adhoc - opus-2.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: 279.1 s
total steps: 188

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=0

Trial scores

trial 0 operator=0

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 stands in the middle of the table facing the top camera, so our arms see its back side. I'm raising the right arm's shoulder and elbow to unfold it and get a wrist-camera view of the board.

move_joints

right_j11.2000right_j21.2000

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=-0.0303 left_j4=-0.0071 left_j5=-0.0193 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0021 right_j5=-0.0147 right_gripper=0.9993 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": 1.2}, "note": "The clapperboard stands in the middle of the table facing the top camera, so our arms see its back side. I'm raising the right arm's shoulder and elbow to unfold it and get a wrist-camera view of the board."})

tool

executing move_joints over 20 steps (2.0s)

step 20

assistant

agent noteThe right wrist camera is looking forward at the back curtain, above the board. I'm pitching the wrist down 0.9 rad so the camera looks down toward the table and the clapperboard.

move_joints

right_j3-0.9000

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=-0.041 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.2041 right_j2=1.1709 right_j3=-0.0483 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992 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_j3": -0.9}, "note": "The right wrist camera is looking forward at the back curtain, above the board. I'm pitching the wrist down 0.9 rad so the camera looks down toward the table and the clapperboard."})

tool

executing move_joints over 14 steps (1.4s)

step 34

assistant

agent noteThe right wrist camera now sees only bare table — the clapperboard sits slightly to the arms' left of centre. I'm yawing the right arm base 0.45 rad toward the left to bring the board into view.

move_joints

right_j00.4500

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=-0.0479 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8703 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992 camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.45}, "note": "The right wrist camera now sees only bare table \u2014 the clapperboard sits slightly to the arms' left of centre. I'm yawing the right arm base 0.45 rad toward the left to bring the board into view."})

tool

executing move_joints over 8 steps (0.8s)

step 42

assistant

agent noteRight camera sees table plus what looks like the other gripper at the edge; the board must be further forward. I'm extending the right arm forward and pointing the gripper straight down to look over the area where the clapperboard sits.

move_joints

right_j11.8000right_j21.4000right_j3-1.2500

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=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4305 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8871 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992 camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.8, "right_j2": 1.4, "right_j3": -1.25}, "note": "Right camera sees table plus what looks like the other gripper at the edge; the board must be further forward. I'm extending the right arm forward and pointing the gripper straight down to look over the area where the clapperboard sits."})

tool

executing move_joints over 10 steps (1.0s)

step 52

assistant

agent noteTop view shows my right gripper hovering above the table but off to the board's side (too far to the arms' right). Yawing the base further left to line the gripper up with the clapperboard.

move_joints

right_j00.7500

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=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4301 right_j1=1.7992 right_j2=1.3781 right_j3=-1.2209 right_j4=-0.0086 right_j5=-0.0181 right_gripper=0.9992 camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.75}, "note": "Top view shows my right gripper hovering above the table but off to the board's side (too far to the arms' right). Yawing the base further left to line the gripper up with the clapperboard."})

tool

executing move_joints over 6 steps (0.6s)

step 58

assistant

agent noteGripper is now roughly over the board's near-left region in the top view but still behind it; extending the arm ~8 cm further forward while keeping the gripper pointing down to bring the clapper stick into the wrist camera.

move_joints

right_j12.0000right_j21.4500right_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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7326 right_j1=1.8069 right_j2=1.3781 right_j3=-1.2308 right_j4=-0.0093 right_j5=-0.0181 right_gripper=0.9992 camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.0, "right_j2": 1.45, "right_j3": -1.3}, "note": "Gripper is now roughly over the board's near-left region in the top view but still behind it; extending the arm ~8 cm further forward while keeping the gripper pointing down to bring the clapper stick into the wrist camera."})

tool

executing move_joints over 4 steps (0.4s)

step 62

assistant

agent noteThe wrist camera pointing straight down only shows bare table, so I'm raising the wrist and tilting the gripper to a 45° down-forward angle to survey the clapperboard from behind and above.

move_joints

right_j11.9000right_j21.3000right_j3-0.2500

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=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.733 right_j1=1.9896 right_j2=1.4239 right_j3=-1.2762 right_j4=-0.0128 right_j5=-0.0181 right_gripper=0.9992 camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.9, "right_j2": 1.3, "right_j3": -0.25}, "note": "The wrist camera pointing straight down only shows bare table, so I'm raising the wrist and tilting the gripper to a 45\u00b0 down-forward angle to survey the clapperboard from behind and above."})

tool

executing move_joints over 17 steps (1.7s)

step 79

assistant

agent noteThe wrist camera just caught the edge of the dark board at the upper right, but I still can't tell if the board is flat or tilted. Tilting the wrist up to a near-horizontal view to see the board's profile.

move_joints

right_j30.4000

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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7357 right_j1=1.9388 right_j2=1.3018 right_j3=-0.2882 right_j4=-0.017 right_j5=-0.0261 right_gripper=0.9992 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_j3": 0.4}, "note": "The wrist camera just caught the edge of the dark board at the upper right, but I still can't tell if the board is flat or tilted. Tilting the wrist up to a near-horizontal view to see the board's profile."})

tool

executing move_joints over 11 steps (1.1s)

step 90

assistant

agent noteThe board appears at the right edge of my wrist view; yawing the base further left to see which way the image shifts and to centre the board in the wrist camera.

move_joints

right_j00.9500

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=-0.049 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7376 right_j1=1.9396 right_j2=1.2964 right_j3=0.2893 right_j4=-0.0315 right_j5=-0.0372 right_gripper=0.9992 camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.95}, "note": "The board appears at the right edge of my wrist view; yawing the base further left to see which way the image shifts and to centre the board in the wrist camera."})

tool

executing move_joints over 4 steps (0.4s)

step 94

assistant

agent noteWith the arm clear, the top view shows the clapperboard lying low and flat on the table with a white block on it. Moving the gripper back right and forward, tilted down, to hover over the board and inspect it closely.

move_joints

right_j00.7800right_j12.1000right_j21.3500right_j3-0.5000

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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.9382 right_j1=1.9404 right_j2=1.2964 right_j3=0.2935 right_j4=-0.028 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.78, "right_j1": 2.1, "right_j2": 1.35, "right_j3": -0.5}, "note": "With the arm clear, the top view shows the clapperboard lying low and flat on the table with a white block on it. Moving the gripper back right and forward, tilted down, to hover over the board and inspect it closely."})

tool

executing move_joints over 13 steps (1.3s)

step 107

assistant

agent noteThe gripper is hovering just short of and above the board; leaning the shoulder further forward (and tilting the wrist to a 45° down-forward approach) to bring the gripper out over the clapper stick and get a close wrist-cam view of it.

move_joints

right_j12.3500right_j30.2000

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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7895 right_j1=2.0739 right_j2=1.3327 right_j3=-0.4129 right_j4=-0.0349 right_j5=-0.0441 right_gripper=0.9991 camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.35, "right_j3": 0.2}, "note": "The gripper is hovering just short of and above the board; leaning the shoulder further forward (and tilting the wrist to a 45\u00b0 down-forward approach) to bring the gripper out over the clapper stick and get a close wrist-cam view of it."})

tool

executing move_joints over 10 steps (1.0s)

step 117

assistant

agent noteMy right wrist camera keeps missing the board, so I'm raising the idle left arm into a high 'observer' pose aimed at the board to get a second, wider view of the clapperboard and my gripper.

move_joints

left_j0-0.4500left_j11.5000left_j21.5000left_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=0.009 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7971 right_j1=2.2753 right_j2=1.351 right_j3=0.239 right_j4=-0.0769 right_j5=-0.0486 right_gripper=0.9991 camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.45, "left_j1": 1.5, "left_j2": 1.5, "left_j3": -0.6}, "note": "My right wrist camera keeps missing the board, so I'm raising the idle left arm into a high 'observer' pose aimed at the board to get a second, wider view of the clapperboard and my gripper."})

tool

executing move_joints over 24 steps (2.4s)

step 141

assistant

agent noteThe left-arm view shows the tall dark panel is just the context camera on its stand, so the clapperboard is the low black object on the table right under my gripper. Lowering the right gripper ~8 cm toward it while watching the top view.

move_joints

right_j12.4500right_j30.3000

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=-0.44 left_j1=1.4868 left_j2=1.4551 left_j3=-0.588 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7986 right_j1=2.2871 right_j2=1.351 right_j3=0.2844 right_j4=-0.0879 right_j5=-0.0521 right_gripper=0.9991 camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.45, "right_j3": 0.3}, "note": "The left-arm view shows the tall dark panel is just the context camera on its stand, so the clapperboard is the low black object on the table right under my gripper. Lowering the right gripper ~8 cm toward it while watching the top view."})

tool

executing move_joints over 3 steps (0.3s)

step 144

assistant

agent noteIn the wrist view the board is the dark mass to the right of my fingers, which are aimed at bare table; yawing the base slightly back to the arm's right to centre the fingers over the clapperboard.

