adhoc

completed
2026-07-31T02:28:34.769716+00:00 inspect-robots 0.33.0git unknownembedded media truncated at 50 MB (385 embedded)
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
1744 s
total steps
1235
operator
0
scenes
1
trials
1
errored
0

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

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. 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
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteBoth arms are folded flat and the clapperboard sits in the middle of the table with its striped clapper stick on the side facing the arms. I'm raising the right arm into an upright ready pose so its wrist camera can look down at the board.
move_joints
right_j11.4000right_j21.4000right_j30.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0078 right_j5=-0.0143 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": 1.4, "right_j2": 1.4, "right_j3": 0.0}, "note": "Both arms are folded flat and the clapperboard sits in the middle of the table with its striped clapper stick on the side facing the arms. I'm raising the right arm into an upright ready pose so its wrist camera can look down at the board."})
tool
executing move_joints over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe right wrist camera is aimed at the dark backdrop, meaning the gripper points horizontally forward well above the table. I'm pitching the wrist down to bring the tabletop and the clapperboard into view.
move_joints
right_j3-1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.4017 right_j2=1.3701 right_j3=-0.0246 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992 camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -1.0}, "note": "The right wrist camera is aimed at the dark backdrop, meaning the gripper points horizontally forward well above the table. I'm pitching the wrist down to bring the tabletop and the clapperboard into view."})
tool
executing move_joints over 16 steps (1.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe right wrist camera now sees bare tabletop but the clapperboard is not yet in frame, so it must be farther forward. I'm extending the arm forward and downward to bring the board into the wrist view.
move_joints
right_j12.0000right_j21.8000right_j3-1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0162 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.4055 right_j2=1.3685 right_j3=-0.9733 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992 camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.0, "right_j2": 1.8, "right_j3": -1.0}, "note": "The right wrist camera now sees bare tabletop but the clapperboard is not yet in frame, so it must be farther forward. I'm extending the arm forward and downward to bring the board into the wrist view."})
tool
executing move_joints over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteIn the top view the right arm's gripper is at the far left while the clapperboard sits well to its side (toward the arm's left), so I'm yawing the right base joint toward the board and lifting the wrist slightly to avoid scraping the table.
move_joints
right_j00.5000right_j3-0.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.9854 right_j2=1.7702 right_j3=-1.0222 right_j4=-0.0154 right_j5=-0.0261 right_gripper=0.9992 camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5, "right_j3": -0.7}, "note": "In the top view the right arm's gripper is at the far left while the clapperboard sits well to its side (toward the arm's left), so I'm yawing the right base joint toward the board and lifting the wrist slightly to avoid scraping the table."})
tool
executing move_joints over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper is now over the clapperboard but blocking the top view; I'm pulling the arm back and up while tilting the wrist camera down so I can see the whole board and work out where the clapper stick's hinge and free end are.
move_joints
right_j11.5500right_j21.6000right_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=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5072 right_j1=1.9938 right_j2=1.7725 right_j3=-0.7296 right_j4=-0.0193 right_j5=-0.0265 right_gripper=0.9992 camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.55, "right_j2": 1.6, "right_j3": -1.25}, "note": "The gripper is now over the clapperboard but blocking the top view; I'm pulling the arm back and up while tilting the wrist camera down so I can see the whole board and work out where the clapper stick's hinge and free end are."})
tool
executing move_joints over 9 steps (0.9s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteNow I can see the slate clearly: it lies tilted on the table with the striped clapper stick along its far edge, hinged at the end nearer the right arm and with its free end toward the left arm. I'm parking the right arm upright out of the way and raising the left arm into a look-down pose since it is closer to the stick's free end.
move_joints
right_j00.0000right_j11.3000right_j21.2000right_j30.0000left_j11.5500left_j21.6000left_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=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5049 right_j1=1.5673 right_j2=1.6054 right_j3=-1.2232 right_j4=-0.0189 right_j5=-0.0296 right_gripper=0.9992 camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 1.3, "right_j2": 1.2, "right_j3": 0.0, "left_j1": 1.55, "left_j2": 1.6, "left_j3": -1.25}, "note": "Now I can see the slate clearly: it lies tilted on the table with the striped clapper stick along its far edge, hinged at the end nearer the right arm and with its free end toward the left arm. I'm parking the right arm upright out of the way and raising the left arm into a look-down pose since it is closer to the stick's free end."})
tool
executing move_joints over 26 steps (2.6s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe left wrist camera sees the tabletop with just the edge of the clapperboard at the far right of frame, so the board lies to that arm's right; I'm yawing the left base joint negative to bring the board to the centre of its view.
move_joints
left_j0-0.4500
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=1.5375 left_j2=1.5551 left_j3=-1.2102 left_j4=-0.0071 left_j5=-0.0242 left_gripper=0.9987 right_j0=0.0086 right_j1=1.3254 right_j2=1.2049 right_j3=-0.0948 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.45}, "note": "The left wrist camera sees the tabletop with just the edge of the clapperboard at the far right of frame, so the board lies to that arm's right; I'm yawing the left base joint negative to bring the board to the centre of its view."})
tool
executing move_joints over 8 steps (0.8s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe left wrist camera now shows the slate in its upper right with the white-striped clapper stick clearly visible along the near edge. I'm yawing a bit further and extending the arm forward to centre the stick in view and get closer to it.
move_joints
left_j0-0.6200left_j11.8000left_j21.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.4259 left_j1=1.5578 left_j2=1.5555 left_j3=-1.2404 left_j4=-0.0071 left_j5=-0.0277 left_gripper=0.9986 right_j0=0.0048 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1032 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.62, "left_j1": 1.8, "left_j2": 1.7}, "note": "The left wrist camera now shows the slate in its upper right with the white-striped clapper stick clearly visible along the near edge. I'm yawing a bit further and extending the arm forward to centre the stick in view and get closer to it."})
tool
executing move_joints over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe slate now fills the left wrist view with the striped clapper stick running diagonally across it; the stick's free end is the one nearer this arm. I'm lowering and extending the left arm so the open gripper descends toward that free end for a closer look.
move_joints
left_j12.0000left_j21.8500left_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=-0.6025 left_j1=1.8015 left_j2=1.6592 left_j3=-1.2499 left_j4=-0.0059 left_j5=-0.0319 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1116 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0, "left_j2": 1.85, "left_j3": -1.3}, "note": "The slate now fills the left wrist view with the striped clapper stick running diagonally across it; the stick's free end is the one nearer this arm. I'm lowering and extending the left arm so the open gripper descends toward that free end for a closer look."})
tool
executing move_joints over 4 steps (0.4s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteClose-up of the slate face is good but I still can't tell how the clapper stick is hinged. I'm pitching the left wrist up so the camera looks at the stick more edge-on from the arm side to see its profile and hinge.
move_joints
left_j3-0.7500
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=-0.6014 left_j1=1.9839 left_j2=1.8122 left_j3=-1.3254 left_j4=-0.0181 left_j5=-0.0467 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.128 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.75}, "note": "Close-up of the slate face is good but I still can't tell how the clapper stick is hinged. I'm pitching the left wrist up so the camera looks at the stick more edge-on from the arm side to see its profile and hinge."})
tool
executing move_joints over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteFrom the edge-on look the slate sits low and nearly flat with its striped clapper stick along the near edge and a white support under it. I'm pointing the left gripper straight down and rolling the wrist 90° so the jaws will close across the stick (front-to-back) rather than along it.
move_joints
left_j3-1.3800left_j51.5700
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=-0.6048 left_j1=2.0026 left_j2=1.8118 left_j3=-0.8951 left_j4=-0.0128 left_j5=-0.0578 left_gripper=0.9983 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1398 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -1.38, "left_j5": 1.57}, "note": "From the edge-on look the slate sits low and nearly flat with its striped clapper stick along the near edge and a white support under it. I'm pointing the left gripper straight down and rolling the wrist 90\u00b0 so the jaws will close across the stick (front-to-back) rather than along it."})
tool
executing move_joints over 26 steps (2.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe top view now shows only a thin dark bar and the white stand where the slate face used to be, so I may have disturbed the board or I am misreading its pose. I'm retracting the left arm well clear to get an unobstructed top-camera view before doing anything else.
move_joints
left_j11.3000left_j21.1000left_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.6048 left_j1=2.0029 left_j2=1.8118 left_j3=-1.356 left_j4=-0.0109 left_j5=1.4864 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1555 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 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": {"left_j1": 1.3, "left_j2": 1.1, "left_j3": -0.4}, "note": "The top view now shows only a thin dark bar and the white stand where the slate face used to be, so I may have disturbed the board or I am misreading its pose. I'm retracting the left arm well clear to get an unobstructed top-camera view before doing anything else."})
tool
executing move_joints over 16 steps (1.6s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe left wrist camera shows a large plain black panel — the back of the slate — meaning the board is standing up with its face toward the top camera. I'm lifting the left arm to a high vantage point looking down so I can see the top edge of the board and the clapper stick.
move_joints
left_j11.5000left_j21.9000left_j3-1.5000left_j50.0000
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=-0.6052 left_j1=1.3296 left_j2=1.1164 left_j3=-0.4938 left_j4=-0.0139 left_j5=1.4921 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1627 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.5, "left_j2": 1.9, "left_j3": -1.5, "left_j5": 0.0}, "note": "The left wrist camera shows a large plain black panel \u2014 the back of the slate \u2014 meaning the board is standing up with its face toward the top camera. I'm lifting the left arm to a high vantage point looking down so I can see the top edge of the board and the clapper stick."})
tool
executing move_joints over 24 steps (2.4s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteFrom overhead the slate now appears as a narrow bar, so it is standing upright in its white stand with the back facing the arms — good for the clap. I'm re-aiming the left arm slightly and rolling the wrist so the jaws will close front-to-back across the clapper stick.
move_joints
left_j0-0.4500left_j51.5700
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=-0.6048 left_j1=1.4906 left_j2=1.8641 left_j3=-1.4521 left_j4=-0.0139 left_j5=0.0757 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1787 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.45, "left_j5": 1.57}, "note": "From overhead the slate now appears as a narrow bar, so it is standing upright in its white stand with the back facing the arms \u2014 good for the clap. I'm re-aiming the left arm slightly and rolling the wrist so the jaws will close front-to-back across the clapper stick."})
tool
executing move_joints over 24 steps (2.4s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe slate is still off in the far corner of the left wrist view, so I'm extending the arm about 9 cm further forward and splitting the difference on the base yaw to bring the board's top edge into the centre of the view.
move_joints
left_j0-0.5300left_j11.8560left_j22.2670left_j3-1.4900
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=-0.4576 left_j1=1.5005 left_j2=1.8687 left_j3=-1.4921 left_j4=-0.0139 left_j5=1.4818 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1867 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.53, "left_j1": 1.856, "left_j2": 2.267, "left_j3": -1.49}, "note": "The slate is still off in the far corner of the left wrist view, so I'm extending the arm about 9 cm further forward and splitting the difference on the base yaw to bring the board's top edge into the centre of the view."})
tool
executing move_joints over 7 steps (0.7s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe rolled wrist camera makes the view hard to interpret, so I'm rolling the wrist back to zero to get an upright image while I line the gripper up with the board's top edge.
move_joints
left_j50.0000
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=-0.5236 left_j1=1.8431 left_j2=2.2292 left_j3=-1.5108 left_j4=-0.0139 left_j5=1.4837 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2066 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.0}, "note": "The rolled wrist camera makes the view hard to interpret, so I'm rolling the wrist back to zero to get an upright image while I line the gripper up with the board's top edge."})
tool
executing move_joints over 24 steps (2.4s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe left wrist camera now clearly shows the slate standing upright in its white stand, back toward us, with its top edge near the top of frame. I'm reaching further forward and flattening the wrist angle so the gripper approaches the top edge from behind and above.
move_joints
left_j11.8220left_j22.1260left_j3-1.0890
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=-0.5278 left_j1=1.8576 left_j2=2.2337 left_j3=-1.5154 left_j4=-0.0139 left_j5=0.0761 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.215 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.822, "left_j2": 2.126, "left_j3": -1.089}, "note": "The left wrist camera now clearly shows the slate standing upright in its white stand, back toward us, with its top edge near the top of frame. I'm reaching further forward and flattening the wrist angle so the gripper approaches the top edge from behind and above."})
tool
executing move_joints over 7 steps (0.7s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe slate's top edge with the clapper stick sits above the centre of my wrist view; I'm pitching the wrist up slightly and nudging the yaw so the stick is centred, to inspect how it is hinged before grasping.
move_joints
left_j3-0.9500left_j0-0.5600
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=-0.5278 left_j1=1.8545 left_j2=2.1349 left_j3=-1.1938 left_j4=-0.0139 left_j5=0.0555 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2161 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.95, "left_j0": -0.56}, "note": "The slate's top edge with the clapper stick sits above the centre of my wrist view; I'm pitching the wrist up slightly and nudging the yaw so the stick is centred, to inspect how it is hinged before grasping."})
tool
executing move_joints over 4 steps (0.4s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteI want a second viewpoint on the standing slate to understand the clapper stick, so I'm swinging the parked right arm toward the board and aiming its wrist camera at it from the other side.
move_joints
right_j00.5500right_j11.6000right_j21.7500right_j3-0.9500
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=-0.5545 left_j1=1.8549 left_j2=2.1269 left_j3=-1.0454 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2165 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.55, "right_j1": 1.6, "right_j2": 1.75, "right_j3": -0.95}, "note": "I want a second viewpoint on the standing slate to understand the clapper stick, so I'm swinging the parked right arm toward the board and aiming its wrist camera at it from the other side."})
tool
executing move_joints over 12 steps (1.2s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
right_cam
camera right_cam step 262
assistant
agent noteBoth wrist cameras confirm the slate is standing upright in a white stand with a bar (the clapper stick) across its top, whose end appears to stick out past the board's edge on the left arm's side. Reaching the top edge needs a nearly horizontal approach, so I'm re-posing the left arm to point its gripper forward at the height of the stick.
move_joints
left_j11.3970left_j21.4360left_j3-0.3890
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=-0.5587 left_j1=1.8553 left_j2=2.1265 left_j3=-1.0584 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5343 right_j1=1.5921 right_j2=1.713 right_j3=-0.886 right_j4=-0.0223 right_j5=-0.0372 right_gripper=0.9992 camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.397, "left_j2": 1.436, "left_j3": -0.389}, "note": "Both wrist cameras confirm the slate is standing upright in a white stand with a bar (the clapper stick) across its top, whose end appears to stick out past the board's edge on the left arm's side. Reaching the top edge needs a nearly horizontal approach, so I'm re-posing the left arm to point its gripper forward at the height of the stick."})
tool
executing move_joints over 11 steps (1.1s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
right_cam
camera right_cam step 273
assistant
agent noteThe right gripper is intruding into the left camera's view, so I'm swinging it aside while advancing the left gripper about 4 cm closer to the standing board's top edge to see the clapper stick clearly.
move_joints
left_j11.5980left_j21.6110left_j3-0.4810right_j00.2500
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=-0.5587 left_j1=1.4296 left_j2=1.4509 left_j3=-0.49 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5365 right_j1=1.5993 right_j2=1.7153 right_j3=-0.9173 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992 camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.598, "left_j2": 1.611, "left_j3": -0.481, "right_j0": 0.25}, "note": "The right gripper is intruding into the left camera's view, so I'm swinging it aside while advancing the left gripper about 4 cm closer to the standing board's top edge to see the clapper stick clearly."})
tool
executing move_joints over 5 steps (0.5s)
step 278
top_cam
camera top_cam step 278
left_cam
camera left_cam step 278
right_cam
camera right_cam step 278
assistant
agent noteI need an unobstructed overhead picture to settle what this object actually is, so I'm folding both arms back and out of the top camera's field of view.
move_joints
left_j10.9000left_j20.8000left_j30.0000right_j10.9000right_j20.8000right_j30.0000
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=-0.5587 left_j1=1.5978 left_j2=1.5608 left_j3=-0.5011 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2649 right_j1=1.6009 right_j2=1.7153 right_j3=-0.9371 right_j4=-0.0219 right_j5=-0.0448 right_gripper=0.9992 camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 0.9, "left_j2": 0.8, "left_j3": 0.0, "right_j1": 0.9, "right_j2": 0.8, "right_j3": 0.0}, "note": "I need an unobstructed overhead picture to settle what this object actually is, so I'm folding both arms back and out of the top camera's field of view."})
tool
executing move_joints over 15 steps (1.5s)
step 293
top_cam
camera top_cam step 293
left_cam
camera left_cam step 293
right_cam
camera right_cam step 293
assistant
agent noteThe clean overhead frame shows the clapperboard standing upright in its white stand, appearing as a dark bar about 10 cm in front of where my gripper tips were. I'm driving the left gripper forward about 6 cm toward the right-hand end of that bar to close in on the clapper stick.
move_joints
left_j11.8250left_j21.8210left_j3-0.5340
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=-0.5594 left_j1=0.9222 left_j2=0.8158 left_j3=-0.0673 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9226 right_j2=0.8173 right_j3=-0.1043 right_j4=-0.0223 right_j5=-0.0452 right_gripper=0.9992 camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.825, "left_j2": 1.821, "left_j3": -0.534}, "note": "The clean overhead frame shows the clapperboard standing upright in its white stand, appearing as a dark bar about 10 cm in front of where my gripper tips were. I'm driving the left gripper forward about 6 cm toward the right-hand end of that bar to close in on the clapper stick."})
tool
executing move_joints over 16 steps (1.6s)
step 309
top_cam
camera top_cam step 309
left_cam
camera left_cam step 309
right_cam
camera right_cam step 309
assistant
agent noteThe board's top edge is a horizontal bar and I can't pinch it front-to-back with a forward-pointing gripper, so I'm reconfiguring the left arm to point its gripper sideways along the bar's axis (jaws then open front-to-back), staged about 12 cm clear of the near end of the clapper stick.
move_joints
left_j00.2230left_j12.4760left_j22.3130left_j30.1640left_j41.7940left_j50.0000
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=-0.5598 left_j1=1.8133 left_j2=1.776 left_j3=-0.5156 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9276 right_j2=0.8001 right_j3=-0.1265 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992 camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.223, "left_j1": 2.476, "left_j2": 2.313, "left_j3": 0.164, "left_j4": 1.794, "left_j5": 0.0}, "note": "The board's top edge is a horizontal bar and I can't pinch it front-to-back with a forward-pointing gripper, so I'm reconfiguring the left arm to point its gripper sideways along the bar's axis (jaws then open front-to-back), staged about 12 cm clear of the near end of the clapper stick."})
tool
executing move_joints over 29 steps (2.9s)
step 338
top_cam
camera top_cam step 338
left_cam
camera left_cam step 338
right_cam
camera right_cam step 338
assistant
agent noteI still can't tell whether the dark object is standing upright or lying flat, so I'm raising the right arm to hover its camera about 25 cm from the object and look down on it for a clear close-up.
move_joints
right_j11.3930right_j21.5700right_j3-0.8780
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=0.2077 left_j1=2.4653 left_j2=2.278 left_j3=0.1028 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9287 right_j2=0.799 right_j3=-0.1467 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992 camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.393, "right_j2": 1.57, "right_j3": -0.878}, "note": "I still can't tell whether the dark object is standing upright or lying flat, so I'm raising the right arm to hover its camera about 25 cm from the object and look down on it for a clear close-up."})
tool
executing move_joints over 13 steps (1.3s)
step 351
top_cam
camera top_cam step 351
left_cam
camera left_cam step 351
right_cam
camera right_cam step 351
assistant
agent noteFrom the right camera I can now measure the object: an upright black board about 27 cm tall standing in a white stand, top edge roughly level with the shoulders. I'm moving the left gripper to a safe staging spot just off the near end of that board, jaws open front-to-back and level with its top edge.
move_joints
left_j00.4840left_j12.1640left_j21.7000left_j30.4640left_j41.5710left_j50.0000
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=0.2089 left_j1=2.4687 left_j2=2.2814 left_j3=0.0906 left_j4=1.5681 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3861 right_j2=1.5284 right_j3=-0.8352 right_j4=-0.0227 right_j5=-0.0525 right_gripper=0.9992 camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.484, "left_j1": 2.164, "left_j2": 1.7, "left_j3": 0.464, "left_j4": 1.571, "left_j5": 0.0}, "note": "From the right camera I can now measure the object: an upright black board about 27 cm tall standing in a white stand, top edge roughly level with the shoulders. I'm moving the left gripper to a safe staging spot just off the near end of that board, jaws open front-to-back and level with its top edge."})
tool
executing move_joints over 10 steps (1.0s)
step 361
top_cam
camera top_cam step 361
left_cam
camera left_cam step 361
right_cam
camera right_cam step 361
assistant
agent noteCalibrating from the top view, the board spans about 30 cm with its near end roughly 27 cm to the right of the left shoulder. I'm swinging the left gripper to a staging point about 7 cm off that near end, still level with the top edge and with jaws open front-to-back.
move_joints
left_j00.1405left_j12.3214left_j21.9679left_j30.3535left_j41.7115left_j50.0000
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=0.4683 left_j1=2.2032 left_j2=1.7184 left_j3=0.4011 left_j4=1.5646 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3933 right_j2=1.5311 right_j3=-0.865 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.1405, "left_j1": 2.3214, "left_j2": 1.9679, "left_j3": 0.3535, "left_j4": 1.7115, "left_j5": 0.0}, "note": "Calibrating from the top view, the board spans about 30 cm with its near end roughly 27 cm to the right of the left shoulder. I'm swinging the left gripper to a staging point about 7 cm off that near end, still level with the top edge and with jaws open front-to-back."})
tool
executing move_joints over 6 steps (0.6s)
step 367
top_cam
camera top_cam step 367
left_cam
camera left_cam step 367
right_cam
camera right_cam step 367
assistant
agent noteMy two viewpoints disagree about where the left gripper sits relative to the board's top edge, so I'm panning the right arm's camera to look at the near (left-arm) end of the board — it will act as a witness camera while the left gripper closes in.
move_joints
right_j00.5600
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=0.1513 left_j1=2.3142 left_j2=1.9232 left_j3=0.3527 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3937 right_j2=1.5311 right_j3=-0.8818 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.56}, "note": "My two viewpoints disagree about where the left gripper sits relative to the board's top edge, so I'm panning the right arm's camera to look at the near (left-arm) end of the board \u2014 it will act as a witness camera while the left gripper closes in."})
tool
executing move_joints over 5 steps (0.5s)
step 372
top_cam
camera top_cam step 372
left_cam
camera left_cam step 372
right_cam
camera right_cam step 372
assistant
agent noteThe right camera now gives a clean view of the board standing back-toward-us in its white stand. I'm sliding the left gripper about 6 cm further along toward the board's near end so it enters the right camera's view and I can judge the alignment directly.
move_joints
left_j00.0067left_j12.4594left_j22.1291left_j30.3303left_j41.5780left_j50.0000
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=0.1474 left_j1=2.3169 left_j2=1.9278 left_j3=0.3367 left_j4=1.5715 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5423 right_j1=1.3941 right_j2=1.5311 right_j3=-0.8879 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.0067, "left_j1": 2.4594, "left_j2": 2.1291, "left_j3": 0.3303, "left_j4": 1.578, "left_j5": 0.0}, "note": "The right camera now gives a clean view of the board standing back-toward-us in its white stand. I'm sliding the left gripper about 6 cm further along toward the board's near end so it enters the right camera's view and I can judge the alignment directly."})
tool
executing move_joints over 4 steps (0.4s)
step 376
top_cam
camera top_cam step 376
left_cam
camera left_cam step 376
right_cam
camera right_cam step 376
assistant
agent noteThe overhead frame now clearly shows my open left jaws about 9 cm to the right of the board's near end and a few cm too far forward. I'm sliding the gripper 10 cm sideways toward the board and 3 cm back so the jaws come up alongside its top corner.
move_joints
left_j0-0.2000left_j12.6279left_j22.3946left_j30.2333left_j41.3710left_j50.0000
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=0.0265 left_j1=2.4489 left_j2=2.088 left_j3=0.3248 left_j4=1.5669 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5457 right_j1=1.3949 right_j2=1.5303 right_j3=-0.9031 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.2, "left_j1": 2.6279, "left_j2": 2.3946, "left_j3": 0.2333, "left_j4": 1.371, "left_j5": 0.0}, "note": "The overhead frame now clearly shows my open left jaws about 9 cm to the right of the board's near end and a few cm too far forward. I'm sliding the gripper 10 cm sideways toward the board and 3 cm back so the jaws come up alongside its top corner."})
tool
executing move_joints over 5 steps (0.5s)
step 381
top_cam
camera top_cam step 381
left_cam
camera left_cam step 381
right_cam
camera right_cam step 381
assistant
agent noteIn the right camera I can now make out a separate darker bar lying along the very top of the board — that is the clapper stick. My jaws are straddling the board a few cm too low, so I'm raising the gripper about 4 cm to bring them level with that stick.
move_joints
left_j0-0.1848left_j12.5313left_j22.3273left_j30.2040left_j41.3860
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=-0.1818 left_j1=2.616 left_j2=2.3474 left_j3=0.2447 left_j4=1.417 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9154 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.1848, "left_j1": 2.5313, "left_j2": 2.3273, "left_j3": 0.204, "left_j4": 1.386}, "note": "In the right camera I can now make out a separate darker bar lying along the very top of the board \u2014 that is the clapper stick. My jaws are straddling the board a few cm too low, so I'm raising the gripper about 4 cm to bring them level with that stick."})
tool
executing move_joints over 2 steps (0.2s)
step 383
top_cam
camera top_cam step 383
left_cam
camera left_cam step 383
right_cam
camera right_cam step 383
assistant
agent noteThe overhead view suggests my open jaws are now straddling the board's top a few cm in from its near end, so I'm closing the gripper to see whether it catches the clapper stick — if it stalls part-open, it has something.
move_joints
left_gripper0.0000
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=-0.1963 left_j1=2.6144 left_j2=2.3405 left_j3=0.2119 left_j4=1.3788 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9184 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The overhead view suggests my open jaws are now straddling the board's top a few cm in from its near end, so I'm closing the gripper to see whether it catches the clapper stick \u2014 if it stalls part-open, it has something."})
tool
executing move_joints over 10 steps (1.0s)
step 393
top_cam
camera top_cam step 393
left_cam
camera left_cam step 393
right_cam
camera right_cam step 393
assistant
agent noteThe jaws closed on nothing, and the overhead view shows they are sitting a few cm on the far side of the board's top edge (which is why the right camera can't see them). I'm re-opening the jaws and pulling back about 3.5 cm so they straddle the clapper stick.
move_joints
left_gripper1.0000left_j0-0.2114left_j12.4494left_j22.0324left_j30.4170left_j41.3600
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=-0.1947 left_j1=2.6011 left_j2=2.3333 left_j3=0.1978 left_j4=1.3796 left_j5=-0.0055 left_gripper=0.0118 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9245 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.2114, "left_j1": 2.4494, "left_j2": 2.0324, "left_j3": 0.417, "left_j4": 1.36}, "note": "The jaws closed on nothing, and the overhead view shows they are sitting a few cm on the far side of the board's top edge (which is why the right camera can't see them). I'm re-opening the jaws and pulling back about 3.5 cm so they straddle the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 403
top_cam
camera top_cam step 403
left_cam
camera left_cam step 403
right_cam
camera right_cam step 403
assistant
agent noteIn the overhead view my open jaws now line up with the board's top edge, straddling it a few cm in from the near end. I'm closing them to grip the clapper stick.
move_joints
left_gripper0.0500
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=-0.2073 left_j1=2.5092 left_j2=2.043 left_j3=0.3676 left_j4=1.3582 left_j5=-0.0082 left_gripper=0.9956 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9344 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.05}, "note": "In the overhead view my open jaws now line up with the board's top edge, straddling it a few cm in from the near end. I'm closing them to grip the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 413
top_cam
camera top_cam step 413
left_cam
camera left_cam step 413
right_cam
camera right_cam step 413
assistant
agent noteThe jaws closed almost fully, so they may have caught only a thin edge or nothing; I'm raising the gripper 4 cm to see whether anything comes up with it.
move_joints
left_j12.4322left_j22.0808left_j30.2421
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=-0.2081 left_j1=2.5019 left_j2=2.0369 left_j3=0.3557 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0544 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9436 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 413): [image omitted: streamed camera frame] camera 'left_cam' (step 413): [image omitted: streamed camera frame] camera 'right_cam' (step 413): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4322, "left_j2": 2.0808, "left_j3": 0.2421}, "note": "The jaws closed almost fully, so they may have caught only a thin edge or nothing; I'm raising the gripper 4 cm to see whether anything comes up with it."})
tool
executing move_joints over 2 steps (0.2s)
step 415
top_cam
camera top_cam step 415
left_cam
camera left_cam step 415
right_cam
camera right_cam step 415
assistant
agent noteNothing lifted, so I still don't know exactly where the clapper stick is. I'm bringing the right camera in closer and steeper to look down onto the board's top edge from behind and see the stick and any gap under it.
move_joints
right_j11.5603right_j21.8028right_j3-1.2425
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=-0.2073 left_j1=2.5 left_j2=2.0476 left_j3=0.3004 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0538 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9451 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992 camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.5603, "right_j2": 1.8028, "right_j3": -1.2425}, "note": "Nothing lifted, so I still don't know exactly where the clapper stick is. I'm bringing the right camera in closer and steeper to look down onto the board's top edge from behind and see the stick and any gap under it."})
tool
executing move_joints over 5 steps (0.5s)
step 420
top_cam
camera top_cam step 420
left_cam
camera left_cam step 420
right_cam
camera right_cam step 420
assistant
agent noteThe board's top edge is just above the right camera's frame; I'm tilting that camera up so I can see the top edge, the clapper stick and my left gripper together.
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=-0.207 left_j1=2.4889 left_j2=2.0521 left_j3=0.2737 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5566 right_j2=1.7641 right_j3=-1.1851 right_j4=-0.0223 right_j5=-0.0532 right_gripper=0.9992 camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.9}, "note": "The board's top edge is just above the right camera's frame; I'm tilting that camera up so I can see the top edge, the clapper stick and my left gripper together."})
tool
executing move_joints over 5 steps (0.5s)
step 425
top_cam
camera top_cam step 425
left_cam
camera left_cam step 425
right_cam
camera right_cam step 425
assistant
agent noteI need to see the board's front face to find the clapper stick, so I'm first retracting the left arm straight back and up, away from the board, before repositioning it as an overhead observer.
move_joints
left_j11.8000left_j21.5000left_j3-0.5000left_j40.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.2073 left_j1=2.4889 left_j2=2.0521 left_j3=0.2684 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0019 right_j4=-0.0227 right_j5=-0.0532 right_gripper=0.9992 camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.8, "left_j2": 1.5, "left_j3": -0.5, "left_j4": 0.0, "left_gripper": 1.0}, "note": "I need to see the board's front face to find the clapper stick, so I'm first retracting the left arm straight back and up, away from the board, before repositioning it as an overhead observer."})
tool
executing move_joints over 22 steps (2.2s)
step 447
top_cam
camera top_cam step 447
left_cam
camera left_cam step 447
right_cam
camera right_cam step 447
assistant
agent noteUsing the clean overhead frame I re-measured the board's top edge relative to my gripper. I'm bringing the open jaws back in sideways at a height a few cm below the top edge and slightly closer to the arms, to find where the board's plane actually is.
move_joints
left_j0-0.2213left_j12.3794left_j21.9046left_j30.5748left_j41.3497left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.2073 left_j1=1.8469 left_j2=1.5101 left_j3=-0.4641 left_j4=0.078 left_j5=-0.0082 left_gripper=0.9975 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0149 right_j4=-0.0223 right_j5=-0.0601 right_gripper=0.9992 camera 'top_cam' (step 447): [image omitted: streamed camera frame] camera 'left_cam' (step 447): [image omitted: streamed camera frame] camera 'right_cam' (step 447): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.2213, "left_j1": 2.3794, "left_j2": 1.9046, "left_j3": 0.5748, "left_j4": 1.3497, "left_gripper": 1.0}, "note": "Using the clean overhead frame I re-measured the board's top edge relative to my gripper. I'm bringing the open jaws back in sideways at a height a few cm below the top edge and slightly closer to the arms, to find where the board's plane actually is."})
tool
executing move_joints over 21 steps (2.1s)
step 468
top_cam
camera top_cam step 468
left_cam
camera left_cam step 468
right_cam
camera right_cam step 468
assistant
agent noteThe overhead frame shows my open jaws now overlapping the board's top edge; I'm closing them and will read how far they stall to tell whether they have the board or the clapper stick between them.
move_joints
left_gripper0.0000
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=-0.2165 left_j1=2.3669 left_j2=1.8664 left_j3=0.4908 left_j4=1.2663 left_j5=-0.009 left_gripper=0.9982 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0218 right_j4=-0.0227 right_j5=-0.0612 right_gripper=0.9992 camera 'top_cam' (step 468): [image omitted: streamed camera frame] camera 'left_cam' (step 468): [image omitted: streamed camera frame] camera 'right_cam' (step 468): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The overhead frame shows my open jaws now overlapping the board's top edge; I'm closing them and will read how far they stall to tell whether they have the board or the clapper stick between them."})
tool
executing move_joints over 10 steps (1.0s)
step 478
top_cam
camera top_cam step 478
left_cam
camera left_cam step 478
right_cam
camera right_cam step 478
assistant
agent noteThree closes at different depths all came up empty, which means my jaws are passing above the board's top edge rather than missing it fore-and-aft. I'm reopening and dropping the gripper about 5 cm lower before trying again.
move_joints
left_gripper1.0000left_j0-0.2062left_j12.6667left_j22.0790left_j30.5877left_j41.3650
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=-0.2176 left_j1=2.3768 left_j2=1.8652 left_j3=0.4751 left_j4=1.2716 left_j5=-0.009 left_gripper=0.0112 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0222 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 478): [image omitted: streamed camera frame] camera 'left_cam' (step 478): [image omitted: streamed camera frame] camera 'right_cam' (step 478): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.2062, "left_j1": 2.6667, "left_j2": 2.079, "left_j3": 0.5877, "left_j4": 1.365}, "note": "Three closes at different depths all came up empty, which means my jaws are passing above the board's top edge rather than missing it fore-and-aft. I'm reopening and dropping the gripper about 5 cm lower before trying again."})
tool
executing move_joints over 10 steps (1.0s)
step 488
top_cam
camera top_cam step 488
left_cam
camera left_cam step 488
right_cam
camera right_cam step 488
assistant
agent noteThe right camera shows my open jaws hovering a few centimetres above the board's top edge. I'm lowering the gripper another 6 cm so the jaws straddle the top edge where the clapper stick sits.
move_joints
left_j12.8290left_j22.1327left_j30.6964
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=-0.2092 left_j1=2.6591 left_j2=2.043 left_j3=0.5476 left_j4=1.343 left_j5=-0.0166 left_gripper=0.9957 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.026 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 488): [image omitted: streamed camera frame] camera 'left_cam' (step 488): [image omitted: streamed camera frame] camera 'right_cam' (step 488): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.829, "left_j2": 2.1327, "left_j3": 0.6964}, "note": "The right camera shows my open jaws hovering a few centimetres above the board's top edge. I'm lowering the gripper another 6 cm so the jaws straddle the top edge where the clapper stick sits."})
tool
executing move_joints over 3 steps (0.3s)
step 491
top_cam
camera top_cam step 491
left_cam
camera left_cam step 491
right_cam
camera right_cam step 491
assistant
agent noteThe jaws are now straddling the board's top edge in the right camera's view; closing them to grip the clapper stick.
move_joints
left_gripper0.0000
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=-0.21 left_j1=2.7815 left_j2=2.1128 left_j3=0.6434 left_j4=1.3434 left_j5=-0.02 left_gripper=0.9967 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0317 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 491): [image omitted: streamed camera frame] camera 'left_cam' (step 491): [image omitted: streamed camera frame] camera 'right_cam' (step 491): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The jaws are now straddling the board's top edge in the right camera's view; closing them to grip the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 501
top_cam
camera top_cam step 501
left_cam
camera left_cam step 501
right_cam
camera right_cam step 501
assistant
agent noteRe-measuring from the right camera, the board's top edge is much higher than I assumed — about 36 cm above the table — so all my earlier grips were far too low. I'm reopening the jaws and moving up to straddle the true top edge.
move_joints
left_gripper1.0000left_j0-0.1107left_j12.4695left_j22.4023left_j30.0672left_j41.4600
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=-0.21 left_j1=2.8532 left_j2=2.1147 left_j3=0.6331 left_j4=1.3426 left_j5=-0.0242 left_gripper=0.0108 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0378 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 501): [image omitted: streamed camera frame] camera 'left_cam' (step 501): [image omitted: streamed camera frame] camera 'right_cam' (step 501): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j0": -0.1107, "left_j1": 2.4695, "left_j2": 2.4023, "left_j3": 0.0672, "left_j4": 1.46}, "note": "Re-measuring from the right camera, the board's top edge is much higher than I assumed \u2014 about 36 cm above the table \u2014 so all my earlier grips were far too low. I'm reopening the jaws and moving up to straddle the true top edge."})
tool
executing move_joints over 10 steps (1.0s)
step 511
top_cam
camera top_cam step 511
left_cam
camera left_cam step 511
right_cam
camera right_cam step 511
assistant
agent noteThe right camera shows a jaw reaching down past the board's top edge; closing the gripper to see if it now catches the clapper stick.
move_joints
left_gripper0.0000
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=-0.1207 left_j1=2.5294 left_j2=2.3684 left_j3=0.1295 left_j4=1.4349 left_j5=-0.0273 left_gripper=0.9952 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0458 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 511): [image omitted: streamed camera frame] camera 'left_cam' (step 511): [image omitted: streamed camera frame] camera 'right_cam' (step 511): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The right camera shows a jaw reaching down past the board's top edge; closing the gripper to see if it now catches the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 521
top_cam
camera top_cam step 521
left_cam
camera left_cam step 521
right_cam
camera right_cam step 521
assistant
agent noteIn the right camera I can now clearly see a separate rounded bar — the clapper stick — lying along the board's top edge and poking out past the board's far end, which is on the right arm's side. I'm pulling the left arm back and swinging the right arm out so its open jaws come in sideways onto that protruding stick end.
move_joints
left_j11.5000left_j21.2000left_j3-0.3000left_j40.0000right_j0-0.1478right_j12.6307right_j22.7368right_j3-0.1061right_j4-1.7190right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5461 right_j1=1.5635 right_j2=1.7676 right_j3=-1.0569 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992 camera 'top_cam' (step 521): [image omitted: streamed camera frame] camera 'left_cam' (step 521): [image omitted: streamed camera frame] camera 'right_cam' (step 521): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.5, "left_j2": 1.2, "left_j3": -0.3, "left_j4": 0.0, "right_j0": -0.1478, "right_j1": 2.6307, "right_j2": 2.7368, "right_j3": -0.1061, "right_j4": -1.719, "right_gripper": 1.0}, "note": "In the right camera I can now clearly see a separate rounded bar \u2014 the clapper stick \u2014 lying along the board's top edge and poking out past the board's far end, which is on the right arm's side. I'm pulling the left arm back and swinging the right arm out so its open jaws come in sideways onto that protruding stick end."})
tool
executing move_joints over 28 steps (2.8s)
step 549
top_cam
camera top_cam step 549
left_cam
camera left_cam step 549
right_cam
camera right_cam step 549
assistant
agent noteBoth wrist cameras are jammed up against dark surfaces and the left arm stopped responding to commands, so I'm returning both arms to a neutral raised pose to clear any collision and get a clean look at the scene.
move_joints
left_j00.0000left_j11.2000left_j21.0000left_j3-0.3000left_j40.0000left_j50.0000left_gripper1.0000right_j00.0000right_j11.2000right_j21.0000right_j3-0.3000right_j40.0000right_j50.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.1345 right_j1=2.6148 right_j2=2.706 right_j3=-0.165 right_j4=-1.5749 right_j5=-0.0711 right_gripper=0.9992 camera 'top_cam' (step 549): [image omitted: streamed camera frame] camera 'left_cam' (step 549): [image omitted: streamed camera frame] camera 'right_cam' (step 549): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.0, "left_j1": 1.2, "left_j2": 1.0, "left_j3": -0.3, "left_j4": 0.0, "left_j5": 0.0, "left_gripper": 1.0, "right_j0": 0.0, "right_j1": 1.2, "right_j2": 1.0, "right_j3": -0.3, "right_j4": 0.0, "right_j5": 0.0, "right_gripper": 1.0}, "note": "Both wrist cameras are jammed up against dark surfaces and the left arm stopped responding to commands, so I'm returning both arms to a neutral raised pose to clear any collision and get a clean look at the scene."})
