adhoc - opus-4.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 200
max_output_tokens: 16000
max_speed_frac: 0.1
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: fast
temperature: null
transcript_echo: false
wire: anthropic
wire_capture: true
seed: 0
max steps: 12000
duration: 490.6 s
total steps: 218

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

operator_end

Operator judgements

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteStarting from the folded home pose. I'm raising the right arm's shoulder and opening its elbow a bit to lift it off the table and learn how it appears in the top camera (which views the scene from the opposite side).

move_joints

right_j11.2000right_j21.0000

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=0.0059 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0299 left_j4=-0.0078 left_j5=-0.0082 left_gripper=0.9988 right_j0=0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0158 right_j5=-0.0101 right_gripper=0.9994 camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.2, "right_j2": 1.0}, "note": "Starting from the folded home pose. I'm raising the right arm's shoulder and opening its elbow a bit to lift it off the table and learn how it appears in the top camera (which views the scene from the opposite side)."})

tool

executing move_joints over 20 steps (2.0s)

step 20

assistant

agent noteThe right wrist camera was looking at the far curtain, so the gripper was pointing horizontally forward. I'm extending the right arm forward and angling the wrist down so it hovers over the table, and to confirm which gripper in the top view is the right arm.

move_joints

right_j12.0000right_j21.6000right_j3-0.8000

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0414 left_j4=-0.0078 left_j5=-0.0086 left_gripper=0.9987 right_j0=0.0017 right_j1=1.2079 right_j2=0.9695 right_j3=-0.0498 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994 camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.0, "right_j2": 1.6, "right_j3": -0.8}, "note": "The right wrist camera was looking at the far curtain, so the gripper was pointing horizontally forward. I'm extending the right arm forward and angling the wrist down so it hovers over the table, and to confirm which gripper in the top view is the right arm."})

tool

executing move_joints over 13 steps (1.3s)

step 33

assistant

agent noteThe right wrist camera now sees bare tabletop and the right arm shows up at the left edge of the top view, so the top image is mirrored. I'm yawing the right base joint to see which way that maps in the top image before steering toward the clapperboard.

move_joints

right_j00.4000

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9986 right_j0=0.0025 right_j1=1.9915 right_j2=1.5764 right_j3=-0.7723 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994 camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.4}, "note": "The right wrist camera now sees bare tabletop and the right arm shows up at the left edge of the top view, so the top image is mirrored. I'm yawing the right base joint to see which way that maps in the top image before steering toward the clapperboard."})

tool

executing move_joints over 7 steps (0.7s)

step 40

assistant

agent notePositive right_j0 swings the arm toward the clapperboard: the wrist camera now catches the slate ("CAMERA"/"DIRECTOR" text) in its lower-left. I'm yawing a bit further to center the slate under the right gripper.

move_joints

right_j00.5500

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9983 right_j0=0.3561 right_j1=1.9991 right_j2=1.5784 right_j3=-0.783 right_j4=0.0143 right_j5=-0.0193 right_gripper=0.9991 camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55}, "note": "Positive right_j0 swings the arm toward the clapperboard: the wrist camera now catches the slate (\"CAMERA\"/\"DIRECTOR\" text) in its lower-left. I'm yawing a bit further to center the slate under the right gripper."})

tool

executing move_joints over 4 steps (0.4s)

step 44

assistant

agent noteThe wrist camera is too close and only sees the left end of the slate. I'm raising the wrist and pitching the gripper to look straight down so I can see the whole clapperboard and locate the hinged stick.

move_joints

right_j21.9500right_j3-1.5000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.9881 right_j2=1.5787 right_j3=-0.8051 right_j4=0.0418 right_j5=-0.0345 right_gripper=0.9988 camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j2": 1.95, "right_j3": -1.5}, "note": "The wrist camera is too close and only sees the left end of the slate. I'm raising the wrist and pitching the gripper to look straight down so I can see the whole clapperboard and locate the hinged stick."})

tool

executing move_joints over 12 steps (1.2s)

step 56

assistant

agent noteFrom the top view the right gripper sits to the left of the slate, and the slate is on the +y side of the right arm. I'm yawing further so the gripper lines up over the middle of the clapper stick.

move_joints

right_j00.8500

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.993 right_j2=1.9301 right_j3=-1.4708 right_j4=0.0299 right_j5=-0.0376 right_gripper=0.9988 camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.85}, "note": "From the top view the right gripper sits to the left of the slate, and the slate is on the +y side of the right arm. I'm yawing further so the gripper lines up over the middle of the clapper stick."})

tool

executing move_joints over 6 steps (0.6s)

step 62

assistant

agent noteTop view shows the gripper now laterally aligned with the slate but sitting short of it (too close to the robot). I'm pitching the shoulder and elbow together to extend the arm forward while keeping the gripper pointing down.

move_joints

right_j12.4500right_j22.3900

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8314 right_j1=1.993 right_j2=1.9305 right_j3=-1.4818 right_j4=0.0288 right_j5=-0.0376 right_gripper=0.9988 camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.45, "right_j2": 2.39}, "note": "Top view shows the gripper now laterally aligned with the slate but sitting short of it (too close to the robot). I'm pitching the shoulder and elbow together to extend the arm forward while keeping the gripper pointing down."})

tool

executing move_joints over 8 steps (0.8s)

step 70

assistant

agent noteThe gripper is now hovering just over the near edge of the slate where the clapper stick is. I'm lowering the wrist a few centimetres to get a close look at the stick in the wrist camera before committing to a grasp.

move_joints

right_j22.2800right_j3-1.4200

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8349 right_j1=2.4302 right_j2=2.373 right_j3=-1.5181 right_j4=0.0292 right_j5=-0.0383 right_gripper=0.9988 camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j2": 2.28, "right_j3": -1.42}, "note": "The gripper is now hovering just over the near edge of the slate where the clapper stick is. I'm lowering the wrist a few centimetres to get a close look at the stick in the wrist camera before committing to a grasp."})

tool

executing move_joints over 2 steps (0.2s)

step 72

assistant

agent noteThe wrist view is ambiguous about where the slate is relative to the gripper, so I'm lifting the gripper well above the table while keeping it pointed straight down to get a clear overhead view of the whole clapperboard.

move_joints

right_j12.2000right_j22.6000right_j3-1.9700

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8406 right_j1=2.4084 right_j2=2.3051 right_j3=-1.4971 right_j4=0.0292 right_j5=-0.038 right_gripper=0.9988 camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.2, "right_j2": 2.6, "right_j3": -1.97}, "note": "The wrist view is ambiguous about where the slate is relative to the gripper, so I'm lifting the gripper well above the table while keeping it pointed straight down to get a clear overhead view of the whole clapperboard."})

tool

executing move_joints over 8 steps (0.8s)

step 80

assistant

agent noteI can now see the slate as a dark bar in the wrist camera. I'm changing only the base yaw by a known amount so I can calibrate which way the wrist-camera image maps to arm motion before attempting the grasp.

move_joints

right_j00.6000

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8413 right_j1=2.2326 right_j2=2.5782 right_j3=-1.6962 right_j4=0.0284 right_j5=-0.0387 right_gripper=0.9988 camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.6}, "note": "I can now see the slate as a dark bar in the wrist camera. I'm changing only the base yaw by a known amount so I can calibrate which way the wrist-camera image maps to arm motion before attempting the grasp."})

tool

executing move_joints over 4 steps (0.4s)

step 84

assistant

agent noteCalibrated the wrist camera: image-up is forward and image-left is the arm's left. The slate sits up and to the left in that view, so I'm reaching ~6 cm forward, a bit left, and slightly down to hover directly over it.

move_joints

right_j00.7200right_j12.4200right_j22.6500right_j3-1.5000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.6216 right_j1=2.2345 right_j2=2.5793 right_j3=-1.6958 right_j4=0.0254 right_j5=-0.0456 right_gripper=0.9988 camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.72, "right_j1": 2.42, "right_j2": 2.65, "right_j3": -1.5}, "note": "Calibrated the wrist camera: image-up is forward and image-left is the arm's left. The slate sits up and to the left in that view, so I'm reaching ~6 cm forward, a bit left, and slightly down to hover directly over it."})

tool

executing move_joints over 4 steps (0.4s)

step 88

assistant

agent noteThe slate now fills the left half of the wrist view, too close to judge its geometry. I'm backing the gripper up ~5 cm and shifting left to frame the whole clapper stick and find its hinge and free end.

move_joints

right_j00.8000right_j22.8500right_j3-1.7500

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7193 right_j1=2.4157 right_j2=2.6335 right_j3=-1.5291 right_j4=0.025 right_j5=-0.046 right_gripper=0.9988 camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.8, "right_j2": 2.85, "right_j3": -1.75}, "note": "The slate now fills the left half of the wrist view, too close to judge its geometry. I'm backing the gripper up ~5 cm and shifting left to frame the whole clapper stick and find its hinge and free end."})

tool

executing move_joints over 4 steps (0.4s)

step 92

assistant

agent noteThe wrist view shows the striped clapper stick as a diagonal bar sitting slightly right of centre; a small yaw back toward -y centres it under the gripper.

move_joints

right_j00.7650

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8021 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6962 right_j4=0.0254 right_j5=-0.046 right_gripper=0.9988 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": {"right_j0": 0.765}, "note": "The wrist view shows the striped clapper stick as a diagonal bar sitting slightly right of centre; a small yaw back toward -y centres it under the gripper."})

tool

executing move_joints over 1 steps (0.1s)

step 93

assistant

agent noteThe stick is roughly centred in the wrist view; I'm lowering the gripper about 5 cm toward it to see the bar and its hinge in detail before grasping.

move_joints

right_j22.6300

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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7948 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.046 right_gripper=0.9988 camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j2": 2.63}, "note": "The stick is roughly centred in the wrist view; I'm lowering the gripper about 5 cm toward it to see the bar and its hinge in detail before grasping."})

tool

executing move_joints over 4 steps (0.4s)

step 97

assistant

agent noteThe wrist view now shows the black clapper bar running vertically between the open jaws, which are at the bottom corners of the frame. I'm descending a few more centimetres so the jaws straddle the bar.

move_joints

right_j12.5500right_j22.5500

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7986 right_j1=2.4256 right_j2=2.6453 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.0456 right_gripper=0.9988 camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.55, "right_j2": 2.55}, "note": "The wrist view now shows the black clapper bar running vertically between the open jaws, which are at the bottom corners of the frame. I'm descending a few more centimetres so the jaws straddle the bar."})

tool

executing move_joints over 2 steps (0.2s)

step 99

assistant

agent noteGetting close, the dark clapper bar has drifted to the right edge of the wrist view, so the gripper is ~3 cm too far to its left. I'm yawing back toward -y to put the bar between the jaws.

move_joints

right_j00.7400

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0555 left_j4=-0.0082 left_j5=-0.0082 left_gripper=0.9982 right_j0=0.8078 right_j1=2.5217 right_j2=2.5603 right_j3=-1.6691 right_j4=0.0219 right_j5=-0.0532 right_gripper=0.9988 camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.74}, "note": "Getting close, the dark clapper bar has drifted to the right edge of the wrist view, so the gripper is ~3 cm too far to its left. I'm yawing back toward -y to put the bar between the jaws."})

tool

executing move_joints over 2 steps (0.2s)

step 101

assistant

agent noteMy two camera mappings disagree about which side the bar is on, so I'm making a deliberate 0.12 rad yaw test and watching both the top and wrist views to settle which direction closes the gap.

move_joints

right_j00.6500

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.065 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.532 right_j2=2.5549 right_j3=-1.6966 right_j4=0.0036 right_j5=-0.065 right_gripper=0.9988 camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.65}, "note": "My two camera mappings disagree about which side the bar is on, so I'm making a deliberate 0.12 rad yaw test and watching both the top and wrist views to settle which direction closes the gap."})

tool

executing move_joints over 2 steps (0.2s)

step 103

assistant

agent noteThe last two yaw commands were cut short and the wrist joints drifted on their own, which suggests the gripper is bumping into the clapperboard. I'm lifting the hand ~7 cm to break contact and get a clear look again.

move_joints

right_j12.4200right_j22.6500

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0715 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7303 right_j1=2.5244 right_j2=2.5549 right_j3=-1.697 right_j4=-0.038 right_j5=-0.1001 right_gripper=0.9988 camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.42, "right_j2": 2.65}, "note": "The last two yaw commands were cut short and the wrist joints drifted on their own, which suggests the gripper is bumping into the clapperboard. I'm lifting the hand ~7 cm to break contact and get a clear look again."})

tool

executing move_joints over 2 steps (0.2s)

step 105

assistant

agent noteThe top view shows the clapperboard has tipped up against the gripper — I'm clearly pressing on it. I'm raising the hand ~9 cm to clear the board and reassess from above.

move_joints

right_j12.2000right_j22.6000

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0723 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7021 right_j1=2.5088 right_j2=2.5977 right_j3=-1.6917 right_j4=-0.0238 right_j5=-0.1131 right_gripper=0.9988 camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.2, "right_j2": 2.6}, "note": "The top view shows the clapperboard has tipped up against the gripper \u2014 I'm clearly pressing on it. I'm raising the hand ~9 cm to clear the board and reassess from above."})

tool

executing move_joints over 5 steps (0.5s)

step 110

assistant

agent noteNow I can see the clapper clearly: a striped stick lying on the table running diagonally across the wrist view, with a white hinge block on one side. I'm rolling the wrist so the jaws line up across the stick rather than along it.

move_joints

right_j50.6000

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7029 right_j1=2.286 right_j2=2.5866 right_j3=-1.6962 right_j4=-0.0269 right_j5=-0.1173 right_gripper=0.9988 camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j5": 0.6}, "note": "Now I can see the clapper clearly: a striped stick lying on the table running diagonally across the wrist view, with a white hinge block on one side. I'm rolling the wrist so the jaws line up across the stick rather than along it."})

tool

executing move_joints over 12 steps (1.2s)

step 122

assistant

agent noteThe roll worked: the clapper stick now runs vertically in the wrist view, square to the jaws, and its rounded near end sits between them. I'm lowering about 5 cm toward the stick.