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=-0.4446 left_j1=1.5124 left_j2=1.4616 left_j3=-0.606 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.8013 right_j1=2.3566 right_j2=1.3792 right_j3=0.4084 right_j4=-0.1101 right_j5=-0.0521 right_gripper=0.9991 camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.68}, "note": "In the wrist view the board is the dark mass to the right of my fingers, which are aimed at bare table; yawing the base slightly back to the arm's right to centre the fingers over the clapperboard."})

tool

executing move_joints over 2 steps (0.2s)

step 146

assistant

agent noteMy fingers appear to have reached past the board's near edge and the wrist camera only sees bare table ahead, so I'm pitching the wrist down ~0.5 rad to pull the fingertips back and down toward the board and look more steeply at it.

move_joints

right_j3-0.0500

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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6075 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7723 right_j1=2.3703 right_j2=1.3819 right_j3=0.4599 right_j4=-0.1623 right_j5=-0.0536 right_gripper=0.9979 camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j3": -0.05}, "note": "My fingers appear to have reached past the board's near edge and the wrist camera only sees bare table ahead, so I'm pitching the wrist down ~0.5 rad to pull the fingertips back and down toward the board and look more steeply at it."})

tool

executing move_joints over 9 steps (0.9s)

step 155

assistant

agent noteA dark object is just entering the right edge of the wrist view — that should be the clapperboard, so I'm yawing the base further to the arm's right to bring it between the fingers.

move_joints

right_j00.5500

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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6109 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7765 right_j1=2.3245 right_j2=1.4239 right_j3=0.223 right_j4=-0.1783 right_j5=-0.0956 right_gripper=0.9979 camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55}, "note": "A dark object is just entering the right edge of the wrist view \u2014 that should be the clapperboard, so I'm yawing the base further to the arm's right to bring it between the fingers."})

tool

executing move_joints over 4 steps (0.4s)

step 159

assistant

agent noteThe arm seems to be meeting resistance and the wrist view still shows only table, so I'm opening the elbow to lift the hand about 10 cm and pointing the camera straight down for a clean overhead look at the clapperboard.

move_joints

right_j12.3600right_j22.0200right_j3-1.2300right_j40.0000

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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6178 left_j4=-0.0101 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.7288 right_j1=2.3161 right_j2=1.4277 right_j3=0.2146 right_j4=-0.3294 right_j5=-0.1017 right_gripper=0.997 camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.36, "right_j2": 2.02, "right_j3": -1.23, "right_j4": 0.0}, "note": "The arm seems to be meeting resistance and the wrist view still shows only table, so I'm opening the elbow to lift the hand about 10 cm and pointing the camera straight down for a clean overhead look at the clapperboard."})

tool

executing move_joints over 23 steps (2.3s)

step 182

assistant

agent noteLooking straight down, I can now see a small white object (the clapper) at the top-right of the wrist view, forward and to the arm's right of my fingers; yawing the base right to line up over it.

move_joints

right_j00.4500

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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6254 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.73 right_j1=2.3474 right_j2=1.993 right_j3=-1.1534 right_j4=-0.0208 right_j5=-0.1127 right_gripper=0.9971 camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.45}, "note": "Looking straight down, I can now see a small white object (the clapper) at the top-right of the wrist view, forward and to the arm's right of my fingers; yawing the base right to line up over it."})

tool

executing move_joints over 5 steps (0.5s)

step 187

assistant

agent noteThe wrist camera now clearly shows the small white clapperboard lying on the table, about 5 cm forward and 5 cm to the arm's left of my fingers; adjusting yaw and extending the arm to centre the gripper directly over it.

move_joints

right_j00.5700right_j12.6000right_j22.4600right_j3-1.4300

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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6327 left_j4=-0.0097 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.4606 right_j1=2.3478 right_j2=1.9972 right_j3=-1.1793 right_j4=-0.0299 right_j5=-0.1177 right_gripper=0.9971 camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.57, "right_j1": 2.6, "right_j2": 2.46, "right_j3": -1.43}, "note": "The wrist camera now clearly shows the small white clapperboard lying on the table, about 5 cm forward and 5 cm to the arm's left of my fingers; adjusting yaw and extending the arm to centre the gripper directly over it."})

tool

executing move_joints over 8 steps (0.8s)

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 · 9.513 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=-0.0303 left_j4=-0.0071 left_j5=-0.0193 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0021 right_j5=-0.0147 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86d2c5472ab6096a1c9950369f901d335786639093839b7e85d3e5e56109fce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f95871ca7e5b040c8375124f4e6ce61f09a57025df885c81469aea2248cc38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:125158e8bdb1e424c60e66c096fc48d72931d301a13395410146002906f03179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

$wire blob 125158e8bdb1$

call 1 attempt 0 · /messages · status 200 · 8.906 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=-0.0303 left_j4=-0.0071 left_j5=-0.0193 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0021 right_j5=-0.0147 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86d2c5472ab6096a1c9950369f901d335786639093839b7e85d3e5e56109fce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f95871ca7e5b040c8375124f4e6ce61f09a57025df885c81469aea2248cc38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:125158e8bdb1e424c60e66c096fc48d72931d301a13395410146002906f03179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 86d2c5472ab6]

[blob c4f95871ca7e]

[blob 125158e8bdb1]

{
  "content": [
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      "signature": 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yWEBzFQFGhTPMa/uF83DZREtRwTZq0VLumvv7jq6Rmo5Z+4X+pBDenaWxSrG+EvlrH7FQYSjO59djHYHYcwvLQa9nxfFcFYkNAgzbONttwEofM/ZATEvnTvMYa+wmKZeLK1WgNUa4OlcbcGdD14GtS58Dhv4y3i7fZRr0nWhHphNVdVAKNjQwYpvtuvlZMCZnCXZydM+bxcyj/bbjgI5reiyT9cARVYMLA5lQqYLHZSg0Zeb9FnsZSB76VxupcLiSQIBUWGtEFFKrEyteOxaSyYkE6I/QkH1yc2J2g8JVGK8gZVCFQglxj6MeXwdwsXresDq76CR/bDmP/FAA8fBvMYH8ZI4eyqlCOz5CIeLUahAJHkY0g1K4A0w0LauauJF6zXFU+oB923lTjHPGTYEAMeQ8fYGl/EP5SJ0woJ0bFId4NGuzTTUPgHV8z1g8PVLQy0Xr/yW5LRAut38vw+6jAcqQ1oQvEMPUFzdUFoXSyiyAnNyG8pwcJUpioekO9Jj4VfPNh+nnM1TJUe5BLOMrQRBE3IeSY7mlMW7aKrfVkRYPku4cXhicTQUAqy938qYAaP32qaegtAz2bcLeEQXvMI2rjrBykXfYlf+V+DHVnocHq5aWjBFsjh37zIDCh8th2aKYlSX0dsT1Rv5u6t58VRegfrwlnih8b8bDNxh/TMo3oH9gnOqupuwxUIhkNVksVwCbD/orn/zmN3XgH4fga6LCkVnpZu9lE5YQwMxbC0NKpF1ZIWZaNygwsFkIv+hjyUnuy+yF39evLT/6b4r3ljuRC0t8DcLEjKNJ/CNIWbV0sg4I5R9up2vADtZvvG7s4oQOMWQxYZH+LsAD7PZgN73sTm52d6O35mAa+QogxY6pZl1J9X6QAqixBpUZ6p6Ug79KytwG9Ng7Hu+9UpvkDZI8Llnbiuu3DUorx9BhEq8+VE++MT6JZ6TFCJqCC9Qc1NMeT2Tx/or8CMDGwgjvj1tZP9BBPPf4JCJUGxO1fStlVr+jsnLgDJNjwWVND+FDRLBU1oZ/jDWTUL0Gko7t+Tcazj49G69iue/nYxo+fFfjVV+b/ZxV+TZGG3TrcgnVCVx/sms4IPandDsmc5WtshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014vvYt1mrwsdN3R9HdDmiWf",
      "input": {
        "note": "The clapperboard stands in the middle of the table facing the top camera, so our arms see its back side. I'm raising the right arm's shoulder and elbow to unfold it and get a wrist-camera view of the board.",
        "targets": {
          "right_j1": 1.2,
          "right_j2": 1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_014vvYt1mrwsdN3R9HdDmiWf",
      "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=-0.041 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.2041 right_j2=1.1709 right_j3=-0.0483 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf8a6d3fbea4e59299f7da08d01ca12454a0747ca352ae0e0a08679d86e03fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff82463c1c01fc30e1886a72663dd162af885de496d5b7ec7d60cca371c9b086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:242503d8caa72939ba147acbb5256fe44b32f8678d88456dd66d27e9da2764a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 5.952 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=-0.0303 left_j4=-0.0071 left_j5=-0.0193 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0021 right_j5=-0.0147 right_gripper=0.9993",
      "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=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.2041 right_j2=1.1709 right_j3=-0.0483 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf8a6d3fbea4e59299f7da08d01ca12454a0747ca352ae0e0a08679d86e03fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff82463c1c01fc30e1886a72663dd162af885de496d5b7ec7d60cca371c9b086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242503d8caa72939ba147acbb5256fe44b32f8678d88456dd66d27e9da2764a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob daf8a6d3fbea]