tool
executing move_joints over 28 steps (2.8s)
step 577
top_cam
camera top_cam step 577
left_cam
camera left_cam step 577
right_cam
camera right_cam step 577
assistant
agent noteThe left arm has stopped responding, so I'll finish with the right arm alone. First a calibration move: swinging the right base joint to +0.7 so I can see which way its gripper travels in the overhead image and fix my left/right mapping for good.
move_joints
right_j00.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.0029 right_j1=1.2289 right_j2=1.0176 right_j3=-0.3115 right_j4=-0.0708 right_j5=-0.0166 right_gripper=0.9992 camera 'top_cam' (step 577): [image omitted: streamed camera frame] camera 'left_cam' (step 577): [image omitted: streamed camera frame] camera 'right_cam' (step 577): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7}, "note": "The left arm has stopped responding, so I'll finish with the right arm alone. First a calibration move: swinging the right base joint to +0.7 so I can see which way its gripper travels in the overhead image and fix my left/right mapping for good."})
tool
executing move_joints over 12 steps (1.2s)
step 589
top_cam
camera top_cam step 589
left_cam
camera left_cam step 589
right_cam
camera right_cam step 589
assistant
agent noteCalibration confirmed: in the overhead image, right is +y, so the clapper stick's protruding end is the one nearest the right arm. I'm swinging the right gripper round to point along the stick's axis, staged about 8 cm short of that end at the height of the board's top edge.
move_joints
right_j0-0.3980right_j12.1623right_j21.9165right_j30.2458right_j4-1.6200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6804 right_j1=1.2304 right_j2=1.0019 right_j3=-0.3222 right_j4=-0.0677 right_j5=-0.0181 right_gripper=0.9992 camera 'top_cam' (step 589): [image omitted: streamed camera frame] camera 'left_cam' (step 589): [image omitted: streamed camera frame] camera 'right_cam' (step 589): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": -0.398, "right_j1": 2.1623, "right_j2": 1.9165, "right_j3": 0.2458, "right_j4": -1.62, "right_gripper": 1.0}, "note": "Calibration confirmed: in the overhead image, right is +y, so the clapper stick's protruding end is the one nearest the right arm. I'm swinging the right gripper round to point along the stick's axis, staged about 8 cm short of that end at the height of the board's top edge."})
tool
executing move_joints over 25 steps (2.5s)
step 614
top_cam
camera top_cam step 614
left_cam
camera left_cam step 614
right_cam
camera right_cam step 614
assistant
agent noteI built a proper overhead calibration from two known gripper positions: the board is a 32 cm slate whose near end sits about 55 cm out and 12 cm to the left of the right shoulder, top edge near shoulder height. I'm extending the right arm to a staging point 8 cm short of that near end.
move_joints
right_j0-0.3736right_j12.5504right_j22.6017right_j3-0.0513right_j4-1.5950
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.382 right_j1=2.1487 right_j2=1.8832 right_j3=0.2016 right_j4=-1.5497 right_j5=-0.0257 right_gripper=0.9992 camera 'top_cam' (step 614): [image omitted: streamed camera frame] camera 'left_cam' (step 614): [image omitted: streamed camera frame] camera 'right_cam' (step 614): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": -0.3736, "right_j1": 2.5504, "right_j2": 2.6017, "right_j3": -0.0513, "right_j4": -1.595}, "note": "I built a proper overhead calibration from two known gripper positions: the board is a 32 cm slate whose near end sits about 55 cm out and 12 cm to the left of the right shoulder, top edge near shoulder height. I'm extending the right arm to a staging point 8 cm short of that near end."})
tool
executing move_joints over 12 steps (1.2s)
step 626
top_cam
camera top_cam step 626
left_cam
camera left_cam step 626
right_cam
camera right_cam step 626
assistant
agent noteBlind sideways approaches keep missing, so I'm switching to a hook strategy I can watch: I've aimed the right arm's camera at the near end of the board with the gripper pointing straight ahead, so the fingers can slide under the protruding end of the clapper stick while I see them.
move_joints
right_j00.2800right_j11.5708right_j21.5316right_j3-0.2108right_j40.0000right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.3759 right_j1=2.5355 right_j2=2.5649 right_j3=-0.0254 right_j4=-1.5753 right_j5=-0.0372 right_gripper=0.9992 camera 'top_cam' (step 626): [image omitted: streamed camera frame] camera 'left_cam' (step 626): [image omitted: streamed camera frame] camera 'right_cam' (step 626): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.28, "right_j1": 1.5708, "right_j2": 1.5316, "right_j3": -0.2108, "right_j4": 0.0, "right_j5": 0.0}, "note": "Blind sideways approaches keep missing, so I'm switching to a hook strategy I can watch: I've aimed the right arm's camera at the near end of the board with the gripper pointing straight ahead, so the fingers can slide under the protruding end of the clapper stick while I see them."})
tool
executing move_joints over 26 steps (2.6s)
step 652
top_cam
camera top_cam step 652
left_cam
camera left_cam step 652
right_cam
camera right_cam step 652
assistant
agent noteThe right camera is looking over the top of everything at the backdrop, so I'm tilting the wrist down about 30° to bring the table and the near end of the clapperboard into view.
move_joints
right_j3-0.7500
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2722 right_j1=1.6062 right_j2=1.5417 right_j3=-0.2176 right_j4=-0.0784 right_j5=-0.0212 right_gripper=0.9992 camera 'top_cam' (step 652): [image omitted: streamed camera frame] camera 'left_cam' (step 652): [image omitted: streamed camera frame] camera 'right_cam' (step 652): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.75}, "note": "The right camera is looking over the top of everything at the backdrop, so I'm tilting the wrist down about 30\u00b0 to bring the table and the near end of the clapperboard into view."})
tool
executing move_joints over 9 steps (0.9s)
step 661
top_cam
camera top_cam step 661
left_cam
camera left_cam step 661
right_cam
camera right_cam step 661
assistant
agent noteThe right camera now sees the clapperboard at the left of frame with its support. I'm turning and tilting the wrist so the gripper points directly at the board's near end, which also brings it to the centre of the camera view.
move_joints
right_j00.4270right_j3-0.8120
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2729 right_j1=1.6016 right_j2=1.5375 right_j3=-0.6918 right_j4=-0.0685 right_j5=-0.0189 right_gripper=0.9992 camera 'top_cam' (step 661): [image omitted: streamed camera frame] camera 'left_cam' (step 661): [image omitted: streamed camera frame] camera 'right_cam' (step 661): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.427, "right_j3": -0.812}, "note": "The right camera now sees the clapperboard at the left of frame with its support. I'm turning and tilting the wrist so the gripper points directly at the board's near end, which also brings it to the centre of the camera view."})
tool
executing move_joints over 3 steps (0.3s)
step 664
top_cam
camera top_cam step 664
left_cam
camera left_cam step 664
right_cam
camera right_cam step 664
assistant
agent noteThe board is centred in the right camera. I'm extending the arm about 10 cm along that line of sight so the open fingers close in on the near end of the clapper, watching them approach in the wrist view.
move_joints
right_j11.9684right_j21.8899right_j3-0.7715
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4019 right_j1=1.6016 right_j2=1.5375 right_j3=-0.7853 right_j4=-0.0612 right_j5=-0.0185 right_gripper=0.9992 camera 'top_cam' (step 664): [image omitted: streamed camera frame] camera 'left_cam' (step 664): [image omitted: streamed camera frame] camera 'right_cam' (step 664): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9684, "right_j2": 1.8899, "right_j3": -0.7715}, "note": "The board is centred in the right camera. I'm extending the arm about 10 cm along that line of sight so the open fingers close in on the near end of the clapper, watching them approach in the wrist view."})
tool
executing move_joints over 6 steps (0.6s)
step 670
top_cam
camera top_cam step 670
left_cam
camera left_cam step 670
right_cam
camera right_cam step 670
assistant
agent noteThe wrist camera shows the clapper bar just below my aim point; I'm advancing about 5 cm along the line of sight and rolling the wrist 90° so the jaws will close across the bar rather than along it.
move_joints
right_j12.1050right_j21.8971right_j3-0.7135right_j51.5700
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4053 right_j1=1.9587 right_j2=1.8439 right_j3=-0.8066 right_j4=-0.0647 right_j5=-0.0265 right_gripper=0.9992 camera 'top_cam' (step 670): [image omitted: streamed camera frame] camera 'left_cam' (step 670): [image omitted: streamed camera frame] camera 'right_cam' (step 670): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.105, "right_j2": 1.8971, "right_j3": -0.7135, "right_j5": 1.57}, "note": "The wrist camera shows the clapper bar just below my aim point; I'm advancing about 5 cm along the line of sight and rolling the wrist 90\u00b0 so the jaws will close across the bar rather than along it."})
tool
executing move_joints over 26 steps (2.6s)
step 696
top_cam
camera top_cam step 696
left_cam
camera left_cam step 696
right_cam
camera right_cam step 696
assistant
agent noteThe gripper is right at the near end of the clapper bar but a touch to its side and low. I'm shifting about 4 cm toward the bar and lifting 2-3 cm so the open jaws sit just above it.
move_joints
right_j00.4850right_j12.0131right_j21.8694right_j3-0.7763
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4095 right_j1=2.0918 right_j2=1.8542 right_j3=-0.7689 right_j4=-0.0685 right_j5=1.4811 right_gripper=0.9992 camera 'top_cam' (step 696): [image omitted: streamed camera frame] camera 'left_cam' (step 696): [image omitted: streamed camera frame] camera 'right_cam' (step 696): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.485, "right_j1": 2.0131, "right_j2": 1.8694, "right_j3": -0.7763}, "note": "The gripper is right at the near end of the clapper bar but a touch to its side and low. I'm shifting about 4 cm toward the bar and lifting 2-3 cm so the open jaws sit just above it."})
tool
executing move_joints over 2 steps (0.2s)
step 698
top_cam
camera top_cam step 698
left_cam
camera left_cam step 698
right_cam
camera right_cam step 698
assistant
agent noteThe overhead view finally reads clearly: a small black clapperboard lies on the table just past my fingertips. I'm swinging about 8 cm further toward it and lifting slightly so the open jaws hover over the board rather than bumping its edge.
move_joints
right_j00.5900right_j12.0026right_j21.9752right_j3-0.8926
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.44 right_j1=2.083 right_j2=1.8648 right_j3=-0.7738 right_j4=-0.0647 right_j5=1.5177 right_gripper=0.9992 camera 'top_cam' (step 698): [image omitted: streamed camera frame] camera 'left_cam' (step 698): [image omitted: streamed camera frame] camera 'right_cam' (step 698): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.59, "right_j1": 2.0026, "right_j2": 1.9752, "right_j3": -0.8926}, "note": "The overhead view finally reads clearly: a small black clapperboard lies on the table just past my fingertips. I'm swinging about 8 cm further toward it and lifting slightly so the open jaws hover over the board rather than bumping its edge."})
tool
executing move_joints over 3 steps (0.3s)
step 701
top_cam
camera top_cam step 701
left_cam
camera left_cam step 701
right_cam
camera right_cam step 701
assistant
agent noteI'm too close to make sense of the board's structure, so I'm pulling the right arm back and up to look down on the clapperboard from about 25 cm and identify the hinged clapper stick and its free edge.
move_joints
right_j11.9989right_j22.2591right_j3-1.3602right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5518 right_j1=2.0457 right_j2=1.9358 right_j3=-0.8597 right_j4=-0.0715 right_j5=1.5036 right_gripper=0.9992 camera 'top_cam' (step 701): [image omitted: streamed camera frame] camera 'left_cam' (step 701): [image omitted: streamed camera frame] camera 'right_cam' (step 701): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9989, "right_j2": 2.2591, "right_j3": -1.3602, "right_j5": 0.0}, "note": "I'm too close to make sense of the board's structure, so I'm pulling the right arm back and up to look down on the clapperboard from about 25 cm and identify the hinged clapper stick and its free edge."})
tool
executing move_joints over 24 steps (2.4s)
step 725
top_cam
camera top_cam step 725
left_cam
camera left_cam step 725
right_cam
camera right_cam step 725
assistant
agent noteNow I can see clearly: the clapperboard is a black slate leaning back on a small kickstand, facing away from the arms, with its clapper edge at the top. I'm re-aiming the wrist at that top edge so it sits in the centre of the camera view before I move in.
move_joints
right_j3-0.6500right_j40.2670
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0323 right_j2=2.2284 right_j3=-1.3384 right_j4=-0.0792 right_j5=0.0746 right_gripper=0.9992 camera 'top_cam' (step 725): [image omitted: streamed camera frame] camera 'left_cam' (step 725): [image omitted: streamed camera frame] camera 'right_cam' (step 725): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.65, "right_j4": 0.267}, "note": "Now I can see clearly: the clapperboard is a black slate leaning back on a small kickstand, facing away from the arms, with its clapper edge at the top. I'm re-aiming the wrist at that top edge so it sits in the centre of the camera view before I move in."})
tool
executing move_joints over 11 steps (1.1s)
step 736
top_cam
camera top_cam step 736
left_cam
camera left_cam step 736
right_cam
camera right_cam step 736
assistant
agent notePlan change: rather than pinch, I'll hook. I'm closing the fingers into a single hook and reaching out over the far top edge of the leaning slate, where the clapper stick lies, so I can catch it and lift.
move_joints
right_gripper0.0000right_j00.4790right_j12.4902right_j22.8998right_j3-1.1950right_j40.0790
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0315 right_j2=2.228 right_j3=-0.7662 right_j4=0.2153 right_j5=0.0444 right_gripper=0.9992 camera 'top_cam' (step 736): [image omitted: streamed camera frame] camera 'left_cam' (step 736): [image omitted: streamed camera frame] camera 'right_cam' (step 736): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0, "right_j0": 0.479, "right_j1": 2.4902, "right_j2": 2.8998, "right_j3": -1.195, "right_j4": 0.079}, "note": "Plan change: rather than pinch, I'll hook. I'm closing the fingers into a single hook and reaching out over the far top edge of the leaning slate, where the clapper stick lies, so I can catch it and lift."})
tool
executing move_joints over 11 steps (1.1s)
step 747
top_cam
camera top_cam step 747
left_cam
camera left_cam step 747
right_cam
camera right_cam step 747
assistant
agent noteThe overhead view shows my closed hook directly above the dark clapperboard; I'm lowering it about 5 cm so the fingertip comes down beside the clapper stick, ready to sweep it upward.
move_joints
right_j00.4867right_j12.3738right_j22.4744right_j3-0.8752right_j40.0877
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4873 right_j1=2.4741 right_j2=2.8647 right_j3=-1.1652 right_j4=0.0883 right_j5=0.0338 right_gripper=0.0097 camera 'top_cam' (step 747): [image omitted: streamed camera frame] camera 'left_cam' (step 747): [image omitted: streamed camera frame] camera 'right_cam' (step 747): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4867, "right_j1": 2.3738, "right_j2": 2.4744, "right_j3": -0.8752, "right_j4": 0.0877}, "note": "The overhead view shows my closed hook directly above the dark clapperboard; I'm lowering it about 5 cm so the fingertip comes down beside the clapper stick, ready to sweep it upward."})
tool
executing move_joints over 7 steps (0.7s)
step 754
top_cam
camera top_cam step 754
left_cam
camera left_cam step 754
right_cam
camera right_cam step 754
assistant
agent noteThe wrist view shows I am poking at a camera-stand pole, not the clapperboard, so I'm pulling the right arm back and up to survey the table and find where the slate actually is.
move_joints
right_j00.0000right_j11.4000right_j21.2000right_j3-0.9000right_j40.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4843 right_j1=2.442 right_j2=2.4882 right_j3=-0.9489 right_j4=0.0742 right_j5=0.0334 right_gripper=0.0116 camera 'top_cam' (step 754): [image omitted: streamed camera frame] camera 'left_cam' (step 754): [image omitted: streamed camera frame] camera 'right_cam' (step 754): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 1.4, "right_j2": 1.2, "right_j3": -0.9, "right_j4": 0.0, "right_gripper": 1.0}, "note": "The wrist view shows I am poking at a camera-stand pole, not the clapperboard, so I'm pulling the right arm back and up to survey the table and find where the slate actually is."})
tool
executing move_joints over 21 steps (2.1s)
step 775
top_cam
camera top_cam step 775
left_cam
camera left_cam step 775
right_cam
camera right_cam step 775
assistant
agent noteClean overhead shot: the slate stands near-vertical about 55 cm out and 28 cm to the left of the right shoulder, with its small stand behind it. I'm bringing the open jaws in at 45° with the wrist rolled so they straddle the very top edge, where the clapper stick sits.
move_joints
right_j00.4711right_j12.4537right_j22.7443right_j3-1.0760right_j40.0000right_j51.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0071 right_j1=1.4292 right_j2=1.2167 right_j3=-0.9138 right_j4=0.0124 right_j5=0.0257 right_gripper=0.9975 camera 'top_cam' (step 775): [image omitted: streamed camera frame] camera 'left_cam' (step 775): [image omitted: streamed camera frame] camera 'right_cam' (step 775): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4711, "right_j1": 2.4537, "right_j2": 2.7443, "right_j3": -1.076, "right_j4": 0.0, "right_j5": 1.57, "right_gripper": 1.0}, "note": "Clean overhead shot: the slate stands near-vertical about 55 cm out and 28 cm to the left of the right shoulder, with its small stand behind it. I'm bringing the open jaws in at 45\u00b0 with the wrist rolled so they straddle the very top edge, where the clapper stick sits."})
tool
executing move_joints over 25 steps (2.5s)
step 800
top_cam
camera top_cam step 800
left_cam
camera left_cam step 800
right_cam
camera right_cam step 800
assistant
agent noteThe jaws are open around the slate's top edge in the wrist view; closing them now to take hold of the clapper stick.
move_joints
right_gripper0.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4679 right_j1=2.439 right_j2=2.706 right_j3=-1.1004 right_j4=-0.0059 right_j5=1.4811 right_gripper=0.9986 camera 'top_cam' (step 800): [image omitted: streamed camera frame] camera 'left_cam' (step 800): [image omitted: streamed camera frame] camera 'right_cam' (step 800): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The jaws are open around the slate's top edge in the wrist view; closing them now to take hold of the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 810
top_cam
camera top_cam step 810
left_cam
camera left_cam step 810
right_cam
camera right_cam step 810
assistant
agent noteAnother empty close — I may be grabbing at the table edge rather than the slate. I'm pulling the right arm right back to its base so its camera gives a wide view of the whole table and I can locate the clapperboard properly.
move_joints
right_j00.3500right_j11.0000right_j20.9000right_j3-0.5500right_j40.0000right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4728 right_j1=2.4538 right_j2=2.7083 right_j3=-1.1061 right_j4=-0.0166 right_j5=1.4769 right_gripper=0.0096 camera 'top_cam' (step 810): [image omitted: streamed camera frame] camera 'left_cam' (step 810): [image omitted: streamed camera frame] camera 'right_cam' (step 810): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.35, "right_j1": 1.0, "right_j2": 0.9, "right_j3": -0.55, "right_j4": 0.0, "right_j5": 0.0}, "note": "Another empty close \u2014 I may be grabbing at the table edge rather than the slate. I'm pulling the right arm right back to its base so its camera gives a wide view of the whole table and I can locate the clapperboard properly."})
tool
executing move_joints over 29 steps (2.9s)
step 839
top_cam
camera top_cam step 839
left_cam
camera left_cam step 839
right_cam
camera right_cam step 839
assistant
agent noteGood wide view: the clapperboard is a black slate standing upright in a small white stand, facing away from the arms. Its top is cut off, so I'm tilting the camera up to see the whole slate and its clapper stick.
move_joints
right_j3-0.2800
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3531 right_j1=1.0248 right_j2=0.9184 right_j3=-0.5915 right_j4=-0.0124 right_j5=0.062 right_gripper=0.011 camera 'top_cam' (step 839): [image omitted: streamed camera frame] camera 'left_cam' (step 839): [image omitted: streamed camera frame] camera 'right_cam' (step 839): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.28}, "note": "Good wide view: the clapperboard is a black slate standing upright in a small white stand, facing away from the arms. Its top is cut off, so I'm tilting the camera up to see the whole slate and its clapper stick."})
tool
executing move_joints over 5 steps (0.5s)
step 844
top_cam
camera top_cam step 844
left_cam
camera left_cam step 844
right_cam
camera right_cam step 844
assistant
agent noteFrom this wide view I could finally measure the slate properly: its top edge is about 35 cm forward, 25 cm left of the right shoulder and 27 cm above the table — much closer than I had assumed. I'm bringing the half-open jaws down at 50° to straddle that top edge where the clapper stick is.
move_joints
right_j00.6202right_j11.8663right_j22.5487right_j3-1.5551right_j40.0000right_j51.5700right_gripper0.6000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3511 right_j1=1.0286 right_j2=0.9016 right_j3=-0.3836 right_j4=-0.0166 right_j5=0.0376 right_gripper=0.0126 camera 'top_cam' (step 844): [image omitted: streamed camera frame] camera 'left_cam' (step 844): [image omitted: streamed camera frame] camera 'right_cam' (step 844): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.6202, "right_j1": 1.8663, "right_j2": 2.5487, "right_j3": -1.5551, "right_j4": 0.0, "right_j5": 1.57, "right_gripper": 0.6}, "note": "From this wide view I could finally measure the slate properly: its top edge is about 35 cm forward, 25 cm left of the right shoulder and 27 cm above the table \u2014 much closer than I had assumed. I'm bringing the half-open jaws down at 50\u00b0 to straddle that top edge where the clapper stick is."})
tool
executing move_joints over 27 steps (2.7s)
step 871
top_cam
camera top_cam step 871
left_cam
camera left_cam step 871
right_cam
camera right_cam step 871
assistant
agent noteThe wrist camera shows the jaws right down at the slate's top edge and stand; closing them to try to take the clapper stick.
move_joints
right_gripper0.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6167 right_j1=1.8572 right_j2=2.5122 right_j3=-1.5208 right_j4=-0.0158 right_j5=1.4895 right_gripper=0.599 camera 'top_cam' (step 871): [image omitted: streamed camera frame] camera 'left_cam' (step 871): [image omitted: streamed camera frame] camera 'right_cam' (step 871): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The wrist camera shows the jaws right down at the slate's top edge and stand; closing them to try to take the clapper stick."})
tool
executing move_joints over 6 steps (0.6s)
step 877
top_cam
camera top_cam step 877
left_cam
camera left_cam step 877
right_cam
camera right_cam step 877
assistant
agent noteThe overhead frame shows my gripper is past the slate, off to its far right; I'm shifting roughly 10 cm back toward the arms and 10 cm sideways so the open jaws come down over the middle of the slate's top edge.
move_joints
right_j00.4636right_j11.4652right_j22.1005right_j3-1.5080right_gripper0.6000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6186 right_j1=1.8637 right_j2=2.5137 right_j3=-1.5459 right_j4=-0.0208 right_j5=1.496 right_gripper=0.0097 camera 'top_cam' (step 877): [image omitted: streamed camera frame] camera 'left_cam' (step 877): [image omitted: streamed camera frame] camera 'right_cam' (step 877): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4636, "right_j1": 1.4652, "right_j2": 2.1005, "right_j3": -1.508, "right_gripper": 0.6}, "note": "The overhead frame shows my gripper is past the slate, off to its far right; I'm shifting roughly 10 cm back toward the arms and 10 cm sideways so the open jaws come down over the middle of the slate's top edge."})
tool
executing move_joints over 7 steps (0.7s)
step 884
top_cam
camera top_cam step 884
left_cam
camera left_cam step 884
right_cam
camera right_cam step 884
assistant
agent noteCross-checking the two views tells me the wrist camera image is mirrored, so the slate is actually almost straight ahead of the right shoulder, not off to the left. I'm swinging the open jaws back to that position, over the slate's top edge.
move_joints
right_j00.0745right_j11.7273right_j22.3673right_j3-1.5127right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4721 right_j1=1.4872 right_j2=2.117 right_j3=-1.5387 right_j4=-0.0238 right_j5=1.4925 right_gripper=0.596 camera 'top_cam' (step 884): [image omitted: streamed camera frame] camera 'left_cam' (step 884): [image omitted: streamed camera frame] camera 'right_cam' (step 884): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0745, "right_j1": 1.7273, "right_j2": 2.3673, "right_j3": -1.5127, "right_j4": 0.0}, "note": "Cross-checking the two views tells me the wrist camera image is mirrored, so the slate is actually almost straight ahead of the right shoulder, not off to the left. I'm swinging the open jaws back to that position, over the slate's top edge."})
tool
executing move_joints over 7 steps (0.7s)
step 891
top_cam
camera top_cam step 891
left_cam
camera left_cam step 891
right_cam
camera right_cam step 891
assistant
agent noteRolling the wrist back to level so the camera image is upright and I can judge where the slate is relative to the jaws without the 90° twist confusing me.
move_joints
right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.094 right_j1=1.7157 right_j2=2.3379 right_j3=-1.5459 right_j4=-0.0196 right_j5=1.4918 right_gripper=0.5973 camera 'top_cam' (step 891): [image omitted: streamed camera frame] camera 'left_cam' (step 891): [image omitted: streamed camera frame] camera 'right_cam' (step 891): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.0}, "note": "Rolling the wrist back to level so the camera image is upright and I can judge where the slate is relative to the jaws without the 90\u00b0 twist confusing me."})
tool
executing move_joints over 24 steps (2.4s)
step 915
top_cam
camera top_cam step 915
left_cam
camera left_cam step 915
right_cam
camera right_cam step 915
assistant
agent noteWith an upright camera image I can see the slate standing at the left of frame and estimate its top edge is about 56 cm out and 17 cm to the left. I'm bringing the closed gripper to hover just behind and above that top edge, ready to hook the clapper stick forward and up.
move_joints
right_gripper0.0000right_j00.3496right_j11.8999right_j22.2765right_j3-0.9002right_j40.0558right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0944 right_j1=1.7279 right_j2=2.3436 right_j3=-1.5536 right_j4=-0.0231 right_j5=0.0723 right_gripper=0.5975 camera 'top_cam' (step 915): [image omitted: streamed camera frame] camera 'left_cam' (step 915): [image omitted: streamed camera frame] camera 'right_cam' (step 915): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0, "right_j0": 0.3496, "right_j1": 1.8999, "right_j2": 2.2765, "right_j3": -0.9002, "right_j4": 0.0558, "right_j5": 0.0}, "note": "With an upright camera image I can see the slate standing at the left of frame and estimate its top edge is about 56 cm out and 17 cm to the left. I'm bringing the closed gripper to hover just behind and above that top edge, ready to hook the clapper stick forward and up."})
tool
executing move_joints over 11 steps (1.1s)
step 926
top_cam
camera top_cam step 926
left_cam
camera left_cam step 926
right_cam
camera right_cam step 926
assistant
agent noteI'm still not sure which object in the wrist view is the slate, so I'm lifting the right arm and pointing its camera almost straight down over the middle of the table to get a plan view that includes both the slate and my own fingers.
move_joints
right_j00.2500right_j11.7475right_j22.3608right_j3-1.8133right_j40.0000right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3424 right_j1=1.8935 right_j2=2.2814 right_j3=-1.0092 right_j4=0.0334 right_j5=-0.0013 right_gripper=0.0094 camera 'top_cam' (step 926): [image omitted: streamed camera frame] camera 'left_cam' (step 926): [image omitted: streamed camera frame] camera 'right_cam' (step 926): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.25, "right_j1": 1.7475, "right_j2": 2.3608, "right_j3": -1.8133, "right_j4": 0.0, "right_j5": 0.0}, "note": "I'm still not sure which object in the wrist view is the slate, so I'm lifting the right arm and pointing its camera almost straight down over the middle of the table to get a plan view that includes both the slate and my own fingers."})
tool
executing move_joints over 13 steps (1.3s)
step 939
top_cam
camera top_cam step 939
left_cam
camera left_cam step 939
right_cam
camera right_cam step 939
assistant
agent noteThe near-overhead wrist view shows the slate standing in its small stand about 50 cm out and 22 cm to the left, with its top edge roughly 13 cm above the shoulder line. I'm bringing the open jaws in at 40° to sit around that top edge.
move_joints
right_j00.4076right_j12.0572right_j22.3005right_j3-0.9414right_j40.0000right_j51.5700right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2531 right_j1=1.776 right_j2=2.3405 right_j3=-1.6958 right_j4=0.0166 right_j5=-0.0086 right_gripper=0.0116 camera 'top_cam' (step 939): [image omitted: streamed camera frame] camera 'left_cam' (step 939): [image omitted: streamed camera frame] camera 'right_cam' (step 939): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4076, "right_j1": 2.0572, "right_j2": 2.3005, "right_j3": -0.9414, "right_j4": 0.0, "right_j5": 1.57, "right_gripper": 0.7}, "note": "The near-overhead wrist view shows the slate standing in its small stand about 50 cm out and 22 cm to the left, with its top edge roughly 13 cm above the shoulder line. I'm bringing the open jaws in at 40\u00b0 to sit around that top edge."})
tool
executing move_joints over 26 steps (2.6s)
step 965
top_cam
camera top_cam step 965
left_cam
camera left_cam step 965
right_cam
camera right_cam step 965
assistant
agent noteThe overhead frame now shows my open jaws and the slate together: the jaws are about 8 cm short and to the near side of the slate's top edge. I'm nudging the gripper that distance forward and across so the top edge sits between the jaws.
move_joints
right_j00.5107right_j12.3186right_j22.7126right_j3-1.0921right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4061 right_j1=2.0487 right_j2=2.3089 right_j3=-1.0199 right_j4=-0.0051 right_j5=1.4876 right_gripper=0.6986 camera 'top_cam' (step 965): [image omitted: streamed camera frame] camera 'left_cam' (step 965): [image omitted: streamed camera frame] camera 'right_cam' (step 965): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5107, "right_j1": 2.3186, "right_j2": 2.7126, "right_j3": -1.0921, "right_j4": 0.0}, "note": "The overhead frame now shows my open jaws and the slate together: the jaws are about 8 cm short and to the near side of the slate's top edge. I'm nudging the gripper that distance forward and across so the top edge sits between the jaws."})
tool
executing move_joints over 7 steps (0.7s)
step 972
top_cam
camera top_cam step 972
left_cam
camera left_cam step 972
right_cam
camera right_cam step 972
assistant
agent noteOverhead, the open jaws now sit right on the slate's top edge; closing them to take hold of the clapper stick.
move_joints
right_gripper0.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5083 right_j1=2.3058 right_j2=2.672 right_j3=-1.1015 right_j4=-0.0055 right_j5=1.4982 right_gripper=0.6986 camera 'top_cam' (step 972): [image omitted: streamed camera frame] camera 'left_cam' (step 972): [image omitted: streamed camera frame] camera 'right_cam' (step 972): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Overhead, the open jaws now sit right on the slate's top edge; closing them to take hold of the clapper stick."})
tool
executing move_joints over 7 steps (0.7s)
step 979
top_cam
camera top_cam step 979
left_cam
camera left_cam step 979
right_cam
camera right_cam step 979
assistant
agent noteStill closing on air, so I'm probing 6 cm straight down with the closed gripper to find the actual height of the slate's top edge by contact.
move_joints
right_j12.2391right_j22.2946right_j3-0.8213
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.514 right_j1=2.3161 right_j2=2.6747 right_j3=-1.1244 right_j4=-0.0162 right_j5=1.4921 right_gripper=0.0099 camera 'top_cam' (step 979): [image omitted: streamed camera frame] camera 'left_cam' (step 979): [image omitted: streamed camera frame] camera 'right_cam' (step 979): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2391, "right_j2": 2.2946, "right_j3": -0.8213}, "note": "Still closing on air, so I'm probing 6 cm straight down with the closed gripper to find the actual height of the slate's top edge by contact."})
tool
executing move_joints over 7 steps (0.7s)
step 986
top_cam
camera top_cam step 986
left_cam
camera left_cam step 986
right_cam
camera right_cam step 986
assistant
agent noteThe overhead frame shows my jaws sitting about 9 cm to the near side of the black slate; I'm opening them and shifting that distance sideways so the slate's top edge lands between the fingers.
move_joints
right_gripper0.7000right_j00.6414right_j12.4631right_j22.6427right_j3-0.8777right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5144 right_j1=2.2929 right_j2=2.3089 right_j3=-0.8928 right_j4=-0.0208 right_j5=1.4921 right_gripper=0.011 camera 'top_cam' (step 986): [image omitted: streamed camera frame] camera 'left_cam' (step 986): [image omitted: streamed camera frame] camera 'right_cam' (step 986): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.7, "right_j0": 0.6414, "right_j1": 2.4631, "right_j2": 2.6427, "right_j3": -0.8777, "right_j4": 0.0}, "note": "The overhead frame shows my jaws sitting about 9 cm to the near side of the black slate; I'm opening them and shifting that distance sideways so the slate's top edge lands between the fingers."})
tool
executing move_joints over 7 steps (0.7s)
step 993
top_cam
camera top_cam step 993
left_cam
camera left_cam step 993
right_cam
camera right_cam step 993
assistant
agent noteThe wrist view shows a pale part of the slate's stand between my fingers; closing the jaws to grip.
move_joints
right_gripper0.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6392 right_j1=2.45 right_j2=2.6049 right_j3=-0.8948 right_j4=-0.017 right_j5=1.4918 right_gripper=0.6952 camera 'top_cam' (step 993): [image omitted: streamed camera frame] camera 'left_cam' (step 993): [image omitted: streamed camera frame] camera 'right_cam' (step 993): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The wrist view shows a pale part of the slate's stand between my fingers; closing the jaws to grip."})
tool
executing move_joints over 7 steps (0.7s)
step 1000
top_cam
camera top_cam step 1000
left_cam
camera left_cam step 1000
right_cam
camera right_cam step 1000
assistant
agent noteStill nothing between the jaws, so the slate's top must be lower than I estimated. I'm reopening and dropping the gripper another 5 cm at the same spot before closing again.
move_joints
right_gripper0.7000right_j12.4415right_j22.3766right_j3-0.6940
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4557 right_j2=2.6072 right_j3=-0.9104 right_j4=-0.0242 right_j5=1.4883 right_gripper=0.0097 camera 'top_cam' (step 1000): [image omitted: streamed camera frame] camera 'left_cam' (step 1000): [image omitted: streamed camera frame] camera 'right_cam' (step 1000): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.7, "right_j1": 2.4415, "right_j2": 2.3766, "right_j3": -0.694}, "note": "Still nothing between the jaws, so the slate's top must be lower than I estimated. I'm reopening and dropping the gripper another 5 cm at the same spot before closing again."})
tool
executing move_joints over 7 steps (0.7s)
step 1007
top_cam
camera top_cam step 1007
left_cam
camera left_cam step 1007
right_cam
camera right_cam step 1007
assistant
agent noteThe wrist view shows I have the stand's ball joint between my fingers, which means I'm low and too far forward. I'm moving 6 cm back toward the arms and 10 cm up, where the slate's top edge and clapper stick should be.
move_joints
right_j00.7113right_j12.2197right_j22.4055right_j3-0.8839right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4527 right_j2=2.413 right_j3=-0.6655 right_j4=-0.0238 right_j5=1.4883 right_gripper=0.695 camera 'top_cam' (step 1007): [image omitted: streamed camera frame] camera 'left_cam' (step 1007): [image omitted: streamed camera frame] camera 'right_cam' (step 1007): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7113, "right_j1": 2.2197, "right_j2": 2.4055, "right_j3": -0.8839, "right_j4": 0.0}, "note": "The wrist view shows I have the stand's ball joint between my fingers, which means I'm low and too far forward. I'm moving 6 cm back toward the arms and 10 cm up, where the slate's top edge and clapper stick should be."})
tool
executing move_joints over 4 steps (0.4s)
step 1011
top_cam
camera top_cam step 1011
left_cam
camera left_cam step 1011
right_cam
camera right_cam step 1011
assistant
agent noteI suspect the 'black panel with a white stand' I have been grabbing at is actually the stuck left arm's gripper. I'm folding the right arm right back to get an unobstructed overhead look and confirm whether the clapperboard is anywhere on the table.
move_joints
right_j00.0000right_j10.9000right_j20.8000right_j3-0.2000right_j40.0000right_j50.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.701 right_j1=2.3039 right_j2=2.3959 right_j3=-0.8249 right_j4=-0.0181 right_j5=1.4883 right_gripper=0.6957 camera 'top_cam' (step 1011): [image omitted: streamed camera frame] camera 'left_cam' (step 1011): [image omitted: streamed camera frame] camera 'right_cam' (step 1011): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.0, "right_j1": 0.9, "right_j2": 0.8, "right_j3": -0.2, "right_j4": 0.0, "right_j5": 0.0, "right_gripper": 1.0}, "note": "I suspect the 'black panel with a white stand' I have been grabbing at is actually the stuck left arm's gripper. I'm folding the right arm right back to get an unobstructed overhead look and confirm whether the clapperboard is anywhere on the table."})
tool
executing move_joints over 26 steps (2.6s)
step 1037
top_cam
camera top_cam step 1037
left_cam
camera left_cam step 1037
right_cam
camera right_cam step 1037
assistant
agent noteWith both arms clear, the overhead view shows the real object: a dark clapperboard about 30 cm wide with a small pale block on it, roughly 42 cm forward and 28 cm to the left of the right shoulder. I'm bringing the open jaws down over it at a steep angle.
move_joints
right_j00.5880right_j12.0951right_j22.0596right_j3-1.0117right_j40.0000right_j51.5700right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0078 right_j1=0.9234 right_j2=0.8162 right_j3=-0.2539 right_j4=-0.0124 right_j5=0.0677 right_gripper=0.9986 camera 'top_cam' (step 1037): [image omitted: streamed camera frame] camera 'left_cam' (step 1037): [image omitted: streamed camera frame] camera 'right_cam' (step 1037): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.588, "right_j1": 2.0951, "right_j2": 2.0596, "right_j3": -1.0117, "right_j4": 0.0, "right_j5": 1.57, "right_gripper": 0.7}, "note": "With both arms clear, the overhead view shows the real object: a dark clapperboard about 30 cm wide with a small pale block on it, roughly 42 cm forward and 28 cm to the left of the right shoulder. I'm bringing the open jaws down over it at a steep angle."})
tool
executing move_joints over 24 steps (2.4s)
step 1061
top_cam
camera top_cam step 1061
left_cam
camera left_cam step 1061
right_cam
camera right_cam step 1061
assistant
agent noteThe wrist view shows the dark clapper bar running right through the gripper's approach path. I'm opening the jaws fully and dropping 2.5 cm so they straddle the bar before I close on it.
move_joints
right_j12.0930right_j21.9399right_j3-0.8939right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.58 right_j1=2.0785 right_j2=2.0205 right_j3=-0.989 right_j4=-0.0158 right_j5=1.483 right_gripper=0.7012 camera 'top_cam' (step 1061): [image omitted: streamed camera frame] camera 'left_cam' (step 1061): [image omitted: streamed camera frame] camera 'right_cam' (step 1061): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.093, "right_j2": 1.9399, "right_j3": -0.8939, "right_gripper": 1.0}, "note": "The wrist view shows the dark clapper bar running right through the gripper's approach path. I'm opening the jaws fully and dropping 2.5 cm so they straddle the bar before I close on it."})
tool
executing move_joints over 3 steps (0.3s)
step 1064
top_cam
camera top_cam step 1064
left_cam
camera left_cam step 1064
right_cam
camera right_cam step 1064
assistant
agent noteThe jaws are open wide right over the dark clapper bar; closing them now to grip it.
move_joints
right_gripper0.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.585 right_j1=2.0964 right_j2=1.9507 right_j3=-0.9474 right_j4=-0.0174 right_j5=1.5055 right_gripper=0.9954 camera 'top_cam' (step 1064): [image omitted: streamed camera frame] camera 'left_cam' (step 1064): [image omitted: streamed camera frame] camera 'right_cam' (step 1064): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The jaws are open wide right over the dark clapper bar; closing them now to grip it."})
tool
executing move_joints over 10 steps (1.0s)
step 1074
top_cam
camera top_cam step 1074
left_cam
camera left_cam step 1074
right_cam
camera right_cam step 1074
assistant
agent noteWith the fingers closed against the board's top area, I'm sweeping the hook straight up 12 cm — if the clapper stick is caught on the fingertip this will lift it open.
move_joints
right_j12.1583right_j22.5205right_j3-1.4706
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5835 right_j1=2.0975 right_j2=1.9373 right_j3=-0.9482 right_j4=-0.0238 right_j5=1.5036 right_gripper=0.0093 camera 'top_cam' (step 1074): [image omitted: streamed camera frame] camera 'left_cam' (step 1074): [image omitted: streamed camera frame] camera 'right_cam' (step 1074): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.1583, "right_j2": 2.5205, "right_j3": -1.4706}, "note": "With the fingers closed against the board's top area, I'm sweeping the hook straight up 12 cm \u2014 if the clapper stick is caught on the fingertip this will lift it open."})
tool
executing move_joints over 10 steps (1.0s)
step 1084
top_cam
camera top_cam step 1084
left_cam
camera left_cam step 1084
right_cam
camera right_cam step 1084
assistant
agent noteThe overhead frame clearly shows the dark clapper bar with its small pale block; my jaws are up and to the near side of it. I'm moving about 7 cm across and 5 cm forward, wide open, to come down astride the bar.
move_joints
right_j00.6435right_j12.4181right_j22.4360right_j3-1.0651right_j40.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5846 right_j1=2.1468 right_j2=2.4859 right_j3=-1.4265 right_j4=-0.0242 right_j5=1.5028 right_gripper=0.0106 camera 'top_cam' (step 1084): [image omitted: streamed camera frame] camera 'left_cam' (step 1084): [image omitted: streamed camera frame] camera 'right_cam' (step 1084): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.6435, "right_j1": 2.4181, "right_j2": 2.436, "right_j3": -1.0651, "right_j4": 0.0, "right_gripper": 1.0}, "note": "The overhead frame clearly shows the dark clapper bar with its small pale block; my jaws are up and to the near side of it. I'm moving about 7 cm across and 5 cm forward, wide open, to come down astride the bar."})
tool
executing move_joints over 10 steps (1.0s)
step 1094
top_cam
camera top_cam step 1094
left_cam
camera left_cam step 1094
right_cam
camera right_cam step 1094
assistant
agent noteOverhead, my open fingers are now straddling the dark clapper bar; closing them onto it.
move_joints
right_gripper0.1500
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6399 right_j1=2.397 right_j2=2.4424 right_j3=-1.1267 right_j4=-0.0196 right_j5=1.5013 right_gripper=0.9954 camera 'top_cam' (step 1094): [image omitted: streamed camera frame] camera 'left_cam' (step 1094): [image omitted: streamed camera frame] camera 'right_cam' (step 1094): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.15}, "note": "Overhead, my open fingers are now straddling the dark clapper bar; closing them onto it."})
tool
executing move_joints over 9 steps (0.9s)
step 1103
top_cam
camera top_cam step 1103
left_cam
camera left_cam step 1103
right_cam
camera right_cam step 1103
assistant
agent noteThe jaws are lightly closed around the clapper bar; I'm pitching the wrist up to raise the gripper about 8 cm and see whether the clapper stick comes up with it.
move_joints
right_j3-0.6300
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6434 right_j1=2.4107 right_j2=2.4424 right_j3=-1.0786 right_j4=-0.028 right_j5=1.5005 right_gripper=0.1542 camera 'top_cam' (step 1103): [image omitted: streamed camera frame] camera 'left_cam' (step 1103): [image omitted: streamed camera frame] camera 'right_cam' (step 1103): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.63}, "note": "The jaws are lightly closed around the clapper bar; I'm pitching the wrist up to raise the gripper about 8 cm and see whether the clapper stick comes up with it."})
tool
executing move_joints over 8 steps (0.8s)
step 1111
top_cam
camera top_cam step 1111
left_cam
camera left_cam step 1111
right_cam
camera right_cam step 1111
assistant
agent noteGrips keep coming up empty, so I'm trying a scoop instead: closing the fingers into a hook and placing it low, just on the arm side of the clapperboard, ready to sweep forward and up under the clapper stick.
move_joints
right_gripper0.0000right_j00.6202right_j12.0229right_j21.5793right_j3-0.3418right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6453 right_j1=2.4111 right_j2=2.4416 right_j3=-0.7345 right_j4=-0.036 right_j5=1.4998 right_gripper=0.1537 camera 'top_cam' (step 1111): [image omitted: streamed camera frame] camera 'left_cam' (step 1111): [image omitted: streamed camera frame] camera 'right_cam' (step 1111): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0, "right_j0": 0.6202, "right_j1": 2.0229, "right_j2": 1.5793, "right_j3": -0.3418, "right_j4": 0.0}, "note": "Grips keep coming up empty, so I'm trying a scoop instead: closing the fingers into a hook and placing it low, just on the arm side of the clapperboard, ready to sweep forward and up under the clapper stick."})
tool
executing move_joints over 14 steps (1.4s)
step 1125
top_cam
camera top_cam step 1125
left_cam
camera left_cam step 1125
right_cam
camera right_cam step 1125
assistant
agent noteThe table in front of me looks empty, so the clapperboard must be off to one side. I'm raising the right arm and panning its camera to the far right of the workspace to search for it.
move_joints
right_j0-0.8000right_j11.2000right_j21.0000right_j3-0.5000right_j50.0000
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6243 right_j1=2.0212 right_j2=1.626 right_j3=-0.292 right_j4=-0.0196 right_j5=1.5036 right_gripper=0.0124 camera 'top_cam' (step 1125): [image omitted: streamed camera frame] camera 'left_cam' (step 1125): [image omitted: streamed camera frame] camera 'right_cam' (step 1125): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": -0.8, "right_j1": 1.2, "right_j2": 1.0, "right_j3": -0.5, "right_j5": 0.0}, "note": "The table in front of me looks empty, so the clapperboard must be off to one side. I'm raising the right arm and panning its camera to the far right of the workspace to search for it."})
tool