move_joints

right_j12.3800right_j22.5200

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3039 right_j2=2.579 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5133 right_gripper=0.9988 camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.38, "right_j2": 2.52}, "note": "The roll worked: the clapper stick now runs vertically in the wrist view, square to the jaws, and its rounded near end sits between them. I'm lowering about 5 cm toward the stick."})

tool

executing move_joints over 2 steps (0.2s)

step 124

assistant

agent noteOnly a small amount of the last descent was executed, so I'm commanding a larger downward step to bring the jaws down around the near end of the clapper stick.

move_joints

right_j12.4200right_j22.4600

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3192 right_j2=2.55 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5499 right_gripper=0.9988 camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.42, "right_j2": 2.46}, "note": "Only a small amount of the last descent was executed, so I'm commanding a larger downward step to bring the jaws down around the near end of the clapper stick."})

tool

executing move_joints over 2 steps (0.2s)

step 126

assistant

agent noteClose-up wrist view shows the stick drifting toward the left finger rather than sitting between the jaws. I'm nudging the base yaw so the stick lines up with the midline between the fingers.

move_joints

right_j00.7600

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.4008 right_j2=2.4809 right_j3=-1.6951 right_j4=-0.028 right_j5=0.5259 right_gripper=0.9988 camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.76}, "note": "Close-up wrist view shows the stick drifting toward the left finger rather than sitting between the jaws. I'm nudging the base yaw so the stick lines up with the midline between the fingers."})

tool

executing move_joints over 1 steps (0.1s)

step 127

assistant

agent noteNow I can see the white slate face at the left of the wrist view with the dark striped clapper stick along its edge; the jaws are just outboard of it over bare table. I'm yawing toward the board so the stick sits between the fingers.

move_joints

right_j00.7900

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.421 right_j2=2.4592 right_j3=-1.6955 right_j4=-0.0277 right_j5=0.5346 right_gripper=0.9988 camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.79}, "note": "Now I can see the white slate face at the left of the wrist view with the dark striped clapper stick along its edge; the jaws are just outboard of it over bare table. I'm yawing toward the board so the stick sits between the fingers."})

tool

executing move_joints over 2 steps (0.2s)

step 129

assistant

agent noteThe board edge with the striped stick is just inboard of the jaws. I'm lowering another ~2.5 cm so the fingers reach down beside the stick before I close them.

move_joints

right_j12.4600right_j22.4200

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7746 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5312 right_gripper=0.9988 camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.46, "right_j2": 2.42}, "note": "The board edge with the striped stick is just inboard of the jaws. I'm lowering another ~2.5 cm so the fingers reach down beside the stick before I close them."})

tool

executing move_joints over 1 steps (0.1s)

step 130

assistant

agent noteTop view shows the striped stick just forward of the fingers, and the wrist view shows the board edge between the jaws. I'm dropping the wrist while pushing slightly forward so the jaws come down onto the stick.

move_joints

right_j12.5400right_j22.5800

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7902 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5308 right_gripper=0.9988 camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.54, "right_j2": 2.58}, "note": "Top view shows the striped stick just forward of the fingers, and the wrist view shows the board edge between the jaws. I'm dropping the wrist while pushing slightly forward so the jaws come down onto the stick."})

tool

executing move_joints over 2 steps (0.2s)

step 132

assistant

agent noteThe wrist camera is right down on the striped clapper stick with it lying between the fingers. I'm closing the gripper to grab the stick.

move_joints

right_gripper0.0800

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7876 right_j1=2.4912 right_j2=2.5416 right_j3=-1.6802 right_j4=-0.0303 right_j5=0.5236 right_gripper=0.9988 camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.08}, "note": "The wrist camera is right down on the striped clapper stick with it lying between the fingers. I'm closing the gripper to grab the stick."})

tool

executing move_joints over 10 steps (1.0s)

step 142

assistant

agent noteThe gripper closed onto something about 1.7 cm thick — the clapper stick. I'm now raising the hand about 8 cm to swing the stick up about its hinge.

move_joints

right_j12.3000right_j22.5300

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7788 right_j1=2.4981 right_j2=2.5538 right_j3=-1.6966 right_j4=0.0448 right_j5=0.5232 right_gripper=0.1742 camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.3, "right_j2": 2.53}, "note": "The gripper closed onto something about 1.7 cm thick \u2014 the clapper stick. I'm now raising the hand about 8 cm to swing the stick up about its hinge."})

tool

executing move_joints over 4 steps (0.4s)

step 146

assistant

agent noteThe stick is coming up with the gripper — the top view shows it tilted off the table. I'm lifting further to swing the clapper stick well open before releasing it.

move_joints

right_j12.1500right_j22.5000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7769 right_j1=2.3955 right_j2=2.5244 right_j3=-1.6947 right_j4=0.0525 right_j5=0.5198 right_gripper=0.1743 camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.15, "right_j2": 2.5}, "note": "The stick is coming up with the gripper \u2014 the top view shows it tilted off the table. I'm lifting further to swing the clapper stick well open before releasing it."})

tool

executing move_joints over 4 steps (0.4s)

step 150

assistant

agent noteThe clapper is now tilted well up off the table. I'm raising a bit more to see clearly, in the top view, whether I have only the hinged stick or the whole board.

move_joints

right_j12.0000right_j22.4500

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.77 right_j1=2.3226 right_j2=2.4748 right_j3=-1.636 right_j4=0.0681 right_j5=0.5148 right_gripper=0.175 camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.0, "right_j2": 2.45}, "note": "The clapper is now tilted well up off the table. I'm raising a bit more to see clearly, in the top view, whether I have only the hinged stick or the whole board."})

tool

executing move_joints over 6 steps (0.6s)

step 156

assistant

agent noteThe last top-view frame was motion-blurred; I'm making a tiny move so I get a sharp image to judge whether I'm holding just the hinged stick or the entire board.

move_joints

right_j11.9800

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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7658 right_j1=2.1128 right_j2=2.4279 right_j3=-1.6344 right_j4=0.0742 right_j5=0.5117 right_gripper=0.1757 camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.98}, "note": "The last top-view frame was motion-blurred; I'm making a tiny move so I get a sharp image to judge whether I'm holding just the hinged stick or the entire board."})

tool

executing move_joints over 3 steps (0.3s)

step 159

assistant

agent noteNow it's clear: the striped clapper stick is raised almost vertical, still hinged to the small white base sitting on the table. I'm opening the gripper to let it drop and snap shut with a clap.

move_joints

right_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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6657 right_j4=0.0669 right_j5=0.5117 right_gripper=0.1757 camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 1.0}, "note": "Now it's clear: the striped clapper stick is raised almost vertical, still hinged to the small white base sitting on the table. I'm opening the gripper to let it drop and snap shut with a clap."})

tool

executing move_joints over 9 steps (0.9s)

step 168

assistant

agent noteThe gripper is open and the stick has dropped back down. I'm retracting the arm up and out of the way to confirm from the top camera that the clapper has snapped shut on its base.

move_joints

right_j11.7000right_j22.0000

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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6737 right_j4=0.0666 right_j5=0.506 right_gripper=0.9962 camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.7, "right_j2": 2.0}, "note": "The gripper is open and the stick has dropped back down. I'm retracting the arm up and out of the way to confirm from the top camera that the clapper has snapped shut on its base."})

tool

executing move_joints over 7 steps (0.7s)

step 175

assistant

agent noteThe clapper stick appears to be standing open, possibly leaning on the open gripper. I'm withdrawing the arm clear of it so it can fall freely and clap.

move_joints

right_j11.5000right_j21.7000right_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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.7287 right_j2=2.0151 right_j3=-1.681 right_j4=0.0666 right_j5=0.5045 right_gripper=0.9972 camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.5, "right_j2": 1.7, "right_j3": -1.0}, "note": "The clapper stick appears to be standing open, possibly leaning on the open gripper. I'm withdrawing the arm clear of it so it can fall freely and clap."})

tool

executing move_joints over 11 steps (1.1s)

step 186

assistant

agent noteThe clapper stick is standing wide open and did not fall by itself. I'm closing the jaws into a paddle and bringing the hand back over the board so I can tip the stick past balance and let it slam shut.

move_joints

right_gripper0.0000right_j12.2000right_j22.5000right_j3-1.5000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.5364 right_j2=1.7046 right_j3=-1.1057 right_j4=0.0666 right_j5=0.5041 right_gripper=0.9973 camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.0, "right_j1": 2.2, "right_j2": 2.5, "right_j3": -1.5}, "note": "The clapper stick is standing wide open and did not fall by itself. I'm closing the jaws into a paddle and bringing the hand back over the board so I can tip the stick past balance and let it slam shut."})

tool

executing move_joints over 13 steps (1.3s)

step 199

assistant

agent noteThe board has ended up standing on edge near the robot, out of the wrist camera's view to the left. I'm yawing the arm toward it so I can see it and tip it back down flat.

move_joints

right_j00.5500

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0063 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7704 right_j1=2.1822 right_j2=2.463 right_j3=-1.4754 right_j4=0.0662 right_j5=0.4965 right_gripper=0.0107 camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55}, "note": "The board has ended up standing on edge near the robot, out of the wrist camera's view to the left. I'm yawing the arm toward it so I can see it and tip it back down flat."})

tool

executing move_joints over 4 steps (0.4s)

step 203

assistant

agent noteThe striped board has disappeared from the top view, probably hidden behind the arm. I'm lifting the arm well clear so I can see the table and find the clapper again.

move_joints

right_j11.6000right_j21.6000right_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=0.0059 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5694 right_j1=2.2028 right_j2=2.4615 right_j3=-1.5047 right_j4=0.0521 right_j5=0.4889 right_gripper=0.011 camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.6, "right_j2": 1.6, "right_j3": -1.0}, "note": "The striped board has disappeared from the top view, probably hidden behind the arm. I'm lifting the arm well clear so I can see the table and find the clapper again."})

tool

executing move_joints over 14 steps (1.4s)

step 217

assistant

agent noteI can now see the whole clapperboard is hooked on the closed gripper and lifted off the table, with only a small white block left on the table. I'm lowering it back toward the table before releasing it.

move_joints

right_j11.8000right_j21.5000right_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=0.0059 left_j1=0.0135 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5713 right_j1=1.636 right_j2=1.6165 right_j3=-1.0626 right_j4=0.0483 right_j5=0.4862 right_gripper=0.0139 camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.8, "right_j2": 1.5, "right_j3": -1.0}, "note": "I can now see the whole clapperboard is hooked on the closed gripper and lifted off the table, with only a small white block left on the table. I'm lowering it back toward the table before releasing it."})

tool

executing move_joints over 3 steps (0.3s)

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.",
    "type": "text"
  }
]

call 0 attempt 0 · /messages · status 200 · 10.48 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=0.0059 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0299 left_j4=-0.0078 left_j5=-0.0082 left_gripper=0.9988 right_j0=0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0158 right_j5=-0.0101 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159d59642a8cf17a4e2f76365fecbf1907812f5bfc1dbf83206b7eae11fa7fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ef08941d9838ecab4ab27669e6c7863f5d26473e9a82448dbb8a4e162a1af06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4450660574908ae8550196292609860648e2b23ed3facebc6e49c16b26c73246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 14.85 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=0.0059 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0299 left_j4=-0.0078 left_j5=-0.0082 left_gripper=0.9988 right_j0=0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0158 right_j5=-0.0101 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159d59642a8cf17a4e2f76365fecbf1907812f5bfc1dbf83206b7eae11fa7fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ef08941d9838ecab4ab27669e6c7863f5d26473e9a82448dbb8a4e162a1af06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4450660574908ae8550196292609860648e2b23ed3facebc6e49c16b26c73246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 159d59642a8c]

[blob 8ef08941d983]

[blob 445066057490]

{
  "content": [
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      "signature": 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+c3lYOhLWnbcKBGW35IJumluwg+rNRF4jmbaZ+BHXujnxZj/gpNUcYzCcw4ZGhFlMabktPlQBWCb+OkPk2YnhAqjP6YXKbi4BPDmy4obbR53sC/B4ojWDPK07UOX+/QRn7GzTVO5bBaJZhAKWKcBCVYmpbynRL3zcV+6FYwZ/0SWOAyXS06s2jIxHIhNkR6clFEads3X0I70RED/LSCJxQkw6MefLGWp9VzvrexYIfCrUyci3rYka+YH57FxndT3ES7PIpZ36lWiaY5gCwBf0yPDHB2ecPCHpRCfUpBHXdVO8vLQnNbczETITkQDB8ojmfuw0AXPZ7Tgve6u8xlQjnxQecrIfwc2ArA4N060XY3aGfByXYrtq8pRm2S7HJGO9pRwtm0o3vD1t/jBxTzWejYwz3VLEvgQaOqBQQcjPycnkTSCKn2XfWsrk4CLPAvWvrbCN0d6jlunEZ52bdPXqgzqpWVET43X5XIoOosQJ+ELlgiXH91BMu8bvMRWOU4fOgYOhj2MU+rDNcW4aKzaWjHWO3ZKskJUIfNvNvr4pVoCFMiUU/pS1jHQUE5NJ63HhHp/vxps38XmWkPC1SEo/q12F/VKOINhxRvCkOMC3aP5jr3nvO3MkCto6ANpqoTvU4esUzE6JYWJp6/Hsg5WS0kIAj4OB1WDUHw9LRaa6HO/lxA4nlaLVesgsq0lkwN7eFfP3CH8px+WPXsqqTu3UYi44iwTxdCYuMQBE4IVJU9iyF1OFCvPSlr83KogJ9XkMPvvhAieO/n56iKsb3p6kfXrNHDRKXOG61fuxs+s6g4YjRpd2k5gG+GmnQZAiEFxZU+tznrlFNMvXTn0dgmxo5/8dp/FaMAiSz4pc6V2IZ7mEguHWROA4SoP92aey3Qbu1bVkm8y2VxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HE7LyHF2z5t7GQ16YqNTaY",
      "input": {
        "note": "Starting from the folded home pose. I'm raising the right arm's shoulder and opening its elbow a bit to lift it off the table and learn how it appears in the top camera (which views the scene from the opposite side).",
        "targets": {
          "right_j1": 1.2,
          "right_j2": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_01HE7LyHF2z5t7GQ16YqNTaY",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0414 left_j4=-0.0078 left_j5=-0.0086 left_gripper=0.9987 right_j0=0.0017 right_j1=1.2079 right_j2=0.9695 right_j3=-0.0498 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7057f31bbe0b9c69e016569c122d7a8139d1fb91a1cd3839499c7d413388f563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c0a27937f2805a63948dc1f426f68c5b06c553847c50168b6c73e24ed18294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b8c3e3e30b25cdf113ffe0e21401b755955a12a29d666a3f8aac6f1b6a203db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 6.013 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=0.0059 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0299 left_j4=-0.0078 left_j5=-0.0082 left_gripper=0.9988 right_j0=0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0158 right_j5=-0.0101 right_gripper=0.9994",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0414 left_j4=-0.0078 left_j5=-0.0086 left_gripper=0.9987 right_j0=0.0017 right_j1=1.2079 right_j2=0.9695 right_j3=-0.0498 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7057f31bbe0b9c69e016569c122d7a8139d1fb91a1cd3839499c7d413388f563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c0a27937f2805a63948dc1f426f68c5b06c553847c50168b6c73e24ed18294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8c3e3e30b25cdf113ffe0e21401b755955a12a29d666a3f8aac6f1b6a203db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7057f31bbe0b]