[blob ff82463c1c01]

[blob 242503d8caa7]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wm7rqUrXkx9vuJPogVuw8k",
      "input": {
        "note": "The right wrist camera is looking forward at the back curtain, above the board. I'm pitching the wrist down 0.9 rad so the camera looks down toward the table and the clapperboard.",
        "targets": {
          "right_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Wm7rqUrXkx9vuJPogVuw8k",
      "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=-0.0479 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8703 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9f5ac0688fb69c9b4503877cd056b6fe392774afcb39c48978114caa6c42f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb36d66d9efbeb00b3e8ef87ddb846e96b3c7fad83f334378e146361d27600a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cc97a9c3252fa5618209f166529869855bd4ca7ab20b3ee25b623a2ac1220ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 21.92 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=-0.0303 left_j4=-0.0071 left_j5=-0.0193 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0021 right_j5=-0.0147 right_gripper=0.9993",
      "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=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.2041 right_j2=1.1709 right_j3=-0.0483 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8703 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9f5ac0688fb69c9b4503877cd056b6fe392774afcb39c48978114caa6c42f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb36d66d9efbeb00b3e8ef87ddb846e96b3c7fad83f334378e146361d27600a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cc97a9c3252fa5618209f166529869855bd4ca7ab20b3ee25b623a2ac1220ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 6f9f5ac0688f]

[blob eb36d66d9efb]

[blob 0cc97a9c3252]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NV9KD1KFZ3u32whkzPgiE7",
      "input": {
        "note": "The right wrist camera now sees only bare table — the clapperboard sits slightly to the arms' left of centre. I'm yawing the right arm base 0.45 rad toward the left to bring the board into view.",
        "targets": {
          "right_j0": 0.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NV9KD1KFZ3u32whkzPgiE7",
      "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=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4305 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8871 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908834ba43d80292ea90191bb1c20897501ca2557c55d6061c0dc5da7a8070cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4289e9700d5ca0f20c678beaa7b151d5d365beb24239e629060cb977e33e419e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38fce6c25d0603c3c7e44f4e70ad79b640f045119c971107ea97b81c870e2b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 5.644 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=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.2041 right_j2=1.1709 right_j3=-0.0483 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8703 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4305 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8871 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908834ba43d80292ea90191bb1c20897501ca2557c55d6061c0dc5da7a8070cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4289e9700d5ca0f20c678beaa7b151d5d365beb24239e629060cb977e33e419e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38fce6c25d0603c3c7e44f4e70ad79b640f045119c971107ea97b81c870e2b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 908834ba43d8]

[blob 4289e9700d5c]

[blob 38fce6c25d06]

{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rqt7vJajcrbbEFGL8Ykcpb",
      "input": {
        "note": "Right camera sees table plus what looks like the other gripper at the edge; the board must be further forward. I'm extending the right arm forward and pointing the gripper straight down to look over the area where the clapperboard sits.",
        "targets": {
          "right_j1": 1.8,
          "right_j2": 1.4,
          "right_j3": -1.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rqt7vJajcrbbEFGL8Ykcpb",
      "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=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4301 right_j1=1.7992 right_j2=1.3781 right_j3=-1.2209 right_j4=-0.0086 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4546ff261dc454a15dd9dadb15df875d27579eb5fe0e9b74bbb8747c5ecbc801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4262aa0f2694c830f912310e9acd1f9e1b1b263f083f99a034cc2e75ce14909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea8aa8f635f7efad305dd03e77fa7d6da65a76b6314a13865cb7d04e14303290",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 7.409 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=0.0082 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8703 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4305 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8871 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4301 right_j1=1.7992 right_j2=1.3781 right_j3=-1.2209 right_j4=-0.0086 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4546ff261dc454a15dd9dadb15df875d27579eb5fe0e9b74bbb8747c5ecbc801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4262aa0f2694c830f912310e9acd1f9e1b1b263f083f99a034cc2e75ce14909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8aa8f635f7efad305dd03e77fa7d6da65a76b6314a13865cb7d04e14303290",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4546ff261dc4]

[blob f4262aa0f269]

[blob ea8aa8f635f7]

{
  "content": [
    {
      "signature": "CAISiQwKjAEIEBgCKkBb/jk3Gewt/64COG7ijscDV2NiP40BQ0yGSFh3m3C8UBWQKQxRG40O1q8OjcF4pHByF0EOeP06DStD6Hfvdy5QMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9wOxf4GTpyzq1/AiGgx5ak/muDJsSamvSSwiMIVDagET6do7cfjgSW0WXOqG2dt8msJF61LwvBhauiKVXEAH64KWwHm258mKGm+fHSqpCh4wH59TuJEQMNYZXvO5ySCqzaIX8sJlnOlRwB/Uaus43bx0HVV0lzM1lFswry89h1LzGI9psPUhQtwZsMagBzwlbDkPCjMivATV/wpVpxD2rqh91zBb9UFRdTFGsJ+5e1pamSUjgGe1L9HADEw2rcVhPTswsQYWdW7dNL2CiRe2KyZKWxMg7YppoWPa1LtNDhkIvK+YRRlvhBHlFbf2PJ8mQ6sy8i5uX4yUIrnha3SJzMNuxooBy0LB28hlWTw6VfCpQjVVyMOCf1Wq46lETwXE5gL0blXcYpvxjmJi7S/zZRBqpvNDxbAPVcXZEMNFCdmsmiRBjHPiH5sbLpyNGKdbbntoYb/mgcsaVTqysfnSZIR8LLlVIQr0BskcDc2TawCLd52LhN3BCxCOxKwtuwg9LB+sMVdcPx/rgYpLyj2wPzaLNXMNxWwXwP7CoueUwsJTjMLzJezhso4zbnHiiMrDMVfEKTcsFW+cbz7PiC+cewlQYzSTxR4dbL0l7eOJmWFdepsSAlmjkynJ3IFVkT61FtTgeluf8s2EWO5LqyHEy21r4XOEif9OqqQvmlv7TKKCDEYd/8LN9peQSmZkFrDDrGfYxastd+f1/xcT2RNE7sqX1+YcQZre/BKwHN5uyp8/AR7VzmVhQ3dH6xwlAUnp4DHZ4wTOCb0WJfjiaQ+YWMyUIqf6cq/ud6LrBh0ZhIyU4KNVJSMWuVAjCUfREHPLDHz71W1J8HpCyxRdJV8kKCDcDvmU0UQPJBMsPrFXcRAF0WyBKRr76NuaL/GFMnsuvvSwVR4r168DkAqlWN+SClbaS+b96ZjGn/ZDX69IiYBmfVVdJ5ExsVbm6bR5HvsPAd2D5srit2xwe/amUTSNgDt4RZyABcYMx9QOxHgcYnZ3we0pabRuJ5b77SInpTGfdWCG9DMiH4tmkdhBjMZFHfsyaCa32Fwu6SJ9h4JmZNvpqs+iB9ZKT36pJN9h36B/FQLv3Ii3Qwc12qNqPMagEJwrt408BV5GCZHU8kmwvbNGQGAphNzA9aMwzm71p/Ppl/N8woV5gmRBZrYhkXMyH3ns0lJ4mbXz8ioFB3xkFcnz/Ys8fvedszTNuav7qwC54Sd+ZBGkZ5zYbHYQ9iLSX49phJxD9v4pBFkvsx68sadzSSjg84wmwG5OOngm1xbBXzHtS0gelrJpu5LtLPshCEq3CgcddddYO+aYwErMWVEOO2EV8fqGKajCxK0tpRilMNedj0HclOe09+OBfPkRWdBEYA8kji7hELNiybiXv5xFvh3UPVtemvEgEzXImqn2QIwChNV5AvGHHnqvOeTBF5MU9lK9W6AmJhwzBl2YYMcVVpfVssG9fi+nYdBjgMBP77ol45eggOfNS2pYOFPTOIS5Qh5y+oa2TyTP8jMtGvUeccRykS8aZK74LWdhJKmHuZ/9kZyp8SHoRp1SDz0W3VgMF6VPWbtfSwFAZkLII7ev448apfFnwpKfXOjEg16yOFf3xhgunBxr+5KxuY67v8TUs/yzyzwM6GwI6whU5CbsK7ahcMy+I2boSTygEieVitah0WFn1MvANa1zYh6krDgb8WzR75ipsl8itiLTPHCMvee7qrAOvvAjaOqRYseCkO1eW1Yc2gTBKgRIGaGyr0p3z4nENYUiE05AvQ5IONGG+F/I+u8qogmxUbGgEb4yFJIHKQjDyX6RCp/EMOWdFcjMk31HGL7r7XIY1RGSf2xevF/z7m6Wz66uDU5tUU5fO8sY9ztbicAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HGPkbrKqkUk8BPDEjwApxY",
      "input": {
        "note": "Top view shows my right gripper hovering above the table but off to the board's side (too far to the arms' right). Yawing the base further left to line the gripper up with the clapperboard.",
        "targets": {
          "right_j0": 0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HGPkbrKqkUk8BPDEjwApxY",
      "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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7326 right_j1=1.8069 right_j2=1.3781 right_j3=-1.2308 right_j4=-0.0093 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:939a241a57b3e714a176c3a58d972f62cb76d63d3e63a1c5be125bccefcc04bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4dd06c911f2291abf5540ed160ca33fdfe1467662472b554f7a3f0e03a4978c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:472d9c4cde601594546d066f1c6b7d7024e6052c5adfa0f345f98fdb6aa100c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 14.19 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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4305 right_j1=1.2083 right_j2=1.1721 right_j3=-0.8871 right_j4=-0.0055 right_j5=-0.0185 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4301 right_j1=1.7992 right_j2=1.3781 right_j3=-1.2209 right_j4=-0.0086 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7326 right_j1=1.8069 right_j2=1.3781 right_j3=-1.2308 right_j4=-0.0093 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:939a241a57b3e714a176c3a58d972f62cb76d63d3e63a1c5be125bccefcc04bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4dd06c911f2291abf5540ed160ca33fdfe1467662472b554f7a3f0e03a4978c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472d9c4cde601594546d066f1c6b7d7024e6052c5adfa0f345f98fdb6aa100c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 939a241a57b3]