executing move_joints over 24 steps (2.4s)
step 1149
top_cam
camera top_cam step 1149
left_cam
camera left_cam step 1149
right_cam
camera right_cam step 1149
assistant
agent noteWith the arm swung away, the overhead view finally shows the clapperboard clearly: a slate tilted back on a small stand with its black-and-white striped clapper stick along the edge nearest the arms. I'm panning the right camera onto it for a close look.
move_joints
right_j00.5500right_j3-0.7800
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.7826 right_j1=1.2255 right_j2=1.0126 right_j3=-0.5022 right_j4=-0.0231 right_j5=0.0746 right_gripper=0.0147 camera 'top_cam' (step 1149): [image omitted: streamed camera frame] camera 'left_cam' (step 1149): [image omitted: streamed camera frame] camera 'right_cam' (step 1149): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.55, "right_j3": -0.78}, "note": "With the arm swung away, the overhead view finally shows the clapperboard clearly: a slate tilted back on a small stand with its black-and-white striped clapper stick along the edge nearest the arms. I'm panning the right camera onto it for a close look."})
tool
executing move_joints over 22 steps (2.2s)
step 1171
top_cam
camera top_cam step 1171
left_cam
camera left_cam step 1171
right_cam
camera right_cam step 1171
assistant
agent noteThe slate is small — about 15 cm — tilted back on its stand with the striped clapper stick lying along the near edge close to the table. I'm bringing the open jaws down at 60° onto that striped stick.
move_joints
right_j00.4995right_j11.6159right_j21.3192right_j3-0.7505right_j40.0000right_j51.5700right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5285 right_j1=1.2278 right_j2=1.0039 right_j3=-0.7677 right_j4=-0.0231 right_j5=0.0639 right_gripper=0.0167 camera 'top_cam' (step 1171): [image omitted: streamed camera frame] camera 'left_cam' (step 1171): [image omitted: streamed camera frame] camera 'right_cam' (step 1171): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4995, "right_j1": 1.6159, "right_j2": 1.3192, "right_j3": -0.7505, "right_j4": 0.0, "right_j5": 1.57, "right_gripper": 0.8}, "note": "The slate is small \u2014 about 15 cm \u2014 tilted back on its stand with the striped clapper stick lying along the near edge close to the table. I'm bringing the open jaws down at 60\u00b0 onto that striped stick."})
tool
executing move_joints over 24 steps (2.4s)
step 1195
top_cam
camera top_cam step 1195
left_cam
camera left_cam step 1195
right_cam
camera right_cam step 1195
assistant
agent noteThe wrist camera shows the slate and its white stand just to the left of my jaws; I'm shifting about 6 cm sideways and slightly up so the jaws come down straddling the striped clapper stick on the slate's near edge.
move_joints
right_j00.7093right_j11.6971right_j21.4381right_j3-0.8483right_j40.1833
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5064 right_j1=1.6112 right_j2=1.2869 right_j3=-0.783 right_j4=-0.0196 right_j5=1.4857 right_gripper=0.7984 camera 'top_cam' (step 1195): [image omitted: streamed camera frame] camera 'left_cam' (step 1195): [image omitted: streamed camera frame] camera 'right_cam' (step 1195): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7093, "right_j1": 1.6971, "right_j2": 1.4381, "right_j3": -0.8483, "right_j4": 0.1833}, "note": "The wrist camera shows the slate and its white stand just to the left of my jaws; I'm shifting about 6 cm sideways and slightly up so the jaws come down straddling the striped clapper stick on the slate's near edge."})
tool
executing move_joints over 4 steps (0.4s)
step 1199
top_cam
camera top_cam step 1199
left_cam
camera left_cam step 1199
right_cam
camera right_cam step 1199
assistant
agent noteI worked out that the overhead camera's axes are rotated ~35° from the arm's axes, which explains my earlier misses. Recomputing, the striped clapper stick is about 18 cm further forward and 6 cm to the right of my jaws; moving there now.
move_joints
right_j00.3574right_j12.1520right_j21.9679right_j3-0.8631right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6998 right_j1=1.6917 right_j2=1.404 right_j3=-0.8291 right_j4=0.1131 right_j5=1.5002 right_gripper=0.7989 camera 'top_cam' (step 1199): [image omitted: streamed camera frame] camera 'left_cam' (step 1199): [image omitted: streamed camera frame] camera 'right_cam' (step 1199): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.3574, "right_j1": 2.152, "right_j2": 1.9679, "right_j3": -0.8631, "right_j4": 0.0}, "note": "I worked out that the overhead camera's axes are rotated ~35\u00b0 from the arm's axes, which explains my earlier misses. Recomputing, the striped clapper stick is about 18 cm further forward and 6 cm to the right of my jaws; moving there now."})
tool
executing move_joints over 9 steps (0.9s)
step 1208
top_cam
camera top_cam step 1208
left_cam
camera left_cam step 1208
right_cam
camera right_cam step 1208
assistant
agent noteThe wrist camera shows my fingers right beside the slate's white stand and the striped clapper stick. I'm closing the fingers into a hook and sweeping them back toward the arms and up 8 cm, which should catch the clapper stick's edge and flip it open.
move_joints
right_gripper0.0000right_j00.4690right_j11.8698right_j21.8933right_j3-1.1284right_j40.0337
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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3985 right_j1=2.122 right_j2=1.9305 right_j3=-0.9134 right_j4=-0.0368 right_j5=1.4925 right_gripper=0.799 camera 'top_cam' (step 1208): [image omitted: streamed camera frame] camera 'left_cam' (step 1208): [image omitted: streamed camera frame] camera 'right_cam' (step 1208): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0, "right_j0": 0.469, "right_j1": 1.8698, "right_j2": 1.8933, "right_j3": -1.1284, "right_j4": 0.0337}, "note": "The wrist camera shows my fingers right beside the slate's white stand and the striped clapper stick. I'm closing the fingers into a hook and sweeping them back toward the arms and up 8 cm, which should catch the clapper stick's edge and flip it open."})
tool
executing move_joints over 8 steps (0.8s)
step 1216
top_cam
camera top_cam step 1216
left_cam
camera left_cam step 1216
right_cam
camera right_cam step 1216
assistant
agent noteThe overhead camera turns out to be at a low angle, so depth is heavily compressed and the slate is farther out than it looks. I'm reaching 15 cm further forward with the jaws open and nearly level, to come in on the clapper stick from behind.
move_joints
right_gripper0.9000right_j00.3128right_j12.3874right_j21.9614right_j3-0.0976right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4618 right_j1=1.911 right_j2=1.9003 right_j3=-1.1019 right_j4=0.0113 right_j5=1.4887 right_gripper=0.0097 camera 'top_cam' (step 1216): [image omitted: streamed camera frame] camera 'left_cam' (step 1216): [image omitted: streamed camera frame] camera 'right_cam' (step 1216): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.9, "right_j0": 0.3128, "right_j1": 2.3874, "right_j2": 1.9614, "right_j3": -0.0976, "right_j4": 0.0}, "note": "The overhead camera turns out to be at a low angle, so depth is heavily compressed and the slate is farther out than it looks. I'm reaching 15 cm further forward with the jaws open and nearly level, to come in on the clapper stick from behind."})
tool
executing move_joints over 16 steps (1.6s)
step 1232
top_cam
camera top_cam step 1232
left_cam
camera left_cam step 1232
right_cam
camera right_cam step 1232
assistant
agent noteThe overhead view now clearly shows the black clapperboard with its pale stand, and my open jaws just to its left. I'm sliding about 7 cm sideways and lifting slightly so the jaws come alongside the clapper stick.
move_joints
right_j00.4351right_j12.3889right_j21.9637right_j3-0.0984right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3248 right_j1=2.3707 right_j2=1.9198 right_j3=-0.2173 right_j4=-0.0158 right_j5=1.4811 right_gripper=0.8974 camera 'top_cam' (step 1232): [image omitted: streamed camera frame] camera 'left_cam' (step 1232): [image omitted: streamed camera frame] camera 'right_cam' (step 1232): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4351, "right_j1": 2.3889, "right_j2": 1.9637, "right_j3": -0.0984, "right_j4": 0.0}, "note": "The overhead view now clearly shows the black clapperboard with its pale stand, and my open jaws just to its left. I'm sliding about 7 cm sideways and lifting slightly so the jaws come alongside the clapper stick."})
tool
executing move_joints over 2 steps (0.2s)
step 1234
top_cam
camera top_cam step 1234
left_cam
camera left_cam step 1234
right_cam
camera right_cam step 1234
assistant
agent noteMy last command stalled, suggesting the fingers were pressing on the table. I'm lifting and retracting the gripper slightly while swinging it toward the clapperboard's white slate area seen in the overhead view.
move_joints
right_j12.1500right_j21.8000right_j3-0.3500right_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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3584 right_j1=2.3882 right_j2=1.9213 right_j3=-0.1406 right_j4=-0.0029 right_j5=1.4815 right_gripper=0.8979 camera 'top_cam' (step 1234): [image omitted: streamed camera frame] camera 'left_cam' (step 1234): [image omitted: streamed camera frame] camera 'right_cam' (step 1234): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.15, "right_j2": 1.8, "right_j3": -0.35, "right_j0": 0.45}, "note": "My last command stalled, suggesting the fingers were pressing on the table. I'm lifting and retracting the gripper slightly while swinging it toward the clapperboard's white slate area seen in the overhead view."})
tool
executing move_joints over 4 steps (0.4s)
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 · 9.662 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=0.0051 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0078 right_j5=-0.0143 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28679159e238bc1a4f03b740a62d8a5c46b4ca7381661c1b1e3cee7ee6a17a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0cfc2b347dc2ef6b566976904834b8b1944d3b7fbb5cd4817f96852112b41f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cf2c4bc3da42be85a96c7e430447989b328e0e9b5fd8293ee3fa74594ffc705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c28679159e23
wire blob a0cfc2b347dc
wire blob 7cf2c4bc3da4
call 1 attempt 0 · /messages · status 200 · 8.406 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=0.0051 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0078 right_j5=-0.0143 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28679159e238bc1a4f03b740a62d8a5c46b4ca7381661c1b1e3cee7ee6a17a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0cfc2b347dc2ef6b566976904834b8b1944d3b7fbb5cd4817f96852112b41f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf2c4bc3da42be85a96c7e430447989b328e0e9b5fd8293ee3fa74594ffc705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c28679159e23]
[blob a0cfc2b347dc]
[blob 7cf2c4bc3da4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DbbjeqE4DuBSodR6sf1nrd",
      "input": {
        "note": "Both arms are folded flat and the clapperboard sits in the middle of the table with its striped clapper stick on the side facing the arms. I'm raising the right arm into an upright ready pose so its wrist camera can look down at the board.",
        "targets": {
          "right_j1": 1.4,
          "right_j2": 1.4,
          "right_j3": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01DbbjeqE4DuBSodR6sf1nrd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.4017 right_j2=1.3701 right_j3=-0.0246 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ffd6e0fec7338dbf96dd70752c17b68a4fc444abcf65bf884481e8daf4072c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fad5c17f70a8966eab6d17f9263945e9461c6eabbf1be710749d8e00db7949e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21fde0c1a839b9a3fb8b9a54f5f7a16a15f7fd8711f02f25bff70cdd06c603e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 89ffd6e0fec7
wire blob 6fad5c17f70a
wire blob 21fde0c1a839
call 2 attempt 0 · /messages · status 200 · 10.74 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=0.0051 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0078 right_j5=-0.0143 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=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.4017 right_j2=1.3701 right_j3=-0.0246 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ffd6e0fec7338dbf96dd70752c17b68a4fc444abcf65bf884481e8daf4072c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fad5c17f70a8966eab6d17f9263945e9461c6eabbf1be710749d8e00db7949e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fde0c1a839b9a3fb8b9a54f5f7a16a15f7fd8711f02f25bff70cdd06c603e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 89ffd6e0fec7]
[blob 6fad5c17f70a]
[blob 21fde0c1a839]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zQVLByP6zQR2ZEio1toq5",
      "input": {
        "note": "The right wrist camera is aimed at the dark backdrop, meaning the gripper points horizontally forward well above the table. I'm pitching the wrist down to bring the tabletop and the clapperboard into view.",
        "targets": {
          "right_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_012zQVLByP6zQR2ZEio1toq5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0162 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.4055 right_j2=1.3685 right_j3=-0.9733 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0baf429df9d250f166856bfe71ee5ac61c3eaee1e7de4cfe838b200842a0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83589b60347df3cb6f8b40678ac8cfd6d4b86de3410292b31a02418d89c63a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c2122eeb1d6dfc6bd9613aa9c2ace9e4d6bbb4e94368ea62960f75213376da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9d0baf429df9
wire blob 83589b60347d
wire blob 4c2122eeb1d6
call 3 attempt 0 · /messages · status 200 · 7.69 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=0.0051 left_j2=0.0067 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0265 right_j4=-0.0078 right_j5=-0.0143 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=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.4017 right_j2=1.3701 right_j3=-0.0246 right_j4=-0.0154 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=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0162 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.4055 right_j2=1.3685 right_j3=-0.9733 right_j4=-0.0154 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0baf429df9d250f166856bfe71ee5ac61c3eaee1e7de4cfe838b200842a0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83589b60347df3cb6f8b40678ac8cfd6d4b86de3410292b31a02418d89c63a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2122eeb1d6dfc6bd9613aa9c2ace9e4d6bbb4e94368ea62960f75213376da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9d0baf429df9]
[blob 83589b60347d]
[blob 4c2122eeb1d6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0169VbBPpDhwCyw9wYFjPfXR",
      "input": {
        "note": "The right wrist camera now sees bare tabletop but the clapperboard is not yet in frame, so it must be farther forward. I'm extending the arm forward and downward to bring the board into the wrist view.",
        "targets": {
          "right_j1": 2.0,
          "right_j2": 1.8,
          "right_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0169VbBPpDhwCyw9wYFjPfXR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.9854 right_j2=1.7702 right_j3=-1.0222 right_j4=-0.0154 right_j5=-0.0261 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b263afaddb2461636991e3436ed1e6f404fca998bbd3b7239a8e036606ef17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd647767d0af25f325c3dc844df918a3408e2a20513921367737e5b3c0e37ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d4617259f2170cdac7b62bdb82507c64c049a198ea71ef986d4d41cf49381e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b263afaddb2
wire blob 5dd647767d0a
wire blob 7d4617259f21
call 4 attempt 0 · /messages · status 200 · 13.89 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0078 left_j5=-0.0166 left_gripper=0.9988 right_j0=-0.0002 right_j1=1.4017 right_j2=1.3701 right_j3=-0.0246 right_j4=-0.0154 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=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0162 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.4055 right_j2=1.3685 right_j3=-0.9733 right_j4=-0.0154 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=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.9854 right_j2=1.7702 right_j3=-1.0222 right_j4=-0.0154 right_j5=-0.0261 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b263afaddb2461636991e3436ed1e6f404fca998bbd3b7239a8e036606ef17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd647767d0af25f325c3dc844df918a3408e2a20513921367737e5b3c0e37ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d4617259f2170cdac7b62bdb82507c64c049a198ea71ef986d4d41cf49381e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b263afaddb2]
[blob 5dd647767d0a]
[blob 7d4617259f21]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhS1bKeCWLDqasZZ9GM16p",
      "input": {
        "note": "In the top view the right arm's gripper is at the far left while the clapperboard sits well to its side (toward the arm's left), so I'm yawing the right base joint toward the board and lifting the wrist slightly to avoid scraping the table.",
        "targets": {
          "right_j0": 0.5,
          "right_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KhS1bKeCWLDqasZZ9GM16p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5072 right_j1=1.9938 right_j2=1.7725 right_j3=-0.7296 right_j4=-0.0193 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87ca10ad6ca6f96329603ec9d4718d563d47216ee2d4f460e80d9a388f11a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80584936e7d2780151c1def3e973e57b5201ae0d1ef9bbb2cf4dbe3ed39977d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8e2ee3b469576f2d9681335da4f298486fe7629780580baf0253dbf0e84c691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a87ca10ad6ca
wire blob 80584936e7d2
wire blob b8e2ee3b4695
call 5 attempt 0 · /messages · status 200 · 18.7 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0479 left_j4=-0.0074 left_j5=-0.0162 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.4055 right_j2=1.3685 right_j3=-0.9733 right_j4=-0.0154 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=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.9854 right_j2=1.7702 right_j3=-1.0222 right_j4=-0.0154 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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5072 right_j1=1.9938 right_j2=1.7725 right_j3=-0.7296 right_j4=-0.0193 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87ca10ad6ca6f96329603ec9d4718d563d47216ee2d4f460e80d9a388f11a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80584936e7d2780151c1def3e973e57b5201ae0d1ef9bbb2cf4dbe3ed39977d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8e2ee3b469576f2d9681335da4f298486fe7629780580baf0253dbf0e84c691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a87ca10ad6ca]
[blob 80584936e7d2]
[blob b8e2ee3b4695]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GzRBo7YyS6DsrnojE99t5U",
      "input": {
        "note": "The gripper is now over the clapperboard but blocking the top view; I'm pulling the arm back and up while tilting the wrist camera down so I can see the whole board and work out where the clapper stick's hinge and free end are.",
        "targets": {
          "right_j1": 1.55,
          "right_j2": 1.6,
          "right_j3": -1.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GzRBo7YyS6DsrnojE99t5U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5049 right_j1=1.5673 right_j2=1.6054 right_j3=-1.2232 right_j4=-0.0189 right_j5=-0.0296 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c693b7edfdc4a28da974bd0dc866a12631b936c259bad3b7571f1e9b2332ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc33fa7b3c5ded1075029dd35ee5f2562dbee33b944dbb74147e2d657726b270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c431e2235673a582562b1753036a1f80cecd02fb13290da63c95fd105dc60911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7c693b7edfdc
wire blob cc33fa7b3c5d
wire blob c431e2235673
call 6 attempt 0 · /messages · status 200 · 4.663 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0483 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.9854 right_j2=1.7702 right_j3=-1.0222 right_j4=-0.0154 right_j5=-0.0261 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=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5072 right_j1=1.9938 right_j2=1.7725 right_j3=-0.7296 right_j4=-0.0193 right_j5=-0.0265 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=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5049 right_j1=1.5673 right_j2=1.6054 right_j3=-1.2232 right_j4=-0.0189 right_j5=-0.0296 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c693b7edfdc4a28da974bd0dc866a12631b936c259bad3b7571f1e9b2332ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc33fa7b3c5ded1075029dd35ee5f2562dbee33b944dbb74147e2d657726b270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c431e2235673a582562b1753036a1f80cecd02fb13290da63c95fd105dc60911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7c693b7edfdc]
[blob cc33fa7b3c5d]
[blob c431e2235673]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zZHi2s7uRtHaX3dJ1gthp",
      "input": {
        "note": "Now I can see the slate clearly: it lies tilted on the table with the striped clapper stick along its far edge, hinged at the end nearer the right arm and with its free end toward the left arm. I'm parking the right arm upright out of the way and raising the left arm into a look-down pose since it is closer to the stick's free end.",
        "targets": {
          "left_j1": 1.55,
          "left_j2": 1.6,
          "left_j3": -1.25,
          "right_j0": 0.0,
          "right_j1": 1.3,
          "right_j2": 1.2,
          "right_j3": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_015zZHi2s7uRtHaX3dJ1gthp",
      "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=1.5375 left_j2=1.5551 left_j3=-1.2102 left_j4=-0.0071 left_j5=-0.0242 left_gripper=0.9987 right_j0=0.0086 right_j1=1.3254 right_j2=1.2049 right_j3=-0.0948 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3edef15841664c6516d645ae0a4ea61e591e37972c75de6919dd8584ee4b2580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e81abc4cfd7ef714207695ebf1669a7fb2d03d9a86a57296176226a5a9fa2768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aeb6f561411f965298f78ddd9f1c4eec5e92daab2360f6d3aa1bedbc9cfa9386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3edef1584166
wire blob e81abc4cfd7e
wire blob aeb6f561411f
call 7 attempt 0 · /messages · status 200 · 6.191 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5072 right_j1=1.9938 right_j2=1.7725 right_j3=-0.7296 right_j4=-0.0193 right_j5=-0.0265 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=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5049 right_j1=1.5673 right_j2=1.6054 right_j3=-1.2232 right_j4=-0.0189 right_j5=-0.0296 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=1.5375 left_j2=1.5551 left_j3=-1.2102 left_j4=-0.0071 left_j5=-0.0242 left_gripper=0.9987 right_j0=0.0086 right_j1=1.3254 right_j2=1.2049 right_j3=-0.0948 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3edef15841664c6516d645ae0a4ea61e591e37972c75de6919dd8584ee4b2580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e81abc4cfd7ef714207695ebf1669a7fb2d03d9a86a57296176226a5a9fa2768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb6f561411f965298f78ddd9f1c4eec5e92daab2360f6d3aa1bedbc9cfa9386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3edef1584166]
[blob e81abc4cfd7e]
[blob aeb6f561411f]
{
  "content": [
    {
      "signature": "CAISugoKjAEIEBgCKkAHqbbQ5UE9SQ7mn/GumabbbyjK/MD8UsEq/8BsF39+ZTzT+y0kxs8G+bHPaec92dwmgvGfoMJcrpFfZoDocvnaMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMN+RiPifIQl1kFVh/Ggzv5ATP3xX/PURWD6EiMMmRXDTqgY9CewOx4uxUBFoZIrvCba/wRoiaPRxmzFQgYaFsjtmZnqCDCBsONfhPuyraCArz32UCC9Zy0AO4r4hvchSOK5hrdg7LpTj3Y56JaMIJxSBFYIRq0AtRdEi2DyX769f5Hv0F2+iJZGkam+zSCjyxrUUVwr0Nwl+OsYoD9KbqKGeBgmxPN/SXobbmxyQ4vl/L6yqbaTjwYMduygD8+FeHKDfQQDsIw+L5byjqw0PTB5pd15XHBVZPmXaE9NFAHVYpWiyKUWkLXsCYWGeeBiZ24H5NzxwKfUArD33QwCdUFKij8q1zSdlN0AN7KuMncmZZZ8LLJn1pNzPsiRdCT0JLCT5msOYuGsafRVAt4M4/+ByEqSQzfagmprUf/9bAtCrvgbmkxvK8RuFeG/fUGucFHiqeO3TKmhEm5NHykA1eCwneKSs0J9tvQx5lbB7ceTjwlLJMl7R+MilKs4UX00aqvR5kUP1FhJdxuzm//5NjYJsOD/eXLn1vHCxLKc9EBHLcV3YPAMtAyyZ7gex25A5L/K3XKh5QwKC2YBb2tDgdymGTNeRWjt87cdM74E7aUHaAzYkLES8qoR1XyCct4ks0gbHKomTMHysnz9InK7u7K2j2wNZtCWpsDk/UOoasA0fOvyRYxwm+1Xvc0RBSoZ//v/tANPNrSVBzZxXQ473L4n8fHPtmKQvwxikqSrfk5kL8zW240ACnzEMsgGmoDKPGetab12Na0pAjqzUlauvMVcNsy1ab7qFyPnNwe3elYw/4MzThdme8NdAtr2rL9PtGbjhjiVQHiMbuCsOx7RBy2b9mXEscHB2TvEMroNbvihyb4HAIe9hHs882O/spoqXXPrt6BIL0K6if7Po+5pjcft4PSrhhKava+kXWj3rS3RD94GZi0vHMpM1WAYBL3G+ryhm6nDDOszsBZmP1m+PwWV5vzbzKRbZiDKlUV7vEXsWcNEMiKKnBI6K4ujBupPHseBufSB9dWW9R/SVX2ze+sbGlDGnOku59Ob2d1kkvXvJBp0ZXotEG269eFTzc06UdATt+8ygRZPED3O2fcjjC1jmQ9Is01F9fwMTFFSVo1k6HeL5cx3u4GXxKRJrr7JIFyNvwTk/FkTS5Sjkm+3qO5TaNQiWMbnBIZmKa++t12w8UKBZXmJvId+u4JOtoWZ4LZx/gBOYm4ypg+JkmiBRhNwXXZkDRgcx94ddxyzmvYYIE7qVZ7ZAKRoxUzq2TTtntQwvyZ7BvpDhDZs+Z883WuXeWgcPdwMyJGyzJVpYvzuP5LatzQatco5qPnVzbz5WQrejNFSI1cmwsjRT60EB7f5sA7YH858CQKM7Zfqrz8dIpBRjMmLPKSZuUQ2WTg3Y2hr2XnfnLrGGhNHONMdFasW7Nk0tONzAC+TEGIXYJQeymqLNJCpJK+kbsbcgaEZy+YIIDmrnu8GFlIhvNWvb/7GXu0n/6rS4H2h9YRYl+DEInXbmqQWzxunuwO2lG2EEs0kZ7sY+i01DGmIXGFlQ0uMJWAoP9jxu1qra/kOqqGwvamIDpkbw2s5EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcEfFvQ9EZkrZN16bB924h",
      "input": {
        "note": "The left wrist camera sees the tabletop with just the edge of the clapperboard at the far right of frame, so the board lies to that arm's right; I'm yawing the left base joint negative to bring the board to the centre of its view.",
        "targets": {
          "left_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_01EcEfFvQ9EZkrZN16bB924h",
      "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=-0.4259 left_j1=1.5578 left_j2=1.5555 left_j3=-1.2404 left_j4=-0.0071 left_j5=-0.0277 left_gripper=0.9986 right_j0=0.0048 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1032 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74673657d8ea5a55414437f822d04d7998c46694d85a744312b8038a7020545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb322323978dbe33ff629cab3e807a4ebc398e97596e5d3223c593356a5f604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f5ae01fe024b3db10a26bfa2ff5e217832bfd220690eb097fe37dcb0637ade0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b74673657d8e
wire blob cbb322323978
wire blob 2f5ae01fe024
call 8 attempt 0 · /messages · status 200 · 27.12 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0074 left_j5=-0.0166 left_gripper=0.9987 right_j0=0.5049 right_j1=1.5673 right_j2=1.6054 right_j3=-1.2232 right_j4=-0.0189 right_j5=-0.0296 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=1.5375 left_j2=1.5551 left_j3=-1.2102 left_j4=-0.0071 left_j5=-0.0242 left_gripper=0.9987 right_j0=0.0086 right_j1=1.3254 right_j2=1.2049 right_j3=-0.0948 right_j4=-0.0227 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 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=-0.4259 left_j1=1.5578 left_j2=1.5555 left_j3=-1.2404 left_j4=-0.0071 left_j5=-0.0277 left_gripper=0.9986 right_j0=0.0048 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1032 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74673657d8ea5a55414437f822d04d7998c46694d85a744312b8038a7020545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb322323978dbe33ff629cab3e807a4ebc398e97596e5d3223c593356a5f604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5ae01fe024b3db10a26bfa2ff5e217832bfd220690eb097fe37dcb0637ade0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b74673657d8e]
[blob cbb322323978]
[blob 2f5ae01fe024]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGmPibw69AUfHExxvXGBtR",
      "input": {
        "note": "The left wrist camera now shows the slate in its upper right with the white-striped clapper stick clearly visible along the near edge. I'm yawing a bit further and extending the arm forward to centre the stick in view and get closer to it.",
        "targets": {
          "left_j0": -0.62,
          "left_j1": 1.8,
          "left_j2": 1.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LGmPibw69AUfHExxvXGBtR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6025 left_j1=1.8015 left_j2=1.6592 left_j3=-1.2499 left_j4=-0.0059 left_j5=-0.0319 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1116 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b751ea64be338ddabeb7aa49b0b4b89510559a70c3a8c1fa6508be639f99e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80225eaec3b87579ce7193a6e249281beeca6866e67b6c63783c18bfd3ba7f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7da34dae4a85ae08a66b76ad7394b3f5095bb3a8a03c37c3840067a57f84f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 65b751ea64be
wire blob 80225eaec3b8
wire blob f7da34dae4a8
call 9 attempt 0 · /messages · status 200 · 12.73 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=1.5375 left_j2=1.5551 left_j3=-1.2102 left_j4=-0.0071 left_j5=-0.0242 left_gripper=0.9987 right_j0=0.0086 right_j1=1.3254 right_j2=1.2049 right_j3=-0.0948 right_j4=-0.0227 right_j5=-0.0376 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=-0.4259 left_j1=1.5578 left_j2=1.5555 left_j3=-1.2404 left_j4=-0.0071 left_j5=-0.0277 left_gripper=0.9986 right_j0=0.0048 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1032 right_j4=-0.0231 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 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=-0.6025 left_j1=1.8015 left_j2=1.6592 left_j3=-1.2499 left_j4=-0.0059 left_j5=-0.0319 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1116 right_j4=-0.0231 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b751ea64be338ddabeb7aa49b0b4b89510559a70c3a8c1fa6508be639f99e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80225eaec3b87579ce7193a6e249281beeca6866e67b6c63783c18bfd3ba7f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7da34dae4a85ae08a66b76ad7394b3f5095bb3a8a03c37c3840067a57f84f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 65b751ea64be]
[blob 80225eaec3b8]
[blob f7da34dae4a8]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KBpZDwHut66NPifTQGqgHZ",
      "input": {
        "note": "The slate now fills the left wrist view with the striped clapper stick running diagonally across it; the stick's free end is the one nearer this arm. I'm lowering and extending the left arm so the open gripper descends toward that free end for a closer look.",
        "targets": {
          "left_j1": 2.0,
          "left_j2": 1.85,
          "left_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KBpZDwHut66NPifTQGqgHZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6014 left_j1=1.9839 left_j2=1.8122 left_j3=-1.3254 left_j4=-0.0181 left_j5=-0.0467 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.128 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c00261cddbe652e33640090a8446f38d0dc4a56f4144602fa1ff018738cfd26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28665fdac7463e9010d5b7c9af0f6044f7db4be46d8f4f63d89ff9863437ee2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9322d39f9446b4367a5a69d25e2dcbebd01ed40d384f64180220113a5a50afc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0c00261cddbe
wire blob 28665fdac746
wire blob 9322d39f9446
call 10 attempt 0 · /messages · status 200 · 37.78 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=-0.4259 left_j1=1.5578 left_j2=1.5555 left_j3=-1.2404 left_j4=-0.0071 left_j5=-0.0277 left_gripper=0.9986 right_j0=0.0048 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1032 right_j4=-0.0231 right_j5=-0.0376 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=-0.6025 left_j1=1.8015 left_j2=1.6592 left_j3=-1.2499 left_j4=-0.0059 left_j5=-0.0319 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1116 right_j4=-0.0231 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 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=-0.6014 left_j1=1.9839 left_j2=1.8122 left_j3=-1.3254 left_j4=-0.0181 left_j5=-0.0467 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.128 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c00261cddbe652e33640090a8446f38d0dc4a56f4144602fa1ff018738cfd26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28665fdac7463e9010d5b7c9af0f6044f7db4be46d8f4f63d89ff9863437ee2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9322d39f9446b4367a5a69d25e2dcbebd01ed40d384f64180220113a5a50afc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0c00261cddbe]
[blob 28665fdac746]
[blob 9322d39f9446]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ting6XUqr539EcHQM81PRD",
      "input": {
        "note": "Close-up of the slate face is good but I still can't tell how the clapper stick is hinged. I'm pitching the left wrist up so the camera looks at the stick more edge-on from the arm side to see its profile and hinge.",
        "targets": {
          "left_j3": -0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ting6XUqr539EcHQM81PRD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6048 left_j1=2.0026 left_j2=1.8118 left_j3=-0.8951 left_j4=-0.0128 left_j5=-0.0578 left_gripper=0.9983 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1398 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cba109cc9800e80dd8508952e431744d4323c2cc8e2224aa86f911d681382312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4575caf7f6877d0b6eccd3ee677738ee284a604a78992838590d411eb86940c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d8555cac744210b4d1952d7b00b41ff0237a6374beb01e8968db2af6580ded8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cba109cc9800
wire blob 4575caf7f687
wire blob 4d8555cac744
call 11 attempt 0 · /messages · status 200 · 9.788 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=-0.6025 left_j1=1.8015 left_j2=1.6592 left_j3=-1.2499 left_j4=-0.0059 left_j5=-0.0319 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1116 right_j4=-0.0231 right_j5=-0.0376 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=-0.6014 left_j1=1.9839 left_j2=1.8122 left_j3=-1.3254 left_j4=-0.0181 left_j5=-0.0467 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.128 right_j4=-0.0227 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=-0.6048 left_j1=2.0026 left_j2=1.8118 left_j3=-0.8951 left_j4=-0.0128 left_j5=-0.0578 left_gripper=0.9983 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1398 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cba109cc9800e80dd8508952e431744d4323c2cc8e2224aa86f911d681382312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4575caf7f6877d0b6eccd3ee677738ee284a604a78992838590d411eb86940c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d8555cac744210b4d1952d7b00b41ff0237a6374beb01e8968db2af6580ded8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cba109cc9800]
[blob 4575caf7f687]
[blob 4d8555cac744]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011XD6BjPNDUFW11G7A96RLD",
      "input": {
        "note": "From the edge-on look the slate sits low and nearly flat with its striped clapper stick along the near edge and a white support under it. I'm pointing the left gripper straight down and rolling the wrist 90° so the jaws will close across the stick (front-to-back) rather than along it.",
        "targets": {
          "left_j3": -1.38,
          "left_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_011XD6BjPNDUFW11G7A96RLD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6048 left_j1=2.0029 left_j2=1.8118 left_j3=-1.356 left_j4=-0.0109 left_j5=1.4864 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1555 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb3e9216899652f3c4ecf53f37ac07bf408cd3994ef57b38ed7b0abe8d27834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4793bd53696a37781f0fac565a0a3cc5ff83d04f59cd6ed6ee95f67db47a6dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bea705775cd0c00e64895200b82e2aab184ab8caa0315ff807f1442d428803ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6eb3e9216899
wire blob 4793bd53696a
wire blob bea705775cd0
call 12 attempt 0 · /messages · status 200 · 16.84 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=-0.6014 left_j1=1.9839 left_j2=1.8122 left_j3=-1.3254 left_j4=-0.0181 left_j5=-0.0467 left_gripper=0.9986 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.128 right_j4=-0.0227 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=-0.6048 left_j1=2.0026 left_j2=1.8118 left_j3=-0.8951 left_j4=-0.0128 left_j5=-0.0578 left_gripper=0.9983 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1398 right_j4=-0.0227 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 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=-0.6048 left_j1=2.0029 left_j2=1.8118 left_j3=-1.356 left_j4=-0.0109 left_j5=1.4864 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1555 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb3e9216899652f3c4ecf53f37ac07bf408cd3994ef57b38ed7b0abe8d27834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4793bd53696a37781f0fac565a0a3cc5ff83d04f59cd6ed6ee95f67db47a6dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bea705775cd0c00e64895200b82e2aab184ab8caa0315ff807f1442d428803ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6eb3e9216899]
[blob 4793bd53696a]
[blob bea705775cd0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzucB5rGD3h1kv1xdPyW4R",
      "input": {
        "note": "The top view now shows only a thin dark bar and the white stand where the slate face used to be, so I may have disturbed the board or I am misreading its pose. I'm retracting the left arm well clear to get an unobstructed top-camera view before doing anything else.",
        "targets": {
          "left_j1": 1.3,
          "left_j2": 1.1,
          "left_j3": -0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01NzucB5rGD3h1kv1xdPyW4R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6052 left_j1=1.3296 left_j2=1.1164 left_j3=-0.4938 left_j4=-0.0139 left_j5=1.4921 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1627 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03cfe5147ab143f851eb574e09d6282e843ddbc051a1cf8be65fd3d7e1646187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a563a6f7e159aa7f726bc1b72a38c0e0df1c93cb6e4ad12f18e461f6f14f3ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:552667debb1ad1325db99181517f49415480836b1c77b10dcfb7970ba52fa96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 03cfe5147ab1
wire blob a563a6f7e159
wire blob 552667debb1a
call 13 attempt 0 · /messages · status 200 · 30.31 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=-0.6048 left_j1=2.0026 left_j2=1.8118 left_j3=-0.8951 left_j4=-0.0128 left_j5=-0.0578 left_gripper=0.9983 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1398 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.6048 left_j1=2.0029 left_j2=1.8118 left_j3=-1.356 left_j4=-0.0109 left_j5=1.4864 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1555 right_j4=-0.0227 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 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=-0.6052 left_j1=1.3296 left_j2=1.1164 left_j3=-0.4938 left_j4=-0.0139 left_j5=1.4921 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1627 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03cfe5147ab143f851eb574e09d6282e843ddbc051a1cf8be65fd3d7e1646187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a563a6f7e159aa7f726bc1b72a38c0e0df1c93cb6e4ad12f18e461f6f14f3ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552667debb1ad1325db99181517f49415480836b1c77b10dcfb7970ba52fa96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 03cfe5147ab1]
[blob a563a6f7e159]
[blob 552667debb1a]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4Le4aQZBfyP68V5yUH8rs",
      "input": {
        "note": "The left wrist camera shows a large plain black panel — the back of the slate — meaning the board is standing up with its face toward the top camera. I'm lifting the left arm to a high vantage point looking down so I can see the top edge of the board and the clapper stick.",
        "targets": {
          "left_j1": 1.5,
          "left_j2": 1.9,
          "left_j3": -1.5,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01X4Le4aQZBfyP68V5yUH8rs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6048 left_j1=1.4906 left_j2=1.8641 left_j3=-1.4521 left_j4=-0.0139 left_j5=0.0757 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1787 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066f0dd6976d1aaf677607d830ee0c071a57ff3fe3c3d34621145f655ccfdbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d29c7be431940bcd276facf45e0bac1a2d35d61263e3042bd54f97dc2beb06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b0ba5afddc9ce0bdfd6d97f235c896d0769a4740ed422e1c7d1b657cfe8a9a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 066f0dd6976d
wire blob 0d29c7be4319
wire blob 4b0ba5afddc9
call 14 attempt 0 · /messages · status 200 · 6.757 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=-0.6048 left_j1=2.0029 left_j2=1.8118 left_j3=-1.356 left_j4=-0.0109 left_j5=1.4864 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1555 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.6052 left_j1=1.3296 left_j2=1.1164 left_j3=-0.4938 left_j4=-0.0139 left_j5=1.4921 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1627 right_j4=-0.0227 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 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=-0.6048 left_j1=1.4906 left_j2=1.8641 left_j3=-1.4521 left_j4=-0.0139 left_j5=0.0757 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1787 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066f0dd6976d1aaf677607d830ee0c071a57ff3fe3c3d34621145f655ccfdbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d29c7be431940bcd276facf45e0bac1a2d35d61263e3042bd54f97dc2beb06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0ba5afddc9ce0bdfd6d97f235c896d0769a4740ed422e1c7d1b657cfe8a9a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 066f0dd6976d]
[blob 0d29c7be4319]
[blob 4b0ba5afddc9]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AEYLs2zxLYkwmPQQHi3xra",
      "input": {
        "note": "From overhead the slate now appears as a narrow bar, so it is standing upright in its white stand with the back facing the arms — good for the clap. I'm re-aiming the left arm slightly and rolling the wrist so the jaws will close front-to-back across the clapper stick.",
        "targets": {
          "left_j0": -0.45,
          "left_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01AEYLs2zxLYkwmPQQHi3xra",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.4576 left_j1=1.5005 left_j2=1.8687 left_j3=-1.4921 left_j4=-0.0139 left_j5=1.4818 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1867 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb20807ac3440dd88abc39a220603edd3456646c9d26bc9208b3f3f5cf9aca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97989aa4f8cdc1ee4267268e2eb766d0ff04c62040be0a020bf5c0d37fac343d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9fea368bcd78059541820732cd86a0c356065262cb16afe4bae04a8b282ae94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2eb20807ac34
wire blob 97989aa4f8cd
wire blob e9fea368bcd7
call 15 attempt 0 · /messages · status 200 · 5.181 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=-0.6052 left_j1=1.3296 left_j2=1.1164 left_j3=-0.4938 left_j4=-0.0139 left_j5=1.4921 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1627 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.6048 left_j1=1.4906 left_j2=1.8641 left_j3=-1.4521 left_j4=-0.0139 left_j5=0.0757 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1787 right_j4=-0.0227 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 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=-0.4576 left_j1=1.5005 left_j2=1.8687 left_j3=-1.4921 left_j4=-0.0139 left_j5=1.4818 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1867 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb20807ac3440dd88abc39a220603edd3456646c9d26bc9208b3f3f5cf9aca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97989aa4f8cdc1ee4267268e2eb766d0ff04c62040be0a020bf5c0d37fac343d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9fea368bcd78059541820732cd86a0c356065262cb16afe4bae04a8b282ae94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2eb20807ac34]
[blob 97989aa4f8cd]
[blob e9fea368bcd7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJrdQKVdBHPjX6MerU2TSZ",
      "input": {
        "note": "The slate is still off in the far corner of the left wrist view, so I'm extending the arm about 9 cm further forward and splitting the difference on the base yaw to bring the board's top edge into the centre of the view.",
        "targets": {
          "left_j0": -0.53,
          "left_j1": 1.856,
          "left_j2": 2.267,
          "left_j3": -1.49
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LJrdQKVdBHPjX6MerU2TSZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5236 left_j1=1.8431 left_j2=2.2292 left_j3=-1.5108 left_j4=-0.0139 left_j5=1.4837 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2066 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a72726e9f5bf4025677c83898e95fff577b040d010d38563f4103ba716d17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928036d41a7ce996469b0215fe1d63ed7b302ceef9542f24c883f4a03f06ea8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a063967d4f5db13b04c3c4040a15c495b5311631a7801c214219e875ceadc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 74a72726e9f5
wire blob 928036d41a7c
wire blob 1a063967d4f5
call 16 attempt 0 · /messages · status 200 · 14.37 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=-0.6048 left_j1=1.4906 left_j2=1.8641 left_j3=-1.4521 left_j4=-0.0139 left_j5=0.0757 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1787 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.4576 left_j1=1.5005 left_j2=1.8687 left_j3=-1.4921 left_j4=-0.0139 left_j5=1.4818 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1867 right_j4=-0.0227 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 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=-0.5236 left_j1=1.8431 left_j2=2.2292 left_j3=-1.5108 left_j4=-0.0139 left_j5=1.4837 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2066 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a72726e9f5bf4025677c83898e95fff577b040d010d38563f4103ba716d17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928036d41a7ce996469b0215fe1d63ed7b302ceef9542f24c883f4a03f06ea8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a063967d4f5db13b04c3c4040a15c495b5311631a7801c214219e875ceadc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 74a72726e9f5]
[blob 928036d41a7c]
[blob 1a063967d4f5]
{
  "content": [
    {
      "signature": "CAISgAoKjAEIEBgCKkBLlu2Miz66L7nyIHNS9PrsNd6GBrFc4tt7MEgWNloGE/SQK1C2dv8whLMI9BKhHc2fKKGDwn06SkwFuy00+VFvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfZGP7vsHAQY81lWXGgyBtufxmo38XCHpp+MiMCag4rHCGbikid+GsZ46YHX2QzrVfNfHr3ZKKlrM5hlT+7JcOXbGKg/TIxtHsE9xJSqgCCOemSca/tRkpRjZYO0BtyXYzjm0ZfzIApnGkUDhSXw/4TfHErIeMo+c7CqEF1s4o7XNqK1WJ8RqXRUDmEJjiZfcD+TEsfsoyr1yj9cRGEd6Ef1/RIsIuEVaVOfCYHKhjNP5X5bbAjUoTHgknH5VDmqJfNhfxsim3CRsMVyGV/8weQEpLs7iN433ZSrPPLz/NtRvskHFa4V3OxxVu3LeUCkR8fESlrfIfCLTEbEi/jauMVq7jezMkPOZ5vIPi4bDHnUtYR74Pe5J5Tq24HYiUbRuubLPN3UBpIrPoMFMoUMlJB0OxWqXKEU+3gxsOCOGBj4RLI4BlcU/jvE16ql8hyo5t+KyyJFUblfd7zDPWN8WtypVGXwFopeszcH55mT29Cqh8rY+nJ83KUNKyth86vZCxuWn7D3kK1UT/hkhuKMPJvKmMfzylbmnLG2eRr0qnfdlhtwFfG7k7+DUFjqTRCGZo8AAi9sVKFGBU4jvA8OIYyoYaQ0P8RBNFVmMkH0BHFXJVU5N6A6i4n2ErIRerflzkVo4cli4okgcPNoI6J2bAOW9g0zzz04kbvtAZS4JSYaL/S7sOZGZiynRzRjWjD27Gh31Sazp9No/wI7pbgEMaqWWCYg+hstTE0gR2IPMN+KajLu7HQkfX+/1l1s/utSm6eFvU0G66WPDgFd5B9V/PA3Qb33Ay4qqPBV1xTeMfkXD5crUSpBuR30GsF3br0iXaxtID6cSFnRONcLLIvkGSnmruBTL2igVdOFvgBcH8n1KDnJU8s6J9i0rW7GM1r1lHijBcU9L6Uzn7MO13NDlj7bw7exNaamaR8P1nPFryQMshnpJ+IY0rAERUc9VQJ4/6bKPjXd734jyw40hhuQ4UQcnZ4UZJgkaEJsZN4TjtAi+KEY57QTMisjvLWoXRHlZogkWEH5FbkveKcgT4skEOEgAzEB9wr12x34gDW898/7f7rNKe6mwvcOYE8H7joH5a+sZcdlBsT4hKqp8LJ9e+eHStCjvVfMtNFXy05BRcPE/pvDfJICQ3ygNN7A+NHOzpTX2dq/2F74J9PTJpkwspIIuzNJkcmUXbFsS2pbce4tQitgYOsGD4lcQXDciuKe/u6vsJqkKIPOoAL0TF7mDzSTDl+AorVoyOInyBwVxj1meDD9woLTGGj4NM1+XULaYST0adu7U2FYfhUZ64nJCPSVnYW2UipGdR9LKXiFzxlbP65odHtTm0xb9GzUOXKwLFOXx21Iryt1EACIy/5kHVO3v4sz9ljYp/mWZm/8PuR9zVRQDkC40MsbRRYUjX3ugk6JCmU9QdOQYQmmilsv6LaPaVY7Np34Iw5mGuaIdLDlnlW2+d8rOq6ZDUH3gEd/fDAckS4acmg4OyPQAQ872Pjhy5TuMmiCSmYBPxPjJrRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gu1bLmpKbwD6Ahyf4UBUQm",
      "input": {