[blob 97c0a27937f2]

[blob 5b8c3e3e30b2]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PCRCtf7aK6stG4xbqPdQEW",
      "input": {
        "note": "The right wrist camera was looking at the far curtain, so the gripper was pointing horizontally forward. I'm extending the right arm forward and angling the wrist down so it hovers over the table, and to confirm which gripper in the top view is the right arm.",
        "targets": {
          "right_j1": 2.0,
          "right_j2": 1.6,
          "right_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01PCRCtf7aK6stG4xbqPdQEW",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9986 right_j0=0.0025 right_j1=1.9915 right_j2=1.5764 right_j3=-0.7723 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f38c5b51152c1f24b450449084deb558b193dfbca1cada36dca51a78b68cb32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182f45d2a4cce17135fd49a5b198129d6405607dec3f697172b677a5a7157bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a43b8543d7997e168b6ae125b342a3b3a63900933d7d5ec52696981b5d3a6f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 11.43 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=0.0059 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0299 left_j4=-0.0078 left_j5=-0.0082 left_gripper=0.9988 right_j0=0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0158 right_j5=-0.0101 right_gripper=0.9994",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0414 left_j4=-0.0078 left_j5=-0.0086 left_gripper=0.9987 right_j0=0.0017 right_j1=1.2079 right_j2=0.9695 right_j3=-0.0498 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9986 right_j0=0.0025 right_j1=1.9915 right_j2=1.5764 right_j3=-0.7723 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f38c5b51152c1f24b450449084deb558b193dfbca1cada36dca51a78b68cb32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182f45d2a4cce17135fd49a5b198129d6405607dec3f697172b677a5a7157bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43b8543d7997e168b6ae125b342a3b3a63900933d7d5ec52696981b5d3a6f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2f38c5b51152]

[blob 182f45d2a4cc]

[blob a43b8543d799]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LyDP2iFUekVZaKACaNyV4m",
      "input": {
        "note": "The right wrist camera now sees bare tabletop and the right arm shows up at the left edge of the top view, so the top image is mirrored. I'm yawing the right base joint to see which way that maps in the top image before steering toward the clapperboard.",
        "targets": {
          "right_j0": 0.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LyDP2iFUekVZaKACaNyV4m",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9983 right_j0=0.3561 right_j1=1.9991 right_j2=1.5784 right_j3=-0.783 right_j4=0.0143 right_j5=-0.0193 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7c06db00155c4cdae05c184ff2628568f00f2ca061ba75b065acb6f43e3b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ca1c7a0e932a89e9da77d968c49e879653d8c059fcbfdf96dc1429426d1071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b7867bb8ecdfabba9fa1c233527378f394a86b55d6cb1d721eca66ee1f75629",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 6.015 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0414 left_j4=-0.0078 left_j5=-0.0086 left_gripper=0.9987 right_j0=0.0017 right_j1=1.2079 right_j2=0.9695 right_j3=-0.0498 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9986 right_j0=0.0025 right_j1=1.9915 right_j2=1.5764 right_j3=-0.7723 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9983 right_j0=0.3561 right_j1=1.9991 right_j2=1.5784 right_j3=-0.783 right_j4=0.0143 right_j5=-0.0193 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7c06db00155c4cdae05c184ff2628568f00f2ca061ba75b065acb6f43e3b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ca1c7a0e932a89e9da77d968c49e879653d8c059fcbfdf96dc1429426d1071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b7867bb8ecdfabba9fa1c233527378f394a86b55d6cb1d721eca66ee1f75629",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bf7c06db0015]

[blob 58ca1c7a0e93]

[blob 1b7867bb8ecd]

{
  "content": [
    {
      "signature": "CAISlRwKjAEIEBgCKkCr9RSvfZyrvDelUEInRtcvH7UUN2xEUGmzZr4CvjZSOXnuZh0iDQMb4/tPuB7Dynn5/VAmeCpaf8EwqfcCkMwRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMoXIO9CfTstBokSQwGgxP6jSRNc9S8sn9nK8iMGkaFvsHR3x7pylCN+LL5SYFVsapHkFmmgHEp/8Ysk9BSeAxR2BER6ta2Lm4+iCViSq1Gow3sl2cV87UbnaGrs6lcIYmj1w/K9hJGjs6yPpHi/Yw8CUK7+CCP+dYVvlA76w5z9zM82RSBRRIh0a11SQfHvpWt38/3umRaVutNN0l3TyE1sdFoHbOs7ZGBGi8HamdkhdeI5dWxirmQ0fNIOVrsDnskmOVCDDtAWaPrj5gIGjYRdOHKIAWZu+Vnu7PgQRjzCGqX4lL1eA1Aohv0W7SL8RLtpBZr88n+fDExJZuxpW1bB3eY5O3xAsnXkypWdy+YeQnqVkpYoqdBgKwmA+vMe22zIZZV+SPNovIj3Tjcx9hD8zJ5ds7A48WJSmlBAc+SeRdVMXmEtTSKfnJwYthSGN3XWRdU8At6nNjxT2Z/zVqd2U/1guN9aAxYFtLum5dL43ubVy/lCToK6jZHeD1GNVZb1mug9dMNeSZhibF+jiCjGohDusyEG1b8WyuBlfZd912LrdyibRE3jw+jUbaCbs2eYj5FZ7Uq4QU33AzF6sCBOdN53PPLEjAidrJ1ne7nc24kliPWMaVdstY4xm6IVmDUOl/ZbxtcFvXC5ZXqeJaQVgEl12epMa2nB/lJrh+zQqNRrtOT7YKIovcIxem8vmkLthSsXHK/0VGg8DmwimPmdoaFXOQEw8+IHVULmKCd0XkOVYzQhTJ8LgA+9Vg/2jwhVSew88dvFnTRhtB6N55F72xr5OVCGwFsbbi6da/GJbURujZTGEe6Jh5V5awfrpcGRoB26kLUnjljIiBE7KTmPBqhI2Bm2+xi93FWO/zNGI/2DCp17uFo8N2mqn/YZl29UPHxxzlU96hTWTKFKu16+NljkQxlAOjqcbsQsyvMrD4/V3yjXjvBBPAhx8yVY8VVsMyOy0kyd48QGUlXkTxBUMsNV/hM5NAgp/o/Ovioce6XfXG6xX4vyrtZ9/H0xukP3f6VkxGI02IRFxa2RH7g5f0Tn/OCvKn/BwSISGbbJJ/KsKMyagzOwfaQ2DrFwefnkAlMx8Lk11D/+EPQNijRBkx/RM1bbZrSvBjWtaTQ4hqH6b3baHbDeT8JQ9Ua+Y/s7gu3t/erIU4knibZZ40+ugJ2VhoInzETMO8F8K11adn8zHP91oJDpULa9YRJWJlQVN6P/H4w4OlLcExKd3hUG5WtoEm4H1cPxeclC4J8w4VkgEC77jXQGwme9c3mJ4XNmUCbWh0F+JjZIqwqlX6CI0HEOAcvAAVA90GMqGa9J9kZk0mNMhqGnviMJN8m7xChu2NzKL398SqmzRnyGRPvQcuddKFGVull8qZdKx8NhvbveO1S9mUgglv9c7P7qSCOikXvxpCZ+6xSbzVYNLOVAR7K0gEPtCYlvv8qMYHGd+XpIZrXT3IosbDHO7P/Rm4hgnDuyk+B1dL2r1Y0CIo5dSyToGigmckF9lTcjiU1x8v4MqI+GNcleyeOYu5I2UYA3Dl2x68206wPTvzAuGKttbQ5DK+LeQEPEl30uiB69CGTY1Re79jntJXKH6KTtez28iw+W+tAiWQRy6X46/QVAXchxQ1qsOVfVbBx9VlUDP2oY8qUmIKYEVqQVzFlAgc+MIhzpVj4w3Rh2w7rvd5tU4+CwiwhL7m4QlVZauJrIajUT9LAqKoRRSMPgBXdpyPRZBtJe+xtRPhXI5QxazUZ2/bq2FMdhTPEj8iCjVWfAbBgCUi7kLRPLs2MFZts8AAMPbFKY+RhfTSDdnTV/TAN4yrAT1tRd3rCPYpfOgZa0Ajr9Nhy1HQ4EnCmAEKu9NCRZT6MfPnsiUEMl4lc8d4qXhO9d4Bp0vj9sTZXZ9SyvfpZZ/Jbq2kqf70F56t1YL7X4tJ0VD3d/YQP/AoziylHc5N8d5981gO1/ViVIYZudDoi60/gmXv8sipF8iPAfHNyt7QJdASfw87UaIXbjhcl45NMiu6DhibP/PWPifQOBDqamhuIq59Gx3XDHBD8Hik9g9IIXP8UiItMcyQ7GHrHpdwZbKlxtCIRA7sB5G1P8y//Uf/3l6rZ3w8am/kVrWYjVmEbcTsMWKxFbKNdNemfufibZkF5oGpIph3skDhAOrxJgtszIq8CgwB0lj5Q2VBPcfusFhB0jDewcVo7feF77+bIq1BGvhlr6HE5+K+BxMWrerQ4CoS/rLV295avxWUJRO0o9iHc1JSh4ZJSGoRZ3a+v68xxX7SoGtLIQ5yiOThOseK9NNRehj5jY/SI9DvBH4UYMkPfA+GD1PghhMbqTN1uKJ9K/iZG+4wLfrUUxK2mqmf76Ysx7lEyNOSxCzAsd5ocMoEmxqdYVUDSqfqjgIB56nVnx/XnaWsKjAC5JK01L1p9HL7rJiVyBkSelk4Yegts7o32A5EL9P6umNtGHz0FD0xqQHElmTfAof7MyLMaA+Zv3G2buAxJLX7ttrWFo/KSGaF0whsEO/2vwrcLGlfzRI/gq1AV0ynRN2kzM2E7uYAFThSbx6T3I4k8sfbNOEHnlbrr8wuvCuGQkpd55YNuI3VirF16ALQWf8avmMG31CiqkG6HXFIcZ0E1A/38SXgDRjjOkPxnd2Yl1u5llq4yKVyarvwlP71iJmDCXWY2i7dZj2pZ1KgVbManVgjfrp4Ad4vL4GHYzXB5KlfLSxHLaR0kIAxzUjK6D3208E51qUmFiYCahsvnMWm6M/UMT8CFcVuUrAyk4CO32XMXUK6D0uRq4zuSsSc6vbAgD2CfeDxfuh0B5L0sdD104xfLaak7WsMEqL3dX2mKxX1YpZ8YyDknLKbq8Ubxs3prFVw4Kia5xnwTVeVYAWVUoBUCzdl8+kWuuOrYCS7pv4QEYrfI5n3q67cXVoAebGmZ/dYBXvN2Dn13iBMS+0tlmr8ga/n+b8kpoTB/x/Chhz9z1yh8MHbDxjAoNt8iOFzPVlx0z7wb+JxOlOtwNQ8nYUN1yQPsdpaeHzCR3wf8kH9FY9b4dreLNg06cHTjKsC0e355HyXCYVO5p8XV+TEI4J6Aa6HhSgYXyn96Xl/atDA63OVERCnix5mmJtgC7OLN3rcMvv9RWQdbVjFqUjqCQnalRQwd/+uiVJkp42LwII5LhSEP0hbEcEBiwnF6arJWewqjlpEB1WKmL7vf+bTzwxG+b9Vxo763Q6CF6+1oCO7CLTKOVArUzRzvzaxkF3cjijpDTFq7dQmtBApgNU+Nyxd82OvNpc6+JuaNSw+OEGxpNQiSR+ENKsBZAjDnf6VhkLP9G1i2l+wQoYhr59d7/ZUH/OJF8zCZ6Z22iS5leQ5SaYzWmvbbrSXRFgPOz+UBLgYB5ublWpq6Pg/lfiAbZ6IuIlsaawPqGtJ5QVoyes3TRZFQBCGfXZcriPVAENzsJoPwde8KoNhd8hqa0TmFlkg7P3PL7JU57i/+QVK0kPEe5zxdvxCc7f7LK3j5qUgoQu80hVCR/UHjrAM6rNP94lVkgzYSBA2ghMBtLwCtR0M6+eHBBm4sac8P7LoRLiGCY5zmzcF3swze0bRzzSUBnHbU25hYrTiPCv6dy+0Rs+pKzMkkc8IN+IxfvLdVONnx4ZcITeRSzcrszzcArfggkjR9LABzntIZiR1hfynfMmdParUFB1VX26xGm+MfP4ENo3XDggdzGtpj/6j0MaVaEl5BtQhaue6AjzVR1EBGqJ9xSE4WGEf50B5wmNghl86+26McZ/yMoKRYd1RGhksZ5mQHgI2AE/5WVLq7JmQjsK2hodkNcaxM6B+fZ0N7gyoXDdM55k4o9yiTeVYiNIDcoh2xszKEQxk2XWYD3xp7vkE9w52o/brKRaT7hHV/vXVzBGAtAlphCBruB38+3fU/tA8Kv+oalpWgwcR7nDzqXv9PC8/7RRhtkQK5XVlWpmWb4f8S5qzh3RVEyz4CMsqgWPcleUlSO0mw/B+Yxm2HxG/aTN843C5FJ/jXmCh1V59H4cow/9Gbxljjjdw2XSPU55snaTHWxZOv1c+kESSFh79ssFYYNhBWuBAdcpyvNETtZybwPMv29jnqTbdhGNKz0VZqmZyA6YRd7bsfjFNXGC3++kgRhZcMSOazeUQdQcQ5FBC0gsf5R7PJM7R1bhlTZSpB4Ty/g1d/p4z/WSQPWJCxopgUq4daRtX4E5EuF/mdR5kPd0Ehve6m0oy/R0gd1jgD+JAHmwiHn4OXWi2Wvbo3S7W/tSH8OpxBhgI8JJMtiJFxcs/5PAG7ClaEdNdS/tcJLwcMUYtJ+MBGTEFcwPi8JkJ7O52sj4b7cCmPF+koJkfPkSLgSw8do4jicR9Gc0aoNJlP+Yi7XycIiF/wblD47aLIW2kb/bUgbVvgfU5BrU7MupvV1B47UOaxqpYbEbuqkE3XGZwrf8JV2OYbO0JbpEYAnWUepvHZ8J2vKr4PAmEdg0BMqOKlAudZLJh0YWIYowDQb9WTA1v1gv9SrYiUncZtgXwokF3L+d4frQTrJU9S0BiZB3a1da0C+jgmcU37blDKKowndCLqmTS5vfTxD7n36U/rqRIhjFMLwoRT1fiQbOLGhKHHkSbZHmF8jbjqxWemxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EaZFQFUaZ7Hnkiqt2ob2Vo",
      "input": {
        "note": "Positive right_j0 swings the arm toward the clapperboard: the wrist camera now catches the slate (\"CAMERA\"/\"DIRECTOR\" text) in its lower-left. I'm yawing a bit further to center the slate under the right gripper.",
        "targets": {
          "right_j0": 0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EaZFQFUaZ7Hnkiqt2ob2Vo",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.9881 right_j2=1.5787 right_j3=-0.8051 right_j4=0.0418 right_j5=-0.0345 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:682578e94d3b6fdebc949515c9e4599e5c77de985d1037e1a8d1c6dd2080cb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a880629689d275849c953da738f76668526f09fae60e5e28e7ae9c282c87d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2587276f68a89f042d8d5a83eb02d43d33447f72c3a274fb918429fc2ea84614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 13.05 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9986 right_j0=0.0025 right_j1=1.9915 right_j2=1.5764 right_j3=-0.7723 right_j4=-0.0235 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9983 right_j0=0.3561 right_j1=1.9991 right_j2=1.5784 right_j3=-0.783 right_j4=0.0143 right_j5=-0.0193 right_gripper=0.9991",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.9881 right_j2=1.5787 right_j3=-0.8051 right_j4=0.0418 right_j5=-0.0345 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:682578e94d3b6fdebc949515c9e4599e5c77de985d1037e1a8d1c6dd2080cb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a880629689d275849c953da738f76668526f09fae60e5e28e7ae9c282c87d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2587276f68a89f042d8d5a83eb02d43d33447f72c3a274fb918429fc2ea84614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 682578e94d3b]