[blob d4dd06c911f2]

[blob 472d9c4cde60]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQtq71Zkqnm4hDBumCigmE",
      "input": {
        "note": "Gripper is now roughly over the board's near-left region in the top view but still behind it; extending the arm ~8 cm further forward while keeping the gripper pointing down to bring the clapper stick into the wrist camera.",
        "targets": {
          "right_j1": 2.0,
          "right_j2": 1.45,
          "right_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YQtq71Zkqnm4hDBumCigmE",
      "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=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.733 right_j1=1.9896 right_j2=1.4239 right_j3=-1.2762 right_j4=-0.0128 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:705d0f314a61ec864dff0b40fea2166f62095eeb0c6509853998b0d68d2b360c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e3a396301648974bcbedd8d939710fc0ec1d95ea4901340fa458a097bf360d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb24106f48c6018fe0b33e0a210b6741064e55dbb0a96eb4c8e4c5b233476609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 8.829 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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.4301 right_j1=1.7992 right_j2=1.3781 right_j3=-1.2209 right_j4=-0.0086 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7326 right_j1=1.8069 right_j2=1.3781 right_j3=-1.2308 right_j4=-0.0093 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.733 right_j1=1.9896 right_j2=1.4239 right_j3=-1.2762 right_j4=-0.0128 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:705d0f314a61ec864dff0b40fea2166f62095eeb0c6509853998b0d68d2b360c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e3a396301648974bcbedd8d939710fc0ec1d95ea4901340fa458a097bf360d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb24106f48c6018fe0b33e0a210b6741064e55dbb0a96eb4c8e4c5b233476609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 705d0f314a61]

[blob 26e3a3963016]

[blob eb24106f48c6]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sp36n5XZDPK7sjW3gSckS9",
      "input": {
        "note": "The wrist camera pointing straight down only shows bare table, so I'm raising the wrist and tilting the gripper to a 45° down-forward angle to survey the clapperboard from behind and above.",
        "targets": {
          "right_j1": 1.9,
          "right_j2": 1.3,
          "right_j3": -0.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Sp36n5XZDPK7sjW3gSckS9",
      "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=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7357 right_j1=1.9388 right_j2=1.3018 right_j3=-0.2882 right_j4=-0.017 right_j5=-0.0261 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ebb95ea34eda8493e4891cc6cf2d1277533c6fe50b83bfe8cf9343f82536340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db779e08e5ac47f3e33151909276941d522f4b6e93ed47d871c681ab12aea64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54ced3a2a7318854d9b73a3189b06d7ef8a26bb807b2bc1b3f51d193e43e55eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 15.22 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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7326 right_j1=1.8069 right_j2=1.3781 right_j3=-1.2308 right_j4=-0.0093 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.733 right_j1=1.9896 right_j2=1.4239 right_j3=-1.2762 right_j4=-0.0128 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7357 right_j1=1.9388 right_j2=1.3018 right_j3=-0.2882 right_j4=-0.017 right_j5=-0.0261 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ebb95ea34eda8493e4891cc6cf2d1277533c6fe50b83bfe8cf9343f82536340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db779e08e5ac47f3e33151909276941d522f4b6e93ed47d871c681ab12aea64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ced3a2a7318854d9b73a3189b06d7ef8a26bb807b2bc1b3f51d193e43e55eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8ebb95ea34ed]

[blob 3db779e08e5a]

[blob 54ced3a2a731]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013K9SX2RdoJv2RiQNUzyVdf",
      "input": {
        "note": "The wrist camera just caught the edge of the dark board at the upper right, but I still can't tell if the board is flat or tilted. Tilting the wrist up to a near-horizontal view to see the board's profile.",
        "targets": {
          "right_j3": 0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_013K9SX2RdoJv2RiQNUzyVdf",
      "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=-0.049 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7376 right_j1=1.9396 right_j2=1.2964 right_j3=0.2893 right_j4=-0.0315 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7531716c62ae327941aabe70e1f6f70e650f6f27e42215e12f26fffbf4ce221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7bb323b537ceae85a419248ca67fd5e06f6876237be351ea1caeebc7ae68e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33b9234a9b292e2aa6455504a63537dc45348db5a1845dee1d7fe386b701b547",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 12.24 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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0071 left_j5=-0.02 left_gripper=0.9987 right_j0=0.733 right_j1=1.9896 right_j2=1.4239 right_j3=-1.2762 right_j4=-0.0128 right_j5=-0.0181 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7357 right_j1=1.9388 right_j2=1.3018 right_j3=-0.2882 right_j4=-0.017 right_j5=-0.0261 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7376 right_j1=1.9396 right_j2=1.2964 right_j3=0.2893 right_j4=-0.0315 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7531716c62ae327941aabe70e1f6f70e650f6f27e42215e12f26fffbf4ce221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7bb323b537ceae85a419248ca67fd5e06f6876237be351ea1caeebc7ae68e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b9234a9b292e2aa6455504a63537dc45348db5a1845dee1d7fe386b701b547",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f7531716c62a]

[blob 8e7bb323b537]

[blob 33b9234a9b29]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Tkrzvwiwuo8U3SxBKsf1v",
      "input": {
        "note": "The board appears at the right edge of my wrist view; yawing the base further left to see which way the image shifts and to centre the board in the wrist camera.",
        "targets": {
          "right_j0": 0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_015Tkrzvwiwuo8U3SxBKsf1v",
      "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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.9382 right_j1=1.9404 right_j2=1.2964 right_j3=0.2935 right_j4=-0.028 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70871d884a4eed3eefa38a6ed56155ccdaca8c377cfc85a56ae401b00f5e7ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a225d19214608cf3ec576332f145645a3fd82ea83bd6d32d075c32b93fb271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b114f4af6efdc34fa60caf78d24f74a7ff6caa5570741030017fed9cb6df136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 21.78 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=0.0082 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7357 right_j1=1.9388 right_j2=1.3018 right_j3=-0.2882 right_j4=-0.017 right_j5=-0.0261 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7376 right_j1=1.9396 right_j2=1.2964 right_j3=0.2893 right_j4=-0.0315 right_j5=-0.0372 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.9382 right_j1=1.9404 right_j2=1.2964 right_j3=0.2935 right_j4=-0.028 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70871d884a4eed3eefa38a6ed56155ccdaca8c377cfc85a56ae401b00f5e7ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a225d19214608cf3ec576332f145645a3fd82ea83bd6d32d075c32b93fb271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b114f4af6efdc34fa60caf78d24f74a7ff6caa5570741030017fed9cb6df136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 70871d884a4e]

[blob 76a225d19214]

