069247d98c490381fc1e8105a952b6fe56896f6e51446013949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 24.95 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.469 right_j1=1.5379 right_j2=1.2575 right_j3=-0.6266 right_j4=0.0143 right_j5=-0.0299 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.783 right_j1=1.5333 right_j2=1.2552 right_j3=-0.6514 right_j4=0.0185 right_j5=-0.0296 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9751 right_j2=1.7706 right_j3=-0.7567 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d412a4822c6bbb9a23fc9b5b6491deb6b5ee79366e9bad0436a61d4261946ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a85de6ada023d7f0e7067f11b09e7a3e5ccb26879b09d4be1079be0ee2b0eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:270ba98fbae44069247d98c490381fc1e8105a952b6fe56896f6e51446013949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3d412a4822c6]

[blob 1a85de6ada02]

[blob 270ba98fbae4]

{
  "content": [
    {
      "signature": "CAISlSIKjAEIEBgCKkDjoeiawlK/+iclGPTbhEUIFDU4OJ4+upou6GrTcIPcju3nXFD7Q6O42tbzTkw9DsuBqDI1fRakjO4RuZn73EnQMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMfXleRQQQ0i+guPaGgwYFnwQdZZUP7AtDAgiMDvZznud0wVuC1Zgn7KYR5XYKPBVFEtEYwXnUC8FN8C6Jr5/R+45btYKFEgCht4KFiq1IKT8ElBp/AZhT+rmbSDB4+0AFZ2T0w+97WrljPdFBN5tKNjxWoqRkIakhiVyz+SYXRYULmDvcrcXLM10BUVr399gD3Xv7zYX3FmR2h9G1ZtKs/2Hd+0F6m4ZbveIyS8fBlKpl+5lXOBpP+uyuwGu85Aq8sRF3V7woZQP909wXfxvC1BIw0dzBcXRLJIs3apP+MQ39W22/PVZ4OFwNXwG7IDZlza+kyKGJKc23oynPGP/gv8kLPtP0IUG17uVih61cm9vTySPtZQc6nEWO3AN8hqDwbJMexHHkVIMlxftQ3JkXd+GM7gRTd3VXVJRtIjGRjq0hIiD9xI5tmDbM0yiNAZaEKAsM+obSVPRCuAOMtyVSADwVMJ3qVc11+h4opL4cjMDXFo70PiJCEXeobW9luJQGxQqsMhfGgA8GRE89fBMk8gU8e00KjYlrgOj+iapImn1qTAQCZtQKIj/yDvoD3lXuAU1GAr7mtnSeg8cFduKbak4wmsKaMVI/lUW2vZnTeyIYP1jyTMd9cQdcTrcYBoWEZWvubSfnMNtjf17k3enlq9jsCIPzAhAq+hLwd5IxI0ub5LYmT5LylyQyA1JZ6F1ps/9/nvM93Who4MYnRAnVjFqOmOAdcOmns/9PoHaK5Gn8Pr7v5ZG05rTGfxYzjFYNb4o6Z+UFX7sTklDMF9pYlaRpNzJABQpG+EAiSO8YqvvPnCk7ulAAB/dYnvSIK/H6wRHJ5jxJOrrkimuYbWTyfow2LnxNqN6IsPuAga8DtwYuhyq5i5bl64S2Rc0EHQYgkrkr3toWDsCGTPlMwHN1ICj/fyivyO9deWaTVsZTHdmyRblSUnzLSQR6d3Ui8/WJqPq2Uu+MtDUT4piC2DG2ci93zUdLWXmwUoheIR0OsXciiGdhuPGr30/TfeTjIWPi1pue/oKOg8DLQUkKBT014oSrNByGejptm69YFxxmJn12K9nuQ89spTmW+oSuLtd9+I1NlHCCO5vdH68N+FBqH+0XePK/hV1j8u6N6qrcMJGh2E3tF4AUfI5Dz4675bNg2UmGTb9zX/76puXg6fSdFYlyQqmZdpdtXhpAS0kPY9XXTRoL1CiDWVK+mYS4DKj8al4QpK0KEDpEn3qno3xVaGrgbPmqBV54FIz68sH7H+8Vxi+jkf050Q4epXGPzumZT8DefLmAEGZuXpsBkFP1V+Vn+h3U+QaCW3Rl5YeUSRpvnsPyx21eEsbHxKuGGcleRZPZbZRPyJsBfjJdvnLsTZyVrrkGgiRinu9MA8MJJpnpLLbH/WgTLaLQKnOvpCx+TsxiXqg0RBRBgxo9Mlj8fvxY/CYYME1As0J8TagAX5DOu7Ui7xWvG8NLv9PUxQPHC41pUF3aEbW7fM7Za0MvOAQBb/KLCJK96fHwH8fy9eqqpo9OgHXtGhPyAwGa0n69uGRCDxtrUn6YqlKxKP6d3FnfysfVX4+rO899+k/kk+Y3Cp3YPETVCoiNyQ5VT6aolJHCwpIZQyvk4nHdnHhxcpGMixmaY+PnztqZ7HRFyZSHzi59LchUMBX99E8eMtsAq