        "note": "The rolled wrist camera makes the view hard to interpret, so I'm rolling the wrist back to zero to get an upright image while I line the gripper up with the board's top edge.",
        "targets": {
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01Gu1bLmpKbwD6Ahyf4UBUQm",
      "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=-0.5278 left_j1=1.8576 left_j2=2.2337 left_j3=-1.5154 left_j4=-0.0139 left_j5=0.0761 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.215 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2f9d653148bc1566805eea130cacfa0ec84988c8c13360e5edfc9e4ee9b61c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a9f699c2f588d061ad5bdd32281b597ff20a28788b315eadac58b58a75dad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:506b46aef8087a5d5c1a153e53155a01c42d4c2ed45beaae3f44d93b226d86d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6e2f9d653148
wire blob 86a9f699c2f5
wire blob 506b46aef808
call 17 attempt 0 · /messages · status 200 · 13.37 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=-0.4576 left_j1=1.5005 left_j2=1.8687 left_j3=-1.4921 left_j4=-0.0139 left_j5=1.4818 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.1867 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.5236 left_j1=1.8431 left_j2=2.2292 left_j3=-1.5108 left_j4=-0.0139 left_j5=1.4837 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2066 right_j4=-0.0227 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 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=-0.5278 left_j1=1.8576 left_j2=2.2337 left_j3=-1.5154 left_j4=-0.0139 left_j5=0.0761 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.215 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2f9d653148bc1566805eea130cacfa0ec84988c8c13360e5edfc9e4ee9b61c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a9f699c2f588d061ad5bdd32281b597ff20a28788b315eadac58b58a75dad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506b46aef8087a5d5c1a153e53155a01c42d4c2ed45beaae3f44d93b226d86d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6e2f9d653148]
[blob 86a9f699c2f5]
[blob 506b46aef808]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011x3Ujp5EmtcWmEU9h97Wed",
      "input": {
        "note": "The left wrist camera now clearly shows the slate standing upright in its white stand, back toward us, with its top edge near the top of frame. I'm reaching further forward and flattening the wrist angle so the gripper approaches the top edge from behind and above.",
        "targets": {
          "left_j1": 1.822,
          "left_j2": 2.126,
          "left_j3": -1.089
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_011x3Ujp5EmtcWmEU9h97Wed",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5278 left_j1=1.8545 left_j2=2.1349 left_j3=-1.1938 left_j4=-0.0139 left_j5=0.0555 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2161 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6323c0fedc71380305abc3a0ee786e1a5851ad6fa005ac310f004b0a01ad5961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a2dde8043a9530226bd54c6757f7a47c4ecfca4427b8d4295007feb636e8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:873a4de386d3d7e6abba7134a979728466d1aea6e85aa21002d0e1718446f42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6323c0fedc71
wire blob 40a2dde8043a
wire blob 873a4de386d3
call 18 attempt 0 · /messages · status 200 · 7.798 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=-0.5236 left_j1=1.8431 left_j2=2.2292 left_j3=-1.5108 left_j4=-0.0139 left_j5=1.4837 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2066 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "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=-0.5278 left_j1=1.8576 left_j2=2.2337 left_j3=-1.5154 left_j4=-0.0139 left_j5=0.0761 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.215 right_j4=-0.0227 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 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=-0.5278 left_j1=1.8545 left_j2=2.1349 left_j3=-1.1938 left_j4=-0.0139 left_j5=0.0555 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2161 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6323c0fedc71380305abc3a0ee786e1a5851ad6fa005ac310f004b0a01ad5961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a2dde8043a9530226bd54c6757f7a47c4ecfca4427b8d4295007feb636e8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873a4de386d3d7e6abba7134a979728466d1aea6e85aa21002d0e1718446f42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6323c0fedc71]
[blob 40a2dde8043a]
[blob 873a4de386d3]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PGCixgdXKHZMMvXg9Bi9Cb",
      "input": {
        "note": "The slate's top edge with the clapper stick sits above the centre of my wrist view; I'm pitching the wrist up slightly and nudging the yaw so the stick is centred, to inspect how it is hinged before grasping.",
        "targets": {
          "left_j0": -0.56,
          "left_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PGCixgdXKHZMMvXg9Bi9Cb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5545 left_j1=1.8549 left_j2=2.1269 left_j3=-1.0454 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2165 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f994ef38e7a481bead423c13b9a44b4239f68713d0a75299b38525bc72448c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73c3be13452ffc2190a02608a8afdc8f7cfec9fac79ab9f47e686f47bae3c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53b9846e372c50912950f836d37509c5f963e390c6c42d524c00a1a7d00cb323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f994ef38e7a4
wire blob e73c3be13452
wire blob 53b9846e372c
call 19 attempt 0 · /messages · status 200 · 25.05 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5278 left_j1=1.8576 left_j2=2.2337 left_j3=-1.5154 left_j4=-0.0139 left_j5=0.0761 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.215 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "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=-0.5278 left_j1=1.8545 left_j2=2.1349 left_j3=-1.1938 left_j4=-0.0139 left_j5=0.0555 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2161 right_j4=-0.0227 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 55 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=-0.5545 left_j1=1.8549 left_j2=2.1269 left_j3=-1.0454 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2165 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f994ef38e7a481bead423c13b9a44b4239f68713d0a75299b38525bc72448c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73c3be13452ffc2190a02608a8afdc8f7cfec9fac79ab9f47e686f47bae3c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b9846e372c50912950f836d37509c5f963e390c6c42d524c00a1a7d00cb323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f994ef38e7a4]
[blob e73c3be13452]
[blob 53b9846e372c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEQueyhd2iwbm2EisCMAwe",
      "input": {
        "note": "I want a second viewpoint on the standing slate to understand the clapper stick, so I'm swinging the parked right arm toward the board and aiming its wrist camera at it from the other side.",
        "targets": {
          "right_j0": 0.55,
          "right_j1": 1.6,
          "right_j2": 1.75,
          "right_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01BEQueyhd2iwbm2EisCMAwe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5587 left_j1=1.8553 left_j2=2.1265 left_j3=-1.0584 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5343 right_j1=1.5921 right_j2=1.713 right_j3=-0.886 right_j4=-0.0223 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f238d8a58a71ed6ca3dfbd8559655c12e78a9abf1b3e45f3e597f0b03965d791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9536a2529ed8547a2b38796b7a8af28ec76c94a987fc34db8f0622cfada68ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d6cdecc8099caf83eaf6cbc7645be4fc80303bbea4455c4862a61bcd0beb6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f238d8a58a71
wire blob 9536a2529ed8
wire blob 7d6cdecc8099
call 20 attempt 0 · /messages · status 200 · 18.08 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5278 left_j1=1.8545 left_j2=2.1349 left_j3=-1.1938 left_j4=-0.0139 left_j5=0.0555 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2161 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 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=-0.5545 left_j1=1.8549 left_j2=2.1269 left_j3=-1.0454 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2165 right_j4=-0.0227 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 58 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=-0.5587 left_j1=1.8553 left_j2=2.1265 left_j3=-1.0584 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5343 right_j1=1.5921 right_j2=1.713 right_j3=-0.886 right_j4=-0.0223 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f238d8a58a71ed6ca3dfbd8559655c12e78a9abf1b3e45f3e597f0b03965d791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9536a2529ed8547a2b38796b7a8af28ec76c94a987fc34db8f0622cfada68ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6cdecc8099caf83eaf6cbc7645be4fc80303bbea4455c4862a61bcd0beb6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f238d8a58a71]
[blob 9536a2529ed8]
[blob 7d6cdecc8099]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKh7sLSCVTiip8d8T6LHcm",
      "input": {
        "note": "Both wrist cameras confirm the slate is standing upright in a white stand with a bar (the clapper stick) across its top, whose end appears to stick out past the board's edge on the left arm's side. Reaching the top edge needs a nearly horizontal approach, so I'm re-posing the left arm to point its gripper forward at the height of the stick.",
        "targets": {
          "left_j1": 1.397,
          "left_j2": 1.436,
          "left_j3": -0.389
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AKh7sLSCVTiip8d8T6LHcm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5587 left_j1=1.4296 left_j2=1.4509 left_j3=-0.49 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5365 right_j1=1.5993 right_j2=1.7153 right_j3=-0.9173 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af612baee2d4c38c723cf47ec4d0614f6148cdc63611c5b6b3de5c38d43db5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3581fbcece96945c203e6f70d245f2648edf8d7e6d8903b98a2f579235b6d795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48fd1fa1dabb9c32fc1409b0aae4e778baa42641de3cd2e4c256e19e6184db54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0af612baee2d
wire blob 3581fbcece96
wire blob 48fd1fa1dabb
call 21 attempt 0 · /messages · status 200 · 12.96 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5545 left_j1=1.8549 left_j2=2.1269 left_j3=-1.0454 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.0044 right_j1=1.3239 right_j2=1.1999 right_j3=-0.2165 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 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=-0.5587 left_j1=1.8553 left_j2=2.1265 left_j3=-1.0584 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5343 right_j1=1.5921 right_j2=1.713 right_j3=-0.886 right_j4=-0.0223 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 61 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=-0.5587 left_j1=1.4296 left_j2=1.4509 left_j3=-0.49 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5365 right_j1=1.5993 right_j2=1.7153 right_j3=-0.9173 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af612baee2d4c38c723cf47ec4d0614f6148cdc63611c5b6b3de5c38d43db5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3581fbcece96945c203e6f70d245f2648edf8d7e6d8903b98a2f579235b6d795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48fd1fa1dabb9c32fc1409b0aae4e778baa42641de3cd2e4c256e19e6184db54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0af612baee2d]
[blob 3581fbcece96]
[blob 48fd1fa1dabb]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MioAqunnkjSM3G6zbJXN84",
      "input": {
        "note": "The right gripper is intruding into the left camera's view, so I'm swinging it aside while advancing the left gripper about 4 cm closer to the standing board's top edge to see the clapper stick clearly.",
        "targets": {
          "left_j1": 1.598,
          "left_j2": 1.611,
          "left_j3": -0.481,
          "right_j0": 0.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MioAqunnkjSM3G6zbJXN84",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5587 left_j1=1.5978 left_j2=1.5608 left_j3=-0.5011 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2649 right_j1=1.6009 right_j2=1.7153 right_j3=-0.9371 right_j4=-0.0219 right_j5=-0.0448 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fb50b90f6752076389a4174e358bc32fc5659027e3036768fa8a5ce2b66626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69b7e03e5d223e45f8d180b05c12c5ceda9c40a3e73607ebf3d60fad0b14588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9921a706b99dcbf4f68b146ab834852189f387bfaa3a706e0d62d107beacedbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e3fb50b90f67
wire blob d69b7e03e5d2
wire blob 9921a706b99d
call 22 attempt 0 · /messages · status 200 · 26.26 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5587 left_j1=1.8553 left_j2=2.1265 left_j3=-1.0584 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5343 right_j1=1.5921 right_j2=1.713 right_j3=-0.886 right_j4=-0.0223 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 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=-0.5587 left_j1=1.4296 left_j2=1.4509 left_j3=-0.49 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5365 right_j1=1.5993 right_j2=1.7153 right_j3=-0.9173 right_j4=-0.0227 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 64 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=-0.5587 left_j1=1.5978 left_j2=1.5608 left_j3=-0.5011 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2649 right_j1=1.6009 right_j2=1.7153 right_j3=-0.9371 right_j4=-0.0219 right_j5=-0.0448 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fb50b90f6752076389a4174e358bc32fc5659027e3036768fa8a5ce2b66626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69b7e03e5d223e45f8d180b05c12c5ceda9c40a3e73607ebf3d60fad0b14588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9921a706b99dcbf4f68b146ab834852189f387bfaa3a706e0d62d107beacedbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e3fb50b90f67]
[blob d69b7e03e5d2]
[blob 9921a706b99d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1Fq3zXyxEEUs7gRnddnBx",
      "input": {
        "note": "I need an unobstructed overhead picture to settle what this object actually is, so I'm folding both arms back and out of the top camera's field of view.",
        "targets": {
          "left_j1": 0.9,
          "left_j2": 0.8,
          "left_j3": 0.0,
          "right_j1": 0.9,
          "right_j2": 0.8,
          "right_j3": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01P1Fq3zXyxEEUs7gRnddnBx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5594 left_j1=0.9222 left_j2=0.8158 left_j3=-0.0673 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9226 right_j2=0.8173 right_j3=-0.1043 right_j4=-0.0223 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ae0f9d13681967bd05cad99e382448a68ad63e708b3e9285d6ce36ca9a2078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1e69603b66a631aa90411d373019ba29519359969108bcd84d5cf5c2dfcaaf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8de35bf176d06d4cf9eb8f93c2d6af41e3b0777fee7d8ab75918e4d342bd6b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 05ae0f9d1368
wire blob f1e69603b66a
wire blob 8de35bf176d0
call 23 attempt 0 · /messages · status 200 · 41.19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5587 left_j1=1.4296 left_j2=1.4509 left_j3=-0.49 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.5365 right_j1=1.5993 right_j2=1.7153 right_j3=-0.9173 right_j4=-0.0227 right_j5=-0.0376 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 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=-0.5587 left_j1=1.5978 left_j2=1.5608 left_j3=-0.5011 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2649 right_j1=1.6009 right_j2=1.7153 right_j3=-0.9371 right_j4=-0.0219 right_j5=-0.0448 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5594 left_j1=0.9222 left_j2=0.8158 left_j3=-0.0673 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9226 right_j2=0.8173 right_j3=-0.1043 right_j4=-0.0223 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ae0f9d13681967bd05cad99e382448a68ad63e708b3e9285d6ce36ca9a2078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1e69603b66a631aa90411d373019ba29519359969108bcd84d5cf5c2dfcaaf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de35bf176d06d4cf9eb8f93c2d6af41e3b0777fee7d8ab75918e4d342bd6b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 05ae0f9d1368]
[blob f1e69603b66a]
[blob 8de35bf176d0]
{
  "content": [
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XicyYVMnoiV259hEFvLDB5",
      "input": {
        "note": "The clean overhead frame shows the clapperboard standing upright in its white stand, appearing as a dark bar about 10 cm in front of where my gripper tips were. I'm driving the left gripper forward about 6 cm toward the right-hand end of that bar to close in on the clapper stick.",
        "targets": {
          "left_j1": 1.825,
          "left_j2": 1.821,
          "left_j3": -0.534
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XicyYVMnoiV259hEFvLDB5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5598 left_j1=1.8133 left_j2=1.776 left_j3=-0.5156 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9276 right_j2=0.8001 right_j3=-0.1265 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2119f8b279e850522b1240378fff8a42538deec3c690f9cb3286fe6d4c5fca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e258f9e886d7a867808bf83868531d43d1a679468bdfc38f776e5f3a2f87c185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3399d3f8b131ffe87890ca07cbd25667a0d0aaead9f117a4194252732c75cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b2119f8b279e
wire blob e258f9e886d7
wire blob f3399d3f8b13
call 24 attempt 0 · /messages · status 200 · 18.72 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5587 left_j1=1.5978 left_j2=1.5608 left_j3=-0.5011 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2649 right_j1=1.6009 right_j2=1.7153 right_j3=-0.9371 right_j4=-0.0219 right_j5=-0.0448 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 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=-0.5594 left_j1=0.9222 left_j2=0.8158 left_j3=-0.0673 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9226 right_j2=0.8173 right_j3=-0.1043 right_j4=-0.0223 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5598 left_j1=1.8133 left_j2=1.776 left_j3=-0.5156 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9276 right_j2=0.8001 right_j3=-0.1265 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2119f8b279e850522b1240378fff8a42538deec3c690f9cb3286fe6d4c5fca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e258f9e886d7a867808bf83868531d43d1a679468bdfc38f776e5f3a2f87c185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3399d3f8b131ffe87890ca07cbd25667a0d0aaead9f117a4194252732c75cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b2119f8b279e]
[blob e258f9e886d7]
[blob f3399d3f8b13]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XBVbbAC8Yxe88ZJwbAmNgQ",
      "input": {
        "note": "The board's top edge is a horizontal bar and I can't pinch it front-to-back with a forward-pointing gripper, so I'm reconfiguring the left arm to point its gripper sideways along the bar's axis (jaws then open front-to-back), staged about 12 cm clear of the near end of the clapper stick.",
        "targets": {
          "left_j0": 0.223,
          "left_j1": 2.476,
          "left_j2": 2.313,
          "left_j3": 0.164,
          "left_j4": 1.794,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 29 steps (2.9s)",
      "tool_use_id": "toolu_01XBVbbAC8Yxe88ZJwbAmNgQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.2077 left_j1=2.4653 left_j2=2.278 left_j3=0.1028 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9287 right_j2=0.799 right_j3=-0.1467 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447fc7b94af63b8a65fa950cc3ea5df4b2b6edbd92f6ead3b369c657dbcd86a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ee940310254885609abc09ef0ae610dba6bdf5a4b3710e6597e925c58f3d2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b80ad4f804438b75f2085684dc2809750f589d77a27f71242ae81760b8ffb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 447fc7b94af6
wire blob 96ee94031025
wire blob 1b80ad4f8044
call 25 attempt 0 · /messages · status 200 · 34.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5594 left_j1=0.9222 left_j2=0.8158 left_j3=-0.0673 left_j4=-0.0139 left_j5=0.0517 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9226 right_j2=0.8173 right_j3=-0.1043 right_j4=-0.0223 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 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=-0.5598 left_j1=1.8133 left_j2=1.776 left_j3=-0.5156 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9276 right_j2=0.8001 right_j3=-0.1265 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.2077 left_j1=2.4653 left_j2=2.278 left_j3=0.1028 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9287 right_j2=0.799 right_j3=-0.1467 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447fc7b94af63b8a65fa950cc3ea5df4b2b6edbd92f6ead3b369c657dbcd86a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ee940310254885609abc09ef0ae610dba6bdf5a4b3710e6597e925c58f3d2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b80ad4f804438b75f2085684dc2809750f589d77a27f71242ae81760b8ffb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 447fc7b94af6]
[blob 96ee94031025]
[blob 1b80ad4f8044]
{
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AjUJuVZ1sVRktUY1qnyrRR",
      "input": {
        "note": "I still can't tell whether the dark object is standing upright or lying flat, so I'm raising the right arm to hover its camera about 25 cm from the object and look down on it for a clear close-up.",
        "targets": {
          "right_j1": 1.393,
          "right_j2": 1.57,
          "right_j3": -0.878
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01AjUJuVZ1sVRktUY1qnyrRR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.2089 left_j1=2.4687 left_j2=2.2814 left_j3=0.0906 left_j4=1.5681 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3861 right_j2=1.5284 right_j3=-0.8352 right_j4=-0.0227 right_j5=-0.0525 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0282aebbf247619fac80ba3159de23cd47ee8170ba7cecc768bc6f72801e3f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc21edf79600774f350e91f8b6267dfde3861fab20ebbd2d11321abf6f6373a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cb9c3610b72d312bb0295ab4f9997fad4e83bdf5c32bd5951ee1abe1de84a23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0282aebbf247
wire blob 5cc21edf7960
wire blob 7cb9c3610b72
call 26 attempt 0 · /messages · status 200 · 24.28 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.5598 left_j1=1.8133 left_j2=1.776 left_j3=-0.5156 left_j4=-0.0139 left_j5=0.0513 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9276 right_j2=0.8001 right_j3=-0.1265 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 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=0.2077 left_j1=2.4653 left_j2=2.278 left_j3=0.1028 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9287 right_j2=0.799 right_j3=-0.1467 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.2089 left_j1=2.4687 left_j2=2.2814 left_j3=0.0906 left_j4=1.5681 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3861 right_j2=1.5284 right_j3=-0.8352 right_j4=-0.0227 right_j5=-0.0525 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0282aebbf247619fac80ba3159de23cd47ee8170ba7cecc768bc6f72801e3f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc21edf79600774f350e91f8b6267dfde3861fab20ebbd2d11321abf6f6373a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb9c3610b72d312bb0295ab4f9997fad4e83bdf5c32bd5951ee1abe1de84a23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0282aebbf247]
[blob 5cc21edf7960]
[blob 7cb9c3610b72]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0175H1tZUp1eMoApsHjUBQmY",
      "input": {
        "note": "From the right camera I can now measure the object: an upright black board about 27 cm tall standing in a white stand, top edge roughly level with the shoulders. I'm moving the left gripper to a safe staging spot just off the near end of that board, jaws open front-to-back and level with its top edge.",
        "targets": {
          "left_j0": 0.484,
          "left_j1": 2.164,
          "left_j2": 1.7,
          "left_j3": 0.464,
          "left_j4": 1.571,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0175H1tZUp1eMoApsHjUBQmY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.4683 left_j1=2.2032 left_j2=1.7184 left_j3=0.4011 left_j4=1.5646 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3933 right_j2=1.5311 right_j3=-0.865 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4722d18e375551f0ecc597e02651959dae62e7f1d0680863f2b6f51354fc295d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c058fbaebcb68b4d571afdf69ceda66eec03c49ded8e50b194da2fb9b1762a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73f9083cfbe15ebbba0a9211600cb1e4a93a0eaa5b56c4fd3a1b4c2b9d41107e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4722d18e3755
wire blob c058fbaebcb6
wire blob 73f9083cfbe1
call 27 attempt 0 · /messages · status 200 · 23.21 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.2077 left_j1=2.4653 left_j2=2.278 left_j3=0.1028 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=0.9287 right_j2=0.799 right_j3=-0.1467 right_j4=-0.0227 right_j5=-0.0452 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 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=0.2089 left_j1=2.4687 left_j2=2.2814 left_j3=0.0906 left_j4=1.5681 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3861 right_j2=1.5284 right_j3=-0.8352 right_j4=-0.0227 right_j5=-0.0525 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.4683 left_j1=2.2032 left_j2=1.7184 left_j3=0.4011 left_j4=1.5646 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3933 right_j2=1.5311 right_j3=-0.865 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4722d18e375551f0ecc597e02651959dae62e7f1d0680863f2b6f51354fc295d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c058fbaebcb68b4d571afdf69ceda66eec03c49ded8e50b194da2fb9b1762a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f9083cfbe15ebbba0a9211600cb1e4a93a0eaa5b56c4fd3a1b4c2b9d41107e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4722d18e3755]
[blob c058fbaebcb6]
[blob 73f9083cfbe1]
{
  "content": [
    {
      "signature": 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kFvFZ1WA9xdbcxrOn1aUkKKiqAY519whwlNP3dr+DKzp8/IYXJyf8tHA91j0RL06Wxgaib0TzUTy+JbZ/DXRs1qMUZp9gZv6q4+zqt5zfDlqdmOEYI17AkLsZ0RYPFd7Lzghf1OU4XFeeUQHZmI2q0WIN8dhcsZ24H45SfUGYplOnUrGhml/OHvPhjQpYdw57W9LrNcp3U/WyHm3+C6qBxcV+phcrmzm/odby4/pRg+IUBzpDdZJHnPAJgv9GL0it2KzltG9Rg13jXk2aMnPh4akzNug8i+0nlRGeRy2NgRfRgWkR6RTlgWPGyRdHIm+ZDLL3xBUDsPcFztTDANoZuNqYyT9iwd2XFzAlsCiJYZ7D4PIf/REqGaPE9QOPq+3fEoHUFMvZ9obBb+P9qrrwtPAhILaT9KJV8W6OgKngko5F/G8n9yms9T9h0+M0eOiP/m4qI+9GjwzS7b7KUUQZ4/dZsbnmgVQAguireczaEY2zPWahJcLIqTrMXlACcHlj7hssW5D9Mu48laMQqSlaDrPKzi3UfgbWxMR7gyNPBrYTHtOb/MZCIIr2IDejpvfRRkFaS+URGfv15m6mvLUKAnCRgNO3TFFci9u1RVKunI/X8TONH5ob3RzaNtg9px1hut9/RjJlvUKIel/QjJA2fzLdGaoklgohzQPyuKVtm780kA8SdWtjMNAINnke1QZw96+S/n0a5Asoh9Ziu+lsxBodn2G64VpJSzNReYJ7s1/+DY3o174mJugPRNNOVWBh/6Up8KSWj9rfm1FvG5PWbd3DdCQ1t/+5yrLjKoRWoujnh5H47Km1qgdHROCIushensLldO6OH1zjSXgBmCMcRs44D4NpWAG0vkx2eDlMyTuTRbVu3GrcUPUf/ptMazjr83V1A7yvHv+NUwFZCrm7wdCFMO+n01WgFQWtXm92K3Oo7dl3LaSzjnfmB1Sa2/So9YV8iUp+67xJiRGuKGPDx83z2MclasIt5yiozIyQgjm6ro0c3B88KxvJ9tmdJiiSJILx1+vNo2acN2EXK6WgwJ+N5i6BbgXPlZgO5vLlxQPx84zbgCQzZnORPii4mz2WXxXrcRGgQovDJWdmeSFtrjZKqaToEOMAQg5l/hHykp6ngMP5LwPzTydUy29dOek4KTCnLI9j4Lf89Oh04iArgtbzGoznfXu1N4tU5GmJ9G5tHhyH+3NhYOjZPWy6uUXDQlkXnhy82Xn4Kwem6jmb5uBICUz54IpHE1KC92qTR6TM2w4XZIQOul7j/gOQLP7WEfBFvQOMhVJwnLOus+8uKF+9tGOwjQHSb8V9nmwDig3GhF2F8QRhibznQGDycaRmYPeWBoZJ/dRBw/eRGf1pgPN/yRcvuqFIFWK+RSqmW7DEZNqJuijMZkcsR5MaRYTgcUjPpwW7stAPE2RuNZRmrGPRFU7M0yfqP7fVLPlOvqGi0qjaQYmZ7eWOsk+FID+L7KZFWby8tjjuGI+puQ/3Z0+fGGc/fFIaXjNjFp1yxnTiUMslvy12nEym0HxAqWdlr20MZ0OQvz++W2oiSCsz4BpBgyL80lIpyVAVARXhrS4PyWrGMuMI0g9W+aVBETG2J3Lmpj2oZhTN34wkYuYCWmBQGwZNS8NGT3P5YfP5/10RGRJ3BpMkY0OkfWOlIs3Iuu6og+j+CBLpnFqwJE1nAzhCDCQ9smGdtqtOquX/jdSd/0WdzsNMFqz7y0F8KM9VP1MypxUEgoqdF4Ld4qePGs9LtCK9685pf1vuxmKlG0RvYtZsXHnbAAtQfMZvxzD8ICsEfBJwzj1siRhd1n+kEuCQGr6QHixYyHUNAuZyGM8N8qh25qvb3FcSyN9/PRn1gkvcO9vTiJfwbGh81X9W06Ib1qfe24F6/Ci9InOQwrxXx9bIjjvVa6wIve+JW7bL2pVU8emzAdtc8aWR2MOgx9DiiuQZ4g56ifYLDlhvpR3l+0NDPW41JuAfK9riXN+n72KyCu5aEgRLxr2c/gNkN/0M/Wi2Cw+R81jHRrUPQ8wfCUljxcovyjnBM8xj/puKE7EQLslkDzJjhLR5mlTQNuMd3v+jc214SIPX7u2g8UEhmvx3pSuXu6n8HH6TBYpxq5zmuOnkRJQKHu+ooGqaN+Sl35gBT9VOtH0Ye3pzRsPNdf/4+J4Co9KsUFkExSqJGb/Vtn5hqEAgcsUJIDdz2YlCFhPUy0e+n3OqztSrwCCDvfCWGkG+TIAUhYb0r8/la8NgzvoOV+7e9BUGddD94GDjOgPT4IONlOkraIDp7kWrx6onegB7RIBKgZcuZKhcs5KsrInXekALp6wXv5/zHeAH3gknRyHO6Yx/Pn6DBuNLCZugQK73/Rggx2yu312H5ixjkoIumBy3OQ3AbBjXOzr6PEldkQZwBdJrqjBIIopV3mDaO3JbARQiywF7kzdaEv2btXWtub9N/9/MF7S/P9W260CWgH4FRHa5MgWjmagy3g9plvlsmmnEGfHzR4ss+ROJldx3b1VUgJoppY+gAK2pTu2WCvzU77yH5lS6nIGRa7OvsCGw++UX74qI42eUKeZWyZKcPdxffGkO3QlZqLuLlyUL02kbt8LuH+I9VbltqQCwlqeKk1d/NdXh+4oRBmcPjeTi93VPkAud4OsHCVxCQwFZ+9vQbZjE4ItGqpvLlR4W0swXfvGHU5FuDb1gzHwXcDogaAnfP2oCTBuIi8eVBiLnJoG77FyyI1ZFyVcFvouxOdhw8jZ782PwSc6L18qE79YKNAcgbYa2jOzn6w6yZGlGAOlPFfuZznG3P8BP+vdZarJxHkef1iMadMT7D6rcD69LC/KDFCpZV+6Q3y8BPn5EKYy70kJI7XNNb/08OZz2E2xQuwZqzkzarploFynymDHrFarU+la0k+ioM45g2F4aYKWy6NnIW0wLFkCkhO2UhJAkQgmajEYzArRiU9NTA5Ajy2n30+y0CfayvkO9FOAs6Olxwdd9NmPztP0n/hQEBDhYi8lVWbwEL6BO3ueNIB2rivs9w+VQOI/6ffouQA9pluVpcRva2zi07dSHuWv9FU34aRKZtE7CdJcjABlB6w2U5jBIq98dwyc8U4gLzMO3KBBnqHnWAuAXphuMdeBnJVVHglkJBcrH5x4FPf+A0B6ptcEw3vHFzIU+CyUcjeNm639Q603RSlIpbbhe3WMABRHgtDVUVF0fKaUKHa8xJ46cpqnFYxJ0nba//xUOyfO++ZsotMFq1lM36Sr+F9md25TroX1sOVVnqTsnZTI0cDVBYW84aYopDus1gi4tGHXWBVNWU+FU9kAZN7iW1U1yvgD8WwgMCquwocF4Xpxj+HlatZlzjCAzfrN4Bh5pDLde30yVm14k7vP53+sevtUU1D6neOrm711v3uH+vhcZwO+3LLziougxNYiYgAwD3VsQ6dUZ2qVN7U1s1+eDBbtJXopXsmzU/rG4b4t+r/6qPo+ce5+ydxSPtQAQHOzHLZhVX+ehMIIO/pTM3tFBtBvmN+pZyRN2Pe2MTkWG7RiA9Uo4G/6N0QxBDxFyXytbZf9RgIQmlp8eqoZZf9hvhJfhpXlSkwoXYWt3mdet2Vbvmj3fmSXI0vv3yM0THGzkYv/+LlcAlJeGuZ5NMfbzAcNc23qDPuPGAgKjkAC4IObbUHjsYaAWHRvIqGjkO7AT8QvT6NHV82SR41TcL0t/ADqw0hF6H+5jB0ygt3cyyKZOIMe/KlmiA4ynHo7GdpdKsMOROMEqBS5QuMtMWCiCIB3ds5lSjYq3opG+8VOT9SwzKHFSwb/HxsfT199UXbuaH0U1pimgZY+tJ0F2SMAk7XABjBSlw1OY5DO1UJ/zDhvqhaxsspqXkistv/sn+UnCGjFB9IN49c339YxX3MEoOg/bmN05/O9bJym4c1/aeeo6/GPO1s1QaBp4e5Iw7xkM9knHMHW7N/9bidzYGmG7/WCFrG312ZrrFfQEdS7zlRrewsJRr6SzCITr0o5Um/pYJifgyT6X1ZL856VXP75AsjYZIvjZ5qU0xo3V9r9VUlaBmOF6sniR7y8t8Vsq6YHAqg2Symdmjb9KgwXuwEJr7Ft7/OLqXGdwPz/TsXnfcXTwXqXMRbaSnLj7RCm7esW5NQ+08PWpYxV4T9hOIBOaRBt93AYkky1giBkhYggN22cvePP1uFFdb5JqiVedmjdwMSIH44xi4f97NXTDvKK+/j+QArT45WUQRHVk62SoHy3GEmcFULtAoGk2fCBXC1i3OXm90kwouveBBjpQk0qJ4QjCKswnMmctky4HkUPWKh8+oB6K50FV1Erx14BN+zCCu2uyXd4lKjSsWHtkj8idvG/t2av+kpOWtGEfC0AiBQAo/+aVkAv8bu+CF3QIfiOebb4ltkQwxZUnODZoZSx812mzwUWV2iP+CvILP7BhPjamKtSJ71z48GizURxMcQOeUyu+qzQ4bgGGwVL7MRoyylrzPTRUe/cdokYNTJZFBiPMXAJiiAe3/9w9zRXuWii7fKIVgRMsGvkNHeaXDziQ0sItgmyEFJpKLjzfoZln9L1sYBdOlgl8M2kZgsqS+IXpHQg4FJA18VVKD0mjKQmwvEoC7fDabr7fu23R/qBakjncKN1OQ6R6Ryyysp/ECJrxF1NxCuuWitalDmZgwpJ19cnK/ixp7WIUS0BqQTxcSh5PRHku0sKEO2u47PjCnzdVckpJcga7ObWEPI0o+wN/cON99p4Tl/GyGS/C7BpvKMcm11dLsymXFLGwc+f4TWJ6WSmX4BNJ7sOITLQ7KCsnq2WGdxpIVGAgBjAAnTmZx236ezMYDNPuTEfswPnltjPEAPgzN6oam0EgbiKdyqfJ0V7+rGpO7YdTmSat4g7UXvTfvZWPrOBfHVjgX/bURo5gppN/iTxZ9Ki3I+kIY8EyI9A7FU+U5x9VAohYfoJ1NqV87j2GVgeUotuLd5kkLA4hm67p4/j/7+U0WE5LisaB1C6PqnhrhOTjYUmWL9lf/GcIG7SulI09yWCWD7FWXAUjBLdH7qVtHgHmV8hV1VYq/Xklp8M8m3EEInNcGcwNMR0MFj++2iOQ8kuPXs7zq1Ki38SkaxTUr1/4PDz0R9VmDqISOykRCfYFEyIpO8MaWPe4NkPIfWNmB6jEXDzrQYTVL7EcJmO/6Zjtj0T2dob/m96qxA24njqArm2dOk/SyT6SDV3ftRuLfIxdTgiy1eQ5c0x9XTfHhn1YAUXDW0za670mw01LaGU4KDC7MWgJt2Ry/RTgC7iiJXJ6L4m3xD46SE49kR/pp7BfsOcTzPjoci/SXC2bRZZudyxonMosajNh8gBEvKkQJnNe6T8po+7laI4Rdt8qWxGHtRYEhKzTVoXFQh698YDDcOzpQ6+rs0fp+6LK5V3KYR01CYHxAiwFARWNSJdFsu+oxaCfpgxdFdF0Hlfh9MOBz2Lq/CTnpZ2FqDdyzbNy8d8e5dqDZVe7AQ5ECvH3BFfrAZJSGgb4SZ+DYjAwpcj2EcA7FO/x0hYr7kXWaSrsSIGEEvnhPAjAsDuEKsO6ML78r854Ngl0SIcG6O3pyo3evACMEmKKqnFLB95xE7yPPpe97rsETAXLjCmz44PtEDmdrlEBEnq9d3AEYxlLXyFWEH87uze3PraFKAwmWeL9svelS9w3jkEPhWAss2BWPVMd49YyfInw2zNk80vnK+1yRIvY2Cv/rVI/Bxb2j8z1JoqdlZWE2iE0K2hjs69aziqaQgIuxadcaKwmiM/HLOnQlKxpQHvfl1kcGvxBqmxZL1EnsdaC3qukxAnBEn6y9zNbQeCsniTxvbaxGtT+g09VC6X8wKLA/yOqjYy0sviE060t2ujP9A3e1QBemWnEP7ByLaA8hC1m+w+YCvzJuUpj4X3ri5Bx2VcDFjWXBnTZE4ATxMgrmvgn/TeXtgcn/ZLDI3sD5nQ/DhMgdKGx6hxSh3VZydNYPqWjt6HE1yGzf0czz56eE4R9szqTlxOsip3Da5nU7p3Nd4PKj7NVtH1OBNhj38kXxnMhHKT/Py2ap24ZWJ0L/5J8kvKwn6vOTio43oiWRlo6wbJyXjdA/2zm5RHj/FtWFXQiIRpF6VM00gX2MAZCeocbwcO4nUvYSFnzn3hXNV7pECODcfr7fHqBTOIXXolcB+FOfeRnD6ZUexSdyL40luDDPQpqD0xL8bwDWXfZNl2JfDZ1dNr6pK9hp8e6LrD3Pq0Ut77wKff0ySRpLGtHOhOmpGUce0SMf3ofHO7Q5owdJip3nAEMER99jlwHVMmNAccbVrugHcIQRs8tzsExS1XVL+19XfwNEV6aD+fqatpIOvzguOMcztSlIrEnxu/SJTuxejgXwtYQ094fV99NqLv/rHh7ZD+rFUg7GsIymx/z1Av6FvLymxZ+QufBWPCCxralDSHhLLHIM+nVWO9/MS3B1dhwUbraRI6VoKa+cxEFZkyWlWxH7MOBc1hX6ataEHZjHGL0KvbWASP4exdKiDrM+BP3c1IV+EByM/6nIrAlEdc2krl0JXxep0c/1/SYBsRzRK6U5ttNB+Vp4vwhGjkhEAEa8m+3JrzQtaQgGOkJxITg2Bblc59cRSCviorjRg0VvD9rdkyifOr4pqfMpR5Kjl+Rd1/TgvdqtGHaK4Ght84v8NmKDF1RFNoJzNjBTg6K6e4B+faCVdNiMorAIjkWnUSgyQ24M20H6BvyKCBvbKcSgpUnjouEsVzafOWHwjWg6g6MyJ4dQC1mxq2gJcZo1FkvyaEWEI2fywU7t7JxWhoRX2AFv+m7AXS1ZNwZ/fiYWu/0klr5QeaZ/J9pYiEuW52LN0P0mHYVI2laCexA3A0p51v30ZAB/UV7SJBVDt22N/ueTBVWuJCvT1EtoJJUtYbbA4FWgWC9POPpSYgc/Ul6IqdhZDn4oy8l6aVpGGVt5fAlYfAJwW2d12W0dQpUiyrvLUhWgvUexF+lsAgstTu6HNj8T8gzwmkSzUN5AvtiXpPVl7hhud2oNhnjMqBzhKC8frF5kjWPCaVqSAsGB1yBU9ampJDI67JhW6VkTZRx+Xu0kHMTgE/5Npm44wmZ5K3Td0uqTuaAh43gUxa5Kvuf9C+tzzhXyROsXm3EiaAGuGjJch1BaBdqB3gdoIqmnxUyp4DmNmghH+40EUEyg6K9lrG6NUlJQAvibkPqDS6xzUjKQ7zEDzv1AmZ/aAjJfvF23Wu++vr22aMMc5c0OXc+sXw4EL7funRtvSOuKn7nCdj48kcw6HVQ7PODJYBafzyDk5yRCgAeeox3+DF3hDIMvg0Ks9dOoJXGmcww/WClyGkmgXFLcgQy8QxzhbvIk7jiTmZFUF4RRflc7RRlchuerjOgrO8nm54yttM6SXW0QNkPOUM5ompql0og/f363T9+ITOVguIbT4bylOP8mYTXXAJ97QaU4sHyEDwv3EDHXrW+tpoMSWKGe42JhhEpB53H/6cywVTU2mK8AIUD3Shb64RP2C9vx+1wb1tKcHOmVWCCoqGWC5sRf7rgwct1NGT8jV2bdT5Zru1GCUHO+ZaM9syVsJteAvoC4AfFUq6Xg/70q+CBFYliYCHBSXiUJLPJcmdBdNR4RTkhwPUwKVKce5DhbRpU1c9tdg68pYgRqvVzEnPKzQc62zpUvVrDd+S9SWTL7T2rNYu+JUOoY3mrmf0s77c8raWjqfjxZRlTshfmWHjDS9jtgxbjL24plCnShgfunO1GW7I9KfSB9Wtm0I0mGrtj9b8HW/UxNiDgrn1mFU/9TtVZ6GBwHOUqLb5YQzf648B2Y6xvLaG8+pT27BwXLhPDqeXQ0GaQAvPj4XPaqZShXLORpg/NpGyTNQ6gixJ6ALcL537UUMWfF5z5jFMzImaOX3a98oFZmAhlBZ25XVXGOSjNvhbQPnyxDadgDawBD15XE4AMBh1EGMXMzgTSVxvsgcB0d4n6EtWwqUCh6T1CdnaN84z02/uEULhp8U8mTrnQv7MHLoUrWL0XFKINSSY56YuncHeQN5obYA5SWckJQjbep7uDa5k/UYwH44cAeGSmJ0D849W6CLy/TNt2aazclgBfJz4eu2i8SPTmiwS4G26R5CmVEPnWjHcR/OMoO6Hoc/OQ1nX5/Rt5RDKlUZI2Bjy1xVRZziN19SpDJZlo9wnuf8iFa/d/PnXdER515SAHLM3ucqe4P0rcMFm0CQp1A57KQt9bnVdNK1dzgp8iKpwjAeskK8VyWB8f6F+AYkn2pWKlVDoLFaXRkkl59GXDomW6of8mK7DgK8+/BThLtx5c5bWsM6jh2x9Ar8eCRVlZejT17/RZszW74B/J3gA+T+e7M8nDlPEzqB39bglazV0O9hW3FJi2LO6k9xs50gPrPk28azy8ozbOfkIs9X9RJ8i4yebFm47MTMkmQdy7KZkiW7IrE8xTs20SkjNT2VIEqePHHBoz3WUYrk8sT1Qo5iFxIOricHV9QhJPJ3ulZDo9nw2Vs56X1dLCGmuKt4tIWkqvfCkAz0pmHN7YIsOEZoEv7aeE8VuAgppS4RdqJktGQcHBOPxbrvWvUqLleK0eD5OF16jHFBtOYT/TLYFDSP3ZaUy5RTaM1FFD0jd0Whhkmc+JHibQEY635nRn0zHVbQGU6RB1tuTNE+nXidusgPh83Rm4xRFZ5bjt+Q7l/Z8lA8mOthR3bdSobWYRUlc9XgPjKs02mw+wKn5+U65opXrHjY12NPyp/EQ4uTqJJjUVQGMuzsQfhQgYeXIDsIYff2/AAEkdl70lcLJnVHcAEE6sbVcVPFojmdpjCBYatjw+aMHJOipjB0x9q0VszVcv9Yi9F7VH8MvOX3os+BpJJim8c14tBTUqHDgBjbnbE760Ye7TdREs9XKZGh3lyimsCSR0jqqAKCqMpN3K85d5t0zH91WR3Or+vxk+9ttHqWSblMMY2laJQ3IGEgz5maiJe2RvqLpuBBXN/2E0mTCCAzVdEsjz0NezOxeDnkOm1u0FqFEzLgHa8UjZ7CtRj7hm53wpFDRgdCXiwTsIs+V1xyzz2PLyTG4O0tm/Sm8YkBSIGhLDyOpMNd+CgQYoNjFyWLGg4RIZMkiKLOlpjf525uvfgQ9bNCDTNyA0Gngy/2zWfyazU+6dEeJhev1TSqnssRl9fFHpVc6NIkABibn12Qhs0Sg4W5YHR8r0JG/C1+2cS/WovCYxWD2xs/Stwm/JY21utAMVLUGzZYeY2PilqRCqrRVXaxmL4Ij4ZIvnKVtPNP2S7s3ix93n2wP86XbqbGRERl+GZJLYer96x5pGyffyXjsETLmADyMUGKsrJlwMkxtwIFaUVOJoO1IOg96aFpz67zMtwkEQ9KptIvkP/9RcLLcg004vpZ40kEyPRXfZucezxN92x9+SgytwcH+UZJqG6mQn5k6RJmNmW+hU9SfM1xXW2UB6jw6fx6lm4yk3Tcpg5eQdLzGyA9IkzHARDmbl+GLgH76hvSUPNatHxJkm96ccQdfBkcQGpbD4lYOQfO2UmD0rJ7XT56FO3y87IDE35BeeAEkpwhYGXP5kXoGImIok+DEJullfr+LS48L6Ty+Khfx+0MXJJhNHAtTN6+arFEjsQgPqdqRkVFi02fXOunHhHUP1ZH0fD2yTssQMKdppXV1G23ZlhoJ3Dl7rAyeSQbXRfD4VNY/yCpC0LgP8gIK+6nlYmK6M19X+l4yyc/+SszgF4uFBhbcJ1Zg4H36WUXVHy0Os6Kvp5izeVWDqax4aFiOUK+tddsGGlMpU3daHr16qDKd3SDF4JgWybOZFbDAmf23hZdZ9wkVR4ck9IGzXGdkbilbnvtJoH5mYKGj6H/kLsUNKPJlH1/pdg1fWhfOiWh3hKb3Dgrj+6R/w7aYIP8HiT8KUDnKlXSRJDK45MYe+eaOof+GsfCSt9qWmBfqcJmXobJTadb/28ytgEYDYosMVfhNAMXHu/5gMmglnbP9dBt9+1kyUGxGFzeupkAfrLOJ3Gfwfi1fbWLWXWEHIUsKakaQhpZG4k70jyIThCQuQMWQUCmBRWJtHTUaECNk1O3YbcVrLnLUNI4Jcme/XhOLMqD7PQObz4hBHs3yuUAI5VAV5MbHjhDBZ8G/BmjwkG2DGRIISlG/b0D1w66v3d3w0bU45SP9Bwth+52xTMRtnaKdMcA8p9ipvVxHQrlbU7nwBb8q5CPST8VTJq7uRyxGdpAI/syNAgI4QQ5MSzN1y7yYzt7YzBSf0cVvr4CJTSVgmnz3Nm5Zd4MsXHS8lj/uxIFJ2M7CTDxUstuSckeuIxHw6CQj2SyEt50fA/V1ghdoUE5YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017FRx1XEkyBjjPJ2eHURDGt",
      "input": {
        "note": "Calibrating from the top view, the board spans about 30 cm with its near end roughly 27 cm to the right of the left shoulder. I'm swinging the left gripper to a staging point about 7 cm off that near end, still level with the top edge and with jaws open front-to-back.",
        "targets": {
          "left_j0": 0.1405,
          "left_j1": 2.3214,
          "left_j2": 1.9679,
          "left_j3": 0.3535,
          "left_j4": 1.7115,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_017FRx1XEkyBjjPJ2eHURDGt",
      "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=0.1513 left_j1=2.3142 left_j2=1.9232 left_j3=0.3527 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3937 right_j2=1.5311 right_j3=-0.8818 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e66436d4ff2769da9c4f7f665ddc3a030ef4c362a006d9d359972f2c1d4d1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7e1addd2cea6b8eefabc28b52764cb03977355118d5ed0e661dba95329b1ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dcbd3157f502691488ee5bd5c92f2f83c82c34f8c6be0ead5feedc57a20eeaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1e66436d4ff2
wire blob c7e1addd2cea
wire blob 4dcbd3157f50
call 28 attempt 0 · /messages · status 200 · 31.16 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.2089 left_j1=2.4687 left_j2=2.2814 left_j3=0.0906 left_j4=1.5681 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3861 right_j2=1.5284 right_j3=-0.8352 right_j4=-0.0227 right_j5=-0.0525 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 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=0.4683 left_j1=2.2032 left_j2=1.7184 left_j3=0.4011 left_j4=1.5646 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3933 right_j2=1.5311 right_j3=-0.865 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.1513 left_j1=2.3142 left_j2=1.9232 left_j3=0.3527 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3937 right_j2=1.5311 right_j3=-0.8818 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e66436d4ff2769da9c4f7f665ddc3a030ef4c362a006d9d359972f2c1d4d1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7e1addd2cea6b8eefabc28b52764cb03977355118d5ed0e661dba95329b1ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcbd3157f502691488ee5bd5c92f2f83c82c34f8c6be0ead5feedc57a20eeaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1e66436d4ff2]
[blob c7e1addd2cea]
[blob 4dcbd3157f50]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PNev36FTtLEU798XrjfgrK",
      "input": {
        "note": "My two viewpoints disagree about where the left gripper sits relative to the board's top edge, so I'm panning the right arm's camera to look at the near (left-arm) end of the board — it will act as a witness camera while the left gripper closes in.",
        "targets": {
          "right_j0": 0.56
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PNev36FTtLEU798XrjfgrK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.1474 left_j1=2.3169 left_j2=1.9278 left_j3=0.3367 left_j4=1.5715 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5423 right_j1=1.3941 right_j2=1.5311 right_j3=-0.8879 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7636a60e77b45c1fabc831c51aca6a759a8d9849e162c721c7ca273484e15f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987a427ae6d5a9f4ed5c7eb77ebe1d64e4f5753597b3ca20aabc57c9e64ec75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:459b0c95cad49c85dc34486e76c2451a5356f923c188ba53f6974cff9089107d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a7636a60e77b
wire blob 987a427ae6d5
wire blob 459b0c95cad4
call 29 attempt 0 · /messages · status 200 · 18.02 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.4683 left_j1=2.2032 left_j2=1.7184 left_j3=0.4011 left_j4=1.5646 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3933 right_j2=1.5311 right_j3=-0.865 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 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=0.1513 left_j1=2.3142 left_j2=1.9232 left_j3=0.3527 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3937 right_j2=1.5311 right_j3=-0.8818 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.1474 left_j1=2.3169 left_j2=1.9278 left_j3=0.3367 left_j4=1.5715 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5423 right_j1=1.3941 right_j2=1.5311 right_j3=-0.8879 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7636a60e77b45c1fabc831c51aca6a759a8d9849e162c721c7ca273484e15f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987a427ae6d5a9f4ed5c7eb77ebe1d64e4f5753597b3ca20aabc57c9e64ec75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459b0c95cad49c85dc34486e76c2451a5356f923c188ba53f6974cff9089107d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a7636a60e77b]
[blob 987a427ae6d5]
[blob 459b0c95cad4]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sfqBJLMXVaPfawmQY2W9m",
      "input": {
        "note": "The right camera now gives a clean view of the board standing back-toward-us in its white stand. I'm sliding the left gripper about 6 cm further along toward the board's near end so it enters the right camera's view and I can judge the alignment directly.",
        "targets": {
          "left_j0": 0.0067,
          "left_j1": 2.4594,
          "left_j2": 2.1291,
          "left_j3": 0.3303,
          "left_j4": 1.578,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_015sfqBJLMXVaPfawmQY2W9m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0265 left_j1=2.4489 left_j2=2.088 left_j3=0.3248 left_j4=1.5669 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5457 right_j1=1.3949 right_j2=1.5303 right_j3=-0.9031 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d90d0309170fffdf38c469728c743e1f3d5dcfc81b47bbf6ab7a36b5cf53f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e700fd0a868dcf3566cde57a79b03662347058cc247f0b207ed4b36bb28eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05db076e635d5cb13ea768cd0e0439681c6b0ee4c9bdbe6cfae88746a91ff166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e8d90d030917
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 14.85 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.1513 left_j1=2.3142 left_j2=1.9232 left_j3=0.3527 left_j4=1.5757 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.2665 right_j1=1.3937 right_j2=1.5311 right_j3=-0.8818 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 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=0.1474 left_j1=2.3169 left_j2=1.9278 left_j3=0.3367 left_j4=1.5715 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5423 right_j1=1.3941 right_j2=1.5311 right_j3=-0.8879 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.0265 left_j1=2.4489 left_j2=2.088 left_j3=0.3248 left_j4=1.5669 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5457 right_j1=1.3949 right_j2=1.5303 right_j3=-0.9031 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d90d0309170fffdf38c469728c743e1f3d5dcfc81b47bbf6ab7a36b5cf53f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e700fd0a868dcf3566cde57a79b03662347058cc247f0b207ed4b36bb28eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05db076e635d5cb13ea768cd0e0439681c6b0ee4c9bdbe6cfae88746a91ff166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e8d90d030917]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013LE2SBFkv7dZiNt9e2fdGc",
      "input": {
        "note": "The overhead frame now clearly shows my open left jaws about 9 cm to the right of the board's near end and a few cm too far forward. I'm sliding the gripper 10 cm sideways toward the board and 3 cm back so the jaws come up alongside its top corner.",
        "targets": {
          "left_j0": -0.2,
          "left_j1": 2.6279,
          "left_j2": 2.3946,
          "left_j3": 0.2333,
          "left_j4": 1.371,
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_013LE2SBFkv7dZiNt9e2fdGc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1818 left_j1=2.616 left_j2=2.3474 left_j3=0.2447 left_j4=1.417 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9154 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3bd4fff1d7c0f8a3ef9b6ea0a9649ecb0b1480a3f61eb7e3007cfa2a6e65f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aca44100be2d0c0360d66f5a917bc2320ff95c45791c7cf161f519d5edaa5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42925d21ba9d1bb84afd09666477089c2464d752ec1fe120ce8d5c0b8169ea0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 18.43 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.1474 left_j1=2.3169 left_j2=1.9278 left_j3=0.3367 left_j4=1.5715 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5423 right_j1=1.3941 right_j2=1.5311 right_j3=-0.8879 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 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=0.0265 left_j1=2.4489 left_j2=2.088 left_j3=0.3248 left_j4=1.5669 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5457 right_j1=1.3949 right_j2=1.5303 right_j3=-0.9031 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1818 left_j1=2.616 left_j2=2.3474 left_j3=0.2447 left_j4=1.417 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9154 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3bd4fff1d7c0f8a3ef9b6ea0a9649ecb0b1480a3f61eb7e3007cfa2a6e65f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aca44100be2d0c0360d66f5a917bc2320ff95c45791c7cf161f519d5edaa5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42925d21ba9d1bb84afd09666477089c2464d752ec1fe120ce8d5c0b8169ea0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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wDKmYwaLdtJfpfEfKlnazc5m0MPvIw9CiG/T/DDsAc3AI4RXprb07tYwyOpP+UlZMpBrJELWxkIghce+VZWFIvISzvmKBze1+/geDZCYrNXMI7R/JSzE5QgTGy6I69gxOp0oU92CJQ5FdN0vx9LazWN2t/9eOB5uQ90BtSmkJJx36epp8oHC2ZO18ESYrUSnKmzrh6PpWkV0I+NihXdms0oiOlcYm1ZL1RoRueyCKoZOleoZaG1eJeX0Le2XmZQUkMGkSvs9AjD3/wrc7/hklCrSQI+TWEhbGqkpt0rx7KK3qQ5bQzC5QZeF58NkcqICLQG7PkfMpGb9Cr8EIHEfRnDu7RBAfB3sNHQV73x/jk+J6HVB43RG1J+Nw4JvCF9y7IjjpUIu9uU7ZpTGVXDCmGTiH16p0rO3NxDI5D+VEI3J00tkI4qtKcwAUqSgn8URdj9d6NyFNz8lUiN/E2XIWO995YsEo0Jwju6L52VVTwsnF6JYLIXun3s8hR7bQh/R2bIq0HTimnFDqgmeZAi7WBAmoaAnytqEX3ikAkE6H/R1F0EagAjLskMAYrpQgO4IBg8Ebl+ZC+RtY9kWCkpD5LKnFM426dKL2ZQdogJl5ieIt5A0m/vwLSisnha/XtQUwGa9qEgJZWa3jCG6/3igLHxhKkTa3wMbuRFWnzKb5UUhr76wblRNCJg79MhaxMT94HYqicpHQrG8yVbNGVFPeQkHVdsI+0S7HQKDP+CCKQoBV16LNZ5pvQZp7LTUlmizLj87Chz3zUMgQxUbNaWvRVCroIJNmHj50yhiWDtkaAX9N5MHSmNCtAiem8p3uzBm4hR6bcwrRp3u2GVI925Qu9jDo/jgLoPNQF0es5zEm2Hdia12Va+Z8vehzLABHnsj2DzBYUXQtQMgndb4qs5jQ5pbBbV7+15ZBH95L2VabWnP2JgT0UNd6PGRxo+HDP5vPePN7kxI+qDjgNORohNu4LwH+j/IgK44iIre419N+xBz6lzw17L4/et2Ti9ObzfxesgeBrxZA6gczRCu/9JvUMbcgVs4elx2XZbfTLgYvzVswUX8Mlkt+gV8elBLAQiLFiyu2qs/Z27ShvMP7mWT6xxuhrPeF8byuH+oCWOxK1UgiBXPu8FNC/+sSP8kEvhnqpZsb1tgrZgWR84MJMpC9M0q9fcbi6JaIjnm504/+azUZlpWkGVisgWBbsW/UM2/dWXhDWdkNsmbaMGIN4YPDU78V7518camXMUjfMxHcNSDWpv+Nv7Aas7WIMraIW5UpRAthzmzPCA7/kYHvkcDD1Cr9WCiz8i3eJNwEKeSFj+XrzZUj5F65jp0n3IMRzXP5GXUwJlJ4bNpSWbip2QT9nL3PnBv7GuP3hlNHBttZbQnMoW5llAQCAs1BjDyuHZws69diJmffLSSRBxb8FfmwanTv7q0og8J1Q3ONKNJtPnf+TSLRG4M9J5uCxu2hZvWpBIGzri/VFMUgR1R+K3EPUaofiGn+zDJAYBZtaex41ixqP5QU4XMxI+amb5aa1GbTTaHKOiSK+mSZyCcjV/bRVKPayEMdOa07R5HOF84TVhTmbGs5Injexwu3j8aNGDtIPEqP0SmGIj99XksBGf+CzU41ep+hSU62KT+CQEukBB4zrKNu9h0Lnr7rlICNfpMqQdFSfXiuQC64optWTbsJQMQMjqIB5JTSUE4cTwD55VMYB5AIQEv3NH/5i2DOwnbonSHraAUbcUMNlk1L4GxEdN1YdX31/T6pen6VcF61TDOr7tKc8b3vDFvNdbfgkUoRRCM57iPIjUJz2qCq/T3JS5/4nDLT3PBDJhUM+7J4elbGKBDieCZcaNAy9hkEQ5bJm+oEvemUWv+39AKAc3oRgxpTVhlLjC49XmWmPOTJF2GhV8S6b6JVgjOuQGtv7GIRgrODzM9Fev19JRug392ta0F4/1883r+VAqJ4rtMsrS3C339VgXzyWmYlAKpVZdHySnh6BhPDVnDhYkvjGFhM0yq+6HFGaOfURww6/SfowuFN+MVGY9Jn500L6/jXtNyMgWJO5P8fUNOYbq6xfAj+H1SXfwVhEkqrFEKYM/kIULBjPz+DMG/WDUPN0uXeXgmEwSP5NqiOX/F52+eyC0+I7rKdY3JuOw+DzID87OKEG6CDy44GL/k4Lbmyz2dSZOhrIlFC5WyZoK3kI7r3Aj2MR95WpoBFSyQWl74wWWdjp0CCZUHz5o5nQzFWSw9eEwEvpedmQboZeWhOvqzljtheNrGVhcADPWo56a8f7EyVY80FqVqZSh5Ee0Te7aTxZsDwz49btnlvexi+Q/WyinWBRxyS2IwAVdAMqEzuOQnYq3pFYA/8MVZTiJaZrmrU1xRays4sW564MPXccziReeEpcLfnhbJ/UEg01R75ZGDDFoTloTm0sxWoieEXlpKR3z9mggVA4UxLWq/MxhIQftr1VBRriI0ikda57o4iXygvsbKCluy3vuJ4La3QBsFFaeo0NcVOyhIW/QR6rgMxHgt9EU1nTbNWFZacjydEb341V35Rp3xHoxXref3vYkmzUOvWwKB9QEfZPE5BF0thfc/tzUfCsADWNdr6HaaY2djOjoV+foROfvqcOlg86v1QE+6NxauBd/kpZBZGOlIuOoDWOVbqPEa3uX0QtxYvA6do68WlXn+KB2ayg3kyAP74LWuUxen5qypxOQ5vxfqbxxBRUmAy74BKTONgD5ciYnC/IY8ISGjaM4NbnLnY123bOrs9+rG48dSpofRP8rW+9Yc2hdxNrF+z4ZA0eoKnHGr+l/THJLJYc0SW2GA4Cd7su0I0vv+MtB/360xvnc9FYJNktOZMjFqDSpP7x6EPj6NNhGSfzPoP71ebJgKi9gOXK0HTkTBFctEMEA1fi/zcH676EyD91RyFGmlHVFtclXZ0actYGkufqFGXbeOcZgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GcLpyXpFG6nJZDZnqX2gMC",