[blob 7b114f4af6ef]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtMkmZQLnj65t4TP1wxnEB",
      "input": {
        "note": "With the arm clear, the top view shows the clapperboard lying low and flat on the table with a white block on it. Moving the gripper back right and forward, tilted down, to hover over the board and inspect it closely.",
        "targets": {
          "right_j0": 0.78,
          "right_j1": 2.1,
          "right_j2": 1.35,
          "right_j3": -0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01VtMkmZQLnj65t4TP1wxnEB",
      "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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7895 right_j1=2.0739 right_j2=1.3327 right_j3=-0.4129 right_j4=-0.0349 right_j5=-0.0441 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed4a46d6e00e2abb484cecfbeb6f249b26af6ca57029e04e4a71ac4669df24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:835c8c7a437afc1bb6420edf203fd8133d04d3d4b876a62417c1dfeb005ad08d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb322f6f431d0f6daad850c6ffb682315a6925ddaaeded54b3c15c67aa55241a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 11.92 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=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7376 right_j1=1.9396 right_j2=1.2964 right_j3=0.2893 right_j4=-0.0315 right_j5=-0.0372 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.9382 right_j1=1.9404 right_j2=1.2964 right_j3=0.2935 right_j4=-0.028 right_j5=-0.0376 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7895 right_j1=2.0739 right_j2=1.3327 right_j3=-0.4129 right_j4=-0.0349 right_j5=-0.0441 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed4a46d6e00e2abb484cecfbeb6f249b26af6ca57029e04e4a71ac4669df24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:835c8c7a437afc1bb6420edf203fd8133d04d3d4b876a62417c1dfeb005ad08d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb322f6f431d0f6daad850c6ffb682315a6925ddaaeded54b3c15c67aa55241a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2ed4a46d6e00]

[blob 835c8c7a437a]

[blob bb322f6f431d]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ztKP5tYacbGW35qbA5Ew2",
      "input": {
        "note": "The gripper is hovering just short of and above the board; leaning the shoulder further forward (and tilting the wrist to a 45° down-forward approach) to bring the gripper out over the clapper stick and get a close wrist-cam view of it.",
        "targets": {
          "right_j1": 2.35,
          "right_j3": 0.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_015ztKP5tYacbGW35qbA5Ew2",
      "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=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7971 right_j1=2.2753 right_j2=1.351 right_j3=0.239 right_j4=-0.0769 right_j5=-0.0486 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f147c22dc0fa89f41ba4e9c8dc2787a74fe1e6868691b1e4a63653f8e46d7426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e7a4bc33591405a2b439569ca65236e17f95186eebe61f677050d5a182834c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f4847e1c7d6f9c3f8412e301c81baf6ce05a3d869e2273ce95260396d8dc9f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 18.69 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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.9382 right_j1=1.9404 right_j2=1.2964 right_j3=0.2935 right_j4=-0.028 right_j5=-0.0376 right_gripper=0.9992",
      "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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7895 right_j1=2.0739 right_j2=1.3327 right_j3=-0.4129 right_j4=-0.0349 right_j5=-0.0441 right_gripper=0.9991",
      "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=0.009 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7971 right_j1=2.2753 right_j2=1.351 right_j3=0.239 right_j4=-0.0769 right_j5=-0.0486 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f147c22dc0fa89f41ba4e9c8dc2787a74fe1e6868691b1e4a63653f8e46d7426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e7a4bc33591405a2b439569ca65236e17f95186eebe61f677050d5a182834c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4847e1c7d6f9c3f8412e301c81baf6ce05a3d869e2273ce95260396d8dc9f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f147c22dc0fa]

[blob 6e7a4bc33591]

[blob 9f4847e1c7d6]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SL4EU7TeFDSBTaFA3EA6HS",
      "input": {
        "note": "My right wrist camera keeps missing the board, so I'm raising the idle left arm into a high 'observer' pose aimed at the board to get a second, wider view of the clapperboard and my gripper.",
        "targets": {
          "left_j0": -0.45,
          "left_j1": 1.5,
          "left_j2": 1.5,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01SL4EU7TeFDSBTaFA3EA6HS",
      "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=-0.44 left_j1=1.4868 left_j2=1.4551 left_j3=-0.588 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7986 right_j1=2.2871 right_j2=1.351 right_j3=0.2844 right_j4=-0.0879 right_j5=-0.0521 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71bbdfc3b3fb5eab8cb99dab28e85aaa21c3933c639e2e2b83ed5f59b7772248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43186423fd5f5f9ccb404844c70b241d71385c35671505ba1711f722597d08f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e56d96924ca4a32480cb72a074a922b7830f09f101168f103659460b2573964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

$wire blob 43186423fd5f$

call 13 attempt 0 · /messages · status 200 · 5.571 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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7895 right_j1=2.0739 right_j2=1.3327 right_j3=-0.4129 right_j4=-0.0349 right_j5=-0.0441 right_gripper=0.9991",
      "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=0.009 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7971 right_j1=2.2753 right_j2=1.351 right_j3=0.239 right_j4=-0.0769 right_j5=-0.0486 right_gripper=0.9991",
      "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=-0.44 left_j1=1.4868 left_j2=1.4551 left_j3=-0.588 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7986 right_j1=2.2871 right_j2=1.351 right_j3=0.2844 right_j4=-0.0879 right_j5=-0.0521 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71bbdfc3b3fb5eab8cb99dab28e85aaa21c3933c639e2e2b83ed5f59b7772248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43186423fd5f5f9ccb404844c70b241d71385c35671505ba1711f722597d08f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e56d96924ca4a32480cb72a074a922b7830f09f101168f103659460b2573964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 71bbdfc3b3fb]

[blob 43186423fd5f]

[blob 5e56d96924ca]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QwQ73X7CqfNmKCNkGMezKp",
      "input": {
        "note": "The left-arm view shows the tall dark panel is just the context camera on its stand, so the clapperboard is the low black object on the table right under my gripper. Lowering the right gripper ~8 cm toward it while watching the top view.",
        "targets": {
          "right_j1": 2.45,
          "right_j3": 0.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QwQ73X7CqfNmKCNkGMezKp",
      "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=-0.4446 left_j1=1.5124 left_j2=1.4616 left_j3=-0.606 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.8013 right_j1=2.3566 right_j2=1.3792 right_j3=0.4084 right_j4=-0.1101 right_j5=-0.0521 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084487161f1d9dd160d13659d733bf06ced261ef7caf0f21e0191336aa6846fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e80990a68dde14fe776288a09fd5897ed097a80078b696110a4462e4a333a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43582ebddf96acb026c10f2aa07aca0861eaae6239cae2d5cb6f30a778a0c18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 13.45 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=0.009 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.02 left_gripper=0.9987 right_j0=0.7971 right_j1=2.2753 right_j2=1.351 right_j3=0.239 right_j4=-0.0769 right_j5=-0.0486 right_gripper=0.9991",
      "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=-0.44 left_j1=1.4868 left_j2=1.4551 left_j3=-0.588 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7986 right_j1=2.2871 right_j2=1.351 right_j3=0.2844 right_j4=-0.0879 right_j5=-0.0521 right_gripper=0.9991",
      "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=-0.4446 left_j1=1.5124 left_j2=1.4616 left_j3=-0.606 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.8013 right_j1=2.3566 right_j2=1.3792 right_j3=0.4084 right_j4=-0.1101 right_j5=-0.0521 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084487161f1d9dd160d13659d733bf06ced261ef7caf0f21e0191336aa6846fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e80990a68dde14fe776288a09fd5897ed097a80078b696110a4462e4a333a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43582ebddf96acb026c10f2aa07aca0861eaae6239cae2d5cb6f30a778a0c18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 084487161f1d]

[blob c1e80990a68d]

[blob 43582ebddf96]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4t9Vaj4o66YnMNhKnHk4Y",
      "input": {
        "note": "In the wrist view the board is the dark mass to the right of my fingers, which are aimed at bare table; yawing the base slightly back to the arm's right to centre the fingers over the clapperboard.",
        "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_01U4t9Vaj4o66YnMNhKnHk4Y",
      "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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6075 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7723 right_j1=2.3703 right_j2=1.3819 right_j3=0.4599 right_j4=-0.1623 right_j5=-0.0536 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d379d71b9154341d04719ea12a85614b8b91b44d3867e3837e0f55492584db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03024cadf401496f67d8efb8482634a4aef012e4126723c3e586b4e161fd0712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47545e1babbdf27840c952c0d127770bdd65e6dc4214bcd5a0a14a3f5a6a2eb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 6.924 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=-0.44 left_j1=1.4868 left_j2=1.4551 left_j3=-0.588 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7986 right_j1=2.2871 right_j2=1.351 right_j3=0.2844 right_j4=-0.0879 right_j5=-0.0521 right_gripper=0.9991",
      "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=-0.4446 left_j1=1.5124 left_j2=1.4616 left_j3=-0.606 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.8013 right_j1=2.3566 right_j2=1.3792 right_j3=0.4084 right_j4=-0.1101 right_j5=-0.0521 right_gripper=0.9991",
      "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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6075 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7723 right_j1=2.3703 right_j2=1.3819 right_j3=0.4599 right_j4=-0.1623 right_j5=-0.0536 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d379d71b9154341d04719ea12a85614b8b91b44d3867e3837e0f55492584db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03024cadf401496f67d8efb8482634a4aef012e4126723c3e586b4e161fd0712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47545e1babbdf27840c952c0d127770bdd65e6dc4214bcd5a0a14a3f5a6a2eb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0d379d71b915]

[blob 03024cadf401]