8fT3decoQCI8Fz8sS4o8t7qOzYS+0sJ92w+4K4UjdeQr26NlM3m88zsmDOGA2FYPhg8kSaWkSjOoR1KuR4/fkhEc2KVIFRK6sUWNjLdCqT84yPzymkrltaDwXLaPBbdm0FBvS0EB+rfvKxIpOFzkhAkQPobis8ktTKuzeg/1lVymU7KTXYjGMSwOzHpQbq+3WqnKcHdojMH0Em9EqzpSxJkBhGZIMry/GI/3a1cHNvRjtB/fwxLeu/NFQbm8m/AHXY5YmyPYKrsbzx4smhlBfG5adkVUeGVKF6ssshoG2rksJop351NiDMWcQxfHlvsu9N0hpKRO2MitK/ujQVpxtQLSgpWjOoyQhAUvyv8YFdjzMiq/hJY9nIfRAj+UWeVJSS9Pu0zSAnKQv4X5xPzdtbKddVzaVAfltYsT1Ak1uBoQ5jM0PaK89gvkqD7uEHZF4ffr6agevTrMwAzK1X5GaYN3iHnDKuqRymbrp1qc1FYFkiGqf5HsdFFEgzjWICuLHb209uEA4VQYU+WWCkQA0jiTj6ByWqgCj4EtHgArvfWdiD0bykxgQMz7DwHPHIXpyBk5biA8wo5UMXryfpLULXvUgVeIUXkMnNBzwySjFxqLGZsB9P2Iikmvi9dLfou3SGkn1qa1eJPySg/e+BxQY7hqs/68E3fJqhp3n1Uab9OZ3BCyqq6jkBUtbcRYpITlzJIfRSi1AEzEhFJQa/YGr8Y/u45+jlMP0z3Bpz7smQtlRa5aDH95GNx6rHDXW3ikrdoPbLjJTM2SMkZWfRylrvEifG3e+oJN2URNV5MnlU7ejWYYDuE9TXVYAhUlSwruCQQzReT4Ien9M6KPqXghKTuLnh+xGhEHhb2yvHNx9Ny3TukApwmHk8dkC16W77yALv3m5k20gBIqbMLhsbPuYAnYCiMLamEW7MoqslBFqVWIDhNwwQOIw8MqGxvZSwc2WKeZ0tA8796JZcm/jgNL+QEDjNPzHQAtJx8/pSNGta99lKViw2ZghIcAKPOmiTJVGGpyU95Qio20nv2PrBjSPR1z2PhCAJrLi2+iYYFVTp8pixPsHH/bSSMuFLoPwxm1qd13axLbSpqpnQlMPyMOl/Pi5DiySqQtP3wPJaRSiumMHDA+/0voz81Ghg1Iuqj2idfsxBPOzdkDndxA4eoG2XMtScW2o1VJ+wmJDQ6EQOcobmP9WT9oT5b3WESglx4gIRCdJ6g3tZ6It1uUEaZjezRWvnCHAbdcz9Tp6OQPUChmE2FtlLQbq2YdXAJa/nR3JuD1lmO/dJeSBxDbb6VtcqOcCfQxsj5NcOIeCgFToHuZNyLIVEPv4jodpsusKySrJvg/HrljirN2X6DNw1HwrfNmbU53hjnf9xhI8fmoUrPbVJDUBL82Fp6QpVt8llQ68Ioo5lnjSxY/OwUVZ3YaA2MiropkLcEJHZzMv+tkqvW1xlpdCAXyH/z+JOBqBo6cl6RSeDneaSJvVbSLvvkOWMqQ6wR0edCmvTq5S4y7uGiSkD3pN0x1ZEwqAb36tmiJS0NnS9Rz4kghSJH375Voz8Gp1lHroHdTji5rzPxpntEiQcUtDq2WMLAHv4hRUUBiZK911RFgB+56XJ8k/SfsjZBGhwtowZXJ3yWZw5ZNHdqFGO4EUXf646FS/hVeFsYTdZdPCcj8LiuACVr4Dd1MG+HOkSmXxaco2kZtdqKh92r0MNS3T3VLWEkoePT8LVdyFcX/vcHPxX2S4XKxc3hU2TkQ7T26aZ0QYan+kzcIrhaF0Asy9zRyoQKwdKVMYGgdM/lIEn3PTUEBooRu6mfWql3N8syvY6emzj5CPekCfiyb5IXhrsuiXnMGmZRVlkVLwBfn8n9PaoHcpE6IE9GvRGCYHJohn3cA7GZWrOgUwoLT3L9Qopy1lU8MuFGH3x3VrtJtTWV1rUHEIdJEFuHU6n+bchYzTfaXBq6l71Ft9b0NSHNPfSgY3Wogrz3+aVz84JLruUrV951CscsLYeGMX0KHFvk4n+r65AViUdccc6zZ4i0feD0UMzQcdbzsVzfSmvEvT5w1qmuY+sj/dkLdp0A9KJrHpg4vP0vqKArVRrHnISshkNXfOlAWCRL/2AA4UPyGRuYE9cwyjrzfkPcm9/xoOepSxMjaEujfqW0GlT1X0nPKOKerf83LWeB4MJ+Hk9YV/iFo4Kg6oHmBIwvo10taKpsfxaNy87zzjEGY/xiOZ4qoPLkqLqjFW6henx31VCkvFYgDjqEd/gWM/Wzqhd9BFa/2xNMZ3VRNZPELliPNjzKELugmcANkaDv6T5c1NNtIG9XDduzTurqnFQWhCzk/KTxKZkEGhJC6ukQRlCzYUYDDLqmKz6Xap8pktxfnnwpzYAulgs96QBt10pM5ni8SYd/LNil2p4/nRxS63yOVhbHL+FsM9hgkFP5KfXEIEsUDy8P8fNraWzLtxrZ8aWk6Oj4nb0EzXV9jZ9vQr3X0kckt9hWh3AS6ScAuDb6IyPzwC2YZWT/F2VMmlxILIH0wAXB4B7nop6GfC3KQOrGsLns8oN++3LrPuyH45WS5lwVYpuTKdhJOdUcjKehps6oVwoHcj/ncGEeIe5UOfPKBgB9lUIkJbqJUJyVoeb8JZ+6wmh4LYcijv6RZi82IvmSS2nB4oKGnfz5nE3/8Ihz8jaaG6m12BkIGKRoW5CWefN/Aq0tBtwxvXYvbVPJ4BDeIOSH24qGne88Xg39z7HsN+PRJfW86/b7bMeEVy+0MKQ/6Wrpv1KfFsiKt9mUeQBYQFsLO0MSQfuqH3YumatSTpVomyXLBiqB3yFfHC9cYqzziyxi4+2/7U0PcczRfJ8dTo0UJz/mrRm6APYdXvO29L46NJ7a5qzWNpSIyFTBqZQO1YtGhQ0hLAaNxRFLw6bgwruT2J8V2xQCDH4Hcc/ozb9gQXHYmx8XpM++eWV5sA9dGMBsDwG2zHG7icXe+jy2nfWcJZ+NGNgPBkv1z6TQfMnRrwkNiO4kpvv4Xp08rXX5u+uObEwJJvMMrSGu5AC7iU+fOc6vAkSNDk4TeLyejdWVxoeo3pmAsDJDeKY8BuM9c9uBl+SEDyzd3fLUcJ5xOqXN6/D5wt3TMBQM0t6j0/wig6anBQlWNDKZpBesIQuvwJ2iXfSk3SlPvWqZ4fel3XxsTJjoZmUStDtfT6GGMBLOzS5j2jet20zzE+F8lkbb6wzp7SDJk4+C4CPZcjERF2RfpKwLD9noN+dvcw3Zlm9YPC/FpM3SPPAxde7Rlomy3jT6qf8fJTqafRU1IwAlNZkFwu+EVK6KR+WrfLsO2RzFLP81lbc+HniyNxpVEfTCtF/HLBJ29MRYBzxDOkMy1tyX5W7kCucFzAcTn84Wre0OLK0lztlKf0ClrGocq1kKkhPfZr6xm7ykiVyb1jOZM4R1QIM8Ian+jO4hHRxIwy83u8f+SSfhPQzgQKMn1I3XibzozwfAC1zTLIsoD4grjLehvk9D0XGmsg2eCKokt9NbKmNgGExY4kEj3DPUCh/UhDsOw9vGOJ34oLM1OK2ttAsoEa3PL1YqNFzzH65c4BpcTBN7QAAqLHBe5jTnMJ9xYSYFDwsBC4JScGSNUfCuJhjBBH9/DnOE78YhLcnwpF/SKKbiZwZmys0duQi1lfY+Br6RYX+FXj5eh05uIXUxforuGw07Tl77cmxNUt2sEGwU9q1FANAfOpik1TzJdwh359Z6j9eSFrKYg/oRIHW2bICcqkv6F2F7+Tqac9TA5RmVphkPgqtbEujiQNur7rKOULQbLWDdTieUCtMSpGyK3CiYfLalnBQ7WQTEUde0oSMiA8MHAVTl67OE7VrtrF8D425kb8XVuIkD+5HKnm4WClRNUggGNj6CIeShGU+MK4Ib4QCBhcH4MLkGt00MBng1i81eUcZw2muLynjI/F+oAT9/vC9hC9IOWA3bh6RhehuYQGruDs/Cms50rKqcGU5ZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FPo2ASk2zMTTuyxYDgy7Pg",
      "input": {
        "note": "The gripper is now hovering just above the board's near edge according to the top view. I'm pitching the wrist down to look straight at the board so I can see exactly where the clapper stick is and how it is oriented.",
        "targets": {
          "right_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FPo2ASk2zMTTuyxYDgy7Pg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2732 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e95766253cb1c8fb39ddc30b6e8a9edecaf1ca47e8fea3d7bb7b55eb7107d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e5ddeb04d448fd7bae7b877b341370b2c9b59e4020ed3276b5d98875e0e2afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfb5ddae7d20c75cc23f28c2fcedc8881ab810d3f20985b0eabdc9f51a8f1fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 13.59 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.017 left_gripper=0.9991 right_j0=0.783 right_j1=1.5333 right_j2=1.2552 right_j3=-0.6514 right_j4=0.0185 right_j5=-0.0296 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9751 right_j2=1.7706 right_j3=-0.7567 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2732 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e95766253cb1c8fb39ddc30b6e8a9edecaf1ca47e8fea3d7bb7b55eb7107d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e5ddeb04d448fd7bae7b877b341370b2c9b59e4020ed3276b5d98875e0e2afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb5ddae7d20c75cc23f28c2fcedc8881ab810d3f20985b0eabdc9f51a8f1fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2e95766253cb]