      "input": {
        "note": "In the right camera I can now make out a separate darker bar lying along the very top of the board — that is the clapper stick. My jaws are straddling the board a few cm too low, so I'm raising the gripper about 4 cm to bring them level with that stick.",
        "targets": {
          "left_j0": -0.1848,
          "left_j1": 2.5313,
          "left_j2": 2.3273,
          "left_j3": 0.204,
          "left_j4": 1.386
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GcLpyXpFG6nJZDZnqX2gMC",
      "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=-0.1963 left_j1=2.6144 left_j2=2.3405 left_j3=0.2119 left_j4=1.3788 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9184 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32f9ec4b19ca3d4ddd7a50541483780d9e816d2892d135a396c2f0ecd69481e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350fde811a54fdd8508fe91f8b12a32fb9efca080bf2e71d980771fd1f7bdaef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1850b2aadc543f4c68e49b597dabe8a3eb90bd31d17bb822fc0901d30e4be07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 15.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=0.0265 left_j1=2.4489 left_j2=2.088 left_j3=0.3248 left_j4=1.5669 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5457 right_j1=1.3949 right_j2=1.5303 right_j3=-0.9031 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 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=-0.1818 left_j1=2.616 left_j2=2.3474 left_j3=0.2447 left_j4=1.417 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9154 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1963 left_j1=2.6144 left_j2=2.3405 left_j3=0.2119 left_j4=1.3788 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9184 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32f9ec4b19ca3d4ddd7a50541483780d9e816d2892d135a396c2f0ecd69481e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350fde811a54fdd8508fe91f8b12a32fb9efca080bf2e71d980771fd1f7bdaef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1850b2aadc543f4c68e49b597dabe8a3eb90bd31d17bb822fc0901d30e4be07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XTjjZGkthLLZcW7L3Z9rU",
      "input": {
        "note": "The overhead view suggests my open jaws are now straddling the board's top a few cm in from its near end, so I'm closing the gripper to see whether it catches the clapper stick — if it stalls part-open, it has something.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_019XTjjZGkthLLZcW7L3Z9rU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1947 left_j1=2.6011 left_j2=2.3333 left_j3=0.1978 left_j4=1.3796 left_j5=-0.0055 left_gripper=0.0118 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9245 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7e7c6e39d5c6bf2589690ec8a7e5adb42f96e8e5fe72e05c2e466ed1e7443a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc5c05db7e0a9cfc3b6610d8179fa3c885d54aaa7269ed46e3488902ca8e542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d692726ff0d76a0b05ffaae22ec526740a0e1290c368f12286d13d7241aac6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 13.45 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1818 left_j1=2.616 left_j2=2.3474 left_j3=0.2447 left_j4=1.417 left_j5=-0.0017 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9154 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 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=-0.1963 left_j1=2.6144 left_j2=2.3405 left_j3=0.2119 left_j4=1.3788 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9184 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1947 left_j1=2.6011 left_j2=2.3333 left_j3=0.1978 left_j4=1.3796 left_j5=-0.0055 left_gripper=0.0118 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9245 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7e7c6e39d5c6bf2589690ec8a7e5adb42f96e8e5fe72e05c2e466ed1e7443a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc5c05db7e0a9cfc3b6610d8179fa3c885d54aaa7269ed46e3488902ca8e542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d692726ff0d76a0b05ffaae22ec526740a0e1290c368f12286d13d7241aac6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014thAv6z26UGBW1SxMce3kk",
      "input": {
        "note": "The jaws closed on nothing, and the overhead view shows they are sitting a few cm on the far side of the board's top edge (which is why the right camera can't see them). I'm re-opening the jaws and pulling back about 3.5 cm so they straddle the clapper stick.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.2114,
          "left_j1": 2.4494,
          "left_j2": 2.0324,
          "left_j3": 0.417,
          "left_j4": 1.36
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_014thAv6z26UGBW1SxMce3kk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2073 left_j1=2.5092 left_j2=2.043 left_j3=0.3676 left_j4=1.3582 left_j5=-0.0082 left_gripper=0.9956 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9344 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649fa4862a466d67aa4e0a793241dcad07b29451d61e64c0f01c14d20bb5db60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2d4cfeb29a90cb9d30bc550ad59ea026b0265114194d6401d4cc94b35ffc16c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21b52afcad01ea02eaa9a510d255bfae2121db5a5651dc38bf5b778403cd4497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 11.85 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1963 left_j1=2.6144 left_j2=2.3405 left_j3=0.2119 left_j4=1.3788 left_j5=-0.0013 left_gripper=0.9982 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9184 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 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=-0.1947 left_j1=2.6011 left_j2=2.3333 left_j3=0.1978 left_j4=1.3796 left_j5=-0.0055 left_gripper=0.0118 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9245 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.5092 left_j2=2.043 left_j3=0.3676 left_j4=1.3582 left_j5=-0.0082 left_gripper=0.9956 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9344 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649fa4862a466d67aa4e0a793241dcad07b29451d61e64c0f01c14d20bb5db60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2d4cfeb29a90cb9d30bc550ad59ea026b0265114194d6401d4cc94b35ffc16c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b52afcad01ea02eaa9a510d255bfae2121db5a5651dc38bf5b778403cd4497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5iZ5xVegDuDUV8bGreXud",
      "input": {
        "note": "In the overhead view my open jaws now line up with the board's top edge, straddling it a few cm in from the near end. I'm closing them to grip the clapper stick.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N5iZ5xVegDuDUV8bGreXud",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2081 left_j1=2.5019 left_j2=2.0369 left_j3=0.3557 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0544 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9436 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29d4f2332129df6ce8185d225382601c063f790e7490ee53bc99e5c1afad926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec88f9be02f4412dafa65590359d52075b9e245dd48056571be831d53f065a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1a07daeba9010ec9c0560e641e118a6cfc542bfee5dfb833d2804be8fc927a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 18.13 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1947 left_j1=2.6011 left_j2=2.3333 left_j3=0.1978 left_j4=1.3796 left_j5=-0.0055 left_gripper=0.0118 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9245 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 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=-0.2073 left_j1=2.5092 left_j2=2.043 left_j3=0.3676 left_j4=1.3582 left_j5=-0.0082 left_gripper=0.9956 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9344 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2081 left_j1=2.5019 left_j2=2.0369 left_j3=0.3557 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0544 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9436 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29d4f2332129df6ce8185d225382601c063f790e7490ee53bc99e5c1afad926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec88f9be02f4412dafa65590359d52075b9e245dd48056571be831d53f065a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a07daeba9010ec9c0560e641e118a6cfc542bfee5dfb833d2804be8fc927a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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4qJ7klvm5/WfPYO/Fm6e+Vh20U1WaPsas7smfBshHalLP3uB/cgvakPm9qSXq6ibBzppa8SfPBDVhRLuv3Vwh0rmufHNsg+Mn7bKDvRPG5mG0tihI9sLq9IEH3Lqs5HzFdruF1pUi1WUT4WP+13g++8UoQ54l5sTdarFTa2C3amA7v23J/0msPo/vffFkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hmc2nMf8xegqdyi58KLbA9",
      "input": {
        "note": "The jaws closed almost fully, so they may have caught only a thin edge or nothing; I'm raising the gripper 4 cm to see whether anything comes up with it.",
        "targets": {
          "left_j1": 2.4322,
          "left_j2": 2.0808,
          "left_j3": 0.2421
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Hmc2nMf8xegqdyi58KLbA9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2073 left_j1=2.5 left_j2=2.0476 left_j3=0.3004 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0538 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9451 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eaffefc3cbd3f5ccb723aa4c279d9ce21b7c6fe1fc30c2ab499cf071ce50775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a836b9bfb93e06eb310520ca84481640d47b1474532c677386c507cc864731d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e1d651c227edd45e15c5f270dda026886c77c52cbc537326a992c1406d80c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 5.544 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.5092 left_j2=2.043 left_j3=0.3676 left_j4=1.3582 left_j5=-0.0082 left_gripper=0.9956 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9344 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 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=-0.2081 left_j1=2.5019 left_j2=2.0369 left_j3=0.3557 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0544 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9436 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.5 left_j2=2.0476 left_j3=0.3004 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0538 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9451 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eaffefc3cbd3f5ccb723aa4c279d9ce21b7c6fe1fc30c2ab499cf071ce50775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a836b9bfb93e06eb310520ca84481640d47b1474532c677386c507cc864731d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1d651c227edd45e15c5f270dda026886c77c52cbc537326a992c1406d80c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuDMKjAEIEBgCKkAyKVzqW4/hqni5mGroeKCOzKZyLF1RtT0MtHUlSLo4tjNGy9td36rMq8cvD50iPdr9eG+Yp9bqdGZG5CyaWa56MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM64htAl2pDFCTNXY/Ggz0VzFYVxDuud7w9rYiMLDwAYdWozLFNd6nnUbznta9BCCXxaGn9QMb5cg9MSl83af9soXE5gOZg3j5Xo85uirYMWPstRD9ds69XKqn7EFzvVJlHXgkT0N4BDv8HCCWPpKvfovYCRJFFfh9JAPPqh+fCkDWwB/obzSdDFYwhf3UerDZtb4+f4yidOCq92+dwZPzINkGhixURWOjc4tN2rsgUUu48LM4y6Wa7/JUhZK/DhI/W35jBBI8KqXZKirWMnI8Qh7Hc0dlQKnUxzGfU4iRv4yoaLA1rscRM+elJQCYZ2OBoC1ipMRA5jaMURP8yNoKq9HH9RGhJQkMkqw87TGK7IouRXLUySdzic52sW03xOqRpBr8xI9X602YPYJsDIr+KAbGOAjtYMmC8dFK+xs1yn+raFLFSubB5a2iV0JFG/nJiBCMXnsVDCLbCSKrYCwxctyGoml0WOreZwZfHF9kPLzxnN6Cr5GtjeCFSyKH0sVy5iz+usrg/YGdvYOpTO1VIuz5N7YfJDj95A2Z4g0UeEhNlsYCqdYAODH0j6kH/toqCMMF5dwQznk9UhsZnb4Pgc417XId9me8gdzKDAJbwF6PzHS7f2no5qQcn+0Fh2mgsw/5KDAbnLybrj+0FqnQEeAPi6qT640gQBN8sZrtVIGzKFOjBGYjKErbVX0vBSEuMVaM0C9RsdEUQlD5b6XFjsmLXEJKV6uKbGjIoFQi/0krQuFPOGr/iPOpP1dLk7pZDVvlXeByo9ySIpFTiVrySon82qcQF1Fty7q29N9Ek0TIyreo0CbxwBQJBwXeDVd21o/vOWRwtL5DkNV8pLrvvNuUOtI1xnqrxe0+Vf4BDNq/LJ4Z3NXWF7hMi2N5Op2DaIXefOf8Sg1VvbNQ+wAEwmrNMIFAbu1YoOQVa+MqX13nFnqdwshowZ5Ke5rQrMsqjg3HlFSGp6st4ECkaThjipxyabFPGUoGM0MT4e7OvCRWktn/AAXyOnviPS711MXMf/bUSsSczfAntAhrogwSSOBpomSB+w0M09Hw7OY6cPKUoX6+UOlEIToK9cVAxvN+P9g9jWctyd1JmAbbTv1AO1AbqCFMmrbdYym8F49ToJWC0FaGRgjEPxt1YgtIv5zXVR5VVk0JrrDhbk5S2E61GNh75j5zQn8JnRsOCLtoObY0huWdDzWN1CqFE1pV2GUe/8rRoKGMv9DQtqDWBcwAe7uqY4EmvC0Vw64q7RfOt0A1jiQ2Khw0thzrfeCiK11x17Jd+AtLf7EsEe+cFLZxL5anRmo2roOG/Qlq73FYTFF0Ia96Y07ZuZZEomrp87cXWWZnPP4+1Up+z8gtMDZWZZnvfyPMA6fb/yp/0EfvMARvPWIFmGz0+kTlbd6lsYGYigYKve8MIbD5uaWLzgx58bG48kNI3Qa+Y65uC5CZdJ02Pj5CjRAPVdlcg01s7lqKn21CqF7PTNYGyHKyXfspMbANJn0Ea8brYeFQ2AnwVBAVDueW0ExMTQajPRJC4c7roxY0uvQn7Mhth8kwkjw+tYIklwWed0cjk8HaUqRG33aZa+71WBG2OdMo/TFTXPMIsL49Kru42uUBlJ5keGNqlkDhP58btpFExV4TsED0/8i7KHY6SvLdCftDQ3iqfkyUYSUPE4/q+pBbqBP7XFF4Djr0k1X8Wa13dJTsSkE11IcsJ2Hvjs4wEHxIekcUNI5L7BrM9gJGjYnxopDcXWizV2DZJFkQhqn8rKaJIxNB0lwLDrPcHQDkrpo+TIHLn3VzLliD5D0ArUyDyK2X9E/0uPd+udQKRBuv9ybufthyM23eKKGKKzPBAS0nsMIBWCbA8O+hIbUSZsUeF4tpKH5TSzUABHm+gTMdMKZ7XcarCTkiFhJmQWMP85JTaD5LOrVRyJoriZpXrPCu+CVbU4/lslKaMXqeDW2wH4qSnFoqEgTdVAWZ3Kfkg0LOTrRirCffLaGmrMMlxkyj1b8lOrDvQzVF9Q7gvFAdNg7mrOqCoVHJO5wglAB3qiiWkXOVocZJhoMkZO2NkhNT2Ca5f2FQ4fjTLv4xBxwgPhjzEiVZDTzEzTp7driqV5UTqxZlmdOn647bAQmgh29lyOZfzRUu+6dG1jL8kgJkI8zGjekdOJ8J+OLmzCbuT/zqx/U92/WGxCH3UfiTJ3/FY+Z5/ihIOmeYCQ6fP3jQ87amlpZQ06OLGZSz/LLQCgHcxNkXbaKUuZxJDwwLtdBT4pNj2d+cWltxlA8sLwjJX0Gi43d5nPJCtKnWMOcbJtp4MWq1w5Eananv4+AnHpl9tt0p+Xk2Z3OqnHJe9YNVM/If+0LKxhJ1B5LbEky1AQNbwOcpK2UFcYxQO8s7F0jJRSyfAmsgBvj/O4ZVKuRmxFDMg3RJZcpT+wiO2ELDP8WdGQD4fnbRAJ/xLPwL5ThXaBNP2IepuqUqNosjjTwmDa3WOzIAvUnOShN9sQF4ZXtawHVqiINfOPkouL2sJ4Rn78J0YYdJkPQXlQg5zWa0eQZKQSXAHNyA6u7LGs1wCaOExDY3Q30xQPT8w0FpBQATh7bv1Kx29sBENvIwbYgvMnQvTWKUGIDd3FaSQmDJt81fNe6Qtf8RGkS9wi9Bil3AWAizIbDQH8aaAz/KypTrOqj/9iVP70+zSviL0/GlsKqZDWbLN/KXZi7/j0uPLlLHp3wjrmGK1BCmpyxg7PG940Tyd6IHO7Pzpu7/5CKhEOUlIIR3LJpcJlzGIE3NP7+ib0byjKzuADQnboR6bu+R2Kkg0ZVJr+e7CBcq7LSCOnLltibpdVf1FW0EtqGjElEB1rB7WRSAX+g9hq1+yVUU38blpVUnlDpZuIViqx4B1bcfZpSZ2d3wjVN/OmF/SB6IwyqT48/Z6bdvdKUFXwlPzurOg29ycOybq1jFbP5NJmKc5JiX+xsJMA69v5hb+6f9ET8kdRGfwd+4MYkSoxIPAj8EhVwN3lhqOLz6Lx4YwcN/AVXvrhs/ob0GTw4YNUp3gEzY4Zst1xXqX72XJ2zFJbuzg6Ck2mMRikmCfz8f8H5H0VsqVGaCBKZnQtt9DuUHxVBQJ4PX07Z7HTvj22pNjzC1sJKSPrp/X/EjzAD31t5V55s6b3A5vBKhcPpRx5s4+fWc119aQJR+iEOUFckx3whqgQ1jcYrIDU6/LFrvy4eG6nJObEZnbXbb+A5b+LgXYCBFtT2ZFxHz3PNQ+81FoBuceoasYJ9jH9jqRhWiRFSOUvCt2UhWOwIdr7hD3QPwJVXdNJCGtOdRfYYBPip7NQY4vTl5QdweyEP8LqpTQldGte8pmE4My8oDA4xdTADN/ZR476b3cfI/jJz5xUYiFKBDbwdo8UO/VgyGbj5yKMGF6lURtGWkVLaEpwaYHRGd+SrMJM968ebTI1fcvsCibJpgXvSmdQEBKJF0vdCvQ64gX5EUpmTAUZx+K7AGEM9Wo16f+ciG+zbEutdW27y6a24p/+HgUP4OogYKpYo0GjB2lSKB+6kNFduqUgbGDL+MhzDc5VA8zFMcEv/xRvB9nZAQMQTGeUXLXN8cm2NF/9zWpox/9mLkC9ov747eZz4Q6XuljI6dxOUzfj2ehC44iZQ4u51eWK6f/54N4rfupcEnnsQSD0RYxDlq6k4CGyGaXSbMdulDNmXFVDwMNcvO5wVArsovLZRBrI7PvgVVLrAKKIMR6CTkbTo9Lz/tx9PfAjH6kT8klyzspbajGX7kiYkoLPxT9bNq+fXq1pf+9JECtyJONgwWSgGL3fGfZnXMtEf5G6M6/oLVgUgHYtsGkaAL05SzVAXv4hBCa2KNhk0dORh1nwAJSxFgSQnlyoVdfjJPRB6z7ZbWseFE/oDlxenv8PL8SfvVwQqcLMM05mh5Do+U77ODljbt22pkPX/3u+FSIL6jPrAxMaDAJMJ33HC68wVEyWqDydnEgg4lmbgtGRm1wd2QuB4IJpPBe50W2PmbkjbPHrsTH2e1H/kGaHr6toob6eGnetRNAfsHUaAyL9agYoU+qbbcn5VlyBSVpu2jN6kjp7QsUr5l/eIecICxgyWjcD9XjPx34Rd3u84HlY4hi6a+2JHNZnbIF3a9MuNQi4qH7aEm9CsO/Duu7rpgTQ7ZrA+hE1dsTRCRpZyaNqOUwdgRL+8OeQZWhSYfYtHAGGT+MK80kvqet1UKF0fhAVX7KpgPAqDvU660lxdNzCdLuGEht0k0MJNhB2F4aW6GqugfITeXLKLKxDwzs2m8qDDU18i/NKLHA2fs0dPuHCban2z6jH0FrJxZUzkgE4jxF7d0moy2Vfp5NMIpOQJKVRvcsM/sB7edvbJXyRGTW3C/oRZohyl6qOq/A/CebWjKlt5BzKtHG2WABzRt2dGXcMvs5WbnZ20zr+0CIG+xDovlC14AjE/8TdnGO52gtzA4OWwm2oEBErGTxy/YmwwtrJkdTB6sDnj80zAI0P+IywwMxDT4M7RwRxGJkfVHh3qkpTWgi6rx3GohxyKWYK5vjzYymNAQVI5g7ms3jxO/KtttEpwxQzxzckEf4c0XSa4zwGQJJ/i3nLOjTzhZAtRx7IXnc2s4PhgGv00iHJg982zSEPOO5ClgcX4CKEUu9+XdZVkC5Q+fVVTxcFah+76PRS9mpzkQViNvBdq5jnLZsmvFePqE/z26fB2KAXHbjNhmzF9taRr2fD2M8au6AIxhtyhwkARP7DKgf9m2VDb7T0glkTRpzGXKn5YmJURO7bE8IjqahHAGWZH7zefSFUyKrYvvEH8/oYUmsgZXPE9Ih8Nh31c9ZdjSO0k/sSyXwMZ0uSxAPgS6f0SKpL5DgX3K2viv8+g3iOF3Lxz0ZjpVhaU8V1jSqmgcumwQe3ApwEVvBueSJfUj/FgBgn5oE2OnXghqivvZsFhbLSQc222eaV6+y7Fh0YSxe5UzdsY5OkMrs8rAUjwsuMC7Pd6ZJqJa20zIJDQMR+diJn7K/0tm27ew41O1ku3KWrukqszIMl8/Q/r0id3RkyaVsXEi6XNeSltc3Md49g1sVKgnVVl0Vsw04t7l8cHKEvj6pIUbf5/Dw9gCcTxuxGhKz5IjdbadHXApCF35brY0GbgqOyYEYUYZgN6iHnolfmsPIexbi8JMRQvwvj1jTpt7JGVVuf1mACg/DUXCATIO8uieSSExgfW3XhuN2sKxrJYawnrI3hlJ5TiqAMH5l+/sN5n5knCCzeDN091b1DwwJjK+oZN66Ku2GrbwzNDH+VNWD/g01Z++p5hoW4Iwk4ph1F5gfJKV1X5LYIfFbYwwT88Jp2wRq0wCLEBqJku58QmsfYBQ8QRcSEQrWLjy8soSNPGpBX6q+sF/QGYSFxqTy1wLvQ/JvX+8EjAIEXdakbdlfs9MMyIxdbgalAYCOOtpN2EPAwzrYst/rs8N1lpqRvxD6DLG+NOhazIkeIHK3petles+Tk+QPwakH4qC9ML1aLuG90QrsSRjtzLLdrVYQFcYEp7UToRmSWJjASEGtvB1T8nmVLlc3Y8qHSzeZYaAeeHKnzjShvWWNknxOHIMxvWZdKo5xJ7ptC42KShraXOscuC1jC+eAayNRP+piIpSR+ZhxgcTrn5RWxRvvRpH6ol7s48NThocHPeaZJU0aSYAuvfkGN2Upubfv3uFjnFO2F/fFxvCEZt7iC3mQqHXtQ7C52vDKZoUshrHGn1FcPlDcH7Hpv40hg0E7PpoZHOgZ+NmKMw5kW1lFSkVTwUHpL+fS8zftePkbzbDG8jEGj+3aIKN8AjVQJph213CXrgD8nsxX6W6DlnABQ64BSLYEVkdY5bjN8c3tigNWUu5NgUqAbrrrVMGeRqrNFidq80MzY8+SABcdxBRToIyyztSBFQ8cs9cdV+gvDcqd47Yr0lJLhMHxp6BRfLpRxL7bk3azkW6FAaKl6DdjEjIqPkwPPai52xZh3Cqobm9NH8qUc88DvYm3NK6QGpzO8RG7Up1hrbfLiDLfHIzbrudJKcdAFwgGQgX6Ni/BUQO+ErFJwLYeb1Lz8elMKTQIzyzHV8myKoGKBxnZNU3c4IwyplKJ5uhjussV660jH0FYQlgKyjQ7r8AoH9zH5VEZOHxONigBVymSw2JWoOv9wn/1UGliPO6S74k3qMi8VQs02PZnXw4LOiuZNXlZwxeAoyWQ8fiXdwmQSaVdI67n714CzJE/iGo3XtcsJOXOCo/T+pBLz1+pjeCtjWe5z/CC7/1R9XT432Nlyt7LrCcn675mjDveIV/XpU2PaTn6nu+G2uRGdFsVibxJZiy9J7cjAzk2DKmlZ5RlhKhgd0y0Lpv4Rhj+5rxC/9BUQOUcuviQN9Kd/eZr5HYZ3FPq1Gz136QDCceAaEPWdI1d0nRGrjOLgdY/lVJvvlxq2Pk2HsNO4ycrgolzOq/5gI+ogG18azxUfqZviYUBg6/e/A5GpsCqjtHcNCmcCMsyHyjlLd9F+S/eIYzA0zaD/9FROxLSRw0MJQXG2K18k5zodEd8i8PlypmqBWexsNDCTW+Rdafjj0cz+eOhqDrV1xB5Fk6M0aSG4E2QaH0AXGSpcNSkpVwQ4gxccz4+Q7bvzqMySo2c+7zoHeX1dv4zBXyKkvYx/T0bB8wTnyAt8ROZ91ZZhCfb6ve3opcgCzS4hLK4SFurUeY9maqw7kDXwQQRpDj/VHF8KYcLd3EK7knWoXGvsKAB3CdWkReBhFS3j/1r1Oa59N6euWfpvnOk3Wm9H09WXlnh/s2YHTqR2y5NNbezNidvEbKYbm4pPJZRCQizAQbBFVeWP1+RBUCW2zdvgOYqbo8cZE/bcFulklppYyF6gnkVSmDVCAV5PLQjhv+ziVBQoCNGE51K0KB0b8H2GQDUuBpSWCU2uucat1HIDrZpl0vt2/99+edDMAp6cRNPJCOFKBmLOTH2cOfv3u+Cb26jPu2lc16bsNos6NHEPU0POZsH9qTe7RzImAQ6RkA2eN95dQl1KYl1DVMCksh4M2SguPbXzwTxJtMqEEfiBFSXaoPwqJbVZtB28I7LhqZVS8pTxcF0OKBbBTKnJgTjgKNwa5FGEE1KNUhUfhWdmb1OHcuiroZah8nKGx14JaysGlCcyoE+kv/t/wwsxqClPM0jKG/ZPfWbY6FBiFTveAcaJozHuV7Wivd/pCurI77i3RBDzPVDjOcCpGsCJdLWa4zt6KbnYp2xdbNI4TNOpDj593GrFp7WAgBnCV9fe03qYzSXUrw8W4Mir3SmPGMKVVmaV26Tvk3/QHORZqQcjqJy8X/ynxBfTJa+Z83nb8jW6RJX3ZGMJB1+K6WJG/gWFeBembKm3ttydl/1Ernpmv8/e1g0stcsyWaI9goZxNOXej5nEXHH6S011e8xp2o0jfjDN4wjxBa4cxwqE0ZjeAaNiAlgqAk4LZlJBS2qIc4+PHP7AmfLSulxT8duf7KhOt96d9mvkYW9li1cp9ImzcZr0pNvDM1ledE8rLYdfcgRzTRgUhVhFGU8ICVQensDgkDzTZeIJoeXoh0zMpwuWIBxBKmkgIhm8t0rV01i/utprKmi8CicSneIa/0LICfjjj/RvESOcpYAtDjjR/5QqMeObtYHPe2hxfgZwDVXHjoTy0qNISCRinm7Fu8/rOU77Zk2jSfK39tTnWNP3NbH9ny6Ex2eUhRowf+MwBqtq0n2FFDk+6LX7Gifb5XyoOGEvE8yiTLbjqRFMCKATJjj8fyMdm+xRWRwOHpf+uFT/UQdf8WUCjdCDCYyy+7DmA89jHSNTNBVwu5oAtns8QDChKrvD2swk1E9XQxnpvb0qsE7wBA+UZAtBpXE39nSPY+o2Zf9csa10Xr2I7jxFXmP/l5B4IBACIp2po2IljrGiLY+TJI7re1NiHMjuRkqc0zbFIxZZNjfaUsXOmGYU56dTrMd+qOtiskGx9EqkV/tNXNSDiSF6KpsJCPxGzpDHvYTCofhzWTOYHh3wqHP8nt+lF/NC0ASqHPc1c8yKZjh4Fq1fCeck3V71IjyiL0w6T5zaC9t1I/5coSta+7PnEiIXgcfx9bRvFlBMpxWfjc6S38K5ek4LoOEE7PZl4aOPERqX7JFdC3/DnV085ekWmoUOyJPh0btQg2ucJWN3ieY0yoB3ozYu5yHwOyHQL3bfpNzwAMVLU5EJwKIQtiUDFetQpiTe4V0aXNREPKFh2vpn0UfY1bWxqznDf6nD/WEOlH3VAKy4FH4ysCW2aGNM8ARd09K27+pyUUMVREwTx9gZ1SiK8T9XpoaOaEFUb2L7wqF7Uokp9ixQ5O4exmBE9f5ThQUwWF/JeDEx1FY7lYBlvSfAbRTb/kvwCrdIjmIQFaQSOqt4Vv2tLCjMCbZEOydvu/5MCTiDv5b+h2hyGzBD0XP2C+IFC5eLxDbZz226s2qRkv+MfLizd4BwnHE0H+I1+fy/qCzX+Cj1Y8Ve8b7k7BEQ8jIESWqV13ykFdWA9FwnqgHUrmx6nq61cruaKMy/7ecaz8WDcntg6wUIZLcHpkT/DHEAlzs6jHdQLkA6SpCw2nhmyz3SPnV4qYO/u7CRJzrDt2S80juUK4e/4zh1LrstkjqmYyDAp8LRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1mfWr2N3g7k4BUEP1T5Lr",
      "input": {
        "note": "Nothing lifted, so I still don't know exactly where the clapper stick is. I'm bringing the right camera in closer and steeper to look down onto the board's top edge from behind and see the stick and any gap under it.",
        "targets": {
          "right_j1": 1.5603,
          "right_j2": 1.8028,
          "right_j3": -1.2425
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C1mfWr2N3g7k4BUEP1T5Lr",
      "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=-0.207 left_j1=2.4889 left_j2=2.0521 left_j3=0.2737 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5566 right_j2=1.7641 right_j3=-1.1851 right_j4=-0.0223 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9696b0baafc1923bbc4b625d84b2b9047c09ea7f7edae2e011c8b869cb4d754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0acee19a9d279918792903bb3df10b5e421bed92db4bfdb9ef51547cbc8c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85c836c234dde16b66ea0c7bb9825b8b9032d6751a89760d368e5d2f26ce1f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 14.97 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2081 left_j1=2.5019 left_j2=2.0369 left_j3=0.3557 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0544 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9436 right_j4=-0.0227 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 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=-0.2073 left_j1=2.5 left_j2=2.0476 left_j3=0.3004 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0538 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9451 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.207 left_j1=2.4889 left_j2=2.0521 left_j3=0.2737 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5566 right_j2=1.7641 right_j3=-1.1851 right_j4=-0.0223 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9696b0baafc1923bbc4b625d84b2b9047c09ea7f7edae2e011c8b869cb4d754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0acee19a9d279918792903bb3df10b5e421bed92db4bfdb9ef51547cbc8c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c836c234dde16b66ea0c7bb9825b8b9032d6751a89760d368e5d2f26ce1f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowoKjAEIEBgCKkAzuasG2f5bJdcAB96Q6U1eA0N4bNG9pWMAZHevaFA8hUYMyaxvv7wqdaVjib5rvuui6vWipfa2u6ztJSQEJP/dMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMivaYPljIW12u/Q9UGgy/hr6Yqa2yU6+Nn6kiMBDLMYdEuISkBVdVzNIajyJ9RJTy/uwLglOlGnBSAZh/bUGLL3xQsvs74z6oFOWs9SrDCKumiCKM6ObEj8v2LpWVcX25AA1tZl6vBJxn4gO5hQsxrrS1ezpH97NBmb6siYh7/MvikMRjLvKIvf6nK8BEkVgXBU84j29AmYBDgX6A7vu+6w5pzPj7JiktSTgu8aaAsUj+zfu/XBYzbxZR/5GNRLf+DsAuNm+IZItmBzsdJJHT6z+lTXG+jkgPSP2BLKS9PWN/wXlWaCDWiMybP5Hq9avn2EYn0fMjIbWT98yLbjnjr7JnMMUDZv3jNCFIlzl60gARMIXYt4P8w8zphJaG55of9cOr/ztHtdBJbdQMmPKtQ3tY7E7ML4C44/su0LX0Pn3x9vY7hYAUZOSj/iEdahpMdy402LqjjPwmqtBp+HCw+8BNct9X6RS+6Rmd53RsUcX/ywIdATdgsZBTfbwKSRAQZeeg4R/YwyPPNgE2vIL50dH3aAxPbEbiLezN0iK4xRakf4YXSH0YxkXUihHS/juUnJIhcA6iEsmpzv4J1MKmEkYxcZ8Gn6HVgOe/kddkCUUkI/dyvS+6Tpb+Nq56Cq84bKyJBWFJIirPJXlwJrHQ0MectSpN0eP2tvVjoT8v8owepcI2vHyFz+7JMQ5yWuD9qPWjv1UxEuhKjEIcuPp/7RFICcgmQguaXyxKc83Qf1MtMelu9WjZ0ww9l5kqctXt7/an7hXsHiUVnN9QgKZa4Hx4xke/AZzYLypjdfW6UwYkKfrcLgdvb7/Ws5Jh+iBAduW21rc8LPvrwVVVeENXIfTQYQk7GwlwsFcqWC7mYq0IiEt4dgPvbZUhaoVGHxU6YfuhA9SvQG64hNrbTv3tITVD55SUcaI00fhRkcsyYMSvznKL9phODGCisl08rVCOBZ0Fs0XdFMJBAsyYBELsrC+IlDFt0FcCMZi1NBcI43ULr18z5auEO01ZG33mWP8MN2AlN9wFtDvGSkkKFP+1n0qmp1hhIblrjHT13lYsJbdqC6GSaaZyjwFWp5/zRGHP+r+iqAxibqBNHWjv7qA4Kq1FXDkjKc2uIW8ihPOZI4dU4yAXUk1oCbWwIxZC5IyqpJ8gkxCB0NEcrkXuGdqXwqQbbU61CmvdUeeaIA1Gwg6uz8s/aIPkuFcxw389Vdt5BifK4NIZ4DxA0Z+Lg0sk0G3FQXyOK1rv5TwmZw2tS6ftfGHa9gqV6TsFCSbmPX0d+iV7cgCjQKbHjUKrPqg1yFMZTJA8tH+AhwP0jaR48r7jO7xnpl05ahsO0a8PAjMDXqgKB0moH0XfC8OM2XHiHc9d34vosenrAeAoAPF2bppFDnTbQtPg9e7O7dq0kkcxpJDltpfyOLHc+G8uz/H4rMmMCezAnEUINzI0W3iJrk0/65E6uF8UkcdzJdwSOmWgigi+8T3uqhxwn5uUzBcYPr778BoZD1OaLMixuqNaKLu31yNcQPQg9erLnqaTKRlbANuIsfp/s7/YZ9oX0SWdu8mrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5ahb29AjgpG263A7v9N6P",
      "input": {
        "note": "The board's top edge is just above the right camera's frame; I'm tilting that camera up so I can see the top edge, the clapper stick and my left gripper together.",
        "targets": {
          "right_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01M5ahb29AjgpG263A7v9N6P",
      "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=-0.2073 left_j1=2.4889 left_j2=2.0521 left_j3=0.2684 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0019 right_j4=-0.0227 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c6022436a647cf503ca42fb1e0d6e49171287d97a354424558693f3a639ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e216d62577731cb099d8f0471358f3dbad2a993f278566da5ad7e44b11b32c56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7699d1291356e2930e87b19cd29c9be7b3b623113af8fe64be78df2f1f401c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 30.44 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.5 left_j2=2.0476 left_j3=0.3004 left_j4=1.3571 left_j5=-0.0086 left_gripper=0.0538 right_j0=0.5461 right_j1=1.3952 right_j2=1.5303 right_j3=-0.9451 right_j4=-0.0223 right_j5=-0.0528 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 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=-0.207 left_j1=2.4889 left_j2=2.0521 left_j3=0.2737 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5566 right_j2=1.7641 right_j3=-1.1851 right_j4=-0.0223 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.4889 left_j2=2.0521 left_j3=0.2684 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0019 right_j4=-0.0227 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c6022436a647cf503ca42fb1e0d6e49171287d97a354424558693f3a639ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e216d62577731cb099d8f0471358f3dbad2a993f278566da5ad7e44b11b32c56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7699d1291356e2930e87b19cd29c9be7b3b623113af8fe64be78df2f1f401c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01REhHaDT4rvx3DFjWA4w7tW",
      "input": {
        "note": "I need to see the board's front face to find the clapper stick, so I'm first retracting the left arm straight back and up, away from the board, before repositioning it as an overhead observer.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.8,
          "left_j2": 1.5,
          "left_j3": -0.5,
          "left_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 22 steps (2.2s)",
      "tool_use_id": "toolu_01REhHaDT4rvx3DFjWA4w7tW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2073 left_j1=1.8469 left_j2=1.5101 left_j3=-0.4641 left_j4=0.078 left_j5=-0.0082 left_gripper=0.9975 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0149 right_j4=-0.0223 right_j5=-0.0601 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a69556684c96bffd6e4029ae0b5686f1913792c6e616add1b33d88f6661487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3fa8c907b5a1a4b3adccdd549140246eac7ebf83414e19e2b3c6f84bf086bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e74926856227a9c5166e85a9f4d21363b01b50e97b9f30f31014c8cac1ed8229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 5.074 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.207 left_j1=2.4889 left_j2=2.0521 left_j3=0.2737 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5566 right_j2=1.7641 right_j3=-1.1851 right_j4=-0.0223 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 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=-0.2073 left_j1=2.4889 left_j2=2.0521 left_j3=0.2684 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0019 right_j4=-0.0227 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=1.8469 left_j2=1.5101 left_j3=-0.4641 left_j4=0.078 left_j5=-0.0082 left_gripper=0.9975 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0149 right_j4=-0.0223 right_j5=-0.0601 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a69556684c96bffd6e4029ae0b5686f1913792c6e616add1b33d88f6661487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3fa8c907b5a1a4b3adccdd549140246eac7ebf83414e19e2b3c6f84bf086bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e74926856227a9c5166e85a9f4d21363b01b50e97b9f30f31014c8cac1ed8229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEKo7adnmayGiFnJanMTkJ",
      "input": {
        "note": "Using the clean overhead frame I re-measured the board's top edge relative to my gripper. I'm bringing the open jaws back in sideways at a height a few cm below the top edge and slightly closer to the arms, to find where the board's plane actually is.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.2213,
          "left_j1": 2.3794,
          "left_j2": 1.9046,
          "left_j3": 0.5748,
          "left_j4": 1.3497
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 21 steps (2.1s)",
      "tool_use_id": "toolu_01VEKo7adnmayGiFnJanMTkJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2165 left_j1=2.3669 left_j2=1.8664 left_j3=0.4908 left_j4=1.2663 left_j5=-0.009 left_gripper=0.9982 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0218 right_j4=-0.0227 right_j5=-0.0612 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:099ff26d5c57563aed0adb8ceadf149caabcc0822077e46e2f78fdc791f99cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da23030c7f6fe033d16059a829eeb3c3b4b8894398317b44bd8d1e25495bd1e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 468):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f53fa04b07e6f7bc43269975c0c85840d84434c7c217c061a7a2bf2078db9618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 40 attempt 0 · /messages · status 200 · 27.7 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=2.4889 left_j2=2.0521 left_j3=0.2684 left_j4=1.3567 left_j5=-0.0086 left_gripper=0.0537 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0019 right_j4=-0.0227 right_j5=-0.0532 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 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=-0.2073 left_j1=1.8469 left_j2=1.5101 left_j3=-0.4641 left_j4=0.078 left_j5=-0.0082 left_gripper=0.9975 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0149 right_j4=-0.0223 right_j5=-0.0601 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2165 left_j1=2.3669 left_j2=1.8664 left_j3=0.4908 left_j4=1.2663 left_j5=-0.009 left_gripper=0.9982 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0218 right_j4=-0.0227 right_j5=-0.0612 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:099ff26d5c57563aed0adb8ceadf149caabcc0822077e46e2f78fdc791f99cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da23030c7f6fe033d16059a829eeb3c3b4b8894398317b44bd8d1e25495bd1e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 468):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f53fa04b07e6f7bc43269975c0c85840d84434c7c217c061a7a2bf2078db9618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAQKjAEIEBgCKkBtY6WC7Mo8LJTeMwZMYXi/VEhYNrRYmCSB0bOqpAARwHa6RUYgqNBx/rpoHhTyy5A2VJIWFUH1tE0Zs98ybxrQMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4O4u3Sg6xxX9YHAcGgy1O68//2vC1UEzS/4iMIam11z3luag8In9XxuHhXfwakSQ40gyq9Gg5TIXLKDD8Ba1USTEBQPGIUfdt5qW6SrMAuWRec5u6LTudQcjsP6VvaScTEQWDTE1AaM5EiyPfN14BVC/13qagMnsMqMuh5O3gDqOA49c8ti6JRgG2kYp3qM8c58kDec9inWuWRH4NGhaRmSYsH0dg7zOAYoT/16iEOdlKilvyB+5R2D4wUtS06D9x1m6jeFzoBRJoYmtTKMJBp2qDA3S6/K8cZkJHnUFRXjp6fBdsXloBvneIe3xdiIWH22/qsionFAv7O8DRPbALVUImg5+no8FijddDNhHPrqROQvfsB+A1OycZwyffmXRzkWQJYooBN+FS1MNX/KZN8mRSWEd1FoehJA7K+E5TIVoi7sUqvlSeIZNExGTtZeHTSumTtLVGIeWUGrlS3dbLIzDIBqVY2AbsSNf/Gk7DuL4jvUeAtnF5xt4LulzszSznihwS1Xh1jZ3KMvPuvVd+RK8Gm8tTaShnX1dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYAYRMwNARmfYBi2XqWm8u",
      "input": {
        "note": "The overhead frame shows my open jaws now overlapping the board's top edge; I'm closing them and will read how far they stall to tell whether they have the board or the clapper stick between them.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DYAYRMwNARmfYBi2XqWm8u",
      "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=-0.2176 left_j1=2.3768 left_j2=1.8652 left_j3=0.4751 left_j4=1.2716 left_j5=-0.009 left_gripper=0.0112 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0222 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f18ea26c0ff629668f195315cec9563caaa65f4ca5c813aca79f56c5b6ef9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8636fa063455839ee31c1590b266ac6412614403e584b7b1577fa79c3abf0f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:191e211de54e3f1daf4966dde57fa9c3f2852dc3fe87cbb5b1f891295943401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 41 attempt 0 · /messages · status 200 · 11.45 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2073 left_j1=1.8469 left_j2=1.5101 left_j3=-0.4641 left_j4=0.078 left_j5=-0.0082 left_gripper=0.9975 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0149 right_j4=-0.0223 right_j5=-0.0601 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 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=-0.2165 left_j1=2.3669 left_j2=1.8664 left_j3=0.4908 left_j4=1.2663 left_j5=-0.009 left_gripper=0.9982 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0218 right_j4=-0.0227 right_j5=-0.0612 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2176 left_j1=2.3768 left_j2=1.8652 left_j3=0.4751 left_j4=1.2716 left_j5=-0.009 left_gripper=0.0112 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0222 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f18ea26c0ff629668f195315cec9563caaa65f4ca5c813aca79f56c5b6ef9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8636fa063455839ee31c1590b266ac6412614403e584b7b1577fa79c3abf0f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191e211de54e3f1daf4966dde57fa9c3f2852dc3fe87cbb5b1f891295943401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nfs8wPHUPtNqv1G3TiYYHa",
      "input": {
        "note": "Three closes at different depths all came up empty, which means my jaws are passing above the board's top edge rather than missing it fore-and-aft. I'm reopening and dropping the gripper about 5 cm lower before trying again.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.2062,
          "left_j1": 2.6667,
          "left_j2": 2.079,
          "left_j3": 0.5877,
          "left_j4": 1.365
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nfs8wPHUPtNqv1G3TiYYHa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2092 left_j1=2.6591 left_j2=2.043 left_j3=0.5476 left_j4=1.343 left_j5=-0.0166 left_gripper=0.9957 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.026 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee9f55731e79f263757d94b73a542da7300cd3a4537c3adb09aa2ab0e52d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8fa82edb9d508f9ca471a0873f33d925c8f4d7e141476ff8c0f90d52a59f2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0115bbfe15a982deb77e6842398c7620ebf500384896ca2bc6fa9599274f421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 42 attempt 0 · /messages · status 200 · 10.69 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2165 left_j1=2.3669 left_j2=1.8664 left_j3=0.4908 left_j4=1.2663 left_j5=-0.009 left_gripper=0.9982 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0218 right_j4=-0.0227 right_j5=-0.0612 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 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=-0.2176 left_j1=2.3768 left_j2=1.8652 left_j3=0.4751 left_j4=1.2716 left_j5=-0.009 left_gripper=0.0112 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0222 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2092 left_j1=2.6591 left_j2=2.043 left_j3=0.5476 left_j4=1.343 left_j5=-0.0166 left_gripper=0.9957 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.026 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee9f55731e79f263757d94b73a542da7300cd3a4537c3adb09aa2ab0e52d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8fa82edb9d508f9ca471a0873f33d925c8f4d7e141476ff8c0f90d52a59f2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0115bbfe15a982deb77e6842398c7620ebf500384896ca2bc6fa9599274f421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MCUUnnwuvKejcFwEkhXovh",
      "input": {
        "note": "The right camera shows my open jaws hovering a few centimetres above the board's top edge. I'm lowering the gripper another 6 cm so the jaws straddle the top edge where the clapper stick sits.",
        "targets": {
          "left_j1": 2.829,
          "left_j2": 2.1327,
          "left_j3": 0.6964
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MCUUnnwuvKejcFwEkhXovh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.21 left_j1=2.7815 left_j2=2.1128 left_j3=0.6434 left_j4=1.3434 left_j5=-0.02 left_gripper=0.9967 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0317 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4cc1dd11b06c0bfcee68bdd781e2f354e9be6a8d3195f84d96ff8b1363bb208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20d9802fb739b30a67ed8e7bf9ded9165438616979859388b20cc44a96249375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30379603db7a9d63720fd29e725c45c1785733d9b95d40c8b9d2013505c9d005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 43 attempt 0 · /messages · status 200 · 34.99 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2176 left_j1=2.3768 left_j2=1.8652 left_j3=0.4751 left_j4=1.2716 left_j5=-0.009 left_gripper=0.0112 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0222 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 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=-0.2092 left_j1=2.6591 left_j2=2.043 left_j3=0.5476 left_j4=1.343 left_j5=-0.0166 left_gripper=0.9957 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.026 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.21 left_j1=2.7815 left_j2=2.1128 left_j3=0.6434 left_j4=1.3434 left_j5=-0.02 left_gripper=0.9967 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0317 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4cc1dd11b06c0bfcee68bdd781e2f354e9be6a8d3195f84d96ff8b1363bb208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20d9802fb739b30a67ed8e7bf9ded9165438616979859388b20cc44a96249375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30379603db7a9d63720fd29e725c45c1785733d9b95d40c8b9d2013505c9d005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AMKjAEIEBgCKkC8CcynqZKhtg4qHLqWmoIKmoll7yz7q5B4MSJ8i5A3VyL+lpDa7tYttdmel+8xldZXRQIXxdivgRYDMl/GuoZ5MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9kdeOE9RVI/e1hkcGgyYjjDCkylzFSwL8EEiMLyK+DGXulL8zSJ+KEeJH04Pz+7u5HqF62mR36Vjjgu0A/J4Qgo2+a8rzdWNfmh+QSqIAsJYqM+XOwvOXua/SqCim8gRV82QY/joqtc8HKjYldhk8+2ns+r4V0erA3xqVtP6Xn13RaDdLfPOCSfba1uQP5SMywaQQWhGa2AVe5wBZ1mnlD2qAkLhRbHD77tX5OshQwthKCppoM1vbgxO3OjxCmB3G5bmN45XtzTrJw4NAETfw6n95h95nuNtOMUl1csvLN5qfI+C47ivT1zvrcaYLmJXooe2E9XqdWj+2vReRCxuVKiW8yRdkUuKpi/rU8SxDutoW/a1ncwufsVE+C9M1grG97nL6REmr8w/xDg1YA57lUc2MppsZzx/c7rGz0p2i+Lux7vpOKaq4C0ZDn8BZRYOzSTXQREWLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XgG2SmCC7veEqDGk11VtgC",
      "input": {
        "note": "The jaws are now straddling the board's top edge in the right camera's view; closing them to grip the clapper stick.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XgG2SmCC7veEqDGk11VtgC",
      "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=-0.21 left_j1=2.8532 left_j2=2.1147 left_j3=0.6331 left_j4=1.3426 left_j5=-0.0242 left_gripper=0.0108 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0378 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 501):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08048cd52e73b6ae7235e7cfa9e1541f9a571e652fa0ba2ee3a99b36690d2c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 501):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd53f9e780ca86be219a86b8ae65dea67a075e95153f81d2adc841cf2f39a628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 501):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c49edc26735b36de98e0ba009625adc8d8c859fd1bbb75874a1c9b723a59f816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 44 attempt 0 · /messages · status 200 · 8.136 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.2092 left_j1=2.6591 left_j2=2.043 left_j3=0.5476 left_j4=1.343 left_j5=-0.0166 left_gripper=0.9957 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.026 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 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=-0.21 left_j1=2.7815 left_j2=2.1128 left_j3=0.6434 left_j4=1.3434 left_j5=-0.02 left_gripper=0.9967 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0317 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.21 left_j1=2.8532 left_j2=2.1147 left_j3=0.6331 left_j4=1.3426 left_j5=-0.0242 left_gripper=0.0108 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0378 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 501):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08048cd52e73b6ae7235e7cfa9e1541f9a571e652fa0ba2ee3a99b36690d2c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 501):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd53f9e780ca86be219a86b8ae65dea67a075e95153f81d2adc841cf2f39a628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 501):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c49edc26735b36de98e0ba009625adc8d8c859fd1bbb75874a1c9b723a59f816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171nFtSzDjUZLs7RQUtK7k6",
      "input": {
        "note": "Re-measuring from the right camera, the board's top edge is much higher than I assumed — about 36 cm above the table — so all my earlier grips were far too low. I'm reopening the jaws and moving up to straddle the true top edge.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.1107,
          "left_j1": 2.4695,
          "left_j2": 2.4023,
          "left_j3": 0.0672,
          "left_j4": 1.46
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_0171nFtSzDjUZLs7RQUtK7k6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1207 left_j1=2.5294 left_j2=2.3684 left_j3=0.1295 left_j4=1.4349 left_j5=-0.0273 left_gripper=0.9952 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0458 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2825a411ac233a3b17ea1e96f3fedeab842bf7c0a6ae4c858d9e77cf45d53653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831b857e9f7aeeb4bd4e7c94bf8575147820f904e746ea65ea807bb463e39b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 511):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41fef7d1efef6572e07a70e482a3fe9113e86352208f25f37e875cdd6f51a55d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 45 attempt 0 · /messages · status 200 · 19.67 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.21 left_j1=2.7815 left_j2=2.1128 left_j3=0.6434 left_j4=1.3434 left_j5=-0.02 left_gripper=0.9967 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0317 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 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=-0.21 left_j1=2.8532 left_j2=2.1147 left_j3=0.6331 left_j4=1.3426 left_j5=-0.0242 left_gripper=0.0108 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0378 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1207 left_j1=2.5294 left_j2=2.3684 left_j3=0.1295 left_j4=1.4349 left_j5=-0.0273 left_gripper=0.9952 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0458 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2825a411ac233a3b17ea1e96f3fedeab842bf7c0a6ae4c858d9e77cf45d53653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831b857e9f7aeeb4bd4e7c94bf8575147820f904e746ea65ea807bb463e39b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41fef7d1efef6572e07a70e482a3fe9113e86352208f25f37e875cdd6f51a55d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WCyppk5Sr6JTz591cubpfN",
      "input": {
        "note": "The right camera shows a jaw reaching down past the board's top edge; closing the gripper to see if it now catches the clapper stick.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WCyppk5Sr6JTz591cubpfN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5461 right_j1=1.5635 right_j2=1.7676 right_j3=-1.0569 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 521):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9887f6ad90e8626ef1afe823fc3a58c4b845def79bf3319834e488305e778c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 521):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05193aa925b0a86e9a93978e0fb5d70557198adbf790632f9050297a8e21f409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 521):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:620b46b954a68746c5e74f99f2ed90ee79a2fea1304c6f86a275066a32ef4278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 46 attempt 0 · /messages · status 200 · 10.41 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.21 left_j1=2.8532 left_j2=2.1147 left_j3=0.6331 left_j4=1.3426 left_j5=-0.0242 left_gripper=0.0108 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0378 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 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=-0.1207 left_j1=2.5294 left_j2=2.3684 left_j3=0.1295 left_j4=1.4349 left_j5=-0.0273 left_gripper=0.9952 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0458 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5461 right_j1=1.5635 right_j2=1.7676 right_j3=-1.0569 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 521):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9887f6ad90e8626ef1afe823fc3a58c4b845def79bf3319834e488305e778c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 521):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05193aa925b0a86e9a93978e0fb5d70557198adbf790632f9050297a8e21f409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 521):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620b46b954a68746c5e74f99f2ed90ee79a2fea1304c6f86a275066a32ef4278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDcDNPE799kSesmhzay7rm",
      "input": {
        "note": "In the right camera I can now clearly see a separate rounded bar — the clapper stick — lying along the board's top edge and poking out past the board's far end, which is on the right arm's side. I'm pulling the left arm back and swinging the right arm out so its open jaws come in sideways onto that protruding stick end.",
        "targets": {
          "left_j1": 1.5,
          "left_j2": 1.2,
          "left_j3": -0.3,
          "left_j4": 0.0,
          "right_gripper": 1.0,
          "right_j0": -0.1478,
          "right_j1": 2.6307,
          "right_j2": 2.7368,
          "right_j3": -0.1061,
          "right_j4": -1.719
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 28 steps (2.8s)",
      "tool_use_id": "toolu_01VDcDNPE799kSesmhzay7rm",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.1345 right_j1=2.6148 right_j2=2.706 right_j3=-0.165 right_j4=-1.5749 right_j5=-0.0711 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 549):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e941a1f928b77c93d10ef04d5c131b87c50c912691b859a38f1c1aebed0cc090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 549):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12949094bab5ad90ab0ae539768a778ef18c0cb616f2e6cf8c846b65d68049b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 549):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:852d9b76a7bb2f44f5aef1d42bcebbb5352bb9495d28df2d787dc16d0634a32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 47 attempt 0 · /messages · status 200 · 19.59 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1207 left_j1=2.5294 left_j2=2.3684 left_j3=0.1295 left_j4=1.4349 left_j5=-0.0273 left_gripper=0.9952 right_j0=0.5461 right_j1=1.5627 right_j2=1.7676 right_j3=-1.0458 right_j4=-0.0227 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5461 right_j1=1.5635 right_j2=1.7676 right_j3=-1.0569 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.1345 right_j1=2.6148 right_j2=2.706 right_j3=-0.165 right_j4=-1.5749 right_j5=-0.0711 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 549):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e941a1f928b77c93d10ef04d5c131b87c50c912691b859a38f1c1aebed0cc090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 549):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12949094bab5ad90ab0ae539768a778ef18c0cb616f2e6cf8c846b65d68049b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 549):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852d9b76a7bb2f44f5aef1d42bcebbb5352bb9495d28df2d787dc16d0634a32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fb5q8sT2jxtn2uh3mJEEng",
      "input": {