[blob 47545e1babbd]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KZPGdvgKgqvHQyuMMVKiRQ",
      "input": {
        "note": "My fingers appear to have reached past the board's near edge and the wrist camera only sees bare table ahead, so I'm pitching the wrist down ~0.5 rad to pull the fingertips back and down toward the board and look more steeply at it.",
        "targets": {
          "right_j3": -0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KZPGdvgKgqvHQyuMMVKiRQ",
      "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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6109 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7765 right_j1=2.3245 right_j2=1.4239 right_j3=0.223 right_j4=-0.1783 right_j5=-0.0956 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec924ecb79a015d26e12d1de7b02384219cee12bafa2108fe4e77f3f4b9b5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4617dc4744723f052bccd95f5ad566a7314d4572c4b93fba772dcf509d44a754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:688439f35256156faa34b89b567485329b192ec884ec4b82a486f7e623e0967b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 15.65 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4446 left_j1=1.5124 left_j2=1.4616 left_j3=-0.606 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.8013 right_j1=2.3566 right_j2=1.3792 right_j3=0.4084 right_j4=-0.1101 right_j5=-0.0521 right_gripper=0.9991",
      "type": "text"
    },
    {
      "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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6075 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7723 right_j1=2.3703 right_j2=1.3819 right_j3=0.4599 right_j4=-0.1623 right_j5=-0.0536 right_gripper=0.9979",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6109 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7765 right_j1=2.3245 right_j2=1.4239 right_j3=0.223 right_j4=-0.1783 right_j5=-0.0956 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec924ecb79a015d26e12d1de7b02384219cee12bafa2108fe4e77f3f4b9b5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4617dc4744723f052bccd95f5ad566a7314d4572c4b93fba772dcf509d44a754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:688439f35256156faa34b89b567485329b192ec884ec4b82a486f7e623e0967b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob fec924ecb79a]

[blob 4617dc474472]

[blob 688439f35256]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F1ogvyqnu29rgoAY8fWvu8",
      "input": {
        "note": "A dark object is just entering the right edge of the wrist view — that should be the clapperboard, so I'm yawing the base further to the arm's right to bring it between the fingers.",
        "targets": {
          "right_j0": 0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01F1ogvyqnu29rgoAY8fWvu8",
      "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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6178 left_j4=-0.0101 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.7288 right_j1=2.3161 right_j2=1.4277 right_j3=0.2146 right_j4=-0.3294 right_j5=-0.1017 right_gripper=0.997",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a983fa6c2cff19131fd8db16a0cd058159a8088db0262bdf0255dcaf4dd1e51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd801ccdc3c8cf254bb1146df16ff355dee965af68cc8eac3b2ecabe1c0f362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cc2aaf5168172310e0615650b051bc282b9393b1d070996800a82d3fbe361fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 14.66 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6075 left_j4=-0.0097 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7723 right_j1=2.3703 right_j2=1.3819 right_j3=0.4599 right_j4=-0.1623 right_j5=-0.0536 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6109 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7765 right_j1=2.3245 right_j2=1.4239 right_j3=0.223 right_j4=-0.1783 right_j5=-0.0956 right_gripper=0.9979",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6178 left_j4=-0.0101 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.7288 right_j1=2.3161 right_j2=1.4277 right_j3=0.2146 right_j4=-0.3294 right_j5=-0.1017 right_gripper=0.997",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a983fa6c2cff19131fd8db16a0cd058159a8088db0262bdf0255dcaf4dd1e51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd801ccdc3c8cf254bb1146df16ff355dee965af68cc8eac3b2ecabe1c0f362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc2aaf5168172310e0615650b051bc282b9393b1d070996800a82d3fbe361fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a983fa6c2cff]

[blob 9dd801ccdc3c]

[blob 9cc2aaf51681]