[blob 9e5ddeb04d44]

[blob cfb5ddae7d20]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LnAWBwsAZF9CpJW7f4Xjp4",
      "input": {
        "note": "Looking straight down, the wrist camera sees mostly bare table with the board only in the top-right corner, so I'm slightly over-rotated; I'm reducing the base yaw by 0.1 rad to bring the board back toward the center of view.",
        "targets": {
          "right_j0": 0.68
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01LnAWBwsAZF9CpJW7f4Xjp4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7094 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2915 right_j4=0.0071 right_j5=-0.0376 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e151a2bd4f62455ce93971f1b0384ae47b9b3abbced30437bdb6a6f02360b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbe3341387f1d91bed54f265e29c83ecbb13472aa91307f0185b6f6a7118cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:459d59bcbfc6eb5c1cbf9605c400dfb8b3dbe2a4f1520d7ad31fac0cbcf23a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 19.21 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9751 right_j2=1.7706 right_j3=-0.7567 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2732 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7094 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2915 right_j4=0.0071 right_j5=-0.0376 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e151a2bd4f62455ce93971f1b0384ae47b9b3abbced30437bdb6a6f02360b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbe3341387f1d91bed54f265e29c83ecbb13472aa91307f0185b6f6a7118cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459d59bcbfc6eb5c1cbf9605c400dfb8b3dbe2a4f1520d7ad31fac0cbcf23a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7e151a2bd4f6]

[blob fdbe3341387f]

[blob 459d59bcbfc6]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T8L4y1Gwm1knj7VaMbMeFH",
      "input": {
        "note": "Straight-down views are hard to interpret, so I'm returning the wrist to a ~55° down-forward angle (where the fingers frame the bottom of the image) and dropping the hand about 5 cm, so I can see the clapper stick relative to my fingertips.",
        "targets": {
          "right_j1": 2.035,
          "right_j2": 1.634,
          "right_j3": -0.559
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01T8L4y1Gwm1knj7VaMbMeFH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7162 right_j1=2.0258 right_j2=1.6367 right_j3=-0.6033 right_j4=0.0029 right_j5=-0.0448 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826e4d22807648e33689904a06c3d43930c4f2ed24ce90bd73ed4860a8f4c42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2be63303d95040095cd10c8a9be501db606cd7cd62ded67bc01a5f92a67a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecf6902e5b5893ef294e0755cf583aa6c4b146187173e597938fefac3e010335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 12.02 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7853 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2732 right_j4=0.0143 right_j5=-0.0372 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7094 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2915 right_j4=0.0071 right_j5=-0.0376 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7162 right_j1=2.0258 right_j2=1.6367 right_j3=-0.6033 right_j4=0.0029 right_j5=-0.0448 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826e4d22807648e33689904a06c3d43930c4f2ed24ce90bd73ed4860a8f4c42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2be63303d95040095cd10c8a9be501db606cd7cd62ded67bc01a5f92a67a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf6902e5b5893ef294e0755cf583aa6c4b146187173e597938fefac3e010335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 826e4d228076]

[blob cd2be63303d9]