[blob 45a880629689]

[blob 2587276f68a8]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0199Q62JkWdz6nqTjGqJsuXm",
      "input": {
        "note": "The wrist camera is too close and only sees the left end of the slate. I'm raising the wrist and pitching the gripper to look straight down so I can see the whole clapperboard and locate the hinged stick.",
        "targets": {
          "right_j2": 1.95,
          "right_j3": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_0199Q62JkWdz6nqTjGqJsuXm",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.993 right_j2=1.9301 right_j3=-1.4708 right_j4=0.0299 right_j5=-0.0376 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2bba6cda5b6fa8f5354a318111bf40fba43e523fd74c169b3fb9e79299df8dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c91c5d0cca2e8dab859a357b8540b20e3ac2a5582a350080c591a3467d196b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4f47abba39d083ee11c237351f86927744c7bba7221f50a728d9528f1880fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 7.627 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9983 right_j0=0.3561 right_j1=1.9991 right_j2=1.5784 right_j3=-0.783 right_j4=0.0143 right_j5=-0.0193 right_gripper=0.9991",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.9881 right_j2=1.5787 right_j3=-0.8051 right_j4=0.0418 right_j5=-0.0345 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.993 right_j2=1.9301 right_j3=-1.4708 right_j4=0.0299 right_j5=-0.0376 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2bba6cda5b6fa8f5354a318111bf40fba43e523fd74c169b3fb9e79299df8dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c91c5d0cca2e8dab859a357b8540b20e3ac2a5582a350080c591a3467d196b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4f47abba39d083ee11c237351f86927744c7bba7221f50a728d9528f1880fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a2bba6cda5b6]

[blob c91c5d0cca2e]

[blob e4f47abba39d]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014hz6vXLS5V72pVDUt7qVRr",
      "input": {
        "note": "From the top view the right gripper sits to the left of the slate, and the slate is on the +y side of the right arm. I'm yawing further so the gripper lines up over the middle of the clapper stick.",
        "targets": {
          "right_j0": 0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_014hz6vXLS5V72pVDUt7qVRr",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8314 right_j1=1.993 right_j2=1.9305 right_j3=-1.4818 right_j4=0.0288 right_j5=-0.0376 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdc4bc86c121565f1d12a75fd266b9024c26316a2ca1146fc26f60fddcf1e05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be79ef303ae32983cc2c5033114efe930114dfa4d6663327a5836d793b6897c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13b98ff89a0d88ebad703216d796381fb158c0caff2176d2e1ea0320508512e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 11.5 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.9881 right_j2=1.5787 right_j3=-0.8051 right_j4=0.0418 right_j5=-0.0345 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.993 right_j2=1.9301 right_j3=-1.4708 right_j4=0.0299 right_j5=-0.0376 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8314 right_j1=1.993 right_j2=1.9305 right_j3=-1.4818 right_j4=0.0288 right_j5=-0.0376 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdc4bc86c121565f1d12a75fd266b9024c26316a2ca1146fc26f60fddcf1e05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be79ef303ae32983cc2c5033114efe930114dfa4d6663327a5836d793b6897c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13b98ff89a0d88ebad703216d796381fb158c0caff2176d2e1ea0320508512e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob cdc4bc86c121]

[blob 6be79ef303ae]

[blob 13b98ff89a0d]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BPTwgWAR83ZcRFKa7G9mSk",
      "input": {
        "note": "Top view shows the gripper now laterally aligned with the slate but sitting short of it (too close to the robot). I'm pitching the shoulder and elbow together to extend the arm forward while keeping the gripper pointing down.",
        "targets": {
          "right_j1": 2.45,
          "right_j2": 2.39
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BPTwgWAR83ZcRFKa7G9mSk",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8349 right_j1=2.4302 right_j2=2.373 right_j3=-1.5181 right_j4=0.0292 right_j5=-0.0383 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed6668e163aad87519c66391d3e3e22031bc0364a23cc2cc12e7554648b9fe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97815ccd7eb6b38aa94f387c41415472020717af33260838fe91e471a81d95bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bbf6a147d96fdfd0ecf2fc1e7bc28806b37d995a4265c64177226a6b530a59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 17.89 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5217 right_j1=1.993 right_j2=1.9301 right_j3=-1.4708 right_j4=0.0299 right_j5=-0.0376 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8314 right_j1=1.993 right_j2=1.9305 right_j3=-1.4818 right_j4=0.0288 right_j5=-0.0376 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8349 right_j1=2.4302 right_j2=2.373 right_j3=-1.5181 right_j4=0.0292 right_j5=-0.0383 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed6668e163aad87519c66391d3e3e22031bc0364a23cc2cc12e7554648b9fe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97815ccd7eb6b38aa94f387c41415472020717af33260838fe91e471a81d95bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bbf6a147d96fdfd0ecf2fc1e7bc28806b37d995a4265c64177226a6b530a59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3ed6668e163a]

[blob 97815ccd7eb6]

[blob 4bbf6a147d96]

{
  "content": [
    {
      "signature": 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tu9SLAPD2WYmK5IaARwV9MeuBwrNSvg9KCn36KfSCfZoUWcqrpwWmj1iwFm8nI/Au15r6bzYmUBhQJ9tpyOxrWl2pXx95HN3jYoJo4jKmOzE/hyCzQdtcgt3IvfWIfmqjROWiAdJ9kME6MsM1sqBIxYpUvgRzfBbvt8jG5YAKlX+Ol3lW0owHcQwNja6IIsBdNMxBY/fnsLYW2ZKBZDiL2I+nLVJlRvEQAMYTGzwWJHNguWx6lHIAO0p9rBvuksvIeRfSBf6yzJNlE6ZwzRqdJGj7jaWrNc0yCh6Wy6e8KNQTeKn0HMjPWpZmyo1oTohGaWzbBuweLC0gIWWAMi8aDxwNA53RRX6LV3OVBSUIeuUlscESDdUW9Cv4FxHOWowEOYZ/hgCX1OHfs2xHa3GP0AzJ/YZ+ldhfqlNtZlgdUFh29XpmlkhZdGwhkTl6Z2bo8XDDvAqFkBKT1KMjx8Hbzo7LuRdIIPQC/uJo6LnF6v2VmtbX9PML/fVYQmPWh0dWMF/C6Bfia5kM4gFS6tqz4CWrKuQaq2fsIGtmscAC4HAY7Wr8dQmzzQ5MRPkR7yQokXtbfNCS/kv9/CCKG2T95b/9M/e29UoS5+FWZXIRNtMIqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D3mcFZQRFMTaRrmrhTZCxM",
      "input": {
        "note": "The gripper is now hovering just over the near edge of the slate where the clapper stick is. I'm lowering the wrist a few centimetres to get a close look at the stick in the wrist camera before committing to a grasp.",
        "targets": {
          "right_j2": 2.28,
          "right_j3": -1.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01D3mcFZQRFMTaRrmrhTZCxM",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8406 right_j1=2.4084 right_j2=2.3051 right_j3=-1.4971 right_j4=0.0292 right_j5=-0.038 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a49fafcb88eb1a5820e2e176f4e5814dbfc5d8a85bd6b1eb4b747fd00603a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e5a2a9172e936f436eb4835a0bbb4855a93b95228ef66d35c821bc44c8ecbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:922917a26ac6ecd8a506cee3939fdaa13348384df9b78bea75c07a539d85389f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 10.67 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8314 right_j1=1.993 right_j2=1.9305 right_j3=-1.4818 right_j4=0.0288 right_j5=-0.0376 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8349 right_j1=2.4302 right_j2=2.373 right_j3=-1.5181 right_j4=0.0292 right_j5=-0.0383 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8406 right_j1=2.4084 right_j2=2.3051 right_j3=-1.4971 right_j4=0.0292 right_j5=-0.038 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a49fafcb88eb1a5820e2e176f4e5814dbfc5d8a85bd6b1eb4b747fd00603a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e5a2a9172e936f436eb4835a0bbb4855a93b95228ef66d35c821bc44c8ecbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922917a26ac6ecd8a506cee3939fdaa13348384df9b78bea75c07a539d85389f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 15a49fafcb88]

[blob 89e5a2a9172e]

[blob 922917a26ac6]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRmHWDcrn6h9H9kGUWxK5Q",
      "input": {
        "note": "The wrist view is ambiguous about where the slate is relative to the gripper, so I'm lifting the gripper well above the table while keeping it pointed straight down to get a clear overhead view of the whole clapperboard.",
        "targets": {
          "right_j1": 2.2,
          "right_j2": 2.6,
          "right_j3": -1.97
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VRmHWDcrn6h9H9kGUWxK5Q",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8413 right_j1=2.2326 right_j2=2.5782 right_j3=-1.6962 right_j4=0.0284 right_j5=-0.0387 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1747ab419ccf285f92499dd0289911b93f4bbd191f24348c0f518b0ff0d466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ac0db820189edf2702643cc7ec5cfeaea35063fa0bb0f81db8ebb926c5d66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83b1342ae3c1d809bd6463ce82f36c26c8513c906d40982a3807f345f078ebd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 21.95 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8349 right_j1=2.4302 right_j2=2.373 right_j3=-1.5181 right_j4=0.0292 right_j5=-0.0383 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8406 right_j1=2.4084 right_j2=2.3051 right_j3=-1.4971 right_j4=0.0292 right_j5=-0.038 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8413 right_j1=2.2326 right_j2=2.5782 right_j3=-1.6962 right_j4=0.0284 right_j5=-0.0387 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1747ab419ccf285f92499dd0289911b93f4bbd191f24348c0f518b0ff0d466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ac0db820189edf2702643cc7ec5cfeaea35063fa0bb0f81db8ebb926c5d66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b1342ae3c1d809bd6463ce82f36c26c8513c906d40982a3807f345f078ebd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7e1747ab419c]

[blob 34ac0db82018]

[blob 83b1342ae3c1]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UFLBuRSvim5SCQrcD3jAVk",
      "input": {
        "note": "I can now see the slate as a dark bar in the wrist camera. I'm changing only the base yaw by a known amount so I can calibrate which way the wrist-camera image maps to arm motion before attempting the grasp.",
        "targets": {
          "right_j0": 0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UFLBuRSvim5SCQrcD3jAVk",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.6216 right_j1=2.2345 right_j2=2.5793 right_j3=-1.6958 right_j4=0.0254 right_j5=-0.0456 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34d4695495af8202d0817426ef165685167fc742f83f4f4168cfbaa4522d262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d244c5f565102741f326cfd59c87d4ac7b64689b4510e0bde3bbc171c5fa70c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:551ed330c517e123ebabd5c1c72dcd2f0c7d31197a82b3be38b5d238dde61c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 14.84 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8406 right_j1=2.4084 right_j2=2.3051 right_j3=-1.4971 right_j4=0.0292 right_j5=-0.038 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8413 right_j1=2.2326 right_j2=2.5782 right_j3=-1.6962 right_j4=0.0284 right_j5=-0.0387 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.6216 right_j1=2.2345 right_j2=2.5793 right_j3=-1.6958 right_j4=0.0254 right_j5=-0.0456 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34d4695495af8202d0817426ef165685167fc742f83f4f4168cfbaa4522d262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d244c5f565102741f326cfd59c87d4ac7b64689b4510e0bde3bbc171c5fa70c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:551ed330c517e123ebabd5c1c72dcd2f0c7d31197a82b3be38b5d238dde61c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b34d4695495a]