        "note": "Both wrist cameras are jammed up against dark surfaces and the left arm stopped responding to commands, so I'm returning both arms to a neutral raised pose to clear any collision and get a clean look at the scene.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": 0.0,
          "left_j1": 1.2,
          "left_j2": 1.0,
          "left_j3": -0.3,
          "left_j4": 0.0,
          "left_j5": 0.0,
          "right_gripper": 1.0,
          "right_j0": 0.0,
          "right_j1": 1.2,
          "right_j2": 1.0,
          "right_j3": -0.3,
          "right_j4": 0.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 28 steps (2.8s)",
      "tool_use_id": "toolu_01Fb5q8sT2jxtn2uh3mJEEng",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.0029 right_j1=1.2289 right_j2=1.0176 right_j3=-0.3115 right_j4=-0.0708 right_j5=-0.0166 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d03dff9688b83063f69885c88ca5a94df88bed5c2c2f546f06e6e195a47ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974a0bbc7544a3a084a990b3bedebe482183b0b14e899d7cb1ddec99b0a73259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 577):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c4abfaa5e6d60f36df85ad7a2ecfc7d7058bf4063467815fb00042b97a8fa89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 48 attempt 0 · /messages · status 200 · 17.96 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5461 right_j1=1.5635 right_j2=1.7676 right_j3=-1.0569 right_j4=-0.0223 right_j5=-0.0635 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.1345 right_j1=2.6148 right_j2=2.706 right_j3=-0.165 right_j4=-1.5749 right_j5=-0.0711 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.0029 right_j1=1.2289 right_j2=1.0176 right_j3=-0.3115 right_j4=-0.0708 right_j5=-0.0166 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d03dff9688b83063f69885c88ca5a94df88bed5c2c2f546f06e6e195a47ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974a0bbc7544a3a084a990b3bedebe482183b0b14e899d7cb1ddec99b0a73259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 577):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4abfaa5e6d60f36df85ad7a2ecfc7d7058bf4063467815fb00042b97a8fa89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jt4ypoAKZv56mCsvucduZa",
      "input": {
        "note": "The left arm has stopped responding, so I'll finish with the right arm alone. First a calibration move: swinging the right base joint to +0.7 so I can see which way its gripper travels in the overhead image and fix my left/right mapping for good.",
        "targets": {
          "right_j0": 0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Jt4ypoAKZv56mCsvucduZa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6804 right_j1=1.2304 right_j2=1.0019 right_j3=-0.3222 right_j4=-0.0677 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 589):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f38a9ba4e31d9a21c24bba96c60a6b68646e4f254bb23229b324e39675896c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 589):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60d694c27473ca916f1336f5ffcb26f10b53c9bdfb56192e4f2e6d1d267815c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 589):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43a0f2c7cad63838b4c5dc1c6b49fcc089233afd494c691cf86e5510ec5b348f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 49 attempt 0 · /messages · status 200 · 23.81 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.1345 right_j1=2.6148 right_j2=2.706 right_j3=-0.165 right_j4=-1.5749 right_j5=-0.0711 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.0029 right_j1=1.2289 right_j2=1.0176 right_j3=-0.3115 right_j4=-0.0708 right_j5=-0.0166 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6804 right_j1=1.2304 right_j2=1.0019 right_j3=-0.3222 right_j4=-0.0677 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 589):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f38a9ba4e31d9a21c24bba96c60a6b68646e4f254bb23229b324e39675896c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 589):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60d694c27473ca916f1336f5ffcb26f10b53c9bdfb56192e4f2e6d1d267815c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 589):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a0f2c7cad63838b4c5dc1c6b49fcc089233afd494c691cf86e5510ec5b348f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01573XGfwC8dTnqSzXra7Yvt",
      "input": {
        "note": "Calibration confirmed: in the overhead image, right is +y, so the clapper stick's protruding end is the one nearest the right arm. I'm swinging the right gripper round to point along the stick's axis, staged about 8 cm short of that end at the height of the board's top edge.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": -0.398,
          "right_j1": 2.1623,
          "right_j2": 1.9165,
          "right_j3": 0.2458,
          "right_j4": -1.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_01573XGfwC8dTnqSzXra7Yvt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.382 right_j1=2.1487 right_j2=1.8832 right_j3=0.2016 right_j4=-1.5497 right_j5=-0.0257 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 614):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e2069e40461e43275af66150ba51c4de4a8e2f7c78b2da35ed99e5240ed9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 614):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39a453426964e5fbf1d1e58be31443168bd0dea25888f3ee22264a913fb6557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 614):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac37ae9d24e49d50afe0c8acd84c84b9f26de99c29be03afe86280b94ac06c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 50 attempt 0 · /messages · status 200 · 16.59 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.0029 right_j1=1.2289 right_j2=1.0176 right_j3=-0.3115 right_j4=-0.0708 right_j5=-0.0166 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6804 right_j1=1.2304 right_j2=1.0019 right_j3=-0.3222 right_j4=-0.0677 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 148 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.382 right_j1=2.1487 right_j2=1.8832 right_j3=0.2016 right_j4=-1.5497 right_j5=-0.0257 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 614):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e2069e40461e43275af66150ba51c4de4a8e2f7c78b2da35ed99e5240ed9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 614):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39a453426964e5fbf1d1e58be31443168bd0dea25888f3ee22264a913fb6557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 614):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac37ae9d24e49d50afe0c8acd84c84b9f26de99c29be03afe86280b94ac06c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sCyegY5WAifhZ9i6Syt1C",
      "input": {
        "note": "I built a proper overhead calibration from two known gripper positions: the board is a 32 cm slate whose near end sits about 55 cm out and 12 cm to the left of the right shoulder, top edge near shoulder height. I'm extending the right arm to a staging point 8 cm short of that near end.",
        "targets": {
          "right_j0": -0.3736,
          "right_j1": 2.5504,
          "right_j2": 2.6017,
          "right_j3": -0.0513,
          "right_j4": -1.595
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_015sCyegY5WAifhZ9i6Syt1C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.3759 right_j1=2.5355 right_j2=2.5649 right_j3=-0.0254 right_j4=-1.5753 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1833a380c2e16e3f700c54bc9fb39b91c662d19c1b19658523d6c7590f558c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5ef2b746596a345ca01d38d2364fd0079090e8747218ac6de45f0e07e3c554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 626):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b0006dbfe77ce52617f681f380747499f37d3a06aee9f8e072868fb20c2f480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 51 attempt 0 · /messages · status 200 · 14.05 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6804 right_j1=1.2304 right_j2=1.0019 right_j3=-0.3222 right_j4=-0.0677 right_j5=-0.0181 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.382 right_j1=2.1487 right_j2=1.8832 right_j3=0.2016 right_j4=-1.5497 right_j5=-0.0257 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.3759 right_j1=2.5355 right_j2=2.5649 right_j3=-0.0254 right_j4=-1.5753 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1833a380c2e16e3f700c54bc9fb39b91c662d19c1b19658523d6c7590f558c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5ef2b746596a345ca01d38d2364fd0079090e8747218ac6de45f0e07e3c554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 626):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b0006dbfe77ce52617f681f380747499f37d3a06aee9f8e072868fb20c2f480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TPYJJ2N15KcXPjvTMRX6uR",
      "input": {
        "note": "Blind sideways approaches keep missing, so I'm switching to a hook strategy I can watch: I've aimed the right arm's camera at the near end of the board with the gripper pointing straight ahead, so the fingers can slide under the protruding end of the clapper stick while I see them.",
        "targets": {
          "right_j0": 0.28,
          "right_j1": 1.5708,
          "right_j2": 1.5316,
          "right_j3": -0.2108,
          "right_j4": 0.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_01TPYJJ2N15KcXPjvTMRX6uR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2722 right_j1=1.6062 right_j2=1.5417 right_j3=-0.2176 right_j4=-0.0784 right_j5=-0.0212 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 652):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fd3b60c80d6678d67c011c8e6aeb8aa6ea81abb889d5cdecb7c37b983890467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 652):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0b74d2a9ffa6d1c30f1b7260e4dc537a641394474148225b1500033c824a31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 652):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef5caba2ac17ffb140f3d80292fa11f4cddca1bc7ad4e5a1ea8c8f8d39fe5c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 52 attempt 0 · /messages · status 200 · 15.54 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.382 right_j1=2.1487 right_j2=1.8832 right_j3=0.2016 right_j4=-1.5497 right_j5=-0.0257 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.3759 right_j1=2.5355 right_j2=2.5649 right_j3=-0.0254 right_j4=-1.5753 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 154 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2722 right_j1=1.6062 right_j2=1.5417 right_j3=-0.2176 right_j4=-0.0784 right_j5=-0.0212 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 652):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fd3b60c80d6678d67c011c8e6aeb8aa6ea81abb889d5cdecb7c37b983890467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 652):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0b74d2a9ffa6d1c30f1b7260e4dc537a641394474148225b1500033c824a31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 652):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5caba2ac17ffb140f3d80292fa11f4cddca1bc7ad4e5a1ea8c8f8d39fe5c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rwg7fSi6bG1rnnMMz8weao",
      "input": {
        "note": "The right camera is looking over the top of everything at the backdrop, so I'm tilting the wrist down about 30° to bring the table and the near end of the clapperboard into view.",
        "targets": {
          "right_j3": -0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Rwg7fSi6bG1rnnMMz8weao",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2729 right_j1=1.6016 right_j2=1.5375 right_j3=-0.6918 right_j4=-0.0685 right_j5=-0.0189 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 661):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d25c5c43e0fc478abbb7676206091093a8bfd3d79a8bef2e4796764d80f5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 661):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3cc5e29de4da89ab9e92c2c6df39a547a2c31cf256d374ec1b43671e1395c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 661):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f8b15484882d76044b0dd1d50695c76495b261e9a41acee0d56015a8b3fba94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 53 attempt 0 · /messages · status 200 · 9.146 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.3759 right_j1=2.5355 right_j2=2.5649 right_j3=-0.0254 right_j4=-1.5753 right_j5=-0.0372 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2722 right_j1=1.6062 right_j2=1.5417 right_j3=-0.2176 right_j4=-0.0784 right_j5=-0.0212 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2729 right_j1=1.6016 right_j2=1.5375 right_j3=-0.6918 right_j4=-0.0685 right_j5=-0.0189 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 661):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d25c5c43e0fc478abbb7676206091093a8bfd3d79a8bef2e4796764d80f5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 661):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3cc5e29de4da89ab9e92c2c6df39a547a2c31cf256d374ec1b43671e1395c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 661):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f8b15484882d76044b0dd1d50695c76495b261e9a41acee0d56015a8b3fba94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013mVbiSr1tgNxkBnCoXHAo8",
      "input": {
        "note": "The right camera now sees the clapperboard at the left of frame with its support. I'm turning and tilting the wrist so the gripper points directly at the board's near end, which also brings it to the centre of the camera view.",
        "targets": {
          "right_j0": 0.427,
          "right_j3": -0.812
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_013mVbiSr1tgNxkBnCoXHAo8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4019 right_j1=1.6016 right_j2=1.5375 right_j3=-0.7853 right_j4=-0.0612 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 664):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dde30596bb6685a712a36c9248e2c1fc2f9832c66956b29145810d397a196dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 664):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2e378e7de91ef6b80d08566d2d13406a5ab8e51eb15282264ed4aaac2391da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 664):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40d72a4171f0c0a3e7445032c8fe20e2cc0e8b00193c7521ad3aea4b7b1d1f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 54 attempt 0 · /messages · status 200 · 17.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2722 right_j1=1.6062 right_j2=1.5417 right_j3=-0.2176 right_j4=-0.0784 right_j5=-0.0212 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2729 right_j1=1.6016 right_j2=1.5375 right_j3=-0.6918 right_j4=-0.0685 right_j5=-0.0189 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4019 right_j1=1.6016 right_j2=1.5375 right_j3=-0.7853 right_j4=-0.0612 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 664):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dde30596bb6685a712a36c9248e2c1fc2f9832c66956b29145810d397a196dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 664):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2e378e7de91ef6b80d08566d2d13406a5ab8e51eb15282264ed4aaac2391da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 664):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d72a4171f0c0a3e7445032c8fe20e2cc0e8b00193c7521ad3aea4b7b1d1f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MdNhJib6DKhDYnY8Yuh7bU",
      "input": {
        "note": "The board is centred in the right camera. I'm extending the arm about 10 cm along that line of sight so the open fingers close in on the near end of the clapper, watching them approach in the wrist view.",
        "targets": {
          "right_j1": 1.9684,
          "right_j2": 1.8899,
          "right_j3": -0.7715
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MdNhJib6DKhDYnY8Yuh7bU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4053 right_j1=1.9587 right_j2=1.8439 right_j3=-0.8066 right_j4=-0.0647 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 670):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4847acd2e7dd6fd17bc41cbc584e34461d83707e17070d1d344ab8f0eed547c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 670):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1740e4278f4d130bbacefd42ff1719ec4caed9c90c221f5e3ed6840a2221dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 670):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:884b4aa6551fc1b6fc2efff1f6b6e5b47c899abf2abc34e2bb4ce2fc3cae8c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 55 attempt 0 · /messages · status 200 · 8.34 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2729 right_j1=1.6016 right_j2=1.5375 right_j3=-0.6918 right_j4=-0.0685 right_j5=-0.0189 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4019 right_j1=1.6016 right_j2=1.5375 right_j3=-0.7853 right_j4=-0.0612 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 163 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4053 right_j1=1.9587 right_j2=1.8439 right_j3=-0.8066 right_j4=-0.0647 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 670):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4847acd2e7dd6fd17bc41cbc584e34461d83707e17070d1d344ab8f0eed547c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 670):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1740e4278f4d130bbacefd42ff1719ec4caed9c90c221f5e3ed6840a2221dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 670):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884b4aa6551fc1b6fc2efff1f6b6e5b47c899abf2abc34e2bb4ce2fc3cae8c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjTgKjAEIEBgCKkBfJBXHXb2vxFvLOud8yivicMwe1dD1xykQ0c1vX45mBjfSG9VG3IHYyhsFgsJm5Vz6yfHdVjC4TwN4z6n1RPr8MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMEtILC8bHuTXwm6vGgyoRXztH1bk0aOlIQ0iMEVlqVZsuGLxKCmfxhjb/xANGOU4cnx6MeNKBb5SjiJ7RSMCY3qQQqzbNoHqRPZICyqtNsvsa3jYAZpHmiUIHVbgpOByyRg57Ns4dottxyYhZJx/iTagZfta2WWsMasbp3999KB2160Nr9EPyyUPXNK76K9EmHtl3+0OMBM39+y8x6A2K7RGpnQSjTKUzQJbDkd9ZjGvTh5+uNmVi/2rJAwH0PyqmEhlxiO7IpM1Gpt9eNl/HwEcylGANNSl96EYxBe8b5gBRY7rh+AemvLWtVrZk1XGwTjdCoAP3qKGTlAZhuHLmpAUfv+qRY8T/aSs7XP6VMANo4Qgjvn05cuI5kNO1YMFyp8mjBUiSiHjjhKv/81hzUjNzv8hbqRUZLx84t7IPxaYwqKI+UzAt8R7sA/8iv0kAGKnvkkaHYHM/eovFyynjFlWV53sZghwN9wDqnCSJG2DJDLZO6y2xGC3wXUl3wmPkby+Ju74H91JhA83PVXtKFrYuIqq0q/Xl8iKq2WYksQhft4OBsxo1fv7lmBKQwTtpVzC2MiGnkEekk+gjg7ONo2BoPg1t74q5TeohrzS40dlY1hvSvSU8FQu5mxgy9JQ/LMFjTK50Egd8X3gZZFT/xrcUFuoboyeD+SUMUuvBA3SK+7sKESUkW51VRplg6xvKmZQzNcOy/OYF3zSNWfU+BPtaIrXda7EM9caeX/hJu3fIPB0n78NoRYiL9VMcXUdxfnysSqFr8/oOMs7/cEb4pEQLePj2gv+4tLXmMIyjAfdPo7GlAY7ZpzLEcIRER94X6c3orEv/TuLQB13PKG6iUivJ3RZIgl677taX7lMNbFMWrrzWBxV3+FXKG1+BM2f9EuSIYGtjPc+ktNOs98FvE7HjdJy/xQPNPEjzbZ7yS6YQqVOdC7fLKhGl0PJpE1XLC01i/216FRV4v8vkfgaNi8G9l4hnmuMs/gNA1Jx/NX4rDbY6MmQB8Cl6soZ4wUQ4vUEvUGlzjJLLZQI7rfimyzMzs/5NSYxyMmmKxl1HdRK4uaOrBhyy41fELxePHyk1AkBmYPdFPsKgWor/WI+H/L5K5Wfyd4ER5XI3nA7rXMJWn/hmhgzg2BLfHQNtObanZjnHWkSmfu63wb5ebtD1cyogXHK1YofxdBk5UNgjX/XfYu/Y035535v7iH+KTn2CIiVqepMpXm2N8TX274PtGvguK9bYWrEM82i5AYvlRJJeGXKfpaB3OJ5d9McbJdwMJVFXsP2E6cL8zpCg3EmulfcY1pyjgMwFPRiOt3ec6rN7CtjnP4md5uFWVbesBcT77KmI8/cCYad10jsaN/kmhJE5Ex+y9HT4/OS15dSIKH6SCQMQ+GLTD7qw9zBBOpfnBy670yvdUfGwC/r32QqQtvcJn55eyI6pwxqY/Ly07/8GaYyykLXfl0L8YUzkkBjFFh3abIWpNbTEmr8g6MgHPdHQhOQVla0gpd2/b2J7dHZQuxHrv+56kwgt2jKTRxcl9AsaR0Bu20vc8A8JytxEHxJJHb/J/UZEmsoTB8FODxB0AZ+r+jyBTAt/3HJz4wco2swsxNXnUOhJ4NOu/K79P8DURisSTsAarqUW7W4zPiq+Q+ikkgzwYJ5qzHUqoi1Gf/g+lchDl9aJm2QwGqXSjCW9yQ0n+Q+SjlWiL1vvrS1SkRCQYURAru4nJ7zvP7Qta+dyomAlPmLMyr5OxsBN4aNKIzo1+KgrRXeEmuYtslXWMLA0pph/2uVGVkqSWmE/Cvg6Ag3xcXKQ+XkYScsqTJI7tQwfpUAAetl35dijV0kHGD1uIVFZEzPHI69KuPrAXIUS3hTs+mmvCE7fX6FAjvD0q+Uu3xW230PUPTZV/Nsvq3s/J0WosJgV8tAWexcPYyJoKI42rseqjgxWidePIA7aD4zT8D0pXRm583hzlvXJtMknMYs9cgyiSTUZ/ScRI1pqcNCs/tqdV8XPmOVTtldvJ8j71sLrdCsykR9FbSsHfRkIA9R3+uSNpJlHZwKvb8I/L0NjCWPKAiWmsmT8jFz8B8lH6ahMbmgGsidAof2diHxE/uKO2KXNvB5bpsekJx5D4XepkllB4KbxNx6pc+9bLNflgrzl3IgSUvZmnESvtlsEO4ZhGObfLUuvw4bL2Ng/++Y7Kp+54IKap3s2pwESOxTdYqYPfGxU/TxhQkA1Q/kGCbMD2EqidZJCKfDWw8rEkmz/0vh3QoiHcHJsyaivNxLTt9nVqD1hO05Qzpd/kTIfsXwSE6oo9wY6BCUFLB13stlrOJEYhafuSZQUWZaGGlIAYJxHcfqHrHm1vXrYLWhH7kv3qlqVqhcPdSSeX5AGKw+MIXk1UpfIVN3bL8DttaLtj1yl2c/56klJAJ1MXxv0GAFHtbQzpNINmfOYFxzkIufvEg02laEX1brsg2Owl8rs/j20ebVyj+o65miioe7Cr1DDXmZmQn26iH/nk5tcn6y5byhXn9N3ukWswLtWO29fPswQKKtoxaiw4GhahaFWLKK2zmyAiAyGhCCckH64Rqn9FAEgGWkUuSWp5STuwuv2sIoHhJatIU4Lf69JPGj/PKmwi4uU+7a8zlpBNNjFDuWiknV3uqNv2xZ8PTj5toWRYH49YfZikVLU/zcTvGPeBbku/oglvamyJVhqn68CFdOE7tNX6pXoFb6LywvL+bReo/RXCtaMqdSVuOd+wV53j4UasBl6knRgWw9AfaIvFWOWGeOCfN95lzY+Rye3E+eSxnCunkEGL7N74WaDL4OKDRnw3SQ5/PYnB1Hd8CHgGBpyeYWWDUIzFRIx4x5J1uQY8WQncy0nkFLwH0vPFypRkRxFYODxjI+q+iFSFfFdajyfdOu9S11IKMsenDOIzH7kv5+TtI6CVzb6mQJXQ68kB02NMsCeHsC2peWYkA2oTAr5egLyyIdUZ/rBVJCiHj4iTohfTVYfz/N09UN75pxfCE0ko+NT1tuu4A/WhnTsbd0twEyfwF+aGAifPThKeVOMUg1tpl1+ON3OhTMOadTZLdaqwzzrTM/hKx0MvCRG9JwpG3Hchb9UKeeV7XnL8eAq7OOAe6IvdZ4s/tjExOLv5Q6PgsoD1UD7/5Rmi52KwqQ5XFSnbKM775kDnaELTfHwvU/T8JDDOba2C8gzc1VqbOhPgoSyJ5wpGIdxr1dgcC/VDuydy9/NIqG2n2hO7/w3cxL1kd6gbvH/I+1IIXFBxA3sDmDzRCWQCYrS+nZZIMascoFL2Etf4ey6xDpabWRWvqlIlc/L/uomBLxRN9S8Be8PSIv0256xshxG9C3v3aG6LLD69yeeFbL8Dor7xjhvl4WtqdeSRQkGfOsYN+NlOIdfwewoQybuXqD8LfJZemgWG132wFW/7XD6FsK3AGLLOcGKNB8Y1PL4db3qtWRcRGRwDOmy3CTc6MzZLywzUWjwLN7ia2uidCQ8p4tUxPrRm++IgDX8lA9rCHJy9czQ95nKVGAt+D0HNqnrSqLyfbThJKWLdVI07gYteDQeK9ROpplF6L5qVa95wglPEE2u2D0Q+oApHPpmp9J9mC/kUfEttFIzKK8hStskKbcvOqGLfTyBHTxTmXDNDx+T8pnKwY0I+zSO1kXd0xpEY2c4/WqE01awiIqX+7jAEZGZ9bef3u6SvjjDgn87hC+JXFfEqHiyH2vxekW0ghppm4+qJF2RunPG7NM3HHc594SQaEixFNGjdiVifnI7l1zXZ9n6Tdtc5WhUQffWB9b/722jCc4XvFXDI1DxzPQoETQH8uPnKunizaH80HaxSj8N8sKBngWGwN6MTJYDZEf5iDwqNCqrzCi52DxRhyuLdKOhZlw+Ch5jScC107mCaHLAWBgNZbzKxZk4Tyh4O7N7G3c0jVnJr6ZKjZcIz3jLaYMebpvuqv1vwoFjvvrlxfz59+o8BAiVHs5Ae4NkIybAcJA9+1TAhKYIULB3953dpMxuxu9d8KunDJz5sWqEiR7skNk+2uvDXqoUMxtHR0emKc6y9CHdS/aqIrE3KrSj1Zu/pZvGv14ZYe7InLlfQxkSd0XbvqGxPemGWW8kQI2SGuwSjN5dtcqUT/O1yccRnW2bXzNBjl4nLup9eqjFbZkxJzHTUU7ffLQjzXD1t+u8xpgcbwOfUuUgU1qSN4g4BOeZN4PHlKnflbOI8kueRIUnAFZoRA1KMvN2yCbr/NHq+4xcnoA5h2lbQmh9KERFBkgTrTWM2pMYAnuMGBJUdQMl9W14JWxZnWE1SKfMndtxNVutMPbb6bNHvVeuNOhjHFBBDhD5mjgpZ4W+UoBMSikwLfL6JMsr75Fe3SLLrqNDINn4UpgIMjsoZZu7nyh3kl1LnO2wccFhgceXrMgNgPL2KJWep+tpmUvJr2/R51Zbyk8iteicck+02DRXJ+UmFOK93NzOMJrEzQC1evrTV6RJRRI+E1MPg52QO6y5V3FVEKpZ0QMC731ruke1HouwbRhFvmY53x7u91Uc692Li++K6b+Lljl9gZBfOHL2bnZ+1urwoqqpu/hfEMTJved3Xn/92kD78dPSnQuLwxK+sDuuiVGGxFnWHT4Tgi9lojVq/vSehLycjK1aXqKWec3pSTFNEQewsUeZzsEc1+d7azYIf0rTIqtUI18TohHC5zcsq43dHh6DwHtRFunxQ24fNBNGc5DevwPVzVWr61cI0CrHkeqCiS/wVm6o+/ocnkl06rOLMH00kmG3ewC5kyyrIsQEqsGDLUhkKXHiybf0HVObQNX2vieUNBeYbhimDHPpzlju85EGCTxFRUCohU3XYonlXsP9fPsrL+reBaFk9v4ROat+qmxSNxtgz7elcE7GuuZVHRxxvnzhxlTMm4POgxzFMNjbguSdNijGqwMXRQmzxcBzhG46HhSrz588TFyYOvTeHiYp27eEomS5uIaFN0hKdCC2rq4J9RTpFj6O/ZYyJTTccczhy0SBNsUq3BJSdKjNr2LG2gVqimLnjiILBhSbHSGTD4laXnCFciCTw/KORJXEXqREJ0XJHDNJ5Qom2i3Ba4Jq2VVyOoXdG0whOnJ+r+N5EQlj+Uo4/EblqlMHxXkFARWWzNQUz93LZw8BFQfpPOjBmbkmafun8W7KQng5xPA44lpe+usLcbI1YxbkOIKU0NkfSD5aybHNROz3cWFFc/m8R4Yt035o1WXCKWfJholHFiCHBDt5rQsD9IAou/FtQ7IoQqmMHDNZLTnrl82jNpMseWbDImfAL2Sye2vjpqgC2zaB3Yr0lN4dctGZpV6k3tFQcDfAvBvj5aFofofRCxc6OjLz9RzXwxwuTEqvjZ1vDBgcbbtvvomom/sagW39geRMdosss82t5vIMfR6uUu+6DxDGnoN8y/yWPuk9VP4aJiZOh2DQNsfkAOeqfRMUdmFdeZW875JAybIY4z6V9IvHQQ7FcUV8JKmPjh0cgdGNfMJq3H7ajozM85VAB015Bo0oQZfQHftR7iXRlhQJBTTVssqFdWd6y2UjX4lazsb0/ozDxY7SHgl2Gqp1IntoKoFJBhu2amXkMvA66d8vNFb4CpWVBbz8wpLVj15rWpf60FSOkS8a9wFfjTh0WG4Iy2YTocAVXerVFLDZG/s9NIHb/S8S/8z2op8TQ6Akx2mQAhf+B1vL/3uOVrIZbVVEjcZTGQGwh1+s+PlswEKMU5DobqmMlnJCibSnTdO8sIuSekdnQK8mttc+ve2xI/bDG1j/sW+/96AUf/uzN5Ba7ALd5/cFsPpaVH7v4uJEcd+f3yTtMA7MHDeWZwcVqOvwo5LhVzpFmkGQJCzTu65jb5j5o5c5hQ1GckTB4JMyVaOy/vvUrFsZFDBZIrrKPdWwLMQlrZEeQVtNfsK0HCHEVfznnQl0DmP1R6A5k9F4oWrdLzKtEWv1CB9e+9nAdfyGZgwZHyNmlU64dJdvd13QUW+PxPwxem9B4WXDGBZ09SM10L4IAPYjAuMGd5eRSzB54N08QgEE0bHG4B6FW7ozJ9qLPhzSt/WWA2/9qQi6hasmaO2kLMbDxlUDZLDCLcZEX4JTttqm+6eaH3ubFm30W3cG1jLQZdqw4eyQsAjsucUW5tLw138klc2cCjtjbry1L6TfuonYxUoMe/EC6wCV0ZnDjOqQ18rWr4aqjXmV7DRJ7AZrLhHpAvrMiLvhYR+Ke3w3PsrP18rEwWryzu9QCJNHU6xToI0NmX+PUsf7D1O2fjr6JKZ6GGsCnRLMwjZ1g5G9/jQV7R5K8l5E2/pPCKCTvBJsx8Pyh0HJRMlUl1wKPVjZPrL7RNAV8IA4YTMFuY/js+EFBJW7qZX8a9YuR3fD+pcqkdEhTbNOC5V5Uwm9Yjp2C19bJXcy5U55Fin3F7AGQJO+tG6EjQBei6atyGRgmdpfaT19fmiuik5wppB8nwkOagyONVDfRqpsaEgn2D8ACwtrTwZFO2Eml2GpidOiv3WF3Uv5CKKARNQJfI2fobAV+IVw+A63RFjzZMDMd0E1dqTj6sxRI0P1daGprSahhdfoDGpZ/GR27d6r9YXfMnEcJeSchkAZMeBpcYer+xQ5pOtwo9acp/DCpAQM4uxLUCD511G78yvU/UKd5T8PYmtOLhgARrdjyic/l3k6oUtBND0hD4gbeXCq0xYvMudL6vg4PUIos/hFTVZb9ehfg5xpHhIi8Z610B4au0ferHBLg+Fxq1IJwzJKzI4fp5dwvVnbvCNioxHr9Lbb6p2Cv8xQ9IRHDQQsu9VgTnNMwSZLTLe4piSLq0MtYs4moOIH0HaIPLBMt/VtQ+7ZEMFTTAIr0NvVfcf3jnZjQrrHHcnTNW4ZdFRs+Ff/rsJp2A+CdB+ozq56zIZy4VeO7SC0nJApT6mWXBX3Co5apI4L2jqrPZ9+YZ3ZtwJcbKjk780+QgJ80PM/Xj/sch8/zirmbNEJKzvS+ly/pz45t8EYGIe54Yy5ZrKxBAJ5+QM6/aSRhIfcS1QhbfsQ0lHr9MnUn4PtvpmA7EieuBa0qjVPVA9AhN6xKMsPJmimXtCq6ML5hZsL5Zs+l0E7bmB1Es0rSW137iAxFusE4HRkYcyb2dYCpVIXbLg2bTna9OkoS20YeQm8+os+ZJX5AhG16e7dkQcHXqRJs7/n6QWsNhFiBCVA2nQMAjKO89qdfSvNcGTJKoE/lMDAi9bpRWYjd3ifvniQAGEWbaY+wN4AUd/GHZE17T59RiE+mgV3HqwBp6FVePNFWhsebTTHIHFpN3yKySOdYnSySOn22kqkxv3xQWYTxrcf8Z8MFLFrFy32FEoNM0PRsG3TTQ8bLAZ3N5s7meyN9tsvhIXy1zb1sq82Io5Pz7iUsCZUo0GQpbT9QdotPcXNNAtYn+PNEVBsAMCq+gNTehxdoOUWRxoBP9ezqTV4fl8ECPIN4h+smk6rt5NfpOV4jE5oUm791DzCveupK21qDLh5WIOxoKxkGzzbE9/fp7HITZpmZ5tpROxHWJSimqSOQ8OhQ91oCSvfbDEz6JD2r86VPiFTT10QDJl6+xVZVcDIjPr1AFSARZo5nCQXmw1UP7HwoDDue7Gp5IXyNCSLV81jH4omFFlPOIsciex6Pa+Usg1QDWtYLmQkm0vRstzLsyljk4JoXQbW2x0aTY5yzyjHU52RCgNTh2SD1iufQswdJKu00Hbl15vsIex3f8ASLUBfuLUNl9cq/iv7LTKlZ0ZpuWlAifOhCdXT7CHxSq2fs2cDVvKBoAI0kv3+wIwz5cOLPgueoj0ubysmy8oX0/+/SkMu/bqyytJuNDZZY1F16/1qFBaOQqgFuphKiHT/0WaJ4ZVUWHr35KNi6ZrzDxjP9jFUDL/TIW1xooSXNiY6OitntejbANHlcPUQuHirEYM2rl4n2HRZHOZF5csXDMieiFaPVdk89kpRXoozVYRGv92TCueW4zyunTuXsOpGwby4R1nHsoFdxhXcBQZFqphoYJoU9K8NavnXW4irZdAbH2sXZXovESQqE3K3nc9sp45bbftIySveD6/TTlxIYvWPLBiFAdkMwkymeHK0W8wJeP19+2YinY75+XIanT6mtrWKHu6IAFQaO82XAKqvjdCfurPfeKdlzRYEauYiVL4Ko2WdDAQuiza1wQuMmIhzxoslH4ZT8QvCCvJ5Vf4JbWQaDQhWyt7C4XksSvnkBWVB2DdfCDHPPDZv93ULoVxI6G6I+fV/YkM8fOb2DhRATssSinubG2PlM9YxEutkA56pdduBOEYXW7lRDk3mHpjuPd8mMa87Asa3OzJWJawA7ui3wOEwN3jsfvrvkEnpNg3CXkStXt/H5Asz+bvVrbpJl2hoXUITvdPplnARxPVoA0NTekhcZo8bmMe9AIAEUUUhkfvcZtjf4IXONBnd7scBIJv7evy5gG+NG7Wg1EhaNeoJ9Qc1ZN0J31UoiGTfSE9emgx6y6AKcpPWtvTLgpyPMyH3IPgCZNF3uC54k0H2sgB5+l4FMYqSO+RedzFyUIKPVu/ynEYglD69t2vgJTNsDn6TNMH1Syg74VTj66EtpD7mzocMVimlvm/hT3tMZnnCcQOXIitjulwGyEggpUjzcaCxINjBM3sBwmSL3fivOmF4zmUN/LRkKS+eBUXH2mzn6T/0ydzGhSuMUeRZPdCf4Zx3OVbpa1xRlxdD2+Qcw5QfzL6h/zRXL+sw4vA8l54KGCfy62gVb/N7L0ucNYr/sMuwkipOhuaepgfm/HIbrg4gIThiTMxEDSah2HYYvkqJj3wfzsIKE+U5todno5xvYdaLq/Aajktvy1MejQ+/GLQTZeA9xBpD1AI3KoRuYvtIpEDcIXpDnKnP5V2thNgSTwhldu9zdGHIHrviB/wIrdFS9FUK7Kad8HKHBDcxm+QFxfcf/llEDaKqAl5dUjQLYtS9jTdg3E8q91FHJ+N1E1hLB/1pEWN/VfMW1YvKJJm0qxXDIAf+6m5p3mlagB6qRsyUXdfxIKpFpirKH0NPiM3PPU6xyocNoz9FuJulSpGRf+mq03MF+VoSxenuWrz1Y8KAUA1TWQGQiUL77c50QjkqfzTASyaiT3ezMlUNT3sBYa9zSujHh7Ej+1+/LYjfzYSVyr+CAzK5i/3vQFbRGN2ry9zbQUS2wliox9yZiAP32mjBdYHLEbCL9yFjnuS9BYW/3wo0pfjgKU4xdkmYdFvtnxVTuMBYHVpCakFKCzy0de5TPEx0lJlibq/UlgzRhsTK8cSKkl27E0SrrM89QQLG6LGsPzOVcPwmVNbQnz9pwE13edq9yIxSuE4+bIy5bCaFvMhAzpipklEn4VB4YWFXGFrfW28QaHFk5stscVPfGWLqoKSyUZytRjda0lbZtwpFisLv604AyqtpQ3d1iSbHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zMmqNNDebuEudDUpD3dEH",
      "input": {
        "note": "The wrist camera shows the clapper bar just below my aim point; I'm advancing about 5 cm along the line of sight and rolling the wrist 90° so the jaws will close across the bar rather than along it.",
        "targets": {
          "right_j1": 2.105,
          "right_j2": 1.8971,
          "right_j3": -0.7135,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_015zMmqNNDebuEudDUpD3dEH",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4095 right_j1=2.0918 right_j2=1.8542 right_j3=-0.7689 right_j4=-0.0685 right_j5=1.4811 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 696):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceffe402f0017532d17396739d4d67e63d37efb4bd067a4db140f8443b2eeb82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 696):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82dc53c73c0d6051a67c13fccbce9e8934848aa9ee95cdc5290ba5c6fc320904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 696):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0f1d306e82b6f5ea82d007e3104cab0dddd28d6fcaca9ea0e8e45bfaf46416a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 56 attempt 0 · /messages · status 200 · 11.21 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4019 right_j1=1.6016 right_j2=1.5375 right_j3=-0.7853 right_j4=-0.0612 right_j5=-0.0185 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4053 right_j1=1.9587 right_j2=1.8439 right_j3=-0.8066 right_j4=-0.0647 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4095 right_j1=2.0918 right_j2=1.8542 right_j3=-0.7689 right_j4=-0.0685 right_j5=1.4811 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 696):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceffe402f0017532d17396739d4d67e63d37efb4bd067a4db140f8443b2eeb82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 696):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82dc53c73c0d6051a67c13fccbce9e8934848aa9ee95cdc5290ba5c6fc320904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 696):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0f1d306e82b6f5ea82d007e3104cab0dddd28d6fcaca9ea0e8e45bfaf46416a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DKBA4sFuuiLCPgBu3dHxRR",
      "input": {
        "note": "The gripper is right at the near end of the clapper bar but a touch to its side and low. I'm shifting about 4 cm toward the bar and lifting 2-3 cm so the open jaws sit just above it.",
        "targets": {
          "right_j0": 0.485,
          "right_j1": 2.0131,
          "right_j2": 1.8694,
          "right_j3": -0.7763
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DKBA4sFuuiLCPgBu3dHxRR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.44 right_j1=2.083 right_j2=1.8648 right_j3=-0.7738 right_j4=-0.0647 right_j5=1.5177 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99298c23534908e7f918f823f4f99bb6f4c682055368bce679d4a110975c51f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a4e1e520503989b85622d2ffa5d29838721290fe55408ef81bbc9679d67c057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 698):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef4623ef6bc6202c18d0cf280f694225549dd35883e210ee65209004836b3979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 57 attempt 0 · /messages · status 200 · 19.72 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4053 right_j1=1.9587 right_j2=1.8439 right_j3=-0.8066 right_j4=-0.0647 right_j5=-0.0265 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4095 right_j1=2.0918 right_j2=1.8542 right_j3=-0.7689 right_j4=-0.0685 right_j5=1.4811 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.44 right_j1=2.083 right_j2=1.8648 right_j3=-0.7738 right_j4=-0.0647 right_j5=1.5177 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99298c23534908e7f918f823f4f99bb6f4c682055368bce679d4a110975c51f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a4e1e520503989b85622d2ffa5d29838721290fe55408ef81bbc9679d67c057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4623ef6bc6202c18d0cf280f694225549dd35883e210ee65209004836b3979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017JyAFcQZH2bW44fS5Qth7z",
      "input": {
        "note": "The overhead view finally reads clearly: a small black clapperboard lies on the table just past my fingertips. I'm swinging about 8 cm further toward it and lifting slightly so the open jaws hover over the board rather than bumping its edge.",
        "targets": {
          "right_j0": 0.59,
          "right_j1": 2.0026,
          "right_j2": 1.9752,
          "right_j3": -0.8926
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_017JyAFcQZH2bW44fS5Qth7z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5518 right_j1=2.0457 right_j2=1.9358 right_j3=-0.8597 right_j4=-0.0715 right_j5=1.5036 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 701):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d593ce43524a092c622c46460ddaf101b3c188e2bb0f321c92abec739b8800d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 701):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf73b421e17ed632d07576e3ce06bd7f3f3efe967adb4e858d86f3ee8cfdde8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 701):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14056076c4e803c2926f4170c64a4b307e569abc4c733ae606409dda199de60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 58 attempt 0 · /messages · status 200 · 20.42 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4095 right_j1=2.0918 right_j2=1.8542 right_j3=-0.7689 right_j4=-0.0685 right_j5=1.4811 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.44 right_j1=2.083 right_j2=1.8648 right_j3=-0.7738 right_j4=-0.0647 right_j5=1.5177 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5518 right_j1=2.0457 right_j2=1.9358 right_j3=-0.8597 right_j4=-0.0715 right_j5=1.5036 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 701):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d593ce43524a092c622c46460ddaf101b3c188e2bb0f321c92abec739b8800d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 701):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf73b421e17ed632d07576e3ce06bd7f3f3efe967adb4e858d86f3ee8cfdde8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 701):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14056076c4e803c2926f4170c64a4b307e569abc4c733ae606409dda199de60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4hz4jU3QiegzDweZhaDBu",
      "input": {
        "note": "I'm too close to make sense of the board's structure, so I'm pulling the right arm back and up to look down on the clapperboard from about 25 cm and identify the hinged clapper stick and its free edge.",
        "targets": {
          "right_j1": 1.9989,
          "right_j2": 2.2591,
          "right_j3": -1.3602,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01S4hz4jU3QiegzDweZhaDBu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0323 right_j2=2.2284 right_j3=-1.3384 right_j4=-0.0792 right_j5=0.0746 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 725):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c3a7555e69a2892c0f8e521ee44f83d21a75029bf397e671435c23ce348d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 725):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56617a06ec4a072678170f02f8dd5b33046bd8173c451fd58cb31de6c8c2ec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 725):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ba6552dee2465a6d081c94b2970c664ebd07963119e4ad6f3d32bd53a2d7f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 59 attempt 0 · /messages · status 200 · 18.64 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.44 right_j1=2.083 right_j2=1.8648 right_j3=-0.7738 right_j4=-0.0647 right_j5=1.5177 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5518 right_j1=2.0457 right_j2=1.9358 right_j3=-0.8597 right_j4=-0.0715 right_j5=1.5036 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0323 right_j2=2.2284 right_j3=-1.3384 right_j4=-0.0792 right_j5=0.0746 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 725):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c3a7555e69a2892c0f8e521ee44f83d21a75029bf397e671435c23ce348d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 725):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56617a06ec4a072678170f02f8dd5b33046bd8173c451fd58cb31de6c8c2ec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 725):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba6552dee2465a6d081c94b2970c664ebd07963119e4ad6f3d32bd53a2d7f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ets44nXW72X5vH12h9sAKa",
      "input": {
        "note": "Now I can see clearly: the clapperboard is a black slate leaning back on a small kickstand, facing away from the arms, with its clapper edge at the top. I'm re-aiming the wrist at that top edge so it sits in the centre of the camera view before I move in.",
        "targets": {
          "right_j3": -0.65,
          "right_j4": 0.267
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Ets44nXW72X5vH12h9sAKa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0315 right_j2=2.228 right_j3=-0.7662 right_j4=0.2153 right_j5=0.0444 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ca948b3ab17f63d3787d4ce4fe76d9c42eb65b7098e34970f6d5d3dac74d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2adfe159c67d2b3dc7059cda892ac8953ef7853f7a3d7c2b336493be8448de1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 736):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2eb5791625681c4595632ec7d7e410da3c898aa53427c5d85223be44c46aa2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 60 attempt 0 · /messages · status 200 · 17.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5518 right_j1=2.0457 right_j2=1.9358 right_j3=-0.8597 right_j4=-0.0715 right_j5=1.5036 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0323 right_j2=2.2284 right_j3=-1.3384 right_j4=-0.0792 right_j5=0.0746 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0315 right_j2=2.228 right_j3=-0.7662 right_j4=0.2153 right_j5=0.0444 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ca948b3ab17f63d3787d4ce4fe76d9c42eb65b7098e34970f6d5d3dac74d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2adfe159c67d2b3dc7059cda892ac8953ef7853f7a3d7c2b336493be8448de1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 736):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2eb5791625681c4595632ec7d7e410da3c898aa53427c5d85223be44c46aa2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PrRj9WrfwE8ZHcPFTwU4pi",
      "input": {
        "note": "Plan change: rather than pinch, I'll hook. I'm closing the fingers into a single hook and reaching out over the far top edge of the leaning slate, where the clapper stick lies, so I can catch it and lift.",
        "targets": {
          "right_gripper": 0.0,
          "right_j0": 0.479,
          "right_j1": 2.4902,
          "right_j2": 2.8998,
          "right_j3": -1.195,
          "right_j4": 0.079
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PrRj9WrfwE8ZHcPFTwU4pi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4873 right_j1=2.4741 right_j2=2.8647 right_j3=-1.1652 right_j4=0.0883 right_j5=0.0338 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 747):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fefaf4513fe0d622bcf5b141c7c66ebc7723cc103f16cae1a18ad4df149e1b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 747):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d4d6fce5abe102984b149e466dca0221b9faf32a1df806cb6a8c0f4cb193bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 747):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d73e4bab470635fb662d90d4b643c59f0e9a6ea88310eabb219228db14a57ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 61 attempt 0 · /messages · status 200 · 10.61 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0323 right_j2=2.2284 right_j3=-1.3384 right_j4=-0.0792 right_j5=0.0746 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0315 right_j2=2.228 right_j3=-0.7662 right_j4=0.2153 right_j5=0.0444 right_gripper=0.9992",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4873 right_j1=2.4741 right_j2=2.8647 right_j3=-1.1652 right_j4=0.0883 right_j5=0.0338 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 747):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fefaf4513fe0d622bcf5b141c7c66ebc7723cc103f16cae1a18ad4df149e1b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 747):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d4d6fce5abe102984b149e466dca0221b9faf32a1df806cb6a8c0f4cb193bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 747):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d73e4bab470635fb662d90d4b643c59f0e9a6ea88310eabb219228db14a57ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BmLBhsAcHNQpySPK1xC1Vf",
      "input": {
        "note": "The overhead view shows my closed hook directly above the dark clapperboard; I'm lowering it about 5 cm so the fingertip comes down beside the clapper stick, ready to sweep it upward.",
        "targets": {
          "right_j0": 0.4867,
          "right_j1": 2.3738,
          "right_j2": 2.4744,
          "right_j3": -0.8752,
          "right_j4": 0.0877
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BmLBhsAcHNQpySPK1xC1Vf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4843 right_j1=2.442 right_j2=2.4882 right_j3=-0.9489 right_j4=0.0742 right_j5=0.0334 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 754):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e68fa9ebdf068f8aec6839812e8b4cebdc760e4290438d18788341b7376baa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 754):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30941c7f769f0d6353c9cd7d8b89913a5b2378178dc5ebacce1ee05d094dfda9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 754):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b272e026feed0b7b284feb01b8f4b36a950a4787733cd6a6bb6d5fd803ca529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 62 attempt 0 · /messages · status 200 · 21.03 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5533 right_j1=2.0315 right_j2=2.228 right_j3=-0.7662 right_j4=0.2153 right_j5=0.0444 right_gripper=0.9992",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4873 right_j1=2.4741 right_j2=2.8647 right_j3=-1.1652 right_j4=0.0883 right_j5=0.0338 right_gripper=0.0097",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4843 right_j1=2.442 right_j2=2.4882 right_j3=-0.9489 right_j4=0.0742 right_j5=0.0334 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 754):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e68fa9ebdf068f8aec6839812e8b4cebdc760e4290438d18788341b7376baa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 754):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30941c7f769f0d6353c9cd7d8b89913a5b2378178dc5ebacce1ee05d094dfda9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 754):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b272e026feed0b7b284feb01b8f4b36a950a4787733cd6a6bb6d5fd803ca529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nt4WTymfeY2fD4kaU5k7xE",
      "input": {
        "note": "The wrist view shows I am poking at a camera-stand pole, not the clapperboard, so I'm pulling the right arm back and up to survey the table and find where the slate actually is.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.0,
          "right_j1": 1.4,
          "right_j2": 1.2,
          "right_j3": -0.9,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Nt4WTymfeY2fD4kaU5k7xE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0071 right_j1=1.4292 right_j2=1.2167 right_j3=-0.9138 right_j4=0.0124 right_j5=0.0257 right_gripper=0.9975",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 775):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c79b93e898fdb0d0a8a1325a9d1cbfbdfb1c1c80f114c7915cc108e04579713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 775):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8c1f1597a87a8608fdd396b5ad7e230bf7bb51d6d7378487219191d5ae2682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 775):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:caeb187cb3c9b08697a078f565ced7d98bdc01ef61f4b4ac82e47f785910993e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 63 attempt 0 · /messages · status 200 · 6.7 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4873 right_j1=2.4741 right_j2=2.8647 right_j3=-1.1652 right_j4=0.0883 right_j5=0.0338 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4843 right_j1=2.442 right_j2=2.4882 right_j3=-0.9489 right_j4=0.0742 right_j5=0.0334 right_gripper=0.0116",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0071 right_j1=1.4292 right_j2=1.2167 right_j3=-0.9138 right_j4=0.0124 right_j5=0.0257 right_gripper=0.9975",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 775):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c79b93e898fdb0d0a8a1325a9d1cbfbdfb1c1c80f114c7915cc108e04579713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 775):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8c1f1597a87a8608fdd396b5ad7e230bf7bb51d6d7378487219191d5ae2682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 775):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caeb187cb3c9b08697a078f565ced7d98bdc01ef61f4b4ac82e47f785910993e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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WWr0QTuE8JcF5ov4VRq92IqhdOUBHWHdOuE2HAa6nnbiVWCYp356i6TvIvOBLN55RCARkCgaRnBWLg7DqUepuAJRffJlvmTS6e7QyreRZuFIlFBV+6EHVqFmpqeR41EcGL6JF97B1gfOl88cg1YdZ/ohFb5/M5OqGgdN3hNjvy5akbB4970K+dbUasA41ObgDOY3Ush6zyBScIkMQRohgS5RydX+bV37spUyUMGz+RU1ILoZuPwarrhCa0bUBFL/qnZ1bDx6tPQ2Z7FgkuDYppMQTlntGLwuXIXgfFxlLP62j+ZkZ9Lp6/4Gv1DziN414qM1/pDO952BZbJEWw5Edho4cazUGli9bgShJRMRns4/D4NDxAR8fIsDsgOdodFDJPrdhQajKjqxYS0seyZJ358PDb+jtWrkFKSWtTWelHbqn+GI2RIbqaFm7Gr8mMKipu1+6veO1wl3v5UKV+tsS6xOlDxEsANg1IDz7y9kUmoSOoFYq9E/aIHGD/XA717XIoq958P3bxU+prqHWPYaz7q/gzrjde9eDGAPbeCJuas42AQ+TOfyuuSDzMuKoDjv7VyhfoBhwgoQ39DHCUZX0uJK6MkSlEpKQDNKubsZcHQiBDuHCX4UD47VqYHYAZZOGDpwBrs8kI2wDv28Hi/VY8fiS06k5CXHqBb9eYTjWdYzuB0RlgYDijk2fCspfPmNYVGowVwQlGvfzJw2VIb6vnm0fUsDt4v4pFEwAy3q/RfUpGyUQsPgonv3Z/lT/avYFMlX6CICrk5oA0zjYDzxLtVwpqRwo0CmQiCZeyf8MIQN9B2eS8ckdfUzoYsBs087L/l/lFCZdHuowBGUddGtndDHruV7LssTGlcx9eZRJOTc8TyHEv0p/SuegLS4LU8eUmAPfGP7sAzqgXrpLDapNRdu7IkTpVvIvHEd9CGJJxM9OcGTTZ49xuvQ9kndYfwk7CSnVqwf9JOi950In0FU6mwrFGtby+kNgEAq8o7Wpagi/sslEq7bELDlqlfmhWtTxhmV4o61fiAsa+gvwTLRqjkTofEwULevZox6BvVibHI0sC8pbGPh7z/UKKhplh0Fm1K6SafNJXOFYRIu2GTcK70vQdDag05L3hBYLO/iSXLJEldjKde7yfv4VHuosy0GZXa/fv4jdgXS2+PAFFf5tfATcbDKfgfV0APpHYnxVAp95gpCImUr/nnKc0YAAzhiyIhWlHaIkTdZcO48ElUJfyAcFmcVPhDst86aMMU00YiUR6QYsFMKYlo7m25zV7xtvZsbj7FR6fX2P4wqy3R8rh0rkFu8OB+2uox9m0kP89dqozdvzlcIazpIcRiutUp3Y6L9o4VWoyQ9UHfiW3/Wdy5HwMleLZnG0BlZ0ioQ9mqPYVuer2UNVgFxHwMttaMQkiMZ/6gPzgwmVqvjgcTtBWkhY3BfveGaoZN/a9CU42oTAUu10N+lSceFUJbvo4HRBegauENiaeCCw/AMQHNyvQIMoG9eR+onJeQH1j598OaNGvnqOl8nejTl5cDSIdUxCrODwDMwBwqS6r5kHK19INfrFsvk4uIg3AhnKxjPpy9AfQdMD/L94rlesenn2lUYSnWEmg/5xuem36ycHGXNz48e+87SjROpjeerYLtx0sNVihvFS8CUvbvA5lE8o0Qop/P6avfwqq8kEKrDmWRttAEPX0X4sp3zkFig5bAE17NbdgABFtRee+IeuM6eSy1nIiVaYtaYQPmysMLFxR/rx9/kYyTAkQude2R1lOqN3MkkV9f9dD+ikvGwdq1u5skF8Y0/V9Ipi7KaV6t2bqXLcWizaM/aL6a7wlGLGiyTPaaaBWL0lhB3dHdXJDZcVWSO+WhCt48fTTBn/wJ4HWAQJepZteQ8TWDzSwIS662F4dBRhC/2YlU9WlelYpZBGLjV2oo+gwvfOcBHmjc7stCpgasbBqRlViWEG60LtHHheU8l6sRuZYr9LMEihOt8fi6X22RMnD17ZNLXqGIylIa1+Vd7v0/14jtp28tzFnD7pSA8rvpY9daE37rXog7NVg78+YPQj0W9uELiSQVDomC9Dpmr4lqW0tixtf172YlHbFFr5RuDYOkzbSeHBd4NDQpYR0j0jyPzfKmaO8BPxx0GdA00YvlzEOSQeZcMRju/sTuY6J3nWoc2I6bioAxAP4CxU6HMhYZHawUpfgNA0CwVCOkxZmzmWxZWB9+zMaih3lFPhNJ+whRjDT+A1SUs7tsaAF9SMOmnPAv1FZEiP0mCG2KObFbbuWulVWWZ66g97HVgtYc7DWG1HTa7UQewCmBpP4T1wl9AgWqqAz1sbfFvXWZLzrkCDWaq91yh8eX6o+pzrNYWrjY3+b1mRk89KzmX/V4glmk4scc3JqDwuLOUYf09X2pjmOVF2JmBE2vDl2PiMQfN5dwQ9eDUZujc9/cWZsbs/uRn90HYlRjPbkESjBkjC38PIaAc2SGLG6dlPdI6XnREXgtqemYaPXox/jHohGvOvKv8/cZiInLJtwBCgZbQBkJdcVOLjiOKAoPzYuJHxwfss1tlrG537mx8BncMgw+xfW08LvByX0wSjWWn1xhDQFjVKF+qBXsWKETpQjD+rT2n1cbnSmbQkzAN8hXi+nvCmpe9Dx7sBGNLugu6kWNaFmj/mUcDZZ0lkwv2RAdeebo6nVe3THWFxPHJ7tgLXQLmxKi6GWM7BiAW8HtvKQT5YYpFN0lAjut6kl6gJ1NAsuhsW8mdC5+CSQy2/cxvrF/DXDEVFuqQKX3n206spgL3XKA07B4+TLKcntYa/wjf5Qpbiy81jgj/x8ffjeqDwEW0HR5S1dHaZ5h939CTzIBFmzWHZlTIY9hQI/JLFqcrpK76fmcVZsUjr+QxeZpCkKHj0iQKsg+ktjp97tFSYo3SlC2OMDiWLViJyaFkAPvzOBe1ABZRyeTmIBxIjIzGbR8qoACEqQDjzF5ziuCkZGbcQYBkBkCwbp11y58H9DQOHET+OFSFPETztBqI4lt/Baave8tkv/nD4YKo1rlbS64gXmKrTtXzQemepacBV+kyeD97qZfV9TbX3OWrkJfEOcaeDWnttrFg2ZtRuh5TZncGzrGTMEGDgaM91kaSafLgHFmRoI8uuJUpJxNkx+07S3gNJDPJAEjsgTifb/a42WDA205Ufb1A7ZwqUJR5OzltMKuHeOennmazx5Qr7tjY7VO+Wxi/ozRtxQzaS3VDmyvCZ3WY/Hnr236vpdS8OZFrILzQxHT2OmVYjS1v/6VLVrzGSMjpCkpgMq+HlO6+IcyVOPV5Fv+TXdclqbFqFFHgezo8me0nGeKZT5Zx6HUNZlFvsE7QSu/bjoww0stMPRl854P/rmyst4iAUOLcrJ2p6b49v3ojRQmLUCknWT24uhil2lJ2dLMRNXlDjm6aIEwrQdGD+ap0TUpcNfDf0kxKl6ydsnCvgjdY1KyjiwYdR/t8oVDlE9bsfGWg7v2JV9YOYkj7aoN3gp+Plu7f8ZveWlbf8MdxYt2EYGf3r2j6b2QCkNxIotivycUX6EG8B6JrAwdkSR2nuea2QMoyy2avwmMwOIMDCANtQRhcMQrSHoYKWwbMPRRBIY4S0UxwTp76zYd4CKKFXWWfbBhHP7vK/xwXKafyTYLV5RC6EMCNMvXukZRWGcmVwjPnFUXZ990YjwfLm6WgLb9DSKhpvRera4SjrGgw3QnFXr7b3EzzmgeC8log2ZIDLV8+QeKhqeGcFLNMqQjPiE/OduSlYBTPyDH6bzIxkuR6PMwXpnqDus7wl5LtfshrHsGRWXuhXPZtshEKzB26HolYTArSS+rsd2YtDeAq+4s364FLlViV8PpDL5/nntBw/3eYRnwuh1veEFZdSbNb2pI77xanavdC5okrlhs63SIOtRqdfVCjx/hKc5/F78LPpAFHox2cWXUrHrM4U3J91ncoLrmUTEY5fOZZ8kJEbOcFcFoRxOkdqundUamGodQDmzcGPwV4IyHyp5KvJeG95CF5KvAScNxes6Hn5LPIo7iAvEZMFIDc+eYHyoSX82+McJmmGIZBFeij7doD6CMydT8MgZfURFVVIUXB7+ZXfyobV35+Jj+//Ng504W+ATUF+dqcntJLH6C0pfeDzfUWCSdlpBpgbwp3yUdutihkdIWrZmd/tplpRaGB1Oz+fKJ+QYfhlpUYSVBNLvomL9rHS28AxuVENUi4s22KllaJ6StRXtbHw1GZdnOV2WAPKS49ebuYSTLk1lPB8osiVopJM7mLiRkTtPI1GJZG3kNBHWbDx+sXLKO5LL74t30S5I8OcnVYka+PYiRDPMZjoSsTtkzkJw1KyxnOAjeeiHeQXPMZlta8n/KYQxJgSs1V1WFbsOMckZaLOQv9Zq6Zqwp8x3UBZlpdjLl8yg1QZVXiQJbJbdCSfh4/BVEmT4FkkzZmsqM00JlZgVyylZh/K1TMZgIylliOKKAEUqtzGviQQWHDdZcwpTk+ZeRBv2hiOqwXXdWE/xax/6q1W1vNworJmbrQ7req9jX3eI/fHkbBJezI991BKUN4CM5v7p5jj6iEDfWfpFFlZ6VC/yk1Q5cLxTsGyjOctp0yIvnBozC5BCA38bDIttEw0JswKrP1FGD501r75XLVIilNPCpG+sleYc25AJp5XUkgto54Xhmejm91tBM5w4gB0aL6VA5PSNAG192s1r9bpWLqvO42wd7XowMS1NUXZfH8lUaB3ROPRE/pYq7hsX0eCQH1bk0LvDN5XhEZDgab2NXoAZ+jAoqmh7l/I79Sqx5lRCFLBniRQFdtJ2tmVsxGGYIyClRgSHwiXyE9C299N5ViMkZYuFp5C041q5rzHHSKV413K0rvNz8gpAglxKFButxMtf5pkA9RiUta+NYjLNvtJcWSpd3VfTUNMboBKZ8gDdgs1Bwk8kk4RsM6XrFWetAAd9iH80L4zPsiRa7UUP4MzAK3eJKfH4ErQB2MLReSKOpKfhIZf1vyjKn0H+1nwwJSXpsFt6KtURDPo/xfSxVQ1+ivDrOUOIF+Ds/00ziJY6sB/bI/UfJcXHgBMaE268MkktZ0Z4OHNJTe3kcw3DGEeiVT1Jl5fT89Unc5RzFcrLCDwqjFCeHnzCpKbsI3wkhDQrpcwwmUPWwaHZjGwET7R3Rbo+3OPZQIvJ8/D0eCtXpYRSy/NRBgqb8RQ0HB/WEBUbZYc25/xHDwvzzHf0IyfwBugxM09JCASS40wyjMVuz9UBiaxKADPRV2B5ragk88FZ5NkyEd+4/pX8qTUyY+iz0b1MeN7RW5KZYp+t+2ZCa+fBnYdHLeJ7hEmPN3dwnKSzYbu/7Clxr3/4AYz1s/wb16RU/o8nOUY9d5P2dDA5sx6GrPFs+Ib+iojJv/InUO35dcNr0BuJuSkta+u4FTCHYSA+uJAYVtmP+7bSLef4Pd+Y+4TvqkaOLaAWXm4XfQkNvDaA3A1bV/Q83acHIIXIk/Ynf1eArDnEggquHbH75UzQ8xMPfilAuYN45XYPgg1BIBlmb5IjAhp1cN/6yeWXKcraQO5ix7RQrL4Ci4YNRZmx0WsudEC/mni4COhf8rRATox3nHc895IeS/Axiol+rEYso/sxh5Jo2tJckGf25Te23/LWlfgwaDYmi5xktVXhpvTKyjc7ZCWFs5LxmsO4GybMskUCpiOwZFK2ZH4UTNl4dKVbw0OViMDKV+0eZb3vmbDObNZf8oTK+7zgLhiFDdXbINbqng2RRIDShCs2QqdzQTAlvojegG0PKYP8oRbtxHMVoae/Q8VwtpBYaZnia8YF+lEdDEJtvOlwVFLlxDzDNGpfftT/eN28/Jc5z0m/BPj25niqLaAVxo3FbsPulwhNmnHNaLIamhQJenqnfL38F3JKmLZDUZrI27gsDL/5XMpIK7p+raxAn9TCAXPUMI2ZA9GPiNQuFAIUhhox49Nn1982b6mVR50es5AdXFLeEOg491TtVdeJKi4i15Ki16pSK3GTOfNAcRVHwStBpTwlHFWGxPVk6PrX0vUlZaabp5O1T1KAOW7vkkUCbhL3S7GKpb36yVHJy8BElGQ67ez7gjPLqGEiFz+xwGxVvGJkcwaoCzuKjLdV2aSVX6SGdfv+flRFuFQ2aaiBmujyCHOjTJ9d8f0UucYYHrjgvG8e8tVFHYMNO1rHibaDmgMzmoPe4+3dD9qrBAoCUTDd+B0yhFRUB379yrhl2blD0B1eU3y3pJ2yPso8NRZ1x5iDKU2JrJ888fpXr0MwSSOAidFcMlT8cl0YtzPrJFOpLa025zRR5jb6ivNxlzK1/uyl9+oaZnK7/sbuC6+2/uu0yuVOZRdRKiZM8Rn7khK7w59Da7pTHMcbmb029vW2Wtd/CQ9gANZtrOVtlZmsGqMKUdyxqZ/WWCqgDMvap+1ZZ7TqgH9GdgUR5yhlkN5yx+AZJO/rkIiSLhY4kiq0N0+w724zzj8UeeODq2ZIzQ/KhzTlu+jS8pnUXezXD0vkjm6/inob33WifI3WENHWe6WY40rc9P+KufpeTvRwLTo+KlEdSq2zPY09YMBTVA1l6eHgT2GkXgcVVmzb06QOtORA286Dd9Yc1qgGW1xT4NSyLIGPDLO/1Yqzx3k32BhqPlsAbng6W5eD8cyXcAYklIU/n371h76XHRsaR15Zs4xuG0B/wpP0WgcB0+uUl/BpHxsp/ZUz8p7jLCz3Ypa1jab+KB0T81H18PRuq/1s3JPDQ93lI2CN7EH9doeDaXlq2VStgQ6sixWlxQFExeGSIYQYjxagn1iUxmZqJ5VsXWkCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NmeSxkfP1ngd6XU4QArFk8",