[blob ecf6902e5b58]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lt79TDSqM51V5AjATMJPPn",
      "input": {
        "note": "The top view now shows the striped clapper stick along the board's far edge (camera side), with the white support block beyond it, so I must reach over the board. I'm extending the hand ~5 cm further forward while keeping it above the board to look down on the stick.",
        "targets": {
          "right_j1": 2.228,
          "right_j2": 2.047,
          "right_j3": -0.819
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Lt79TDSqM51V5AjATMJPPn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.725 right_j1=2.2147 right_j2=1.9949 right_j3=-0.8738 right_j4=-0.0231 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0cddeb1c7a10ff9cea2e1736de53652fed348c8d8428f16214e544c4da52811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30c18c214f889b1486d50f768a272e7220b8512bd3ece0e3380fb18c17a504a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfda2b99cff8cd0ea718324dc9fafb28349a138e3d11a0626324f9bcadc85d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 5.891 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7094 right_j1=1.9789 right_j2=1.7714 right_j3=-1.2915 right_j4=0.0071 right_j5=-0.0376 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7162 right_j1=2.0258 right_j2=1.6367 right_j3=-0.6033 right_j4=0.0029 right_j5=-0.0448 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.725 right_j1=2.2147 right_j2=1.9949 right_j3=-0.8738 right_j4=-0.0231 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0cddeb1c7a10ff9cea2e1736de53652fed348c8d8428f16214e544c4da52811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30c18c214f889b1486d50f768a272e7220b8512bd3ece0e3380fb18c17a504a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfda2b99cff8cd0ea718324dc9fafb28349a138e3d11a0626324f9bcadc85d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c0cddeb1c7a1]

[blob d30c18c214f8]

[blob dfda2b99cff8]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M7pUjJN8En1d2QtV6EXy99",
      "input": {
        "note": "The hand is hovering over the flat, face-up clapperboard; the wrist cam is filled by the dark slate face. I'm lowering the gripper about 8 cm, keeping the same forward reach, to get down near board level before locating the stick precisely.",
        "targets": {
          "right_j1": 2.332,
          "right_j2": 1.886,
          "right_j3": -0.554
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01M7pUjJN8En1d2QtV6EXy99",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7483 right_j1=2.2997 right_j2=1.8946 right_j3=-0.6907 right_j4=-0.0593 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ccda656c8bb8430b1df7c2375e030085828681946e2e5b6efe140518e128c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba032e404e07910146068cae599e403d9a7debd820c9462e70eb937c9e46993d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:578cd9f4fcea733b132906e84b7808267419ebae37b1b2f46687310ab095cdf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 23.19 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7162 right_j1=2.0258 right_j2=1.6367 right_j3=-0.6033 right_j4=0.0029 right_j5=-0.0448 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.725 right_j1=2.2147 right_j2=1.9949 right_j3=-0.8738 right_j4=-0.0231 right_j5=-0.0444 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7483 right_j1=2.2997 right_j2=1.8946 right_j3=-0.6907 right_j4=-0.0593 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ccda656c8bb8430b1df7c2375e030085828681946e2e5b6efe140518e128c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba032e404e07910146068cae599e403d9a7debd820c9462e70eb937c9e46993d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578cd9f4fcea733b132906e84b7808267419ebae37b1b2f46687310ab095cdf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9ccda656c8bb]

[blob ba032e404e07]

[blob 578cd9f4fcea]