[blob 7d244c5f5651]

[blob 551ed330c517]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WRSpFjzKT4ZNL9rWnHcjaF",
      "input": {
        "note": "Calibrated the wrist camera: image-up is forward and image-left is the arm's left. The slate sits up and to the left in that view, so I'm reaching ~6 cm forward, a bit left, and slightly down to hover directly over it.",
        "targets": {
          "right_j0": 0.72,
          "right_j1": 2.42,
          "right_j2": 2.65,
          "right_j3": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WRSpFjzKT4ZNL9rWnHcjaF",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7193 right_j1=2.4157 right_j2=2.6335 right_j3=-1.5291 right_j4=0.025 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c74a418aaf684e14b7f81257b0c55b19b1c61959bb54e319746869da8a3966d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90fe4815436972c3bed654961338fb078e2351b8fa19a8ed3c5febc35edc03f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15d28e18a366072c8bbf8fbb599cf075c85f76f9cbfa405e88f6bc21b82d60fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 28.95 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8413 right_j1=2.2326 right_j2=2.5782 right_j3=-1.6962 right_j4=0.0284 right_j5=-0.0387 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.6216 right_j1=2.2345 right_j2=2.5793 right_j3=-1.6958 right_j4=0.0254 right_j5=-0.0456 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7193 right_j1=2.4157 right_j2=2.6335 right_j3=-1.5291 right_j4=0.025 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c74a418aaf684e14b7f81257b0c55b19b1c61959bb54e319746869da8a3966d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90fe4815436972c3bed654961338fb078e2351b8fa19a8ed3c5febc35edc03f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d28e18a366072c8bbf8fbb599cf075c85f76f9cbfa405e88f6bc21b82d60fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5c74a418aaf6]

[blob a90fe4815436]

[blob 15d28e18a366]

{
  "content": [
    {
      "signature": 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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYFVmrhZbVexmLgJSBY8W2",
      "input": {
        "note": "The slate now fills the left half of the wrist view, too close to judge its geometry. I'm backing the gripper up ~5 cm and shifting left to frame the whole clapper stick and find its hinge and free end.",
        "targets": {
          "right_j0": 0.8,
          "right_j2": 2.85,
          "right_j3": -1.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XYFVmrhZbVexmLgJSBY8W2",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8021 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6962 right_j4=0.0254 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2e465560295b8ad34c50130e5c3b8eff53e544223f7aa193a2a5c36ee73761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6e7c8ee072b17b46d37b4326052420cd93e7c92d1dbfa1939285c8c365794e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1d136cf67c3cc811a30272e76c0c8f6900fe57ec43b67c83ab98ab9e9ebbac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 7.594 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.6216 right_j1=2.2345 right_j2=2.5793 right_j3=-1.6958 right_j4=0.0254 right_j5=-0.0456 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7193 right_j1=2.4157 right_j2=2.6335 right_j3=-1.5291 right_j4=0.025 right_j5=-0.046 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8021 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6962 right_j4=0.0254 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2e465560295b8ad34c50130e5c3b8eff53e544223f7aa193a2a5c36ee73761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6e7c8ee072b17b46d37b4326052420cd93e7c92d1dbfa1939285c8c365794e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1d136cf67c3cc811a30272e76c0c8f6900fe57ec43b67c83ab98ab9e9ebbac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0e2e46556029]

[blob 8c6e7c8ee072]

[blob b1d136cf67c3]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ezb2n9N2TKRctNM7xkT6rz",
      "input": {
        "note": "The wrist view shows the striped clapper stick as a diagonal bar sitting slightly right of centre; a small yaw back toward -y centres it under the gripper.",
        "targets": {
          "right_j0": 0.765
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01Ezb2n9N2TKRctNM7xkT6rz",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7948 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8476fe2c3db1449b77b93b53689d722d5b109d9e5c2512edfd398cb65a22c965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16669ccba747710dc05590d1e4f60ad4a340bb14d0d9acb4fd0e2db57928ee8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75d7f88efd38cbce2dac6b1b37d335dc2e6c0839d81dc8a42a980b14482da59a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 12.66 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7193 right_j1=2.4157 right_j2=2.6335 right_j3=-1.5291 right_j4=0.025 right_j5=-0.046 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8021 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6962 right_j4=0.0254 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7948 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8476fe2c3db1449b77b93b53689d722d5b109d9e5c2512edfd398cb65a22c965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16669ccba747710dc05590d1e4f60ad4a340bb14d0d9acb4fd0e2db57928ee8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d7f88efd38cbce2dac6b1b37d335dc2e6c0839d81dc8a42a980b14482da59a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8476fe2c3db1]

[blob 16669ccba747]

[blob 75d7f88efd38]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014x5TgRnS2AjBeNveuYf6Xs",
      "input": {
        "note": "The stick is roughly centred in the wrist view; I'm lowering the gripper about 5 cm toward it to see the bar and its hinge in detail before grasping.",
        "targets": {
          "right_j2": 2.63
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_014x5TgRnS2AjBeNveuYf6Xs",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7986 right_j1=2.4256 right_j2=2.6453 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.0456 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30af478c7d7e6ca471cd36f4cc07709e7315d617c1fbc690eee3d3afc31a990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:936327c8189390133db94314f9bb9644dac8795d5d8e5317ed18fbb5362b63f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:487e3e763b02b023856e9e5f42c1b36bd775adbc3b59c87794aa7c3f76f62ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 8.356 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.8021 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6962 right_j4=0.0254 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7948 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.046 right_gripper=0.9988",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7986 right_j1=2.4256 right_j2=2.6453 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.0456 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30af478c7d7e6ca471cd36f4cc07709e7315d617c1fbc690eee3d3afc31a990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:936327c8189390133db94314f9bb9644dac8795d5d8e5317ed18fbb5362b63f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487e3e763b02b023856e9e5f42c1b36bd775adbc3b59c87794aa7c3f76f62ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d30af478c7d7]

[blob 936327c81893]

[blob 487e3e763b02]