{
  "content": [
    {
      "signature": "CAISlTIKjAEIEBgCKkDzV772YK1+TxIL8nJ4jOZ1+3ziLaevlkz1ya+sNLkYE8gjMUpmGyo3keR1DAOX6jROUSH+b7I2+2ySj/UqXQe3MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDQe0OKpsuWJtIJWnGgyAVgIXmUM4kh3VQdsiMO+4GhdyVsfQIJp8k6W9Lr4kY5LVrbE5rlj9DWEgy06h3DsAhIJYwZICXSs4p5Nh4iq1MGQJBP9+zTNIJ93E1hK1DTHp9W2qrypFU9wmcaGN19RSdlpEwPeg2zBw1nkCHtasUy73RzhP/PC2dJvZrlTpOMJ2KEF63Q5yqC0Fk/YtQ8RhidyFoEcXkTPFog6d/TWGazqkFtQAmnzFUm+kqcKjX2Q0zh7vxzrPpZ7KIZsu4wi2JNK0YB1CiYZ8cNW5ZSmuMGd38bkgYkouE7Tr9xdR5aRdDln1E2puL5NrnrsLKDB1arQ5nrvTtmeOdueciRvOHXsQ6pV8AWdeS+oEAQwekJkKW/HzHB5ou9sOyGaZ0JmdfcCb+OF039+rpMwpAkZqZyVym4buG/F/BA8pRWnieMRN6ka7i070zbcy+lWt3J4TVXNNYRFOpXrPhtn/TegkE0OpUtpWVLY8IIYDSXmkeWnWYVKcZUvkr1+eHzOc7l7U4ZkLuqJDRrWl7TaqANEPIXGn9dza+7PbZRNtsznLevVjT2pJTRImz5nl2teuQNdxmWbDno5kjIrQzMJt62G6aUFMENRwyhzFMq02Y9lVz05Kma0aGjhnOpgMsq8pqaSEg9WqsT1OI+HbGMGrdrFASw0k6+BQW52sDg2L13yb+8zf0vGSYBykT29orQlz76C/gGDKKSny+Buu+elKke1IzKaPGRkEyvQJrn2D6oiH6gY9TijNDv/K8vMMerpnP80L7ZwQcMxw6cz7QvPRIUiynDzEYgdK8VYhjCGyBFfPA8q3mjnsb0i/cclzfBBhHPkP+k42/r3rB0kVL4vfDJnQfikwFiTmEqXFobTJ970K1z0YLqo6KU76b3c/DrJL96/D3ny8VQeHpo2QplQSrVig1bpXyVhoNaGvJfRA996Lm2TXFGppZTuf+gUSrD372cJzJ8hBA7ynQRZcNAYajR1DqD3iNU2yS0+EbobQmWQyl3dpxv62uy1s8n6MQIqB0hbzB7Dir2KUDXSLR6e4EXoWqhWWadlf30ymSxdB1un2v8wrqvTz2A1wAbG2KK0PvUGYVvnPUGzU9obHJSx7B15gwgb7kOpVmDHzRopIoFgkf1nd1dZzSnPckdXeH3LOuiBskJTVvR2CCl9orEbIy2bWZKn+N/WqzH3jWVXQu9P1XUm/V8ivkAU1EdA++JWYYhCsX5k8MkmEQckBbdJ/40YU1zM+945qCKdNdqB7w6DImKFUV9JUXi0XJkmqG8ICwKIuErBOlsIi0O6uyDIZgUsJSxbShz+K/qjaRo7Y+cxMLBGZ4j/f6cRkuFtJDh3p4eFhD6sWP1Q4xJqTA3+Chut0cKh/so3IJEE014w25l82DTtkPyB/J3d/97TnnXtHfz1D9gr1WcqmpN3ssoiTUM3jcZap/ZNHVBAqbOOlGpQCQzwhCia81vMDvnLkb00cVW93u4OuBoh3amsWocfHFtcBAhR+Jzts8bdWCdjGpOn8xzga2QnJLVC6GBhttTjcJbMFRIyEaWTpNGGl9xw+ZAwz3Uqe1lB0JGWqUurm+w8/s5Q0iGo8a0/EZvHYuwzHNTIjNlmdj1tYi6jJuXWfMwdES6h1/Od0Qvonh/pVJNNAHQqcDi0m+ncuQgeHNpYJN4H1NWYHHQp2NEda+U86YI/6C5NE3tyTiB3m2D5JwWLD+NUJTw9iY3t4ycwZJVS4CPPnc1co0Mz9mowv1dXAHHx0L71TkqtovF1tq5hWcqDBFe0iJvNZ3vXfm7iW3xlim2etJPmiKalcGaQoNFyhg7yKFxRJdcJCipa5/p3ZOgcv3lKiW4OGmtoGohFOwVm44TfSujE22ebTlt/plsoEl3+tpmabDmIfkeWVT+quxUjzHNKe0AocfXSijfTf8RczmMIaTDYvN/xdbmsFBnlWyGrupO3WuLoc05xBaIM/4eOexQcIJMhfrgdKmIsYM15+5cVOFK9/HkGgncA0/LGm8FUp39g/24+TTVDyG7+F+U/YnwFpjtf6iBiW/LSejpC7OLJmCWcUnP18+JwiaMZt7YJ5g67UTUiQ4a+wCCR/HSL6xud22taOHijdX7eUHUNJoHbjv/UUdgKKxep7jbkO1LuprD7dFhgzSEC4QgsSAZCQuzIF/i8fxpiV4RnhQaaHLUF6k/fPx61Bm1I7njhWR7UTQR/AoFvrHC1doUoV1GtBDpYhW97O0WQ0PfckpLs27+yjRYP/aZMzwZ8MpxDgsafIwOVNfH7JIhNMJbU5967+0gR4auD8N5Oa7w5ucHq2WkoTXjm4V18SoJl/OAssXrHcfcbs8nNayeQ94W5bJ4bIc3T3i1G6obH/P/RtrIZl7PGnekc7pMU/gXm9c7CtvRNilND/BSgMcgezOECDahDReLLo34DNywfjnW8WHMZWA0pvwdfhZOzXdA7yi9Qyx4IHMFhJOpGAQeVtC+4RXIPL2w5biHXaP+BfiMn4L58OKHVUTtsWC16GAo3gbTubpgA3u1YP+X6QQxpB2uQy2mXLyLPWqWF0xxp/AqXlJb/+6GbjEZ0DuHo5a6aqf79bA5ywBRm2d7FK9aI6nKrk7iQtMt9rUsSpEsWF+tKnB4h70QOOqn4BAiOMnAuMh8pau2XXYMpEkNTzdEsDYqs2hgEpz5SRYmPFHNckHqtMIr6u1welryix4wAUVidh4hdsaJ4y+RY0F1KLGB50bqaYJcz6CuJdXGZ1mgcXni4J50l7/t+b4l6yZtztFW+mhsqq7csLv3O+M4nHfktWxbm+UcaOWHW060ePGY1E8NfsU7l3WMAzWKScbcJBghz+IN7mPHenhJqFp1AdmSXPZ7vW1+N2Q+bw346Pf3x7uBBpthn3jar/H+CQ23QPFP/aShUqlElxLFrO+4imFKHFcjZYyjarlxCy4yssG0Eo9b0Chl9yR6ieZ0ZxwA9t6NUQJyVdWDehNyFWCxxPyoVjdPXE7QC4L19wc9pjYjxPISWGCwA2KaYV4yDLwEIOWJQjRaeDaFC16gGDoY1Hdr1ruKtrLqxGQcjR3MfuZ1EKbKs4lr8ld7zgAT7q/eEuN+kLvEPgOiC7fcnjtMocZZFKoFUZVmDuFFUk/H46zkdNhIFpYa+sjjDgsafIiB53U+dZehDka/8Qtw3feT1I+PQHNpQ1q7acWb1YX6EmLa2IT3B2cAOTtXLqyrjqpmRqtzqbp6JM6GFaIac+kLtzdjejpNG7ZOHR03VFCKZmXmyIG3Am7MPg5OeOGeQ1yrfkeA+dY89BJG6u5gNsdF/1UrLWMRHU4Fmmvno0UVM8rIDuvfvaYiFvs4Ch1/v2cHwfaZ94FCxmamSsn/G1MXVzJ5XpGggY3iPXUiqTp2dMVuvprfDtqsJ0lBci+kyaoXCLg8DF8mtxxIBYmxgJbmeshCsMTrJMSZjb0vH9v2bPZdHClTcNGoYm2b6WLj4VoFVypM5nB10KnpkFK2PCIYoJVU+KNSeZSIOHEnWsVkfLAuizoFxNpVYp3AxymWxWZGywljTct47OSQIB/GKRt1M9ATwjZVe+ghBUiB02jpJ/8XnU5oceJqdOl5aWt4wofkX7d1V5KLsAD9SRdpH33WGsYxmdp4CCzb63U6GL08KhE1ADEdAbnzCXj7deC6AyjqMEBMLFdm3hGCvWjR07yz2NTI/VituhAyCHjofzOEbcNG+lNhjoIDJaQODFCDocMEK1Kdxaqxf7d1V8bu4mq2umEkL326bx6fdbuE66FguJkYGx1PQfAhMacYisO7mCm1Uc2/Wo7p/PU+Rzz72VsOOuMfO0xmhh2AK0o2hjDFWuMXWSO2GP4qZ+wkYDdF7DOkPQKz75XawD1N19Kq3MKM2iWGYD3q9/KogPi78wmEyURG20HRNdtAwij7ROI9yRAhyHuAJ9hDX1DtX+7gf0XAdEPtfkisXCGkc0bGJ19k+66teoXJLnR3AuvcbsvoU3Ird9c1C5Q99WK6SZedeoILKI3wxdJjybzbmnVbwEJAiV+jgG6q8Dm12xxz78bZUfL1/co0WPlHeZ8BY2faGjn17UJkDAmGOsofK4eKrFMiwLArYCfwoaPPlh2q7m89t7+/HphfGVXnJQihCnxVHeDZr7aLMwWpgqNHDVNqAHArng/P8mu8+1Hr/yHdl4YXOWpFx4Zk5PWKSQ24JB7tbhWPBRoJhB+iwp/f/0q965x6H9Hl1niJgULPQprQMiMS5OdRaXuNayY7qGg3xUtsOPY0+YZjcRT4G397Qg3PpPhNgJknzjq3fwfuXKui0HARYVB9nWFSteB+iEAXtKFA2GddxG1UZ2zyxuyMwfLtngZ2pJ3HJdbo7L7yqeEP4PpOOw/N/1T4Hk5rcKDj4UFfhXlGytQG08biGmECMXTD0vEUzZuKnMh81+Z8iRSOoC6JnM1sAR44T1zGoMtcLBY9poIl5fe0t62JzoC8rLn4UGp+MSFuE1qO48Kd7IrTDd27c/JwCtXXexDFpbAi1/kh3sB4fzKMR3pv/M52QSfeTc/buWF2Gal1nj4mzpTDrf9Y3S2LNaqMyklXafOFosAU0/7Y0YUMPaJHOkvCQk5jOIER/SC9FMXiDohjSMgjrbSTd8lCRnY6WYjH5vZZeVyaOynn3xXYZ0LlPPxgUu6OUHEM6A1j7PG2zHmaT+Vp+1cXk6m02RsWfLti3maAkJPEXYf1IKvmcnc87Bu0Y6X08Q+t27lBS47B+lG6ULaehSCNIymvHQXkFsQquoNp1n+/4d6pU77d3xPjB/Q4jpGFbM96TCEondLq8WGS3cHgqP4aj15jqANOB6hqecORDEsVQLvPKnUVL6TCas827iTFCw4u6vE3Sug3XeQpXEG5XC6pJYFhiQ/uQq0xPVrFFgs8RJ03VT+MSVWr3Hf6+Ph8dAnvCmuRYBmkIvL/SdTfL7N0m/jWIPETEhGZ/dFuNqk+x03683c+Jkct3ELqQ2GQ74XS7bPwclk5liMk2KrlMJIOPEasmhwtfOs5n3ppjMHGJT/uSCv7hLpxEP8bwVMFzUVgrPMPU7J4vuh63P31+UQBdCycZRCcgLZr4ur2k95CsJbh6q5lmaZbNeMK0cgvPb8Yz3iR+Nn5vQfpu9y6KN7K2dYIkvn7dd+55cRvhUrp++c+GsXwbzLU5uSnhWq/RWhKlDZ5VofSHtdUndIEPozrI8QIgmToIdIktAn09CVTd/IrVui6xCKOlKU5XzSBFZjPPH8gswqYegtB7HPTQB3KiHF/I09lZ7NAftEQrzYBZNSYPNCVoImAVLYdl4bSTIWhiOITUkfYkrHlZB48XSrLGWi8F1dDpb/Vx1/kxdSAT1Cr5WBJbcQYCN5D+54r3E3QsJvLuGItNG2Wwgj/3ct4H98MeaJTTIZqV/y3wLorw/Oo3/9ovO/0IW50MRHqZEZ8On7Z0ztAJlj0YsvftF4rndsLtzHxCqBKHfT9gOHR8GlSiakwgdEvNPJQhE4zg0ASvvoCSyc5Sn1Zd/KXFdnvgAbeVisyB80Tm45ZhpTlKd92IFXzjZj1mgNp/IVbwQBdfRa31ySDeeTc15dRKB83BKHkw2SkLiQDAv21a44WYRSDHO2aoLXWPpqF4vYpU1lrrX824x1Lar2ip6HeSNOdHGvlj7P+12NIlOHjQGJuYDXwV/UtZANwJj7KaEOlpOzKMuxxUK0+/DBAyuoDsRE3/SzczqblJClXratb8QF+QysXxGDnvBqr02Awdm8Fe5+oRr4bWJTrykmxpdJEwz2xmu1GtEAKdZibPxnOeCxEhjtGT5lwQ2g+if+dlvh+zjYJNuHOrbGcQO6/Dn9ae3XnyRwgUUG+rd/g75wyqITXszg1psBBsWfHpoGxiJwGXtgkzVp0dzflvSZXrekuSfUCqtjxEn22jQgL5T/cysp8b8iz4De3RVTTjS9GyGiiTlRiLIKOlS6KUOrtG8FRT1Y4iXgLisZwWluwfdjJ+oG7SNxywCOFc43m2Cdit1ZfJn9QvgQsVRLkfInIAL/SCS0/Oc1uFNCDcClULsQaXxT8V/z/GqIno+rznqao/rNJn6g0HiCDErfb6dDHm+vV9PK7fRoV4XYACScECHwzbPoqrulOGHdyI1bJ0VkxGWS8ZmnznBeBapfusvkHmuI55l4M3R/wzF7eCUAg5Qp34K2huzeP1g4M4S/+Tlb4rZD7sBPg2Acze1jy2HESkbaDJqJnOAR7WWh8Moz53nKsi0FABGvfg4Ffi0InCX0W9cg5f5n1thWpuacd6jAgzBjG+nMsB3sQQgU0iRRw5f1fRH5kBl6rK7yJDLSAHw1lotJ1zeBLrdmIK13GUuVyxEdI5T2PD1YgA2PsMAcOLYro1Zu30+/sAUgQk5jR+PSa3mc2M9v5gIBxh970VHb17LUxcP4BGIFK/Tj/oAabMTNZqKHuiDNJWAkmxJzCxS96ips9YA12fpxyNg+Xir2R5w2Vi8RUTfdg/XxvsQIsfw0J9bh/Z0QJ7NY16+/A2jFvwGu88Qp95KHgh8dvk/+P0QbZ5IaM12XlaGOrpwd8blE7jKqH0g3ZxyjRzTQR7beCPS7bzRs6M5kmEWNMXu2WJ0O+woYbwEwdkYEPtq7oej5u828N9L3Ix3IoDoIwz6D1GdTgT9LbUEZQr1iyAbu65YEE8WA4xXGPtOEe9sSrISL2tvCOS1SKmd31JKXFLXXU/NOotJBzGTUzCdHX/woRe8q4ojXvDD9wE1QQj7CBt98cYRg6gkTcbwcFMYj9stFhxh41iS7xWajjLE/8Brx69P2FhO2Eix7u9oOXAK6udPZ81ulElV3n2yEJIT5Srq1wyRXW9IX7RQy5q7wDvpS59n49AbHgLzioe8tooobzHn5gsYobFnqK5CcE+KUWd1ObftPFdW5RIFx/fVDzxYNQ26NCmov6LO9Sh0RPs4cKX7rk7CF+Ur8pqejGlm1JD3BMuBFmh/GVqenKKi7TBmeX9z5l+KnQtGoH8zKxrgXtjiwmlGlzR9EhYUsMmMQdi2R1zJ8cHYcgFlTzpybegS4xD4tpOp5ML+Rv+MzuSnlwyXmnPiA8vpoi5fAB42//Ju6QYfLB8qeTmeLG80tHACtucm75J9lytESFeGdMAw+iBhfwcyy/5DPvA6FNyv2aKcr+GWrYzDQ8jfB5yBmC35OcZCvUEMoMOqTljdd/lD+iN7DvSLsBBCjf1xWAXV4XhNYYAjsrejdyeGOQ3ynLre0gPPRRGb6+CeoNjtfZ4L1f8PRixnq8GZF64ULsZRlwWuayVAnMgs2qc1If2mldZmbn9YN0ZtU74SdXnG4ambfWIvkAcY6+SaOYoX0DnmdI/M1nfsCukhGQ/nUcwl+ml9lXe+zKGeKJkCK1e+gX6VkN+AeSXpgy5Tq4ml5UVEYjYbXAQ33Ex2PDEXUeHtbSC0TjoGByDPTelsFOo1lkn8QsTx+G/5I7KmH6Y3y62IAbmLiwa/HbH+c9g4Cx5mFqmJ4al+7PI/woqPiOSab/Zfv+R71Ny2aOeTGaMlmvXgItcy4VXK0oJI9afTzsJXS63DSiNBTzBZxS/cGIIOKiF4r8m7xvOiMYXK/OFWsvsrLH36x5yEamoZnD6NuX2OfwPpbHUyS21GqWivfUmrrinrzumBdDjRBInX467GF+viakoaatAZKj0LVhWRTZh04ksWeBrTBFXkkAMVBNCZytwN0290QIHL7S5NeXq3iwFJ/R410G0gUPZ9smIQ6O5DV8f6S8AHYGHshEQYVGvyIXeLbItXwxIdNNZ269AlEIoddRiEK3Ihn1HqgBU7nFvpReWfeWthStw6lbnD25wmVF1qjMZxZjwsrAgzExI8HUKn++1hYDRXiUIsuQV2XPYs67yDJe70w/9LatsCDUDEP+0lxkJCdsecb4a3eKQANGl/H+3duurtdLfJi5U4dx5WTYLMSS7QiQ0TW/+vpefE9f5uTrr8tzYLbaIMyBqkS9a3Tv/cwvDCg9HdD1NTTTCsBBuNRo8+SxtYwn3mhcgQ1adO+rkMc2HYYitLYXGsTrwTbo9bVIAhzR8/9YvQo15lBsksTHwr5PxBZMquLEb4+pwQ2qieQ9TpXXyvzmEabC5Ii/QEWQAgs/gEjbJ7oT1WkPqbi0VqZaK7D8UxqDIu3YMaEpuWLn9IwEEf18YUEVObT6zqnpKOD0J3HqdU/0UGDuaN8C+mOp9IX/DrYMZcUrNFSn3PwA55/EQ6du7W5XRpSb6qKBK4P4AvcxiHOwXs5juMQKs8w2QPMmpPft3Gc/n5vJmAywmj2ot2sUuedvuBnJVW0U6G69pbCe7LWcQjC2VNDfOGJfOJHOSrG/1Ffh+Ip8y2fCv5DYq/yKwFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y2EuP2TyA4XGn5USnoz5Dg",
      "input": {
        "note": "The arm seems to be meeting resistance and the wrist view still shows only table, so I'm opening the elbow to lift the hand about 10 cm and pointing the camera straight down for a clean overhead look at the clapperboard.",
        "targets": {
          "right_j1": 2.36,
          "right_j2": 2.02,
          "right_j3": -1.23,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Y2EuP2TyA4XGn5USnoz5Dg",
      "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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6254 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.73 right_j1=2.3474 right_j2=1.993 right_j3=-1.1534 right_j4=-0.0208 right_j5=-0.1127 right_gripper=0.9971",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6207848d0739777e72eb153e7f1dda9cb15785f120f5570a1ab203d90678de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474a22c4d46dcdf8a3aed44a90966eaa9f32c8e15fb41c0d4806d09c9ac162c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7902d707be5513d12d8d5446e2c9ae8510e472f1cc4fa028b6aa4e3bdf274e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 11.31 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6109 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.7765 right_j1=2.3245 right_j2=1.4239 right_j3=0.223 right_j4=-0.1783 right_j5=-0.0956 right_gripper=0.9979",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6178 left_j4=-0.0101 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.7288 right_j1=2.3161 right_j2=1.4277 right_j3=0.2146 right_j4=-0.3294 right_j5=-0.1017 right_gripper=0.997",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.4458 left_j1=1.5127 left_j2=1.4593 left_j3=-0.6254 left_j4=-0.0101 left_j5=-0.0273 left_gripper=0.9987 right_j0=0.73 right_j1=2.3474 right_j2=1.993 right_j3=-1.1534 right_j4=-0.0208 right_j5=-0.1127 right_gripper=0.9971",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6207848d0739777e72eb153e7f1dda9cb15785f120f5570a1ab203d90678de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474a22c4d46dcdf8a3aed44a90966eaa9f32c8e15fb41c0d4806d09c9ac162c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7902d707be5513d12d8d5446e2c9ae8510e472f1cc4fa028b6aa4e3bdf274e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bb6207848d07]

[blob 474a22c4d46d]

[blob 7902d707be55]

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  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WP8m4fojWJbkr8FEZK2jKb",
      "input": {
        "note": "Looking straight down, I can now see a small white object (the clapper) at the top-right of the wrist view, forward and to the arm's right of my fingers; yawing the base right to line up over it.",
        "targets": {
          "right_j0": 0.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WP8m4fojWJbkr8FEZK2jKb",
      "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=-0.4458 left_j1=1.5131 left_j2=1.4593 left_j3=-0.6327 left_j4=-0.0097 left_j5=-0.0269 left_gripper=0.9987 right_j0=0.4606 right_j1=2.3478 right_j2=1.9972 right_j3=-1.1793 right_j4=-0.0299 right_j5=-0.1177 right_gripper=0.9971",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad8f212c53e3daeceaaf1270e40c49d68c89ed5bf80e6f1d336ea9c20c63915",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a42d308fbb4af99dc4e5df77cd09bb7153258474eb99c35c99d4db76e08e6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8910eb8c86f5ff1d43daee9b94d072f65d5c5ced4ab9c32c6151bf6e190f93f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}