{
  "content": [
    {
      "signature": "CAISqgsKjAEIEBgCKkD9P96Oo1z88vG2UGypZWfBpUdqMp3CGV8hByrHriA+7CUyxLDyS6T/uLtxvdL+uqqheHPIL7npnCHja3aDU4ytMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMoo8l+Fo7O+acEDVJGgxGOsvu+x0tBKBigGwiMHdBpCOsNn697OmQHVMD5s381Hdc/Iu8Rjv8j3ziStIyLcDwnCJH5+iB09P66aLcBSrKCVLLRY56xoNcEJZHq1Kf0Ti2yn9pr+wOZC9MuqFtHgbg7ymFO9b2B14wSUg8Ykl3etQ0PI76KVY/Ee4L24yHwNWjDEFW0YQUOQv7nfgjrdhoJBJGHhDFU8Hl+f2p44NB1/0CLfAhpMx+P8k38IVuQ7Hu43aDbOjgyP27yNiYn/5VyFkgx+pvcIAvDpRjk1wVUmX4PIg+1sPAHFSZaFIbVN3GzEEZLxqAGC8KALEMqpEi0A6zLUtSWZ2YtUNm9cuhvJTZ2yzN2hFter/9dEp2Hcg/dr5ofTCMO7eHvf8jeyfUP8BuHugpr27+p/MjyCAT3MPpm+iOlw7RJAx4A4flPN0LTh7veQsjCnASIfP8+Tsvp3QR2c20vQYYfpng/WVYLz2BrSjp4PN/y5/kHTsFb6m7yx8swiJ1qpOO3+D13ua3jd4HD0y9co6vTb6UrOzA4/7vb7nP3FZDohYOSTRYhUc9s/uL73AT2hgIGx21S55Xib16opgD2sQnXWEKPOZFEV8BZ4O62HGrrm2nrRE6v2HYzlhz7VJ0kZjN9A2u85epbO3hI3RDOQBRcrIvUakA/sDngzjRLNfpQPzG84VMHhr6mAz+2jEIqYxgLuYmZMuvcg697+R5IRf8KcNLTkq6Q5b7iWoHR3ehX+YEuxJFeU/JQLaxCaOK1/izN0fQ2KoAv2lHrV+9YpLzB4Ik1ut0df65GBBdf5wPi+D+4myl7+K30r56/AxIo/i4YguAmyW7Mx58YN4TUe9lvT+tgL07D4fQWFmor9TuAm+e6dRSXVbyJDigAgy4//GBLLkK4503v4LbOzEtgXKL6pmAad6m/NHoH+hMq968m6BVLXckLdyeq/HlhbwLtI/jjbuGXZJTXUvuNRB7VJzIWKvkTPdSD8mAFn051kgQco4HLurl/+8SKU8u9c5zzz5kHdIkbKunQAgGUYS8detxi/ktRcopCSASXkteM/w0ZZCW7gf2Twt10tF6ywTu/tnigLhKigGRknHHkVxsSkX5ZuXKgb4/z72PmPrRj0z/3/NGThPOqZuBsryu6gJGjzpoCEuSrsgKcKxdw0vXtO9ziq0CWY4FFRjko8lcmM3rypo0bLqfty9E2TjRSO/mOx8m+M4GPqDiHloPBQnuimlII2tGAs3DFsesTF8qf4muVeefHBV+zz7VMNehhVCb0ocAGD7+DLZLkbk47tPBg1H2oy7hfJylZtO/VqWkl1MGT7ZBfwQUOJVSzCBlhQfKjMJO4NCJ/O3UyFPoocKv7XdJYUHXZ78HKr3XakaFQge6CJNiM3LzbhmRvxZvhaw6tbye34bGW90WCf/kxJs34seJaCAalTh3MPW2fHklgOlmIHl+q3h0a8J+eNTLNjB1LJJRl+FncmGsgLEnDxyRa2QagSSaJbeBXLu7XICWVVzmCXV2P3x1JVnwwfqXfolwYjkhvAlAKO3ITSIEFMDj7Zrqdhbyzxb03bBfzwgIKMGX3BZXoSzz/H3oGdZwHXPtLuNNI6KRp3uqcLCP7Lr1GIqQyt2W1zHC9HIyqLcruzquQvAZmlsnXJr8j6zXkRShzD/v9V76Q51BnrG271W3LjpCIWJ+8Honhct5R3zrcLhkC1+npscQJiTdk+uSE6oCfw7uGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GqRjwXZM3wqKjWHvQ1Yht5",
      "input": {
        "note": "My arm is blocking the overhead view and I still can't tell which edge of the board carries the clapper stick. I'm swinging the right arm back and up out of the way to get one clean, unobstructed overhead picture of the clapperboard.",
        "targets": {
          "right_j0": 0.0,
          "right_j1": 1.4,
          "right_j2": 1.0,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01GqRjwXZM3wqKjWHvQ1Yht5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0643 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.0162 right_j1=1.4326 right_j2=1.0157 right_j3=-0.6254 right_j4=-0.0639 right_j5=-0.0597 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3109c528affa3b6c49dbfe327766c9e8f2e931800a7e68026644b3b58b3f8ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20cdcecfd541e55f5bb3d44b94aa99aaca7730bca30695be96401fef54535f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b6307273bdb15609dda2d6dfcfb30a99b105b678f3e4c7d3f119063db07f029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 9.277 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.725 right_j1=2.2147 right_j2=1.9949 right_j3=-0.8738 right_j4=-0.0231 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7483 right_j1=2.2997 right_j2=1.8946 right_j3=-0.6907 right_j4=-0.0593 right_j5=-0.0444 right_gripper=0.9993",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0643 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.0162 right_j1=1.4326 right_j2=1.0157 right_j3=-0.6254 right_j4=-0.0639 right_j5=-0.0597 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3109c528affa3b6c49dbfe327766c9e8f2e931800a7e68026644b3b58b3f8ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20cdcecfd541e55f5bb3d44b94aa99aaca7730bca30695be96401fef54535f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6307273bdb15609dda2d6dfcfb30a99b105b678f3e4c7d3f119063db07f029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3109c528affa]