{
  "content": [
    {
      "signature": "CAISuyoKjAEIEBgCKkDeDAQ4bIOECKai/JbrloZ4el05kwbrs4Y6Dxhsx9SiNuwnYmQjJhQcmmKy3uk1XiiwwXd5RQr9hZpV7f3J+iMLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9lCWwDDfz3S9LxjdGgy6pVta+xSonEAYhcwiMNDfAQOTGtj5tTeMr42Cgr3CTQR8hkYHIQjfRgNpLG9SinipWi4IFi3C3xCiEB5WMyrbKNwt3sfAqR2hgO5iiiXZ/km/jh9LBkfJTIvrXr3bYrVDXT4g7/5qZkiGctHsoycQ2OJT9lwWycFl2KuCLU/Z18xp77S4yLiJd+/SAB/rEAOrzp2s41ANUAwnpBMoIh2KHHyrvlCOWR1cP6KHlwru6mComMQ409HYYV6svhVmsIux418/YrJMfIRVvDiVBBfTQh6UBG3kfs48tMXr3ITiUnXfU/xkXWUXE2fikDUswzBmOXb4vGbi3yex6Ygr0+tQ9DTolsvavGo5Ki+b3rlpocpKi6/CugB5kcymLPDLJYAy1uNbl+s5fGlQ4/Rvz4jzW9pza9GtrPg53WiSAflFXPmRFddcF0aJ6YTSu5bl02EY6a+3JWZSP6o1rpZKdNI2n83XKXiZ9O3VcnFc9uNn+QrARrzYoFKMSI8gYQkOw8EC8vY1WrsXWuxKm2KCo46IYtikk7FP7sAQgFooaR04E2teWSDqh1GwaNQnJeQVzH5u4sOgNCFgHMdJbq8GrpV/MHmK6sUR07Yl9jJ4znn7NrpYMlnqTNIrE6Pennn1yc2D3yB1DqWS31Dlnfy8eixZsuQxx6Sq+/N/BEAwq5aPj0XccDQxQ5sMty8wocd53144flIf9dNBsRP/THaOtXiRMHQRTtKPeqfB5uKnJr3ENCljE6lFfYFOzl0MQKJZVxGX/MxgBTS1PRolDcndnTQJZLYzalOALt0X8J7sx7qVFQGjNrpXx+13I55OhG3W37PCyKlHEHxoxhCEU4cmoy/f1y+EXjLos4snm6ftx4u7dDCWGyXkaK8KJq5TIPiJASdURXn5LbKv5XtI9OUjUBVPiRS4IpkiAkXa6SBDoq/M6lgnXkgCGva7PFj3md3GFCAvwAc4kYTLMxthWsQ6KKn8UR12u4ggBvEtjdkU+keuA7JkiJNgdgB83RjYJrpQw97AVWupV436GfGoVelPij5i4pDjcso8F+6mQ8TixQzT6DiMCDOm58NE13aABEIW8bu8PlaWEyU53ci90VJSO5rlRzshri2mmwNjH9dkfhDGbpqkn7NT9vpAuTWHSO/ab3bQBIGpddLqKYyQwdp9Je+3bXiBoB/zYuMIgQegkH0OzRzFXO1Ec2dQwwldi0NKDUVjINGju4FZ60NAi3UbgxUDe4OPXo84GRB3IVH3lV0T27eLSJ3qsGdUEezBiuuu3jWv7uSgpimy1KHKFqNo4rISGmvnEDqc+NYVtEq3GTOfg+jCOElIAwNe/PPhC56Diox7OE8IstJ5uhMNs3UHZYaWdpjwnqvMw91OyGHrp95P3rBPh7nPeY2yKQN/z52IuKAdZZRsxvnTpRDwOmo95OcP1ac3+S8/vtrGqbvQxvlrQwLPw1EkdKsJW+nwQu8depyN4IfeB4XuRFswsHC3+mxc4zGx7swtT8+hP41BwkS17mHotIE9pgx0vFswDoI7fXog6jYt8mrvJlx6p2HlSBln3PihFW5iP59mQhkKuHDucJfjgwHaMZcKzUUvoTO3t+LooRdppgwoz6vJd+SmFB2CAe7GTZ3aq9rwt1f+nAAy/MQUBmN0//m7FICpwQCV25UhIecXdfhOISRzlcBskWIM4bcCoCf50H2ueLS1g4DwWTqIkHX7WaVhyZALNAKSPyATazzKjTrwFikDqceslZTGYM3kKD5pAuLNP1Q6LBw9b4aAxA+9x3xRM9PixlQ+mLPD/+15md8JKAVJByerkf/KUFLmRZqbuZlrp74fAVrguPSwy71cvOHYsiW3xEiKKhzUqDlgJFjj6+r7D+CQh2FbdEV2CiamuI6d8DTs3Au1AQhJHznKxsAVF/IvaTuTnSoBXfz2Qzl4Ak58whQ3vvP4GqRoaY8FcLC4mp8A8DEZeoJ3EVBgGTotYvMBDi10qeNbscp1ZLgrmpUMculIF0F8s5HY+2VjXL6BrUJYV6h0+0S/CvNXdZovzfTv+rhLH9W1zfgFEQwZGW00Ky8dqkfHnTy3qcShQg/ubf2y6PDkSWaZh6eatjDWhGcgtjHMii9Fg1rk2FJqf687JC/AJ+KVJdw+Qo9ngXrFkcRdPdjzf9JEkrs7HJH4ik4sIHNI01jGlQehRWFgGzg9QuClhj005faxwjtvlzfLl4Oc6SyLjGO4WH4uqtFoRHGxnIc7Coj/Q4BE788YVEcgUR7PQMVVOmiLt+tbgH466IrQ9smNzRPeeIdQtMyc5pwUFs1cTRLe5DV9lmdCVqgz8QgHTEYO+EP43wi3r2GDKBCwIu/0hprLJurxh9tBYs6H5igFI6rE4U619Yf2kddjMwOFfXqKx3wudfbk5k9K/rCiUDW5dDd9hGVN9HdVgSNXq/MGB8+DCFL8rgGsDKTHoUtJsHrGZUC9qP+kB9aOr55oQSgLamBFViQb0boIoCQQXV6p/hmpTZLkX0K4Cd4WsWXTjyVfDPVBQBsU7MNGFHcYdVJl47ro3qSApPkdnAgGcR5l8fwIR0x97/qRsdtD6KKhfNKVrENgD77du9EEna6mdpb9B1UpbN9aOjtFZrsCCZaLCvVx1o3ErSftJKgvQ8IbIuEVjZKDwk5RQJUyIeKOlZhzUWxMfHkIlJWpV+YThrN4lhIN7qaRDcQecXp+/9G272MBeOV1JbjyR/qENrwAq9BAUO+XLGFkdgHB51MyQY5ZKvF5xCK9HxSGa/SNkJrnsC4Kk1bUMociTMSCZRFOe8hhVXZUcskIk2SnbYOqxLah+Dd5MuSa0bhRVPEN4aILrhfkQfVOkw/sXQIE2ujPK9mHBKfLdDfhWA1nmm/JCeqHMLUzwSaGOmvWOT2B50cYo2CmQL/IMhIi16pzFWe0KkPaziFGT4ehnKWTlWCdsi3fBoNDAohvehuOUoLAIlObvLL0+QchXGtQzvFiZXUjc8Fw4conqH4kA0ZYOwkvy36/6uprQjyNgIy7e+AfPrcg/Re5eL78P+A9eyjPY7q6Pgg0OVyZAZPNrPgL/E/3k7OxrHuxdzgJeq53WYhjpUuyNymnFX0aM4iVpFgsqGJKAgzb8TYYlZUYSaP+PJmWUjsbH9TScA5KKp+tAknPuaGGiZFbg7F7uWlMboze3Wz9enbLmG8TJRHEQ+npcOyUlfKMivOfR8VqsN0U7Kz/O6U6T+ReMjYMOUaAPAWpgT9Zn3NjKz0fRybkSVsHamBVB78mItv6GvtXp2qOgVi3YToOsvI81kHKXR72RRwoc0A4RjR+9ULDPbCk90l8Pq3nRaad3fptcto/Tz9RbNVKSxBjFG+A1+V8/77uKwc0tKuJs2NiBhe/C8hovU52OHNXoCx+l+84t6CSe9NvvUBKbD/dRtlQdTtzFyJxrZ3D0twnLxfU6mTxxaPVRw47OUa/GMKAd3Blj7k77ZU3mGs9IJAtHGZXk3lr9zOPggHoUJn9v7mNUEGelACk+iOyK9z+lUoutrge9mKiwUv06HnbV1OetPVN+Rfuqcl1eQtwfEMZC4r1TDJuXgsH2a+vSRZogEMfZReic4f+NtbEPsYw+zdjjRmeT2/HzzkOLHEhM/+w2G4FzcS1H0TwTtTAZ1nYmTYIt+6kOrdEgIMamKPVZOJBmfklc7sIHs70rVDdIqNJJNAdmd5dgG7paNk4LHynfihwI/hsSQ+9+TA0l7bh0iRPUlz7D3LNIEnqi4ENU3M1AfJ/5Vr0/epn1JBDP1NNG7wc681LxcMz9yNkklRAgK9VekhUs+vFTiQWLbCrU3N1yHgE8IUeKOJjDzm+pPSUsZnZ13nXcd21hgrMXdQ0jbGB5tJrDPhELdm8h06T091HZNTjGwpFCkQUGxA0tufOHcU8ZrGZ9SqjgCSnXe/2pPTYorq9YrnsQHXs3z45n6QvMYZm9USSU4e6BLY7Gs6s6f4zeRAmnUdpVip8NGhq31XYFWVK9PQ5xT80nvFD6AS+M6faCkyAHLIpsPYQ9LyysN7mDlB9VyJvI7RLXKskjpukkEzyyhIhuStyoSavzVPmiHX1DquvM2HntnqKmMMmng5ULLCSH7Qr0RLHnDw1CpuJNziu3+icEXifCgScbOXMk8dWJEskjuiVDcDfLI8SvFr6/CtV90mPCYKGGAyyfEWH+PcqPimnzgj39Dpp75JmCTnIh6CLD2TZhddhqxlAN4QPDf1bYbMWOOuAi2iPvJ1WansGtMXZ//YiRR+NejlvR10VbgGbEAQoxsXu/s/KvFdqGAwgEWFv42iT8ShLJkEyXs6+G2MTTk/4SuZ6qeM9C97e0b1zzuzoSx+vcedXlBo8rwaGb5vJEK+V+Ld9I9Q2+yOz0UCvmYxMg0q5ly6fCrbySXMaUDsif3vDQSpSdWDX9wKI2IkTi/4wm6DmdUefIekC7hhTKrR17X7/KXVOU5o0mt4QJWKKc8Rd2CX6+J64nShODqSluCm8TUzPNkDtrYyKX2fpPBtQg/IYbLXB6c/cJTWYm8Pcn3pjCO7sktbNoPRt0on8KBli0W2HTx6nZDepGxUWA/3XD0ajxPZ9Zpj4sjIgeZVbNJ35CrBs7DKz99Faz13a0QG/j8NmUqf88xbe3HysEPbAfrNVTlZ+o2PRAhOdIqXn6IRjqma+YOqxpNeWdQ5t2ubKuFjo4biJN0l+9uG1X/O8z57dl3TlmOc9u0+47Mz9vDShcOKj+ROusqZw4x+Ly+anMY7PeHOP3Z6zfR/fXO4azt2AYTapFWs8tPpzjkx0YSIgXCU83ZruNnaIccv1ZApiIwbZKSpDsRv1AsSQHB0x31u7U4f8vOAnjsYWyIJfXF8nYrHyqX2xScsS4JvGgS/68SVN/62wMU9ITWBndafquBrYfr9ygDnpYpA9mEmjcIZ0TbMk9EolXn9nXhGdyOKD4uRSc6USUU+FWbaXL478Pb7mQjUhEhpjQ+rCnHg3+/ngaDlxzK1Wqoj/KJh8WiLsTnj3/6smXseIefBPQelYIPLjF41Nm4BID9gjFXFxxELjgXK5z/0G1JXNnBHfPlqBDktmt+031fb/vCBQHlqYkCFCep0AWf+UuGaRjFSkPiqKpt65nMtLUjDW5+13071Y+GKLQAurSvWfb+hMe9a+SFVv94IcilMVpuABeYs2PX67uu4nBQasdJ2PewJL5+D71bf7WgfR/rAHkdSCPfhTIIVnup1y3Rh7uy/vnTucyX9cNLeeIrnug+6pO/a3m8Xj4/ETEDlizcxOcH5hEWVy3ZwWlDa7Rmpwvf94Hdqk8qcgi+Rc9AJVe+TC7s+UbcsdzYrKfC/8SgpjVI6EX/6vygzXPTDXLlAENeJj24p4ew+0C32pyVefSJpRta1fdg7xqCbHIWyE8c/B9tSqJtWhV2VNO+yYhss9w3O0vffXgtOwXYo/OeMZTsdcteA7RWbQ/iOFXpNfOONYpM6Mf8xRW+71hiMcEAPhw8tyZaxxwtkoeczcFxs0Gx7E5YSeNgoi8lu7BaVeh1OR17fopyMvhAjixtdv6HTd2XQSbkQI/Yow6BdcBIPTPq1rZDELc2LKXE3bSx79sS26O0O0gSxHMLrAEF2uyrw2C7SPa+ApoAGp26EanPW+jgMgyrcgSgGfgZanEFr4LQZKbqgdxEGKBOXmEJ0yC5PhrFsFJ29HyQsI8zF2XO3PduIfNXDKSUDIAiIwRQ5XGPP4knOR9i5+LUa9R+mp7MsC7RqPuFnKKirDIpQX2D3ZFH/orRYXZv/oMddbWlJs50fYaLzrNs02VKFITjjCuYKhIWBugcUOVIlV9Vry/Gp1uO6DQ0aTr6/KncLlTPEC2gCCphw9WjjHaRgnezH/OoEMf7Qea3TbG7ICAMRXbRk0+6OgcRTRq5qjwJ2DyTYxsnFeJzcR8GZKSKK9C5/T145pYTUxUnxeSTv8TWIe4RyuuBSQNpgb2ROnjK7AyEs89sY6cGlYm1dbcRUZ7dirZR/aZpqDlcOdyE+MHJPJNmxUZhehdJDTkhCleyztj9t7/8QdB6NCrX1AWuVjPXQEdhRN+pMNZTxrfw4/xKwdoBCejJLNXEFGdultCLbr7ERB8isZ8JIng1ghF268svK8yiT+ySzjWyxCzgFzd24lX0S5LqFxkjAX8gDb5Ya1GdnKcFciLLiZCuqkwCZpqP4/PtY8wJLqHwsm2DSDGnL7H7w4hwQXBFWliKnAv+Prn0h/YDYOlN6qFjhXX5i6Y2yhbMujrUlDkB8qp6Atreiy8acxCuyfHsJ8aF/wsm43VJYamsTfGuF/i+bgjSoHAwFK3xwYgQrzSXHKWPQFdQuqJvmwG+SDpUKcvsiE7kcEFA4SuYIjexgGkiS8Kr0W/180iaSajnS+QZhjsrmlxF6Dz/YqmAadShndTPXiqzNSser/plZp1l7wwzV6UIg3n6MtUsMD3R1OmhBUuRQAQC4NOXcfYShGGL91I/TgduTnq0MvTNMpRPVpBgxsXmmFbyl1QrXt+5uhNHDFTh9h5y5BHmQSYQEJjqusaWSTkWX7PDz24b1QBLvDMxOJopiIF0juNiEiijsqQiiWzbMhJ+Z9Hh8+k3tIxo5vGoedtEEPV2TV+P1G/DNE5av70FEpnrazf97NUHv/OpCW0rCTnlf6mCWHJG/UYlUg4L9tzEOAWhoQ4ikwajxYOAexmKg5VTGDBjpwMOP3gNdd/dBZgM9q+bM/KJrGQCoM2YnBHsmBvXFuVbWuM3JZK4u7j66G2rLCMctLO0/TEWiX3GnMcAykI3YdH7qCW4RJye+bXfyCP54RK916OCoofA0M0i6EQTONchpHLCADbGj0RtoGGda3wI0uCpfOjq/I+hfmdc8BALeiL6fiU1rBa4M7Ort0+KAhiote4dAK8WyyT63WYP5XwkwAgPb5mL34TEdzZcwmq68bwPL1iyN+oEBpn/PjWC+QhWhmk8xhnILu3WK1NudXvgYNo/WpNkU7COFG32LDnkdjMcTQJh2BEUznK1Jp7s7PA/r2ELwcdU2z0vNXqm++AxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0145yprnAgDFW1zctko1y4hJ",
      "input": {
        "note": "The wrist view now shows the black clapper bar running vertically between the open jaws, which are at the bottom corners of the frame. I'm descending a few more centimetres so the jaws straddle the bar.",
        "targets": {
          "right_j1": 2.55,
          "right_j2": 2.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_0145yprnAgDFW1zctko1y4hJ",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0555 left_j4=-0.0082 left_j5=-0.0082 left_gripper=0.9982 right_j0=0.8078 right_j1=2.5217 right_j2=2.5603 right_j3=-1.6691 right_j4=0.0219 right_j5=-0.0532 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1061d8aac083c56eedd91df4532b33beba0e7b5d024f6f99acdd43c6b722ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76aae6f98d97f08498381eb224f0f3f03d667fc617203252d6826290872d8b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17f51d2c9125589275bc597cecb1ebe8c1c5b9ea613a47bd402cb80ece79f086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 5.573 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7948 right_j1=2.4237 right_j2=2.8349 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.046 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7986 right_j1=2.4256 right_j2=2.6453 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.0456 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0555 left_j4=-0.0082 left_j5=-0.0082 left_gripper=0.9982 right_j0=0.8078 right_j1=2.5217 right_j2=2.5603 right_j3=-1.6691 right_j4=0.0219 right_j5=-0.0532 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1061d8aac083c56eedd91df4532b33beba0e7b5d024f6f99acdd43c6b722ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76aae6f98d97f08498381eb224f0f3f03d667fc617203252d6826290872d8b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f51d2c9125589275bc597cecb1ebe8c1c5b9ea613a47bd402cb80ece79f086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f1061d8aac08]

[blob 76aae6f98d97]

[blob 17f51d2c9125]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYD9bzCNbawJVS2CJLh9aK",
      "input": {
        "note": "Getting close, the dark clapper bar has drifted to the right edge of the wrist view, so the gripper is ~3 cm too far to its left. I'm yawing back toward -y to put the bar between the jaws.",
        "targets": {
          "right_j0": 0.74
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YYD9bzCNbawJVS2CJLh9aK",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.065 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.532 right_j2=2.5549 right_j3=-1.6966 right_j4=0.0036 right_j5=-0.065 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92e95fe6debce264a078f1e402ed6c1e02f6175c63f84caf8bdc7c75f8308c09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2d31d8bf6cc84296465bf3812577c9d3ac70e7b68ee918fcbb4ec019ecf680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:258c0545448eb9438849ca90a26279d6bfb59d40ee0be9b99e0cb8e67335ff63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 12.34 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=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.049 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7986 right_j1=2.4256 right_j2=2.6453 right_j3=-1.6958 right_j4=0.0246 right_j5=-0.0456 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0555 left_j4=-0.0082 left_j5=-0.0082 left_gripper=0.9982 right_j0=0.8078 right_j1=2.5217 right_j2=2.5603 right_j3=-1.6691 right_j4=0.0219 right_j5=-0.0532 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.065 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.532 right_j2=2.5549 right_j3=-1.6966 right_j4=0.0036 right_j5=-0.065 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92e95fe6debce264a078f1e402ed6c1e02f6175c63f84caf8bdc7c75f8308c09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2d31d8bf6cc84296465bf3812577c9d3ac70e7b68ee918fcbb4ec019ecf680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:258c0545448eb9438849ca90a26279d6bfb59d40ee0be9b99e0cb8e67335ff63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 92e95fe6debc]

[blob 1c2d31d8bf6c]

[blob 258c0545448e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAHzZbML5zNrmVJQSiQ2ky",
      "input": {
        "note": "My two camera mappings disagree about which side the bar is on, so I'm making a deliberate 0.12 rad yaw test and watching both the top and wrist views to settle which direction closes the gap.",
        "targets": {
          "right_j0": 0.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YAHzZbML5zNrmVJQSiQ2ky",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0715 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7303 right_j1=2.5244 right_j2=2.5549 right_j3=-1.697 right_j4=-0.038 right_j5=-0.1001 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacf7a539ef430f164f2db6cd6f02dfdc1eee58b7bc6127feb25e682c7704215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d80db0f5c000bdf44f7f6a8f2e4a7abf114394f96678b7c9c3307d06772ac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7dc94fde22bde13af310e1dd006c1c47fcfdb0090f03fff43be9051e8a5f4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 7.663 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0555 left_j4=-0.0082 left_j5=-0.0082 left_gripper=0.9982 right_j0=0.8078 right_j1=2.5217 right_j2=2.5603 right_j3=-1.6691 right_j4=0.0219 right_j5=-0.0532 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.065 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.532 right_j2=2.5549 right_j3=-1.6966 right_j4=0.0036 right_j5=-0.065 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0715 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7303 right_j1=2.5244 right_j2=2.5549 right_j3=-1.697 right_j4=-0.038 right_j5=-0.1001 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacf7a539ef430f164f2db6cd6f02dfdc1eee58b7bc6127feb25e682c7704215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d80db0f5c000bdf44f7f6a8f2e4a7abf114394f96678b7c9c3307d06772ac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7dc94fde22bde13af310e1dd006c1c47fcfdb0090f03fff43be9051e8a5f4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob eacf7a539ef4]

[blob 00d80db0f5c0]