      "input": {
        "note": "Clean overhead shot: the slate stands near-vertical about 55 cm out and 28 cm to the left of the right shoulder, with its small stand behind it. I'm bringing the open jaws in at 45° with the wrist rolled so they straddle the very top edge, where the clapper stick sits.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.4711,
          "right_j1": 2.4537,
          "right_j2": 2.7443,
          "right_j3": -1.076,
          "right_j4": 0.0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_01NmeSxkfP1ngd6XU4QArFk8",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4679 right_j1=2.439 right_j2=2.706 right_j3=-1.1004 right_j4=-0.0059 right_j5=1.4811 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 800):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b2989d0f6d100613f61e5582240542b852b3512b04fbf83c45b2bfabf45a462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 800):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:074318505492c3a9b1f91a791b020312e0717f99cc6a3e56ce00e320dc977a36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 800):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abe6dfdbcb806402440a94c2fe793487acf10e25ba22ae71bff587a1fb378b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 64 attempt 0 · /messages · status 200 · 10.12 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4843 right_j1=2.442 right_j2=2.4882 right_j3=-0.9489 right_j4=0.0742 right_j5=0.0334 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0071 right_j1=1.4292 right_j2=1.2167 right_j3=-0.9138 right_j4=0.0124 right_j5=0.0257 right_gripper=0.9975",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4679 right_j1=2.439 right_j2=2.706 right_j3=-1.1004 right_j4=-0.0059 right_j5=1.4811 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 800):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b2989d0f6d100613f61e5582240542b852b3512b04fbf83c45b2bfabf45a462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 800):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:074318505492c3a9b1f91a791b020312e0717f99cc6a3e56ce00e320dc977a36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 800):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abe6dfdbcb806402440a94c2fe793487acf10e25ba22ae71bff587a1fb378b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1gYKjAEIEBgCKkDG8CFnSJDukcT3wiMGml+V8LdzlEvN/k5TxZwV5btTCgIi+jd/cgXDjhFTtR2SdY22M/lTzi7+8EmanGJk6OXrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMauOwgc27joGEHZCPGgxhJiQIWnyKcgeOPY0iMHyWOtYtzjqjMYVSegEbrtGZC+Mn5PZwUKNJObB5/4VLLYGLgQ1Y8wjof+EQ8cnAHir2BMM1t000FTmOrYWxw6u7T3U/daYzjK7OJPn3IYb8+XDpe6wVwtiD42Wp7x73AFP36jQ6tCl/Uwb4xq5UNbrnMY1NgFJ4Cvvpl7fFTx2hOhx9lnNALsHHRN8Nn+kH6JQBj12qJODDbyc1seyLHWhyjZPEZMTlzAgjRb3bcvf0DP7VOpcIsqvPSZm/8zD3KWVFKj+HS9GJ9MzhE+vDzv0OMbyzzx6GCy9OKGmySa37LkZap59nCc5fCCfwAo9v6hsoSGJw+0Gj2v4eLOusCBZLynUGlJq6s0XlZSi+UgG8dOQ+sbxIIAMC+IlMrkE5F+HOyS24E5Z3Br+OKwepxqIVeuW3EeorLVxz7oJvZPArWTXsGAacGghxJv9rQqxgVYQKWtpoD69AXQrJuVz+MnkpgoTDSHjaMDmTG2f+aj9TUMDwvogqBxOpN1GheILWM+bDUQfpTXweUvJ8VcTXxew4BtKdilWu57Ij9v7fR8fNJOnRtp1sugv2e5/hGyxLSuyVVn8QlAPfjDtv+kXiAbK+1zHFpxNqd3M+Br4/BaFobg8IZwuHfpvYqG7RbUDVJ9m+OIjKr5KVB/h+CwY4hLmM/VCWFnjz1EW9+all+AUNzf5cCpnalmrN0aWU2kuHXN8XGJCWbr+3I5zp/X9DKXeYTAEq7JHs6zGwAG13ZmPFKqOiU8I+E6bHAYDv+bALrUhGa9GuyeVP4WW+os3O/QZbeuwtcJJKlgatIrZYCyGRL51pC9XQHd/l79DcKWD3x1xxhYMET0Rq277Scb05bng4HPJ4OGiYggVsqIrVMpYJCbn2kIDhJGHF/JV8I/NPinyjKZ9suiHo6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtcS98hywpnZdhTHq8tEAu",
      "input": {
        "note": "The jaws are open around the slate's top edge in the wrist view; closing them now to take hold of the clapper stick.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BtcS98hywpnZdhTHq8tEAu",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4728 right_j1=2.4538 right_j2=2.7083 right_j3=-1.1061 right_j4=-0.0166 right_j5=1.4769 right_gripper=0.0096",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 810):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671a0c88301a800c98b3e0e260bf64e253f79b58e31e9f1015d54391449c09f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 810):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1098d8a544cc78e8579107641f63579e525c2eb6613a67d4b077dab3ad609a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 810):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab732a58404d040b98e29241f9fd8fc0eca270eb21ed3b06f9852643eab6b5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 65 attempt 0 · /messages · status 200 · 8.871 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0071 right_j1=1.4292 right_j2=1.2167 right_j3=-0.9138 right_j4=0.0124 right_j5=0.0257 right_gripper=0.9975",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4679 right_j1=2.439 right_j2=2.706 right_j3=-1.1004 right_j4=-0.0059 right_j5=1.4811 right_gripper=0.9986",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4728 right_j1=2.4538 right_j2=2.7083 right_j3=-1.1061 right_j4=-0.0166 right_j5=1.4769 right_gripper=0.0096",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 810):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671a0c88301a800c98b3e0e260bf64e253f79b58e31e9f1015d54391449c09f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 810):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1098d8a544cc78e8579107641f63579e525c2eb6613a67d4b077dab3ad609a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 810):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab732a58404d040b98e29241f9fd8fc0eca270eb21ed3b06f9852643eab6b5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBmTRLMYxqUMapyQFYQvnn",
      "input": {
        "note": "Another empty close — I may be grabbing at the table edge rather than the slate. I'm pulling the right arm right back to its base so its camera gives a wide view of the whole table and I can locate the clapperboard properly.",
        "targets": {
          "right_j0": 0.35,
          "right_j1": 1.0,
          "right_j2": 0.9,
          "right_j3": -0.55,
          "right_j4": 0.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 29 steps (2.9s)",
      "tool_use_id": "toolu_01JBmTRLMYxqUMapyQFYQvnn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3531 right_j1=1.0248 right_j2=0.9184 right_j3=-0.5915 right_j4=-0.0124 right_j5=0.062 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ab190bc8f87494f9af619600410e79aa7d0d96b5c1dac78be50b53850bb2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f00e6dc9c2b212ca3ea1dd8f078ba602194fd6ea3ab9a5e36c0a7825a8cee62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 839):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50e2eb3b897c0637614ae51c381c848a8115441b106992ccc8f7af36bc59b9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 66 attempt 0 · /messages · status 200 · 18.91 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4679 right_j1=2.439 right_j2=2.706 right_j3=-1.1004 right_j4=-0.0059 right_j5=1.4811 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4728 right_j1=2.4538 right_j2=2.7083 right_j3=-1.1061 right_j4=-0.0166 right_j5=1.4769 right_gripper=0.0096",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3531 right_j1=1.0248 right_j2=0.9184 right_j3=-0.5915 right_j4=-0.0124 right_j5=0.062 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ab190bc8f87494f9af619600410e79aa7d0d96b5c1dac78be50b53850bb2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f00e6dc9c2b212ca3ea1dd8f078ba602194fd6ea3ab9a5e36c0a7825a8cee62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 839):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50e2eb3b897c0637614ae51c381c848a8115441b106992ccc8f7af36bc59b9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ag1tf3Kk77VduPp9hqXAqP",
      "input": {
        "note": "Good wide view: the clapperboard is a black slate standing upright in a small white stand, facing away from the arms. Its top is cut off, so I'm tilting the camera up to see the whole slate and its clapper stick.",
        "targets": {
          "right_j3": -0.28
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Ag1tf3Kk77VduPp9hqXAqP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3511 right_j1=1.0286 right_j2=0.9016 right_j3=-0.3836 right_j4=-0.0166 right_j5=0.0376 right_gripper=0.0126",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 844):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0d8aade97557719c0dfcb9d33e9a107ca71e13fc1ec167625cb4873e85f102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 844):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ca96cb7c3d94d6fdd073952aa5350dd55a96488b0ac5ccaa8363ea03bfc82e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 844):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68eaa933568fb595f050ea12f3a155f81e34d437f3a95d73b691d1ea71f4446e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 67 attempt 0 · /messages · status 200 · 6.346 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4728 right_j1=2.4538 right_j2=2.7083 right_j3=-1.1061 right_j4=-0.0166 right_j5=1.4769 right_gripper=0.0096",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3531 right_j1=1.0248 right_j2=0.9184 right_j3=-0.5915 right_j4=-0.0124 right_j5=0.062 right_gripper=0.011",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3511 right_j1=1.0286 right_j2=0.9016 right_j3=-0.3836 right_j4=-0.0166 right_j5=0.0376 right_gripper=0.0126",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 844):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0d8aade97557719c0dfcb9d33e9a107ca71e13fc1ec167625cb4873e85f102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 844):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ca96cb7c3d94d6fdd073952aa5350dd55a96488b0ac5ccaa8363ea03bfc82e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 844):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68eaa933568fb595f050ea12f3a155f81e34d437f3a95d73b691d1ea71f4446e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gfyseaqjb7ZQuq3EeF4GL7",
      "input": {
        "note": "From this wide view I could finally measure the slate properly: its top edge is about 35 cm forward, 25 cm left of the right shoulder and 27 cm above the table — much closer than I had assumed. I'm bringing the half-open jaws down at 50° to straddle that top edge where the clapper stick is.",
        "targets": {
          "right_gripper": 0.6,
          "right_j0": 0.6202,
          "right_j1": 1.8663,
          "right_j2": 2.5487,
          "right_j3": -1.5551,
          "right_j4": 0.0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 27 steps (2.7s)",
      "tool_use_id": "toolu_01Gfyseaqjb7ZQuq3EeF4GL7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6167 right_j1=1.8572 right_j2=2.5122 right_j3=-1.5208 right_j4=-0.0158 right_j5=1.4895 right_gripper=0.599",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 871):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54156b129630a5edf34d8ee09a8adbc18761cba26e5a7415c405c9225fec4db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 871):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae621cfb4d3e6665fc72e2bd19a1aeff7e3b77108711d02c9cd415ed50f7f922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 871):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57af2794109643aa64af4aa3854788fa225a862f21d97e7da1712330c7954f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 68 attempt 0 · /messages · status 200 · 13.35 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3531 right_j1=1.0248 right_j2=0.9184 right_j3=-0.5915 right_j4=-0.0124 right_j5=0.062 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3511 right_j1=1.0286 right_j2=0.9016 right_j3=-0.3836 right_j4=-0.0166 right_j5=0.0376 right_gripper=0.0126",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6167 right_j1=1.8572 right_j2=2.5122 right_j3=-1.5208 right_j4=-0.0158 right_j5=1.4895 right_gripper=0.599",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 871):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54156b129630a5edf34d8ee09a8adbc18761cba26e5a7415c405c9225fec4db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 871):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae621cfb4d3e6665fc72e2bd19a1aeff7e3b77108711d02c9cd415ed50f7f922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 871):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57af2794109643aa64af4aa3854788fa225a862f21d97e7da1712330c7954f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgkKjAEIEBgCKkAEwH61EM6wVucPp+ousTzEDRRZarrqRWZAqkjDzCIOrKCmImBeCluMCTqToKweXE1nabi4zivD+5CwQWWdvlwgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNoUZS8z+tSGOJHNfGgwBEc3TEmnS3nRe2ekiMMRLeJI7KIr0Ln0mKH8YFNKAK15qpuOl82e+S+Q4eUd7qSr+1cICuLHPBFWAesLUJCqmB3wQNfHs08CoQUWiivMuoB/3DlaXL03oUKjQeZw8CJYsFQ1mpAUeDawVI6hf73q9hTW8teS2qJRT/riK9pmuDMxbIzrjnRChLZXpEQ5sSAlbSfRs7Ax8nqmCys4O4PiUIxMW5c2+xjmoHlAE/R0nGMrqUXLDE8e02Pz3675gEnwAaAhVLBXFm88meiQ3qrRwKb4M9Y1VJAZqDinFDrHhI74hihWhVx0Bgjk7jjVaFJcgsNTvpYV0tkgnuezahdHcyWO7SVz+wbo4jDaCE3xdUw6QrpG0wGRJQYkYvR6IO+FG9iCql3Yp925GZlEt/rQyWRAej/eKSVS6/gEpj338WjyvC6XlDRr3tg+Bf+VhxL2E4kHd5bUKUK2U1lrO2uTcmQ0fVEeC4Gr3tOywqOzXUfpdeljkkIbNgVfXURVoYSuh+giIXZuwQwx4ZzqkGTaL3bW8UJDI6mk503Dll5bUbh1FQ1zkrInICXjJCRid93Ilc+IKGDXgeqRNIeUJebrqgc20IS2jNELB93HLguKoegD8x93IsN5yijVBuhghH/BW8XzZ/RHR2KeLvaLd1xIberT7kKLkWBdxL21YlmDUsmJoj2owoylofDCT+5R1wXX1UF1mcr3gZhG+a+BK1lo3dsEsWTjFkD1D72fQ0+WTcijdhj6ejFD1Yp/FQdZCZ5cDGddrtwZDNSQwaljsia8kWrXGyyGkob4EQY7Q1vGAhpxgbXg5qDqDRnoVSMpe5l3MwRAqBXYd8PQU0GaZ/ThVeUYcOMUIz79dbWQ/syGMhPqbd/zDBoHamynkjuVJOV9vaaympLJzhU3IkdfX//FSRzitjiMcuwwQtNsMqwg0NeLXlffv4iQVIhz3DSXBFIrNbiYqgoVOcL4JpwCVIfVz6mIa5THpk5IsqDRdfAlxYlWgRUNEULp6pq5AJ7JA4aFQB4ftUvQ9MaH+Lh4Qo/9hVejvA+jsGMpYP7xrLeBpB+AQl2HmLxIGgQWxGcB3XzrmBVrZlpVrxFpgUrzcuR+g3E4Bnl8nPxf2hq3cKCBQq+SaEFZkEbYPbXNGoEP7zP7KCWMIJvlGYwf12tw5+dzS1WquRE4PfmgbWwsfVDZdJqZ+c2eOjsWilwkpcnnBtfZghOVx06xlouSM4X73PgmdmLc7mcvJp8KZgjPzVO4DFmVAdQ3GF9siZaauWs0SeGsLQ3NUX1dFEwFGuL6m5Rhv8QeTWlEBrTHh47aG8J3rnnb/lz+CZeIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtEyPTRGQmSUCUTNLwxBiu",
      "input": {
        "note": "The wrist camera shows the jaws right down at the slate's top edge and stand; closing them to try to take the clapper stick.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BtEyPTRGQmSUCUTNLwxBiu",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6186 right_j1=1.8637 right_j2=2.5137 right_j3=-1.5459 right_j4=-0.0208 right_j5=1.496 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f555598bac1a6d7f56e418b9ad9aae1b1cc1110f917e9df4d6ed856f2c09e4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb0370c71f01652b9d394fd7a366963f32f8356dbf1f002b571a5039152296b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 877):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:044e43276e4e176d325df6b624442aba49ad9d2047231a3afaa30d29f4fddee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 69 attempt 0 · /messages · status 200 · 16.72 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3511 right_j1=1.0286 right_j2=0.9016 right_j3=-0.3836 right_j4=-0.0166 right_j5=0.0376 right_gripper=0.0126",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6167 right_j1=1.8572 right_j2=2.5122 right_j3=-1.5208 right_j4=-0.0158 right_j5=1.4895 right_gripper=0.599",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6186 right_j1=1.8637 right_j2=2.5137 right_j3=-1.5459 right_j4=-0.0208 right_j5=1.496 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f555598bac1a6d7f56e418b9ad9aae1b1cc1110f917e9df4d6ed856f2c09e4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb0370c71f01652b9d394fd7a366963f32f8356dbf1f002b571a5039152296b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 877):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044e43276e4e176d325df6b624442aba49ad9d2047231a3afaa30d29f4fddee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015njXJtu2RnmQqew94ueowW",
      "input": {
        "note": "The overhead frame shows my gripper is past the slate, off to its far right; I'm shifting roughly 10 cm back toward the arms and 10 cm sideways so the open jaws come down over the middle of the slate's top edge.",
        "targets": {
          "right_gripper": 0.6,
          "right_j0": 0.4636,
          "right_j1": 1.4652,
          "right_j2": 2.1005,
          "right_j3": -1.508
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_015njXJtu2RnmQqew94ueowW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4721 right_j1=1.4872 right_j2=2.117 right_j3=-1.5387 right_j4=-0.0238 right_j5=1.4925 right_gripper=0.596",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 884):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554357f5ce221ef966c7e91553b289cbb30f4d2e219c26f68d6575b949882a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 884):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1156f11a3ea13f81ea4fa738377655238e92e9da13e798ccce88f272e20b65c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 884):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1128e0fe8ddde6e76798a50e61caec2cac91a17915f17aa1930dee36387d670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 70 attempt 0 · /messages · status 200 · 9.751 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6167 right_j1=1.8572 right_j2=2.5122 right_j3=-1.5208 right_j4=-0.0158 right_j5=1.4895 right_gripper=0.599",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6186 right_j1=1.8637 right_j2=2.5137 right_j3=-1.5459 right_j4=-0.0208 right_j5=1.496 right_gripper=0.0097",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4721 right_j1=1.4872 right_j2=2.117 right_j3=-1.5387 right_j4=-0.0238 right_j5=1.4925 right_gripper=0.596",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 884):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554357f5ce221ef966c7e91553b289cbb30f4d2e219c26f68d6575b949882a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 884):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1156f11a3ea13f81ea4fa738377655238e92e9da13e798ccce88f272e20b65c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 884):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1128e0fe8ddde6e76798a50e61caec2cac91a17915f17aa1930dee36387d670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TCgkRG8KcqA3SYbTu9oqwc",
      "input": {
        "note": "Cross-checking the two views tells me the wrist camera image is mirrored, so the slate is actually almost straight ahead of the right shoulder, not off to the left. I'm swinging the open jaws back to that position, over the slate's top edge.",
        "targets": {
          "right_j0": 0.0745,
          "right_j1": 1.7273,
          "right_j2": 2.3673,
          "right_j3": -1.5127,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TCgkRG8KcqA3SYbTu9oqwc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.094 right_j1=1.7157 right_j2=2.3379 right_j3=-1.5459 right_j4=-0.0196 right_j5=1.4918 right_gripper=0.5973",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 891):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb2094f2d5a3e72278e39992f5c8ba6b5c75bdbcb0cb085671131aad2508b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 891):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86737ce9fd85ff45217633a1153be3170f7af5226d230eab783a3e46d2dc054",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 891):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b5c21d0fc0be154385db0ced1da9ede5ec917c0135add8dabdcf44a1d214f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 71 attempt 0 · /messages · status 200 · 22.84 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6186 right_j1=1.8637 right_j2=2.5137 right_j3=-1.5459 right_j4=-0.0208 right_j5=1.496 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4721 right_j1=1.4872 right_j2=2.117 right_j3=-1.5387 right_j4=-0.0238 right_j5=1.4925 right_gripper=0.596",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.094 right_j1=1.7157 right_j2=2.3379 right_j3=-1.5459 right_j4=-0.0196 right_j5=1.4918 right_gripper=0.5973",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 891):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb2094f2d5a3e72278e39992f5c8ba6b5c75bdbcb0cb085671131aad2508b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 891):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86737ce9fd85ff45217633a1153be3170f7af5226d230eab783a3e46d2dc054",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 891):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5c21d0fc0be154385db0ced1da9ede5ec917c0135add8dabdcf44a1d214f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XntuF3nF5zQgYfj5TRpj28",
      "input": {
        "note": "Rolling the wrist back to level so the camera image is upright and I can judge where the slate is relative to the jaws without the 90° twist confusing me.",
        "targets": {
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01XntuF3nF5zQgYfj5TRpj28",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0944 right_j1=1.7279 right_j2=2.3436 right_j3=-1.5536 right_j4=-0.0231 right_j5=0.0723 right_gripper=0.5975",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 915):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1edf6a8aa6b24d0876c4ddf43a25593cb09b9f45dfbf4b80c6d9cb6320906f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 915):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47995e5a57224c37014d7049619b76b88b31c107834faa2df3c2d91c1526ac1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 915):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98d7aae31472311aa5e95c2c26c06ed00bdd91f71d6b548fcdf7db4bf1e7956f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 72 attempt 0 · /messages · status 200 · 19.75 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4721 right_j1=1.4872 right_j2=2.117 right_j3=-1.5387 right_j4=-0.0238 right_j5=1.4925 right_gripper=0.596",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.094 right_j1=1.7157 right_j2=2.3379 right_j3=-1.5459 right_j4=-0.0196 right_j5=1.4918 right_gripper=0.5973",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0944 right_j1=1.7279 right_j2=2.3436 right_j3=-1.5536 right_j4=-0.0231 right_j5=0.0723 right_gripper=0.5975",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 915):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1edf6a8aa6b24d0876c4ddf43a25593cb09b9f45dfbf4b80c6d9cb6320906f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 915):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47995e5a57224c37014d7049619b76b88b31c107834faa2df3c2d91c1526ac1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 915):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d7aae31472311aa5e95c2c26c06ed00bdd91f71d6b548fcdf7db4bf1e7956f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EJyfWcbT2fJLHWaKYHCtFw",
      "input": {
        "note": "With an upright camera image I can see the slate standing at the left of frame and estimate its top edge is about 56 cm out and 17 cm to the left. I'm bringing the closed gripper to hover just behind and above that top edge, ready to hook the clapper stick forward and up.",
        "targets": {
          "right_gripper": 0.0,
          "right_j0": 0.3496,
          "right_j1": 1.8999,
          "right_j2": 2.2765,
          "right_j3": -0.9002,
          "right_j4": 0.0558,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EJyfWcbT2fJLHWaKYHCtFw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3424 right_j1=1.8935 right_j2=2.2814 right_j3=-1.0092 right_j4=0.0334 right_j5=-0.0013 right_gripper=0.0094",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 926):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c1f516b4328c6b3d1320d69ec97c039ac72b28354a17b3d9cc5333c3f0cffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 926):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ddbdb856059e386f06d48e618ed299be13b1577e3cb5b986ca95afc77d7dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 926):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc2ebd62e914ff5a2bd12c19b33a6120963678edc0dba20e94ee3e7d8f35ef20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 73 attempt 0 · /messages · status 200 · 15.55 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.094 right_j1=1.7157 right_j2=2.3379 right_j3=-1.5459 right_j4=-0.0196 right_j5=1.4918 right_gripper=0.5973",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0944 right_j1=1.7279 right_j2=2.3436 right_j3=-1.5536 right_j4=-0.0231 right_j5=0.0723 right_gripper=0.5975",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3424 right_j1=1.8935 right_j2=2.2814 right_j3=-1.0092 right_j4=0.0334 right_j5=-0.0013 right_gripper=0.0094",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 926):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c1f516b4328c6b3d1320d69ec97c039ac72b28354a17b3d9cc5333c3f0cffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 926):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ddbdb856059e386f06d48e618ed299be13b1577e3cb5b986ca95afc77d7dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 926):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2ebd62e914ff5a2bd12c19b33a6120963678edc0dba20e94ee3e7d8f35ef20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D41DVzA8SSLAbzVHtptaJY",
      "input": {
        "note": "I'm still not sure which object in the wrist view is the slate, so I'm lifting the right arm and pointing its camera almost straight down over the middle of the table to get a plan view that includes both the slate and my own fingers.",
        "targets": {
          "right_j0": 0.25,
          "right_j1": 1.7475,
          "right_j2": 2.3608,
          "right_j3": -1.8133,
          "right_j4": 0.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01D41DVzA8SSLAbzVHtptaJY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2531 right_j1=1.776 right_j2=2.3405 right_j3=-1.6958 right_j4=0.0166 right_j5=-0.0086 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 939):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:894724ce391d3b4332864d8e3f285bba059c45f2629dd363b06bcaa158839776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 939):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3591071318bb4db5fc8b197cdea70bf5e686cfa301a6e0ac719697f681ef926d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 939):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb2e348cee4e37ece43329366b5a5fd1d6dd139e4ea01736a9837229a544f048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 74 attempt 0 · /messages · status 200 · 12.48 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0944 right_j1=1.7279 right_j2=2.3436 right_j3=-1.5536 right_j4=-0.0231 right_j5=0.0723 right_gripper=0.5975",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3424 right_j1=1.8935 right_j2=2.2814 right_j3=-1.0092 right_j4=0.0334 right_j5=-0.0013 right_gripper=0.0094",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2531 right_j1=1.776 right_j2=2.3405 right_j3=-1.6958 right_j4=0.0166 right_j5=-0.0086 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 939):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:894724ce391d3b4332864d8e3f285bba059c45f2629dd363b06bcaa158839776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 939):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3591071318bb4db5fc8b197cdea70bf5e686cfa301a6e0ac719697f681ef926d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 939):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb2e348cee4e37ece43329366b5a5fd1d6dd139e4ea01736a9837229a544f048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FhL5LmxN3hWVZtqehbwU2X",
      "input": {
        "note": "The near-overhead wrist view shows the slate standing in its small stand about 50 cm out and 22 cm to the left, with its top edge roughly 13 cm above the shoulder line. I'm bringing the open jaws in at 40° to sit around that top edge.",
        "targets": {
          "right_gripper": 0.7,
          "right_j0": 0.4076,
          "right_j1": 2.0572,
          "right_j2": 2.3005,
          "right_j3": -0.9414,
          "right_j4": 0.0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_01FhL5LmxN3hWVZtqehbwU2X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4061 right_j1=2.0487 right_j2=2.3089 right_j3=-1.0199 right_j4=-0.0051 right_j5=1.4876 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 965):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a733cc135688e914992530e1ce94ac45a5cd5df3d0aac5408073c7106dc6728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 965):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ee1600cc5ff6bbe7554d140d35fa81082127a71c9e1688ef1ec677932d31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 965):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd2dc7154413832477330d84dd0a4779ff3c610535102431d2c386a2f4c8a49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 75 attempt 0 · /messages · status 200 · 5.953 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3424 right_j1=1.8935 right_j2=2.2814 right_j3=-1.0092 right_j4=0.0334 right_j5=-0.0013 right_gripper=0.0094",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2531 right_j1=1.776 right_j2=2.3405 right_j3=-1.6958 right_j4=0.0166 right_j5=-0.0086 right_gripper=0.0116",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4061 right_j1=2.0487 right_j2=2.3089 right_j3=-1.0199 right_j4=-0.0051 right_j5=1.4876 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 965):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a733cc135688e914992530e1ce94ac45a5cd5df3d0aac5408073c7106dc6728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 965):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ee1600cc5ff6bbe7554d140d35fa81082127a71c9e1688ef1ec677932d31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 965):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2dc7154413832477330d84dd0a4779ff3c610535102431d2c386a2f4c8a49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VWp65hooVjCkM8pZ5ko4gq",
      "input": {
        "note": "The overhead frame now shows my open jaws and the slate together: the jaws are about 8 cm short and to the near side of the slate's top edge. I'm nudging the gripper that distance forward and across so the top edge sits between the jaws.",
        "targets": {
          "right_j0": 0.5107,
          "right_j1": 2.3186,
          "right_j2": 2.7126,
          "right_j3": -1.0921,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VWp65hooVjCkM8pZ5ko4gq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5083 right_j1=2.3058 right_j2=2.672 right_j3=-1.1015 right_j4=-0.0055 right_j5=1.4982 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 972):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c73692f8c762254e6fdcb12a05fe3fda367403adeb76105af0041c5da07ea83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 972):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f6e5340f42c6703234fbe3e4bbaa6be8459a2e0aaa0d8a28793b6d01893b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 972):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:034e67796d31c735ac4ba276ce50af5f8c5244fdbd8f3904d64c46ec7e4f2db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 76 attempt 0 · /messages · status 200 · 18.33 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.2531 right_j1=1.776 right_j2=2.3405 right_j3=-1.6958 right_j4=0.0166 right_j5=-0.0086 right_gripper=0.0116",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4061 right_j1=2.0487 right_j2=2.3089 right_j3=-1.0199 right_j4=-0.0051 right_j5=1.4876 right_gripper=0.6986",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5083 right_j1=2.3058 right_j2=2.672 right_j3=-1.1015 right_j4=-0.0055 right_j5=1.4982 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 972):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c73692f8c762254e6fdcb12a05fe3fda367403adeb76105af0041c5da07ea83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 972):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f6e5340f42c6703234fbe3e4bbaa6be8459a2e0aaa0d8a28793b6d01893b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 972):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034e67796d31c735ac4ba276ce50af5f8c5244fdbd8f3904d64c46ec7e4f2db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIShgYKjAEIEBgCKkCssvbsr4gpE4NLpEE8TmkMT3Rs+vf/T95riWcUY+RUdXcxxZXO/HbNzZL0C+owFpsFoqGaAe2UVoBiueIapGBnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMj7eN1JfNF8Fu5T0yGgyeteTc70btWttOGxsiMFrz2ZDKZ0BBUuR+28muLFxUfPRS2rEAHCFJ8kfP3dK4tUusuvvOvh3ww6jwBf2TOiqmBC+Pp5wljDl0S5mR8dM+752bO33kNl+cYN1Owftvltnocrd2w5yo+ik9UogXuMPI+rX2P6kvytg0kL1yzAYHT5wXQd2uVo9k3gLDZlrSwDjcaBNbV0pvWeohKSoCXbZOl58hEORIVbjaJi7ZNTtsO+3eL+6IdF0O+yraFeDnJBZJC4uv5oUzEXUcp4vi/9p8oWKU1LbTs9/UqEtXH0/J+/wbZSfdvTEbgAUqOOHwz2mC8ZiwnCIGrGOZFsZyA6AgCkVkhVTYCEx6Bvl6i2iGW1unqZ5q/KyokAQcPezau0/jNE5512K+F11Z/cjpF8UIt/M4FAyrgyEn3l2OZ0uukadj0RzwMSp+RygDNXZO7vSc0Ah01x7Uw8uoym99X42/WJ8A5a3m261Pz8JsaEeuyVwIaWHlYnZzrYN8/FIu4tuGHJMq9gHxSSBzz0RsOe+iBxGYhE8txBDBg5YSr/lHV/fJMFz+EQG0ZYv6V9hxdhSG8epYGddFd/gwALPxKZQkkmbHYC9BTc7/68DmlgF8UTA4ZsHvAe6Ajb3JDkdncn/aXo7b6CL4fjCi+j7mmFpYYVnkfqM1e2SWDFw8GefH+SqWsDLnt2rCHA8ki4V1AxgFiAR/cVPY/bYFFpCgty1EfROti2NsObjndanniGpt2O8OCpUYO3AxCdr0Lrv2bGLDs20ae48bWiURaLHOjK6hwuz9ZgWFE23VRK5m7n0vaP6VHNTjTqoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018aWbfSk1V3pjq5TRG6vv31",
      "input": {
        "note": "Overhead, the open jaws now sit right on the slate's top edge; closing them to take hold of the clapper stick.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_018aWbfSk1V3pjq5TRG6vv31",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.514 right_j1=2.3161 right_j2=2.6747 right_j3=-1.1244 right_j4=-0.0162 right_j5=1.4921 right_gripper=0.0099",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 979):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982b1a1aabf81401670806eff7168743af3e60bc8ddc0187ac3c488303609da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 979):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17884a4853f5f90b637ca973beead9b174721d804807cd27db204a6e83ecd420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 979):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43db931e8747a25b618c2972749d64003c035f8253df85e4903d7dd87eb0639d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 77 attempt 0 · /messages · status 200 · 15.31 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4061 right_j1=2.0487 right_j2=2.3089 right_j3=-1.0199 right_j4=-0.0051 right_j5=1.4876 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5083 right_j1=2.3058 right_j2=2.672 right_j3=-1.1015 right_j4=-0.0055 right_j5=1.4982 right_gripper=0.6986",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.514 right_j1=2.3161 right_j2=2.6747 right_j3=-1.1244 right_j4=-0.0162 right_j5=1.4921 right_gripper=0.0099",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 979):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982b1a1aabf81401670806eff7168743af3e60bc8ddc0187ac3c488303609da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 979):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17884a4853f5f90b637ca973beead9b174721d804807cd27db204a6e83ecd420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 979):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43db931e8747a25b618c2972749d64003c035f8253df85e4903d7dd87eb0639d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QEet5TQUS4S99UTZhd1eMa",
      "input": {
        "note": "Still closing on air, so I'm probing 6 cm straight down with the closed gripper to find the actual height of the slate's top edge by contact.",
        "targets": {
          "right_j1": 2.2391,
          "right_j2": 2.2946,
          "right_j3": -0.8213
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QEet5TQUS4S99UTZhd1eMa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5144 right_j1=2.2929 right_j2=2.3089 right_j3=-0.8928 right_j4=-0.0208 right_j5=1.4921 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 986):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d0c48024437dc4e92c6b2d8d30cb21eb33b754b94b4167e6f01da63e62fb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 986):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7848d2ab2846447e3b7ad58b9bf95868e4d99c4b3e646eae85bd70c87a2783de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 986):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81cf4ba6e2d7e8db94e9fa8c81765228a9178ea266098274342bfa2c04a6b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 78 attempt 0 · /messages · status 200 · 6.199 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5083 right_j1=2.3058 right_j2=2.672 right_j3=-1.1015 right_j4=-0.0055 right_j5=1.4982 right_gripper=0.6986",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.514 right_j1=2.3161 right_j2=2.6747 right_j3=-1.1244 right_j4=-0.0162 right_j5=1.4921 right_gripper=0.0099",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5144 right_j1=2.2929 right_j2=2.3089 right_j3=-0.8928 right_j4=-0.0208 right_j5=1.4921 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 986):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d0c48024437dc4e92c6b2d8d30cb21eb33b754b94b4167e6f01da63e62fb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 986):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7848d2ab2846447e3b7ad58b9bf95868e4d99c4b3e646eae85bd70c87a2783de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 986):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81cf4ba6e2d7e8db94e9fa8c81765228a9178ea266098274342bfa2c04a6b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QWPYARocwiKu3C2kBxVoRL",
      "input": {
        "note": "The overhead frame shows my jaws sitting about 9 cm to the near side of the black slate; I'm opening them and shifting that distance sideways so the slate's top edge lands between the fingers.",
        "targets": {
          "right_gripper": 0.7,
          "right_j0": 0.6414,
          "right_j1": 2.4631,
          "right_j2": 2.6427,
          "right_j3": -0.8777,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QWPYARocwiKu3C2kBxVoRL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6392 right_j1=2.45 right_j2=2.6049 right_j3=-0.8948 right_j4=-0.017 right_j5=1.4918 right_gripper=0.6952",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 993):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e39c8aa636eb2e3c593f98bec2326f7abf9f68ff93c4f7419797bd7f2ca565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 993):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104f4e4f76d63afc27d37427b4170223c73326d1cc87ff01287d20dfbdbd6d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 993):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b81e23cc39193e437e5f2f10673c0f17a9c0363529968fa926d8ac80e9a9de6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 79 attempt 0 · /messages · status 200 · 14.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.514 right_j1=2.3161 right_j2=2.6747 right_j3=-1.1244 right_j4=-0.0162 right_j5=1.4921 right_gripper=0.0099",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5144 right_j1=2.2929 right_j2=2.3089 right_j3=-0.8928 right_j4=-0.0208 right_j5=1.4921 right_gripper=0.011",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6392 right_j1=2.45 right_j2=2.6049 right_j3=-0.8948 right_j4=-0.017 right_j5=1.4918 right_gripper=0.6952",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 993):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e39c8aa636eb2e3c593f98bec2326f7abf9f68ff93c4f7419797bd7f2ca565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 993):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104f4e4f76d63afc27d37427b4170223c73326d1cc87ff01287d20dfbdbd6d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 993):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81e23cc39193e437e5f2f10673c0f17a9c0363529968fa926d8ac80e9a9de6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wUKjAEIEBgCKkDuDE+0XjK8hAaNR4eLdFl0a57Ii7BDq4yVIVu1bWY9daO1pL63Lsmjb6Fd/CZlrkiflhhKJwwYorPcur3oYBgRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMWDuXJcDIYY68IDmWGgwXvW1Mx7/oezT2oVQiMIkqF5jzad+YHTP0bETqzCQ7SWHttFS40X0S79aQcKBURLyOhm9oiUcgzu/Xq8iBxSr/A+7E/pEzIYJhNY8anvPY1A+fFjbQjoPquostOI8IVk9rByCt0wJrN17dzZeRfMuykVX2DFIMtMGTuWZQe03p096OwDV8OD0oTIBWJKnmMJ0N9SMmoZorCBi2ztTDuCpGMy/feVKwvbWUbO/HRe5Y0koybCxFScPLf/aFZ9XOz0MuGfdB6m1vvVgBk0LsFZsm1q6c8WWJGTtqhvuxgSrO2fyn+B9Fk+WCZlPflCV8ZHTlIXTIQtiJnfKhxVjiInZSbLZft6+WNYV2fTFdzHCqdAWBDGzJTDZtdteSix2/K0tcfe3bbh6FV5ZawwRuvFK+JEJQ9OywPXORtvQINHbtLb6HG7d6NmKZSTeZERogwIKoku4UIUlg+yuL6naLKaWzpGicU30x8FXDEvFEyaOC67sPKZDQergwOxiNUW4ryEX3PS1BbJpGKzDFZccl+T7bcp6G1kxdzTNZ7mYDBjef+Hl1xdo/5VClqU0dmKHIwL9SlGNnLglCWONnR+dcw1/TkCqxb3BjD6bOWRL5UgtKgiRmu4buc1QFMv/8ypK0UVfYR9m5VjZdXwHPXPqMq8yKq3PjUtHCujbR7eNcAzgRHe+3MvKtdSVmSu7cyEENuzC3s43ax8NK1/oHyZgcqX5rZuHfZ3cvjbt3Mk7hJqn7Gxz1TSu5njVWKedLXnCl7t8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qs39ksZdxCEHoLg9AGjDt1",
      "input": {
        "note": "The wrist view shows a pale part of the slate's stand between my fingers; closing the jaws to grip.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Qs39ksZdxCEHoLg9AGjDt1",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4557 right_j2=2.6072 right_j3=-0.9104 right_j4=-0.0242 right_j5=1.4883 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1000):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb12ab1e4e29888bc6d0b12e5766ae26f2e82b8da924c395cda784344ec25bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1000):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7377c6cff8cedd61b70fef21a77966181bedbdb7dee9d874dcf78c421f2dffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1000):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c232527fda89806d136076896b5d5f5284a6a20cea212041cfadee624480529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 80 attempt 0 · /messages · status 200 · 11.65 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5144 right_j1=2.2929 right_j2=2.3089 right_j3=-0.8928 right_j4=-0.0208 right_j5=1.4921 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6392 right_j1=2.45 right_j2=2.6049 right_j3=-0.8948 right_j4=-0.017 right_j5=1.4918 right_gripper=0.6952",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4557 right_j2=2.6072 right_j3=-0.9104 right_j4=-0.0242 right_j5=1.4883 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1000):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb12ab1e4e29888bc6d0b12e5766ae26f2e82b8da924c395cda784344ec25bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1000):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7377c6cff8cedd61b70fef21a77966181bedbdb7dee9d874dcf78c421f2dffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1000):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c232527fda89806d136076896b5d5f5284a6a20cea212041cfadee624480529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QE9VYKaPrGbkHeaCvKXikX",
      "input": {
        "note": "Still nothing between the jaws, so the slate's top must be lower than I estimated. I'm reopening and dropping the gripper another 5 cm at the same spot before closing again.",
        "targets": {
          "right_gripper": 0.7,
          "right_j1": 2.4415,
          "right_j2": 2.3766,
          "right_j3": -0.694
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QE9VYKaPrGbkHeaCvKXikX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4527 right_j2=2.413 right_j3=-0.6655 right_j4=-0.0238 right_j5=1.4883 right_gripper=0.695",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1007):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5d3538b49dbfd8c404d0ed0122b324e197d9a9cbe74d4358edfe4cd33b2024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1007):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd0ec5a25b3553be70c0672aba4a9f9d454d62d0d0dfc95ac16e952b367b4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1007):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f63921eb1c0998569d9fd0dca2eafea34e4888866627aca2cdd195fd92c1074f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 81 attempt 0 · /messages · status 200 · 9.887 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6392 right_j1=2.45 right_j2=2.6049 right_j3=-0.8948 right_j4=-0.017 right_j5=1.4918 right_gripper=0.6952",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4557 right_j2=2.6072 right_j3=-0.9104 right_j4=-0.0242 right_j5=1.4883 right_gripper=0.0097",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4527 right_j2=2.413 right_j3=-0.6655 right_j4=-0.0238 right_j5=1.4883 right_gripper=0.695",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1007):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5d3538b49dbfd8c404d0ed0122b324e197d9a9cbe74d4358edfe4cd33b2024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1007):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd0ec5a25b3553be70c0672aba4a9f9d454d62d0d0dfc95ac16e952b367b4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1007):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63921eb1c0998569d9fd0dca2eafea34e4888866627aca2cdd195fd92c1074f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRr3zAeJgjCH289YDTFey6",
      "input": {
        "note": "The wrist view shows I have the stand's ball joint between my fingers, which means I'm low and too far forward. I'm moving 6 cm back toward the arms and 10 cm up, where the slate's top edge and clapper stick should be.",
        "targets": {
          "right_j0": 0.7113,
          "right_j1": 2.2197,
          "right_j2": 2.4055,
          "right_j3": -0.8839,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VRr3zAeJgjCH289YDTFey6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.701 right_j1=2.3039 right_j2=2.3959 right_j3=-0.8249 right_j4=-0.0181 right_j5=1.4883 right_gripper=0.6957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1011):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68324e2cda8d3ba751a69f91e7d75437ebe9aab90c7c37439b04ec940b6aa44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1011):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c7692654286ae781fad3746cf091fc91ef9cea2ce5829dfac658dd7cddfae62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1011):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bfde8a59c2c254440cbf3a7806ca5770758d4fff2f4601a8e89284d196bb5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 82 attempt 0 · /messages · status 200 · 15.98 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 238 changed as sent