[blob 20cdcecfd541]

[blob 3b6307273bdb]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kfyy1UCKFEuErnMVLFHQ9f",
      "input": {
        "note": "With the arm out of the way the overhead view shows the clapper lying flat: a thin black bar with a white support block under its middle. I'm bringing the right hand back toward it at a 45° down-forward approach so the wrist camera can inspect the bar from close range.",
        "targets": {
          "right_j0": 0.75,
          "right_j1": 2.132,
          "right_j2": 1.521,
          "right_j3": -0.174
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Kfyy1UCKFEuErnMVLFHQ9f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0711 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6067 right_j1=2.0521 right_j2=1.499 right_j3=-0.2913 right_j4=0.2008 right_j5=-0.0605 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4278d2db5359648c59e97f0dc2c1dbbc31c3024f2d461c03855c774af16855ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ec17c7437f778315f804fdd0416783038705bde9a94daa971c37a79fb5a869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287105f36d1e905a04e233da7ccc9236da724180b20962604b35ba76c4b7ebd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 18.52 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.7483 right_j1=2.2997 right_j2=1.8946 right_j3=-0.6907 right_j4=-0.0593 right_j5=-0.0444 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0643 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.0162 right_j1=1.4326 right_j2=1.0157 right_j3=-0.6254 right_j4=-0.0639 right_j5=-0.0597 right_gripper=0.9988",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0711 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6067 right_j1=2.0521 right_j2=1.499 right_j3=-0.2913 right_j4=0.2008 right_j5=-0.0605 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4278d2db5359648c59e97f0dc2c1dbbc31c3024f2d461c03855c774af16855ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ec17c7437f778315f804fdd0416783038705bde9a94daa971c37a79fb5a869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287105f36d1e905a04e233da7ccc9236da724180b20962604b35ba76c4b7ebd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4278d2db5359]

[blob d6ec17c7437f]

[blob 287105f36d1e]