[blob b7dc94fde22b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147H8CJbv3DG6kGPyKvtwdR",
      "input": {
        "note": "The last two yaw commands were cut short and the wrist joints drifted on their own, which suggests the gripper is bumping into the clapperboard. I'm lifting the hand ~7 cm to break contact and get a clear look again.",
        "targets": {
          "right_j1": 2.42,
          "right_j2": 2.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_0147H8CJbv3DG6kGPyKvtwdR",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0723 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7021 right_j1=2.5088 right_j2=2.5977 right_j3=-1.6917 right_j4=-0.0238 right_j5=-0.1131 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8238ac7edcdeda0ee9e3c4932e84be14a943cdd6eb172328ff9b90946cfb35f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7b79b820f647fde5f0417bd87bc18a36d7e682b76898883a4c9f34b6aa8dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:504a515fc271a8f0649d0faed93d6b6c8d75b1fb4cc327eec2b5ee26a6dafe75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /messages · status 200 · 23.6 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.065 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.532 right_j2=2.5549 right_j3=-1.6966 right_j4=0.0036 right_j5=-0.065 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0715 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7303 right_j1=2.5244 right_j2=2.5549 right_j3=-1.697 right_j4=-0.038 right_j5=-0.1001 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0723 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7021 right_j1=2.5088 right_j2=2.5977 right_j3=-1.6917 right_j4=-0.0238 right_j5=-0.1131 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8238ac7edcdeda0ee9e3c4932e84be14a943cdd6eb172328ff9b90946cfb35f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7b79b820f647fde5f0417bd87bc18a36d7e682b76898883a4c9f34b6aa8dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:504a515fc271a8f0649d0faed93d6b6c8d75b1fb4cc327eec2b5ee26a6dafe75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8238ac7edcde]

[blob ce7b79b820f6]

[blob 504a515fc271]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TS7VBUC2SvTFeM3dzkGKnW",
      "input": {
        "note": "The top view shows the clapperboard has tipped up against the gripper — I'm clearly pressing on it. I'm raising the hand ~9 cm to clear the board and reassess from above.",
        "targets": {
          "right_j1": 2.2,
          "right_j2": 2.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TS7VBUC2SvTFeM3dzkGKnW",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7029 right_j1=2.286 right_j2=2.5866 right_j3=-1.6962 right_j4=-0.0269 right_j5=-0.1173 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3dcb9ef0f0e9895bc1f72702f2d00ae5d34eff48740fa4f454b0dce03b8f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a121d2f28c269ae4c8b3e2709dad28953f2207c3ec20e2c5c1de75c4a5913a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16b03aad2c4718ef698f7926f40adf9e94be17dba8f40bdaa743414778e80ef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 20 attempt 0 · /messages · status 200 · 12.08 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0715 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7303 right_j1=2.5244 right_j2=2.5549 right_j3=-1.697 right_j4=-0.038 right_j5=-0.1001 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0723 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7021 right_j1=2.5088 right_j2=2.5977 right_j3=-1.6917 right_j4=-0.0238 right_j5=-0.1131 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7029 right_j1=2.286 right_j2=2.5866 right_j3=-1.6962 right_j4=-0.0269 right_j5=-0.1173 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3dcb9ef0f0e9895bc1f72702f2d00ae5d34eff48740fa4f454b0dce03b8f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a121d2f28c269ae4c8b3e2709dad28953f2207c3ec20e2c5c1de75c4a5913a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b03aad2c4718ef698f7926f40adf9e94be17dba8f40bdaa743414778e80ef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9a3dcb9ef0f0]

[blob a121d2f28c26]

[blob 16b03aad2c47]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CidGSrSGQGEeqKFee5T49a",
      "input": {
        "note": "Now I can see the clapper clearly: a striped stick lying on the table running diagonally across the wrist view, with a white hinge block on one side. I'm rolling the wrist so the jaws line up across the stick rather than along it.",
        "targets": {
          "right_j5": 0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CidGSrSGQGEeqKFee5T49a",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3039 right_j2=2.579 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5133 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27162d462284d953bd4209bc2505fb728b0b7bc0750ee2fcbc6c72d647a052b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee3d789b00bcf49ffb6396589262fb3052ad5733f409f53f5d83b8661baf586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62a1eb0d2c6b56c909285c55d9c25abaff908c3c5b12705513729ac0932008af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 21 attempt 0 · /messages · status 200 · 7.078 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0723 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7021 right_j1=2.5088 right_j2=2.5977 right_j3=-1.6917 right_j4=-0.0238 right_j5=-0.1131 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7029 right_j1=2.286 right_j2=2.5866 right_j3=-1.6962 right_j4=-0.0269 right_j5=-0.1173 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3039 right_j2=2.579 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5133 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27162d462284d953bd4209bc2505fb728b0b7bc0750ee2fcbc6c72d647a052b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee3d789b00bcf49ffb6396589262fb3052ad5733f409f53f5d83b8661baf586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a1eb0d2c6b56c909285c55d9c25abaff908c3c5b12705513729ac0932008af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e27162d46228]

[blob 7ee3d789b00b]

[blob 62a1eb0d2c6b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LqMLSdqr4HiW3EEZnBssH3",
      "input": {
        "note": "The roll worked: the clapper stick now runs vertically in the wrist view, square to the jaws, and its rounded near end sits between them. I'm lowering about 5 cm toward the stick.",
        "targets": {
          "right_j1": 2.38,
          "right_j2": 2.52
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01LqMLSdqr4HiW3EEZnBssH3",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3192 right_j2=2.55 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5499 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26bf02bd6ba104ac62f130c7588e4eea3f8bc62304998016a539cdbe76f04c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd4955969792c9812fccf641a095806358a8fa9fa3df26a4eb23be899a741ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ee47fda94b09612088e810097c0d287ec81cd3f1710d4207edf395762c5d854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 22 attempt 0 · /messages · status 200 · 12.21 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7029 right_j1=2.286 right_j2=2.5866 right_j3=-1.6962 right_j4=-0.0269 right_j5=-0.1173 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3039 right_j2=2.579 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5133 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3192 right_j2=2.55 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5499 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26bf02bd6ba104ac62f130c7588e4eea3f8bc62304998016a539cdbe76f04c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd4955969792c9812fccf641a095806358a8fa9fa3df26a4eb23be899a741ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee47fda94b09612088e810097c0d287ec81cd3f1710d4207edf395762c5d854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f26bf02bd6ba]

[blob fd4955969792]

[blob 5ee47fda94b0]

{
  "content": [
    {
      "signature": "CAISggsKjAEIEBgCKkAHr25U2LJqIjJT+BGOq+BwWtvhpO8JEIRzyUFJNZMtJgFI72rXSm+8lyghIzwDYl0KLDhioxwamlVYkjN1PTMOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMP8q6otSO6GFz5hfdGgy+cQZ9Tp8oLnLSPsIiMP1yNXJ2a5SlxEOnYvuZWTJ1VruSa7Lrh79jMT5g+RrHgFVQa1Jiq3bU6PsdHwLfoSqiCa5NgRAenGgv5Tmhx18T1UxDr9aqtauDEpPlMyzFtSf/gR1zE9ZDFXE81Vc3GLLsFrf7XIHXc9X8V8Rn12t0e4oecnLKHgP9+XxSekqzweV0yVnhi1iK8WS0ls9GFCeuCvhV2ssW04++tuefIBSj8iHBe9JUF3Z/UmVBUPrtSptJjUiWK9j5ntcU454ptxf/BfiPxqCHL3xxwb+8QSAfZ99Fz+kH7Xwgt7rFQ4y9r/9U3R0fCRhE067tha+9wBWzl5lNpEyJFmZ0cuQhV+sBrcpQp+e6eahZ2Z3Gi9NOCbYKdOFq/1D7YFOt0X8TAhGGP8jPZiiHrC4WX+/mwqWP4EFa8DUwsyIRcl8tVPgYodnqqNe2zctY6URBTQfRTtlmpYhNpSCXVFEXbjDRZ8gCeZdOsM1tJVUAGt+g5bQ7ajfKxVGMPv7NKVOIGbbxj3hAZp9bhRxfRmBPtDSDQ2PuIOqpacXnz42BTXmygOCVcGu6C/cFBT/NzZOtREUGFr8kFSvnE5KCB7JvGsquKDb9nvA2CkoIYy3VuqVq4ADysG/S01yU9B3UOG4nIq2MOTuAY4FNczg/apB5fgXBlU4drSgTnc6RzGgdv9qQOyXCT0ZwJQE+VFGLXRIkhO2O3kteiZlsjJxccUSrAIMoiurhJxkWlHYM8LhOt3q3qfVk+JS+7Gj81ZnQODkbo8Au1HGt/doGBFo3C+fjz7OoQbbXixw86izHKDw0FP5G9h6C2bzQgcEQzY7PAgz31wcq/FUBSpBi9J44mvUQzQRv8Q9hbZUp2972L64okWumEoWjXGlHiD59XApdF+foSE1zBk9nBhkRtpyvxvZYlU/pxkt1/vtwZCx5mSbSxPNpY8fl0xDGLtg6pbO2+g/l5fHxZZ4UwbzMVOyBsMvM6KcsjQg0wRgFr3LmYz5CGTJiciv99lJGI9Zf36nQ+LwrUmTMTgpLZ7ceZMuawfZ6WCoqDdamPsKB48v7X9+YDjfy8SrpebSyfwML171RrujFOJkjDzOV98qeSfq2X7WSPd05pocG13n55QxviDNm2VkgzChpjT5st0lB58exgetF1vgwrQzJY1g6q9fUDtk7ODshSasyifx92KvlYLcm28DWoKn+Uxe+7CUsRmHpZDixdgxEywwql+KaIl3RZeeSVS+u0XrvaGU6XExlt7z7baPVyM+g1I8SAocsiUFGP/xtpHwM1UQm80F9AZ2sXK8M7ZrmXg+Be++R3z3cE7bjnvWvcuhfvkOjbkUVk55kLXRMpZcH7AgVNxThcKncqcp6eVd20vySrhtMsD0Z+lkICcjxmcLa2Y0a1Fp7FCSi0w9ztWBRsrgNrVE3ZC0/BPb9pEAnkHROacXWYUwFJiGTGcv3de7L9403d6BQd9zs9K1Nd0MWE1awXzEFuPadUMScn/LhK/XAVD5i4wrPWR7qCAZIIj24ywvwnTXKQEPwJtEOljgUtP14fG8ZNImmW4nRsIQ5myis6uk880hy61UX4ipyQ89AeIfOyBGNDb2GDJfnFlS4Zy9DQzaMjQP9EltqhAW8B//sEBxp4m5aCLtzlmVBGuchaRbNsNUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SScXecv9H7XsJmobhsJCH4",
      "input": {
        "note": "Only a small amount of the last descent was executed, so I'm commanding a larger downward step to bring the jaws down around the near end of the clapper stick.",
        "targets": {
          "right_j1": 2.42,
          "right_j2": 2.46
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SScXecv9H7XsJmobhsJCH4",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.4008 right_j2=2.4809 right_j3=-1.6951 right_j4=-0.028 right_j5=0.5259 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:839c9d5634e85ef52bc040a50401272e2fd2a3bc1fea6103ac56686777a145bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61349d6e42e68a9f92541dde61cf5826b1c8418c8f8d27f82d26ba13b0db83b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:695ac514d9bdabba60765bb39ba24b399c11b431e061bfe6bb52cd68c286c950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 23 attempt 0 · /messages · status 200 · 7.309 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3039 right_j2=2.579 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5133 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3192 right_j2=2.55 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5499 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.4008 right_j2=2.4809 right_j3=-1.6951 right_j4=-0.028 right_j5=0.5259 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:839c9d5634e85ef52bc040a50401272e2fd2a3bc1fea6103ac56686777a145bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61349d6e42e68a9f92541dde61cf5826b1c8418c8f8d27f82d26ba13b0db83b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:695ac514d9bdabba60765bb39ba24b399c11b431e061bfe6bb52cd68c286c950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 839c9d5634e8]

[blob 61349d6e42e6]

[blob 695ac514d9bd]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V4Sf3Mvg1YDAjFACZ1YfJu",
      "input": {
        "note": "Close-up wrist view shows the stick drifting toward the left finger rather than sitting between the jaws. I'm nudging the base yaw so the stick lines up with the midline between the fingers.",
        "targets": {
          "right_j0": 0.76
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01V4Sf3Mvg1YDAjFACZ1YfJu",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.421 right_j2=2.4592 right_j3=-1.6955 right_j4=-0.0277 right_j5=0.5346 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f23506b32a2d1e92e96749fa62f69178dfb389b0aea9e76cf2e12072a1f1886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a279043da909d7362443795c187adc23fe30c0feaf215d9f5309c2d29270d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a37a7143cd9b768409cc995968ec87a29e140cfd6f6c5b81526c6b5957ca609b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 24 attempt 0 · /messages · status 200 · 14.27 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.3192 right_j2=2.55 right_j3=-1.6962 right_j4=-0.0277 right_j5=0.5499 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.4008 right_j2=2.4809 right_j3=-1.6951 right_j4=-0.028 right_j5=0.5259 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.421 right_j2=2.4592 right_j3=-1.6955 right_j4=-0.0277 right_j5=0.5346 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f23506b32a2d1e92e96749fa62f69178dfb389b0aea9e76cf2e12072a1f1886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a279043da909d7362443795c187adc23fe30c0feaf215d9f5309c2d29270d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37a7143cd9b768409cc995968ec87a29e140cfd6f6c5b81526c6b5957ca609b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8f23506b32a2]

[blob 6a279043da90]

[blob a37a7143cd9b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q5XKwUEGKhu2X2gsNkc5zv",
      "input": {
        "note": "Now I can see the white slate face at the left of the wrist view with the dark striped clapper stick along its edge; the jaws are just outboard of it over bare table. I'm yawing toward the board so the stick sits between the fingers.",
        "targets": {
          "right_j0": 0.79
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q5XKwUEGKhu2X2gsNkc5zv",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7746 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5312 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db3963a8253c4fdd8e5bf13c1362673184b6aa8dd58af30e16c03acde004c1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b73bf33e61ab16d88f3645c035df41008a00c5b84722e5fd63d320f7fe7f236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0db98596552b0023b6eff8682141bf45c181cdfd3a35f4538d8af36770d7753f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 25 attempt 0 · /messages · status 200 · 12.18 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.4008 right_j2=2.4809 right_j3=-1.6951 right_j4=-0.028 right_j5=0.5259 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.421 right_j2=2.4592 right_j3=-1.6955 right_j4=-0.0277 right_j5=0.5346 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7746 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5312 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db3963a8253c4fdd8e5bf13c1362673184b6aa8dd58af30e16c03acde004c1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b73bf33e61ab16d88f3645c035df41008a00c5b84722e5fd63d320f7fe7f236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db98596552b0023b6eff8682141bf45c181cdfd3a35f4538d8af36770d7753f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob db3963a8253c]