message 241 changed as sent

message 244 changed as sent

message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4557 right_j2=2.6072 right_j3=-0.9104 right_j4=-0.0242 right_j5=1.4883 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4527 right_j2=2.413 right_j3=-0.6655 right_j4=-0.0238 right_j5=1.4883 right_gripper=0.695",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.701 right_j1=2.3039 right_j2=2.3959 right_j3=-0.8249 right_j4=-0.0181 right_j5=1.4883 right_gripper=0.6957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1011):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68324e2cda8d3ba751a69f91e7d75437ebe9aab90c7c37439b04ec940b6aa44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1011):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c7692654286ae781fad3746cf091fc91ef9cea2ce5829dfac658dd7cddfae62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1011):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bfde8a59c2c254440cbf3a7806ca5770758d4fff2f4601a8e89284d196bb5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016RDHk14Bvjky6TFbXm3hz8",
      "input": {
        "note": "I suspect the 'black panel with a white stand' I have been grabbing at is actually the stuck left arm's gripper. I'm folding the right arm right back to get an unobstructed overhead look and confirm whether the clapperboard is anywhere on the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.0,
          "right_j1": 0.9,
          "right_j2": 0.8,
          "right_j3": -0.2,
          "right_j4": 0.0,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_016RDHk14Bvjky6TFbXm3hz8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0078 right_j1=0.9234 right_j2=0.8162 right_j3=-0.2539 right_j4=-0.0124 right_j5=0.0677 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1037):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd0a18cc5a03dfabb107e0adc0fbac52fc68abb51c0b508c90aaf6ea79a107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1037):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea65f5862bd976d2ce1e60a9ec8e4ffbbeb4c9f92078af0f767039e9c7929e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1037):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad387d41cda6d060e8432f991e26fc3ae3fd46cef5ac727cfe549411c1b17ebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 83 attempt 0 · /messages · status 200 · 12.88 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 241 changed as sent

message 244 changed as sent

message 247 changed as sent

message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6441 right_j1=2.4527 right_j2=2.413 right_j3=-0.6655 right_j4=-0.0238 right_j5=1.4883 right_gripper=0.695",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.701 right_j1=2.3039 right_j2=2.3959 right_j3=-0.8249 right_j4=-0.0181 right_j5=1.4883 right_gripper=0.6957",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0078 right_j1=0.9234 right_j2=0.8162 right_j3=-0.2539 right_j4=-0.0124 right_j5=0.0677 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1037):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd0a18cc5a03dfabb107e0adc0fbac52fc68abb51c0b508c90aaf6ea79a107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1037):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea65f5862bd976d2ce1e60a9ec8e4ffbbeb4c9f92078af0f767039e9c7929e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1037):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad387d41cda6d060e8432f991e26fc3ae3fd46cef5ac727cfe549411c1b17ebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqMvi3Brp2gtrSbHQ8nEZP",
      "input": {
        "note": "With both arms clear, the overhead view shows the real object: a dark clapperboard about 30 cm wide with a small pale block on it, roughly 42 cm forward and 28 cm to the left of the right shoulder. I'm bringing the open jaws down over it at a steep angle.",
        "targets": {
          "right_gripper": 0.7,
          "right_j0": 0.588,
          "right_j1": 2.0951,
          "right_j2": 2.0596,
          "right_j3": -1.0117,
          "right_j4": 0.0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01PqMvi3Brp2gtrSbHQ8nEZP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.58 right_j1=2.0785 right_j2=2.0205 right_j3=-0.989 right_j4=-0.0158 right_j5=1.483 right_gripper=0.7012",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1061):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133f1fe2e6603ec59c97e7670cfe4ea22955924c2be30a431f7d1aeb4ae1692d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1061):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed1eb8b87f7480cf5ec8243e7312fc96e19cc94fdbdfb293b2d550e273a756f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1061):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:103dc243f2ea640868f897e5ce463459d3ae3eb1ff1b25f5bd6a2f1b0dc8d345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 84 attempt 0 · /messages · status 200 · 7.514 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 244 changed as sent

message 247 changed as sent

message 250 changed as sent

message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.701 right_j1=2.3039 right_j2=2.3959 right_j3=-0.8249 right_j4=-0.0181 right_j5=1.4883 right_gripper=0.6957",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0078 right_j1=0.9234 right_j2=0.8162 right_j3=-0.2539 right_j4=-0.0124 right_j5=0.0677 right_gripper=0.9986",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.58 right_j1=2.0785 right_j2=2.0205 right_j3=-0.989 right_j4=-0.0158 right_j5=1.483 right_gripper=0.7012",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1061):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133f1fe2e6603ec59c97e7670cfe4ea22955924c2be30a431f7d1aeb4ae1692d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1061):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed1eb8b87f7480cf5ec8243e7312fc96e19cc94fdbdfb293b2d550e273a756f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1061):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:103dc243f2ea640868f897e5ce463459d3ae3eb1ff1b25f5bd6a2f1b0dc8d345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014aNSzWZFJ7vSbjLv5Jik9o",
      "input": {
        "note": "The wrist view shows the dark clapper bar running right through the gripper's approach path. I'm opening the jaws fully and dropping 2.5 cm so they straddle the bar before I close on it.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.093,
          "right_j2": 1.9399,
          "right_j3": -0.8939
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_014aNSzWZFJ7vSbjLv5Jik9o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.585 right_j1=2.0964 right_j2=1.9507 right_j3=-0.9474 right_j4=-0.0174 right_j5=1.5055 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1064):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658cef454d21833708e0eb303d3733f968fb1ed296b2b3c9732107d67988b190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1064):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b561acfce4ded7f5eb5537aaf2275c90d46471769f2895450b5c65393ab64f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1064):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae863b415c4db6e505b7530a4e1d66965c1aae39c464390d723d5d6f3fdc41f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 85 attempt 0 · /messages · status 200 · 11.5 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 247 changed as sent

message 250 changed as sent

message 253 changed as sent

message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.0078 right_j1=0.9234 right_j2=0.8162 right_j3=-0.2539 right_j4=-0.0124 right_j5=0.0677 right_gripper=0.9986",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.58 right_j1=2.0785 right_j2=2.0205 right_j3=-0.989 right_j4=-0.0158 right_j5=1.483 right_gripper=0.7012",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.585 right_j1=2.0964 right_j2=1.9507 right_j3=-0.9474 right_j4=-0.0174 right_j5=1.5055 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1064):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658cef454d21833708e0eb303d3733f968fb1ed296b2b3c9732107d67988b190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1064):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b561acfce4ded7f5eb5537aaf2275c90d46471769f2895450b5c65393ab64f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1064):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae863b415c4db6e505b7530a4e1d66965c1aae39c464390d723d5d6f3fdc41f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TgYsdRBUBCnGQPisJw2MBJ",
      "input": {
        "note": "The jaws are open wide right over the dark clapper bar; closing them now to grip it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TgYsdRBUBCnGQPisJw2MBJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5835 right_j1=2.0975 right_j2=1.9373 right_j3=-0.9482 right_j4=-0.0238 right_j5=1.5036 right_gripper=0.0093",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1074):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdda69c6409f156fe4668d3ea8bd82308d5d1969dcfc2bcfd322f284f315ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1074):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490b20b7b0d51458e06d93f7834ffaa9ddbd3ebace061ba04dca27cfe118d219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1074):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a5443615c46379aba7cafedcd499be29ffd03bd821895dd03b66f0aa408a734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 86 attempt 0 · /messages · status 200 · 12.9 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 250 changed as sent

message 253 changed as sent

message 256 changed as sent

message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.58 right_j1=2.0785 right_j2=2.0205 right_j3=-0.989 right_j4=-0.0158 right_j5=1.483 right_gripper=0.7012",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.585 right_j1=2.0964 right_j2=1.9507 right_j3=-0.9474 right_j4=-0.0174 right_j5=1.5055 right_gripper=0.9954",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5835 right_j1=2.0975 right_j2=1.9373 right_j3=-0.9482 right_j4=-0.0238 right_j5=1.5036 right_gripper=0.0093",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1074):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdda69c6409f156fe4668d3ea8bd82308d5d1969dcfc2bcfd322f284f315ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1074):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490b20b7b0d51458e06d93f7834ffaa9ddbd3ebace061ba04dca27cfe118d219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1074):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a5443615c46379aba7cafedcd499be29ffd03bd821895dd03b66f0aa408a734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Smi8zNMoL9NdZnnpPpfmXY",
      "input": {
        "note": "With the fingers closed against the board's top area, I'm sweeping the hook straight up 12 cm — if the clapper stick is caught on the fingertip this will lift it open.",
        "targets": {
          "right_j1": 2.1583,
          "right_j2": 2.5205,
          "right_j3": -1.4706
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Smi8zNMoL9NdZnnpPpfmXY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5846 right_j1=2.1468 right_j2=2.4859 right_j3=-1.4265 right_j4=-0.0242 right_j5=1.5028 right_gripper=0.0106",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1084):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97ccb728fb66d844d734785189323eb540cb1d274a657d1feff4ab940f2a8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1084):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf08bc45b194a98e12fa8f3f42d26d5d54b98c91666d5f6631eafc244060833f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1084):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:817cfb06129bc38f932eacd9f359f5038744e120ae018806fd01b44b5ef7a63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 87 attempt 0 · /messages · status 200 · 11.4 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 253 changed as sent

message 256 changed as sent

message 259 changed as sent

message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.585 right_j1=2.0964 right_j2=1.9507 right_j3=-0.9474 right_j4=-0.0174 right_j5=1.5055 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5835 right_j1=2.0975 right_j2=1.9373 right_j3=-0.9482 right_j4=-0.0238 right_j5=1.5036 right_gripper=0.0093",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5846 right_j1=2.1468 right_j2=2.4859 right_j3=-1.4265 right_j4=-0.0242 right_j5=1.5028 right_gripper=0.0106",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1084):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97ccb728fb66d844d734785189323eb540cb1d274a657d1feff4ab940f2a8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1084):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf08bc45b194a98e12fa8f3f42d26d5d54b98c91666d5f6631eafc244060833f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1084):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817cfb06129bc38f932eacd9f359f5038744e120ae018806fd01b44b5ef7a63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RYUbBnbyy8ZWkPqXr2eRFV",
      "input": {
        "note": "The overhead frame clearly shows the dark clapper bar with its small pale block; my jaws are up and to the near side of it. I'm moving about 7 cm across and 5 cm forward, wide open, to come down astride the bar.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.6435,
          "right_j1": 2.4181,
          "right_j2": 2.436,
          "right_j3": -1.0651,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RYUbBnbyy8ZWkPqXr2eRFV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6399 right_j1=2.397 right_j2=2.4424 right_j3=-1.1267 right_j4=-0.0196 right_j5=1.5013 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1094):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bd2833f9650f4eaedac4d0b1516f32ad369590958810b05fc6fc1b84ce2bf28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1094):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57dea27cf64513e3fbffe275d72a6f0257984adf8434e1cc757181b9f0a1ee16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1094):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7067120ee370207b4f62b02e228e8f2dfbd0986f24b08ec8b34b19a7902527bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 88 attempt 0 · /messages · status 200 · 14.31 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 256 changed as sent

message 259 changed as sent

message 262 changed as sent

message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5835 right_j1=2.0975 right_j2=1.9373 right_j3=-0.9482 right_j4=-0.0238 right_j5=1.5036 right_gripper=0.0093",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5846 right_j1=2.1468 right_j2=2.4859 right_j3=-1.4265 right_j4=-0.0242 right_j5=1.5028 right_gripper=0.0106",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6399 right_j1=2.397 right_j2=2.4424 right_j3=-1.1267 right_j4=-0.0196 right_j5=1.5013 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1094):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bd2833f9650f4eaedac4d0b1516f32ad369590958810b05fc6fc1b84ce2bf28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1094):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57dea27cf64513e3fbffe275d72a6f0257984adf8434e1cc757181b9f0a1ee16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1094):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7067120ee370207b4f62b02e228e8f2dfbd0986f24b08ec8b34b19a7902527bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgQKjAEIEBgCKkDvr03TsCfhD/oX/ZRh74y8/hPofhh0zOpk2A9QldUXs5miWri6gYaCpzy0Bo1cUTLvG3yIgzsbm66h/b/bgrxQMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMe00D+VG0JqhSkXXYGgzNWEgLTfnfZ8xIMQwiMHoF9s1omUpyG+rx3t+n+3986eNSgHMr5Jm7jdleyulZPqsbxgtjx4Nb26YRL5vVLCriAnGlIBu+HRuwtmBvDmrlf6Cq0PAjHtZjW/t2kRVSbPMCV5D8zdjcStA90T8CNZk8aU9blwADyDOxvu1SPnRbvkjXEn/isxPtN5ES84HYeAhmh74Ht3SHNNKEDwj+43jvuMGhvMwfB0qrx/94tBdUEZOzJBcz9a4eDF+TB5co/e5OfcL5M97BLTNLnrLJyKqqzwHvT1ZkeIJUYiBsCjrp5SZo8fMYlbqLe/EUkujaSsgC5OHUtxUdHlv+DAblsepyQw8CDkQNv2XVlp7zJCmCrDKl2DqFMG1Qz5FS/uyYSx97fwir8r7eAlKpvdfzVH5vPVSpCJOvfCccWNS7OGbpkPIevKcvdM7FCywFtql+cASIVbCQwAdE5UHNOLbUXClEtW+y9nvjOdM1lASfC8laWkCpcwY1wT6q6C3VK7t7jKCYJZ1zccFbh6Lsy//mI66AiLZMrL2Ic5i8llkq3zK59rbRlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGxKpB7RBgvpxLawpE2DM2",
      "input": {
        "note": "Overhead, my open fingers are now straddling the dark clapper bar; closing them onto it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WGxKpB7RBgvpxLawpE2DM2",
      "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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6434 right_j1=2.4107 right_j2=2.4424 right_j3=-1.0786 right_j4=-0.028 right_j5=1.5005 right_gripper=0.1542",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd72fe5e1314d89a043dc404b499f7bbcf738c20657b6a6bf294f03010d9f551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce36404f32f6b6f9f36fc8f1f3b546461b9a9c392a2cccfe5529cc30c7c175ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a86a5b9300bf7ec3c02c10749f88e67eb5c49c4e4b4feec1d41d15fb1dc5753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 89 attempt 0 · /messages · status 200 · 17.65 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 259 changed as sent

message 262 changed as sent

message 265 changed as sent

message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5846 right_j1=2.1468 right_j2=2.4859 right_j3=-1.4265 right_j4=-0.0242 right_j5=1.5028 right_gripper=0.0106",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6399 right_j1=2.397 right_j2=2.4424 right_j3=-1.1267 right_j4=-0.0196 right_j5=1.5013 right_gripper=0.9954",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6434 right_j1=2.4107 right_j2=2.4424 right_j3=-1.0786 right_j4=-0.028 right_j5=1.5005 right_gripper=0.1542",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd72fe5e1314d89a043dc404b499f7bbcf738c20657b6a6bf294f03010d9f551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce36404f32f6b6f9f36fc8f1f3b546461b9a9c392a2cccfe5529cc30c7c175ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a86a5b9300bf7ec3c02c10749f88e67eb5c49c4e4b4feec1d41d15fb1dc5753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018drtdSmaht6rx76z1SWhKE",
      "input": {
        "note": "The jaws are lightly closed around the clapper bar; I'm pitching the wrist up to raise the gripper about 8 cm and see whether the clapper stick comes up with it.",
        "targets": {
          "right_j3": -0.63
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_018drtdSmaht6rx76z1SWhKE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6453 right_j1=2.4111 right_j2=2.4416 right_j3=-0.7345 right_j4=-0.036 right_j5=1.4998 right_gripper=0.1537",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f4b8ca763cd20c4bc8296cab2a8f3b546e3f894abb4de363055e7f67ad60d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bcfae19bdd99d60cda87486efd46761f7be5a84d70ce396b158dad1fd99ba87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bf05c934f027d718fa52aa75d73a52beb0c778955192655c9ed91b7905cd34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 90 attempt 0 · /messages · status 200 · 12.39 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 262 changed as sent

message 265 changed as sent

message 268 changed as sent

message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6399 right_j1=2.397 right_j2=2.4424 right_j3=-1.1267 right_j4=-0.0196 right_j5=1.5013 right_gripper=0.9954",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6434 right_j1=2.4107 right_j2=2.4424 right_j3=-1.0786 right_j4=-0.028 right_j5=1.5005 right_gripper=0.1542",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6453 right_j1=2.4111 right_j2=2.4416 right_j3=-0.7345 right_j4=-0.036 right_j5=1.4998 right_gripper=0.1537",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f4b8ca763cd20c4bc8296cab2a8f3b546e3f894abb4de363055e7f67ad60d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bcfae19bdd99d60cda87486efd46761f7be5a84d70ce396b158dad1fd99ba87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf05c934f027d718fa52aa75d73a52beb0c778955192655c9ed91b7905cd34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFEw4eSnCFmNxL6fAxuQ5w",
      "input": {
        "note": "Grips keep coming up empty, so I'm trying a scoop instead: closing the fingers into a hook and placing it low, just on the arm side of the clapperboard, ready to sweep forward and up under the clapper stick.",
        "targets": {
          "right_gripper": 0.0,
          "right_j0": 0.6202,
          "right_j1": 2.0229,
          "right_j2": 1.5793,
          "right_j3": -0.3418,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01RFEw4eSnCFmNxL6fAxuQ5w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6243 right_j1=2.0212 right_j2=1.626 right_j3=-0.292 right_j4=-0.0196 right_j5=1.5036 right_gripper=0.0124",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea94fa58742ce1bcfd5a6408c5c73e50c10d9e9f711553c76a44dc4c0b4ee18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba848bc430a645953b57b70af9272279a670e73019c7872ceb70cdc2b6517f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe208ef94617a536e638c8db70958582d502c152651760497dedf80c7e3b4d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 91 attempt 0 · /messages · status 200 · 9.841 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 265 changed as sent

message 268 changed as sent

message 271 changed as sent

message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6434 right_j1=2.4107 right_j2=2.4424 right_j3=-1.0786 right_j4=-0.028 right_j5=1.5005 right_gripper=0.1542",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 268 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6453 right_j1=2.4111 right_j2=2.4416 right_j3=-0.7345 right_j4=-0.036 right_j5=1.4998 right_gripper=0.1537",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 271 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6243 right_j1=2.0212 right_j2=1.626 right_j3=-0.292 right_j4=-0.0196 right_j5=1.5036 right_gripper=0.0124",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea94fa58742ce1bcfd5a6408c5c73e50c10d9e9f711553c76a44dc4c0b4ee18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba848bc430a645953b57b70af9272279a670e73019c7872ceb70cdc2b6517f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe208ef94617a536e638c8db70958582d502c152651760497dedf80c7e3b4d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01McWMkJMBp5zwyX8NV9h4r9",
      "input": {
        "note": "The table in front of me looks empty, so the clapperboard must be off to one side. I'm raising the right arm and panning its camera to the far right of the workspace to search for it.",
        "targets": {
          "right_j0": -0.8,
          "right_j1": 1.2,
          "right_j2": 1.0,
          "right_j3": -0.5,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01McWMkJMBp5zwyX8NV9h4r9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.7826 right_j1=1.2255 right_j2=1.0126 right_j3=-0.5022 right_j4=-0.0231 right_j5=0.0746 right_gripper=0.0147",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9d15a9e4ad78224f2c335620c968014039009e7510b9ede0c8d9e632afc8df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbef360ac251929f98be5cf9a00ecb3b121d8b284855214bd0533d0ff4fde9b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb3715576995380dd0819b9084dacb30358b184eaacde9ae216f6e9d59c3d76b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 92 attempt 0 · /messages · status 200 · 23.59 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 268 changed as sent

message 271 changed as sent

message 274 changed as sent

message 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6453 right_j1=2.4111 right_j2=2.4416 right_j3=-0.7345 right_j4=-0.036 right_j5=1.4998 right_gripper=0.1537",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 271 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6243 right_j1=2.0212 right_j2=1.626 right_j3=-0.292 right_j4=-0.0196 right_j5=1.5036 right_gripper=0.0124",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 274 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.7826 right_j1=1.2255 right_j2=1.0126 right_j3=-0.5022 right_j4=-0.0231 right_j5=0.0746 right_gripper=0.0147",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9d15a9e4ad78224f2c335620c968014039009e7510b9ede0c8d9e632afc8df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbef360ac251929f98be5cf9a00ecb3b121d8b284855214bd0533d0ff4fde9b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3715576995380dd0819b9084dacb30358b184eaacde9ae216f6e9d59c3d76b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELHr3ACQ6NkG5GzcePgaeG",
      "input": {
        "note": "With the arm swung away, the overhead view finally shows the clapperboard clearly: a slate tilted back on a small stand with its black-and-white striped clapper stick along the edge nearest the arms. I'm panning the right camera onto it for a close look.",
        "targets": {
          "right_j0": 0.55,
          "right_j3": -0.78
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 22 steps (2.2s)",
      "tool_use_id": "toolu_01ELHr3ACQ6NkG5GzcePgaeG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5285 right_j1=1.2278 right_j2=1.0039 right_j3=-0.7677 right_j4=-0.0231 right_j5=0.0639 right_gripper=0.0167",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ef54f97acc891fcd18f33657a0a1ed865397f9192c25f9c9bba105b1d564a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272386a878e2b0346a066e99bfd1365215b085426ea46bcb502fb7f25b6f3112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc61c107b86bfcc18d9cbd48fdf5813d46c8738710591ca6cfb442cabcaae542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 93 attempt 0 · /messages · status 200 · 13.78 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 271 changed as sent

message 274 changed as sent

message 277 changed as sent

message 271 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6243 right_j1=2.0212 right_j2=1.626 right_j3=-0.292 right_j4=-0.0196 right_j5=1.5036 right_gripper=0.0124",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 274 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.7826 right_j1=1.2255 right_j2=1.0126 right_j3=-0.5022 right_j4=-0.0231 right_j5=0.0746 right_gripper=0.0147",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 277 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5285 right_j1=1.2278 right_j2=1.0039 right_j3=-0.7677 right_j4=-0.0231 right_j5=0.0639 right_gripper=0.0167",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ef54f97acc891fcd18f33657a0a1ed865397f9192c25f9c9bba105b1d564a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272386a878e2b0346a066e99bfd1365215b085426ea46bcb502fb7f25b6f3112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc61c107b86bfcc18d9cbd48fdf5813d46c8738710591ca6cfb442cabcaae542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SKVi9ydFwubodTVZ3SA8ZV",
      "input": {
        "note": "The slate is small — about 15 cm — tilted back on its stand with the striped clapper stick lying along the near edge close to the table. I'm bringing the open jaws down at 60° onto that striped stick.",
        "targets": {
          "right_gripper": 0.8,
          "right_j0": 0.4995,
          "right_j1": 1.6159,
          "right_j2": 1.3192,
          "right_j3": -0.7505,
          "right_j4": 0.0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_01SKVi9ydFwubodTVZ3SA8ZV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5064 right_j1=1.6112 right_j2=1.2869 right_j3=-0.783 right_j4=-0.0196 right_j5=1.4857 right_gripper=0.7984",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3517784ea91b87f9376def834b6555f53f7b5588379a577650af59c7dd4d651b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8f228392107214b283b4592053be50c28673971bb848a78c49542d083c0cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d22ee02fe54ea0e27cda8960b1de9e587b163fc2d590e896d089139833967cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 94 attempt 0 · /messages · status 200 · 23.31 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 274 changed as sent

message 277 changed as sent

message 280 changed as sent

message 274 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=-0.7826 right_j1=1.2255 right_j2=1.0126 right_j3=-0.5022 right_j4=-0.0231 right_j5=0.0746 right_gripper=0.0147",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 277 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5285 right_j1=1.2278 right_j2=1.0039 right_j3=-0.7677 right_j4=-0.0231 right_j5=0.0639 right_gripper=0.0167",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 280 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5064 right_j1=1.6112 right_j2=1.2869 right_j3=-0.783 right_j4=-0.0196 right_j5=1.4857 right_gripper=0.7984",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3517784ea91b87f9376def834b6555f53f7b5588379a577650af59c7dd4d651b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8f228392107214b283b4592053be50c28673971bb848a78c49542d083c0cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22ee02fe54ea0e27cda8960b1de9e587b163fc2d590e896d089139833967cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QwtkQc7SggsKnXqxBBasLy",
      "input": {
        "note": "The wrist camera shows the slate and its white stand just to the left of my jaws; I'm shifting about 6 cm sideways and slightly up so the jaws come down straddling the striped clapper stick on the slate's near edge.",
        "targets": {
          "right_j0": 0.7093,
          "right_j1": 1.6971,
          "right_j2": 1.4381,
          "right_j3": -0.8483,
          "right_j4": 0.1833
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QwtkQc7SggsKnXqxBBasLy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6998 right_j1=1.6917 right_j2=1.404 right_j3=-0.8291 right_j4=0.1131 right_j5=1.5002 right_gripper=0.7989",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2e5e6f9c6f150f788c8a3b0fe6439b62b6a7a3e749d99c38bc3b4f09e5de33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e823b34982082caa9b514ae3fc7f99b547641fdd5ddcc17de9ba17f0a5cdc42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c773fd73d2932890bbf3cce6a9abdb5e9fff6be70f0b89f8340787f487b8f669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 95 attempt 0 · /messages · status 200 · 24.5 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 277 changed as sent

message 280 changed as sent

message 283 changed as sent

message 277 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5285 right_j1=1.2278 right_j2=1.0039 right_j3=-0.7677 right_j4=-0.0231 right_j5=0.0639 right_gripper=0.0167",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 280 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5064 right_j1=1.6112 right_j2=1.2869 right_j3=-0.783 right_j4=-0.0196 right_j5=1.4857 right_gripper=0.7984",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 283 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6998 right_j1=1.6917 right_j2=1.404 right_j3=-0.8291 right_j4=0.1131 right_j5=1.5002 right_gripper=0.7989",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2e5e6f9c6f150f788c8a3b0fe6439b62b6a7a3e749d99c38bc3b4f09e5de33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e823b34982082caa9b514ae3fc7f99b547641fdd5ddcc17de9ba17f0a5cdc42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c773fd73d2932890bbf3cce6a9abdb5e9fff6be70f0b89f8340787f487b8f669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Mw88XZCWG8nu8qPvPwA1S",
      "input": {
        "note": "I worked out that the overhead camera's axes are rotated ~35° from the arm's axes, which explains my earlier misses. Recomputing, the striped clapper stick is about 18 cm further forward and 6 cm to the right of my jaws; moving there now.",
        "targets": {
          "right_j0": 0.3574,
          "right_j1": 2.152,
          "right_j2": 1.9679,
          "right_j3": -0.8631,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_016Mw88XZCWG8nu8qPvPwA1S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3985 right_j1=2.122 right_j2=1.9305 right_j3=-0.9134 right_j4=-0.0368 right_j5=1.4925 right_gripper=0.799",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e550df6613e8dd93ee5ddac04858468b2142a05327612aea8fb8bcb5d758d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670a66277da57ea97b0485125f03ca0afe68f53c3563b335bca231c20d65b22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ed253dd6a85b3e7bf052a0f6249013786564054ab1221588a003e65e46f7f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 96 attempt 0 · /messages · status 200 · 19.19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 280 changed as sent

message 283 changed as sent

message 286 changed as sent

message 280 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.5064 right_j1=1.6112 right_j2=1.2869 right_j3=-0.783 right_j4=-0.0196 right_j5=1.4857 right_gripper=0.7984",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 283 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6998 right_j1=1.6917 right_j2=1.404 right_j3=-0.8291 right_j4=0.1131 right_j5=1.5002 right_gripper=0.7989",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 286 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3985 right_j1=2.122 right_j2=1.9305 right_j3=-0.9134 right_j4=-0.0368 right_j5=1.4925 right_gripper=0.799",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e550df6613e8dd93ee5ddac04858468b2142a05327612aea8fb8bcb5d758d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670a66277da57ea97b0485125f03ca0afe68f53c3563b335bca231c20d65b22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed253dd6a85b3e7bf052a0f6249013786564054ab1221588a003e65e46f7f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TU5exDqWLWozea1EyKN8d4",
      "input": {
        "note": "The wrist camera shows my fingers right beside the slate's white stand and the striped clapper stick. I'm closing the fingers into a hook and sweeping them back toward the arms and up 8 cm, which should catch the clapper stick's edge and flip it open.",
        "targets": {
          "right_gripper": 0.0,
          "right_j0": 0.469,
          "right_j1": 1.8698,
          "right_j2": 1.8933,
          "right_j3": -1.1284,
          "right_j4": 0.0337
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TU5exDqWLWozea1EyKN8d4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4618 right_j1=1.911 right_j2=1.9003 right_j3=-1.1019 right_j4=0.0113 right_j5=1.4887 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22a16e5d150b652e46f77fed9f87c554f657a2ea58d2a335a9aea163eb3f4a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e72d591c24a463dc98aa0ac6e0c73af1ea8b35ccf5240e314bceec5a64017f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da372d1268e9f1a9107089550eeebd8485192bfae067fb01dbde774f67148ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 97 attempt 0 · /messages · status 200 · 12.3 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 283 changed as sent

message 286 changed as sent

message 289 changed as sent

message 283 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.6998 right_j1=1.6917 right_j2=1.404 right_j3=-0.8291 right_j4=0.1131 right_j5=1.5002 right_gripper=0.7989",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 286 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3985 right_j1=2.122 right_j2=1.9305 right_j3=-0.9134 right_j4=-0.0368 right_j5=1.4925 right_gripper=0.799",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 289 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4618 right_j1=1.911 right_j2=1.9003 right_j3=-1.1019 right_j4=0.0113 right_j5=1.4887 right_gripper=0.0097",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22a16e5d150b652e46f77fed9f87c554f657a2ea58d2a335a9aea163eb3f4a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e72d591c24a463dc98aa0ac6e0c73af1ea8b35ccf5240e314bceec5a64017f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da372d1268e9f1a9107089550eeebd8485192bfae067fb01dbde774f67148ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYfMs3Q82i5Ln246MkBpmK",
      "input": {
        "note": "The overhead camera turns out to be at a low angle, so depth is heavily compressed and the slate is farther out than it looks. I'm reaching 15 cm further forward with the jaws open and nearly level, to come in on the clapper stick from behind.",
        "targets": {
          "right_gripper": 0.9,
          "right_j0": 0.3128,
          "right_j1": 2.3874,
          "right_j2": 1.9614,
          "right_j3": -0.0976,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01UYfMs3Q82i5Ln246MkBpmK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3248 right_j1=2.3707 right_j2=1.9198 right_j3=-0.2173 right_j4=-0.0158 right_j5=1.4811 right_gripper=0.8974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f579e8dd6db33c7968cbdea643b427b998cdd7d5742d9752d130cf0bebd1729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc9d54d014d6be016bb1bd1ad0d38261fd0aa116b333558e81624d71f08d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a69117d2301eed5bd46f7f4c17b7bb6a4a7bde7324636a4fad64d5323e24f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 98 attempt 0 · /messages · status 200 · 12.8 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 286 changed as sent

message 289 changed as sent

message 292 changed as sent

message 286 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3985 right_j1=2.122 right_j2=1.9305 right_j3=-0.9134 right_j4=-0.0368 right_j5=1.4925 right_gripper=0.799",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 289 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.4618 right_j1=1.911 right_j2=1.9003 right_j3=-1.1019 right_j4=0.0113 right_j5=1.4887 right_gripper=0.0097",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 292 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=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3248 right_j1=2.3707 right_j2=1.9198 right_j3=-0.2173 right_j4=-0.0158 right_j5=1.4811 right_gripper=0.8974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f579e8dd6db33c7968cbdea643b427b998cdd7d5742d9752d130cf0bebd1729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc9d54d014d6be016bb1bd1ad0d38261fd0aa116b333558e81624d71f08d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a69117d2301eed5bd46f7f4c17b7bb6a4a7bde7324636a4fad64d5323e24f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ax8fS7LbMNh1U8uAVLSsHG",
      "input": {
        "note": "The overhead view now clearly shows the black clapperboard with its pale stand, and my open jaws just to its left. I'm sliding about 7 cm sideways and lifting slightly so the jaws come alongside the clapper stick.",
        "targets": {
          "right_j0": 0.4351,
          "right_j1": 2.3889,
          "right_j2": 1.9637,
          "right_j3": -0.0984,
          "right_j4": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Ax8fS7LbMNh1U8uAVLSsHG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1135 left_j1=2.5004 left_j2=2.3798 left_j3=0.0551 left_j4=1.449 left_j5=-0.0273 left_gripper=0.9977 right_j0=0.3584 right_j1=2.3882 right_j2=1.9213 right_j3=-0.1406 right_j4=-0.0029 right_j5=1.4815 right_gripper=0.8979",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 1234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f262d4f3503dc14cd5fabd8310865e0482c6d91957c22b25e7a48aee24ae863c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 1234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bfeaea9f253476639e317888dafb675bb84eafc92f350678ec0f9cdca4d9a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 1234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9910d27cbe85b6f1f14cb92eee7400a25d81d53c173d198de2cf17caaed41c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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