{
  "content": [
    {
      "signature": "CAISqwsKjAEIEBgCKkCrs+k5bwvYcYR3lth2SxOvB9NCGdVf8j2QY57hwFJ1/aa6ASL+VT1XMdaTH7bHq3SUQz9od5FI5ucYRgE5gfZqMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZuGHaRRBHEQYg5jDGgy6z6ISA4wPmMf+ML8iMImyHSXx+8dK6O3bh4ai0Q9g4ded7DEQ4PmkWZeN/mubdWwFS0J31rQKSuZ8dqpiHyrLCU0zefuKhhOdRBu597nfCcfX8DVvHlJgldiWqJG/6cl9UVx4aKuf6U+a+62FZ+J2lCdthJ3Twmcyb+c6k6SEbXbCpO5czhjJAsYM9Qgj6guUciuZUsVVIzgF/xf+803GvNkQqql+hpat1hpmfuNYDLPVHb1Dhr1X3TceCHD/5QsKOLQBdoMgslVgiMgI6j/mtwR23x+fSd/s60KR1OAsuOm3tlezqTmGoWE+qBa1zUg1Ov14Lx6ROcmkfKXfrKNfxPGyNgtm8sCa/gIBkWJCqlGJ72C7VQE5AsXqC35XVIejdyeG+oLX8y2O0um/yJdjTohpQlMM8FiB0CJuGPlyKaH+qhexDRaTY4MsRyjB+cJcyq0Tca6bdeS8I0HYsflqyp47jKv7CxtvUHA4XUDaBAhsp7AfVLQ42ZIjjPyeYp7e7bH9YnAgHL0Dw30lZ1jbjqJw1X7Ql5l78ZO3//sG2JhFrUrE2bMQ6gFWn7hHaTbrhRuM7eNegLd9L3BRxTtHWEz6rs+If52/WsayrjF6P39+LUNkIL/TF0vldcATycmvcLNlovFWrB+ePMeIvytReByQJCtVxKeMPG5Kw8i0ZAlfG82FapQu1+2foZybMOZeiMY4kcROmV3WWOFCHCHjYtCGlO4TtcQR/FXkdX5eiYO4qKL6/leuAC6WSZQoWLsDwKZpzCBisLEikb6m0asLxS4Cb+Nx7AG5JEgsek6UVerZ1s0CT5zn9Abba/pEUfp5AT2pEC1EGpWhOOro9oetOyjdDSsEdmmSs1O4mGgA0jNLiBFoDpxZzzuIRe46B/iJLunBj0kAV7ID1wE9S63RxVwk0maIxefHEanwkKL5w8RZKsTtoVWQSUkrN9Ifb/fJiTvnf+kux839ntQZZ8pBp3L43aWAOKYNsAmo0HCfk/f7NYNr5im6Fs2WlUdv60cfug+nERaDol+2Fh9b0RnH2R+TvWvl/6d0uegnB54clCZaA1HaaOVQkyxtqYT/UlufXIIouoQuf+U5+k/rADdRKT5t1+VS+En3BPPuNhfh3hRWdHtFsDxKpy4y6q6NxhipmwdfvouOD3oKCRpyVB18Tb6slHhlUNf5ItwgTyIFv+qc0n/79hXd9jGxS4+I+LYVSbePzqsyIje29gM/XvKEIlArfUeCCk73k8P3EI6YSNvBa8rYj6Q9JudZ5QySR2NlSZXCLpkd5URChRptamQ/NjU1aRV2TU+yImRxl+41QSeY2K4MMcJ268XagOxHQfvkNLoZJT6KzDSHbSUj/fCDW5X2sC0nfJs+wjQiSFyE4L5KwVbSpC/j95WtHqS0HVuQsiIZVDdV3F/yVghaoEtyuv9miiHOkc9XPbj55GKSA5EUpBwLBnujrqa/kDy/p82EYs/q+ClbMmHazaV7hGNqDNCWlIXALLFt9Cbr0LXN2R/ZPTIeBB34hr82OTJHSSdcVlDyqkOk4PHLq8N0+gZn1XGLU+IWZN0VSoFEBX9+LHZqcl5ILSnD8xx9RhuSXgQtNUsdV8J4tjmQk0ncxFML7vQyVqRkgqkW+uZP351Y1oDjIGSFdXJ+lkQT8fB8AzEr7/zt69CW+KLReHtHk2t10kp9aAlwl9/Tw3hdPBDBbWjDKbIfZwGbmYutZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Y1r1TdZtAryuuXLNdmWGN",
      "input": {
        "note": "The joints stalled short of their targets and the wrist camera went dark, so I think the hand bumped into the clapper/stand. I'm retracting up and back about 10 cm to clear it and get a proper look.",
        "targets": {
          "right_j1": 1.712,
          "right_j2": 1.384,
          "right_j3": -0.457
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_018Y1r1TdZtAryuuXLNdmWGN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.009 left_j2=0.0067 left_j3=-0.0719 left_j4=-0.0082 left_j5=-0.017 left_gripper=0.9991 right_j0=0.6086 right_j1=1.7348 right_j2=1.4029 right_j3=-0.4194 right_j4=0.1864 right_j5=-0.0708 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb077a9f3050e8c8b2066dd59da2632a07ea5a8bacc801a7d305e86378c07e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35578ba53967bd15aeee248646de7346c4dd43a8dcff2f78aa7e91eceb144178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8471b0d4aef3985f0ce9661584eb879a0110fa2aeb739996e79168323cce5a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 15.18 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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0643 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.0162 right_j1=1.4326 right_j2=1.0157 right_j3=-0.6254 right_j4=-0.0639 right_j5=-0.0597 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0711 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6067 right_j1=2.0521 right_j2=1.499 right_j3=-0.2913 right_j4=0.2008 right_j5=-0.0605 right_gripper=0.9988",
      "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: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.009 left_j2=0.0067 left_j3=-0.0719 left_j4=-0.0082 left_j5=-0.017 left_gripper=0.9991 right_j0=0.6086 right_j1=1.7348 right_j2=1.4029 right_j3=-0.4194 right_j4=0.1864 right_j5=-0.0708 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb077a9f3050e8c8b2066dd59da2632a07ea5a8bacc801a7d305e86378c07e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35578ba53967bd15aeee248646de7346c4dd43a8dcff2f78aa7e91eceb144178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8471b0d4aef3985f0ce9661584eb879a0110fa2aeb739996e79168323cce5a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bb077a9f3050]

[blob 35578ba53967]

[blob 8471b0d4aef3]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEfS81Hc8R5bVNzw14VmT5",
      "input": {
        "note": "Now I can see the setup: a black clapper (two hinged sticks) lying on small white supports on the table. I'm moving the open gripper to hover roughly 8 cm above the clapper, angled 45° down, to line up on it before descending.",
        "targets": {
          "right_j0": 0.62,
          "right_j1": 1.956,
          "right_j2": 1.696,
          "right_j3": -0.525
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YEfS81Hc8R5bVNzw14VmT5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0746 left_j4=-0.0093 left_j5=-0.0166 left_gripper=0.9991 right_j0=0.6209 right_j1=1.9461 right_j2=1.6505 right_j3=-0.5278 right_j4=0.1791 right_j5=-0.0792 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020b0186d01ef3f0d73c9b58fa5b05351da3966519c33612733de6b641344bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfba1693d3578aa245d5eedcdc6d2fe261df93dda185115bb2af5c1282b64183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fece63c09db7380217c38a28ebff6e227f353f9e6e2bb4ff309712b12003b93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}