[blob 2b73bf33e61a]

[blob 0db98596552b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GM1764QS5R9N32aZhn3t9y",
      "input": {
        "note": "The board edge with the striped stick is just inboard of the jaws. I'm lowering another ~2.5 cm so the fingers reach down beside the stick before I close them.",
        "targets": {
          "right_j1": 2.46,
          "right_j2": 2.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01GM1764QS5R9N32aZhn3t9y",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7902 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5308 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31669c183ce62032c9db8f368aed81d3941d9bfaafb48702440126ad1573f0e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0502caa52bc965d2e121dad71da228619054146b62cfe6b766e2f1299fb46eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:759729825e16b0c6234a4930ea246c82d61917177fdcfcbd03c8e681efd4da61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 26 attempt 0 · /messages · status 200 · 4.442 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7048 right_j1=2.421 right_j2=2.4592 right_j3=-1.6955 right_j4=-0.0277 right_j5=0.5346 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7746 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5312 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7902 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5308 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31669c183ce62032c9db8f368aed81d3941d9bfaafb48702440126ad1573f0e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0502caa52bc965d2e121dad71da228619054146b62cfe6b766e2f1299fb46eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:759729825e16b0c6234a4930ea246c82d61917177fdcfcbd03c8e681efd4da61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 31669c183ce6]

[blob 0502caa52bc9]

[blob 759729825e16]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SivW7x6zjj2LE9rNZKaPPG",
      "input": {
        "note": "Top view shows the striped stick just forward of the fingers, and the wrist view shows the board edge between the jaws. I'm dropping the wrist while pushing slightly forward so the jaws come down onto the stick.",
        "targets": {
          "right_j1": 2.54,
          "right_j2": 2.58
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SivW7x6zjj2LE9rNZKaPPG",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7876 right_j1=2.4912 right_j2=2.5416 right_j3=-1.6802 right_j4=-0.0303 right_j5=0.5236 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fca16b705c49e3c34f1f495e1799c604ba8d8d661b153caf509ae4ebb7e203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b49c336d707d22c64df3b278b306c9a707f4c90c6ecf98fc626c1d3cb32504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff7e967b7b4413e5ac3b80c9c879ba0843ae8986f2dba4c6f510aff1189c0e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 27 attempt 0 · /messages · status 200 · 13.75 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7746 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5312 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7902 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5308 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7876 right_j1=2.4912 right_j2=2.5416 right_j3=-1.6802 right_j4=-0.0303 right_j5=0.5236 right_gripper=0.9988",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fca16b705c49e3c34f1f495e1799c604ba8d8d661b153caf509ae4ebb7e203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b49c336d707d22c64df3b278b306c9a707f4c90c6ecf98fc626c1d3cb32504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff7e967b7b4413e5ac3b80c9c879ba0843ae8986f2dba4c6f510aff1189c0e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 99fca16b705c]

[blob 02b49c336d70]

[blob ff7e967b7b44]

{
  "content": [
    {
      "signature": "CAIS6wgKjAEIEBgCKkDsEXQ7JtehYF4XnwH0EUDAOClERx5UGprC7egsgYEOGLIJHUcaoTNSItBBZu9zSwXgx0xLA1oDdpl83E7QEic4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM39AYWzbtMwswDboJGgy0Cv/RJLtg0R6K96oiMK2qwHV3wEP1F8se4uUhutOxVDJgB7bxiq8RhhKqdPNq2TMVdyBHfigwB/IQhf546yqLB7+P0gBtN0CXpzWw6Q2v9ZtuQe5tCs2Y/YN9rLCSzdUa0a2nx/jxmUse/o17zR9yMxgWAPq9aNAcewVFak+LzzLXvE7gkZP4XLHJ5RdbTH8Qdkb+Wz2kRCAoNYISg3d9BIB5O0zPIQ/INimjosE97RDUh/65HbfAVe0MA13geJtnd0KMbpfzhKL378+2BNNL8YtlB0JEV19NksSq3XwKNTUc2fcOCg8+EAkaG2dSDSmlaL09DV4qC6YGzuNEC/6krJN5AZpcZUSKcnT0oVOyKhUnfZlTIuHrKY7xx+f9SiQftcU3uSxpVy/ipfMcxxJHEnb4eb1QffHbejd4ZvGcyA1uUOOe/ygbs8nqIvtgMh8Y085M/r4MmPc2uGsHKFBK7FCzU78l0FiSXzgtW7eVPC7KjqAItGKg++pFtQOGIzDWNLA8jrKIATS1TfNp99d57PJnPhGU8HiPmdAcsiYuNQoCIRD6ObAlMh4aUq8agaXfnBR84WhDutOw6Uif82TbePj2c/4qhGSZKRUwfaDTjlBoAZQX5NzH+EM0wpocyLNl/TYSKfBPB+tgppVS16stWT4IwTnn0Vl+NOl0zY/CJp3KnUW3sa+WxnLYAcWjCsUeJ5vN2R7skAv0IKf/iEAs7QHg1FjNIR5889SBOYjQwu4EteTuhzRQo/M421VnPkJDIYifkomtkQFpbYtQf9PM6to2fnDsIjYlrW29/vO9DAQl/dc0qsKveqfieMxH0CAaD12OGhNLn+jHqz9IHBO0+XBnu76V9+Uosm5ElW2OY4/wHjnZXt+es7ACls8wh7bK9cc1ZdZCVYKnhZejumClApUO1jikQq2xgoQCTxyzbtGQX4lNTXpizwCPz3Am+7pu9Iz6o3Z83fc2BlIUAdJryeDA7OHivbU1CfyCiCAgtT2AMfUI3yxuPFSiLe87HdNAjh9SiT4q/X8dEwNhAv/xhopGsOAuDwfflBSgmNrs47nVRJZDAO+bVPjsSJG8EMPJXjOA/LNKPlyjWO2yhA8ro5oawURY1E66KQxydUvljVFSbNFOFSLmbYA4iLcSLG8oJCNnh3g1mUVYPAxiQmisSobedfL0Xlx5ZMesIXF7OFzHNGsBdpNhYHF89V+hMBaglibk1UIdooCs/ucg3wJkoFg59kiGmGgdMTUlgArjRv0GqizZEo2GUIdGRiD/GTmGJoqP/RuR9Ti+Gf8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gPUK1KRpjYyujScq6qU6E",
      "input": {
        "note": "The wrist camera is right down on the striped clapper stick with it lying between the fingers. I'm closing the gripper to grab the stick.",
        "targets": {
          "right_gripper": 0.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_011gPUK1KRpjYyujScq6qU6E",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7788 right_j1=2.4981 right_j2=2.5538 right_j3=-1.6966 right_j4=0.0448 right_j5=0.5232 right_gripper=0.1742",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cb5a103b23fb95ec4223099ef6bbb495941cb58b93e5b1f6ccbcdde78dbe00b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a717bf9380ea57247bba83c6ca02e61064baf027d6ab6a4fd144cfa6eddf0c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a9e72e29d4663c5661e6e1ca2b708c4d6aebc5f0e9b3ac8cdccb3fe800decd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 28 attempt 0 · /messages · status 200 · 9.07 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7902 right_j1=2.421 right_j2=2.4596 right_j3=-1.6958 right_j4=-0.0311 right_j5=0.5308 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7876 right_j1=2.4912 right_j2=2.5416 right_j3=-1.6802 right_j4=-0.0303 right_j5=0.5236 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7788 right_j1=2.4981 right_j2=2.5538 right_j3=-1.6966 right_j4=0.0448 right_j5=0.5232 right_gripper=0.1742",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cb5a103b23fb95ec4223099ef6bbb495941cb58b93e5b1f6ccbcdde78dbe00b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a717bf9380ea57247bba83c6ca02e61064baf027d6ab6a4fd144cfa6eddf0c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a9e72e29d4663c5661e6e1ca2b708c4d6aebc5f0e9b3ac8cdccb3fe800decd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3cb5a103b23f]

[blob 8a717bf9380e]

[blob 8a9e72e29d46]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXEGVqGPf1P9JTRGJt3tYA",
      "input": {
        "note": "The gripper closed onto something about 1.7 cm thick — the clapper stick. I'm now raising the hand about 8 cm to swing the stick up about its hinge.",
        "targets": {
          "right_j1": 2.3,
          "right_j2": 2.53
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TXEGVqGPf1P9JTRGJt3tYA",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7769 right_j1=2.3955 right_j2=2.5244 right_j3=-1.6947 right_j4=0.0525 right_j5=0.5198 right_gripper=0.1743",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8fe337b69236b7b2c9ca8e623dd87e2be3eac145aca4e88ea554ecfaab8751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540509083d760eb8b5a51d5cc39a5eaf8d0806ca5e602bd4424a1c6df9320951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86b4ca408730a2dc98a1ff0a5c31d52af656ebb91c6275218b339044034d74d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 29 attempt 0 · /messages · status 200 · 6.856 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7876 right_j1=2.4912 right_j2=2.5416 right_j3=-1.6802 right_j4=-0.0303 right_j5=0.5236 right_gripper=0.9988",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7788 right_j1=2.4981 right_j2=2.5538 right_j3=-1.6966 right_j4=0.0448 right_j5=0.5232 right_gripper=0.1742",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7769 right_j1=2.3955 right_j2=2.5244 right_j3=-1.6947 right_j4=0.0525 right_j5=0.5198 right_gripper=0.1743",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8fe337b69236b7b2c9ca8e623dd87e2be3eac145aca4e88ea554ecfaab8751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540509083d760eb8b5a51d5cc39a5eaf8d0806ca5e602bd4424a1c6df9320951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b4ca408730a2dc98a1ff0a5c31d52af656ebb91c6275218b339044034d74d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ba8fe337b692]

[blob 540509083d76]

[blob 86b4ca408730]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4RRLCSY8aVQ26VYZjngMC",
      "input": {
        "note": "The stick is coming up with the gripper — the top view shows it tilted off the table. I'm lifting further to swing the clapper stick well open before releasing it.",
        "targets": {
          "right_j1": 2.15,
          "right_j2": 2.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S4RRLCSY8aVQ26VYZjngMC",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.77 right_j1=2.3226 right_j2=2.4748 right_j3=-1.636 right_j4=0.0681 right_j5=0.5148 right_gripper=0.175",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f59bf09a05dca7ce630bd90fb433192cc5f4761910067df4364f3be8a71020f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bbd875a4a1f5d4fe904f1f07e00f2f09279018563cc4eebf588301d8c21e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c334840d0273e97202a1acdc251f08b9fe35d616d3d74bd3239bc71e686a73e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 30 attempt 0 · /messages · status 200 · 9.039 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.075 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7788 right_j1=2.4981 right_j2=2.5538 right_j3=-1.6966 right_j4=0.0448 right_j5=0.5232 right_gripper=0.1742",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7769 right_j1=2.3955 right_j2=2.5244 right_j3=-1.6947 right_j4=0.0525 right_j5=0.5198 right_gripper=0.1743",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.77 right_j1=2.3226 right_j2=2.4748 right_j3=-1.636 right_j4=0.0681 right_j5=0.5148 right_gripper=0.175",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f59bf09a05dca7ce630bd90fb433192cc5f4761910067df4364f3be8a71020f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bbd875a4a1f5d4fe904f1f07e00f2f09279018563cc4eebf588301d8c21e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c334840d0273e97202a1acdc251f08b9fe35d616d3d74bd3239bc71e686a73e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1f59bf09a05d]

[blob e2bbd875a4a1]

[blob 7c334840d027]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P9Tk93hVHzvRtnvtDzosP9",
      "input": {
        "note": "The clapper is now tilted well up off the table. I'm raising a bit more to see clearly, in the top view, whether I have only the hinged stick or the whole board.",
        "targets": {
          "right_j1": 2.0,
          "right_j2": 2.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01P9Tk93hVHzvRtnvtDzosP9",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7658 right_j1=2.1128 right_j2=2.4279 right_j3=-1.6344 right_j4=0.0742 right_j5=0.5117 right_gripper=0.1757",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d073ba3998ea4e78eee0841e255712006b7a7235b9b4c8577c85270f34481258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e24a282e28b67244919dc2914fa1da41c9f1237a0c343806282161d891d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b6ec2bf3cdfee5a3213c9d6ec9cbbe7a5a688829b89c15d2b7fc40187db831a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 31 attempt 0 · /messages · status 200 · 5.995 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7769 right_j1=2.3955 right_j2=2.5244 right_j3=-1.6947 right_j4=0.0525 right_j5=0.5198 right_gripper=0.1743",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.77 right_j1=2.3226 right_j2=2.4748 right_j3=-1.636 right_j4=0.0681 right_j5=0.5148 right_gripper=0.175",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7658 right_j1=2.1128 right_j2=2.4279 right_j3=-1.6344 right_j4=0.0742 right_j5=0.5117 right_gripper=0.1757",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d073ba3998ea4e78eee0841e255712006b7a7235b9b4c8577c85270f34481258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e24a282e28b67244919dc2914fa1da41c9f1237a0c343806282161d891d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6ec2bf3cdfee5a3213c9d6ec9cbbe7a5a688829b89c15d2b7fc40187db831a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob d073ba3998ea]

[blob 82e24a282e28]

[blob 9b6ec2bf3cdf]

{
  "content": [
    {
      "signature": "CAISvRYKjAEIEBgCKkAoOOFTNehwBR8Ze04f1oM1105xh0Pk/0zMYQ5NrN3vuB1eeOQhJ604rfAGXNSuuIxvCa1uXyqu9SEH+ff+v1fvMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9T4UoE4WoRWJ1oVRGgxpLrHkYqu6sL4EhdAiMN2YVoIkMftLp9jhYuLDaGjsKSj4aP81IFZgE8rPv0lFo8xADhdzFwrYoF58dtS3yyrdFJO9NYPBx4wYabje7tMJYW5PYOla2SzkgjEPGkq/sx1o/BT2eKngGis8OjTKxLx4/Qz8CiYn36oBJ7Qnl21zezzAMa/EDVkhVvtTVf0WX4XwBk/d9F4vrMFLuDuM6bCcyV5FnoRqIHW2rAqQfbovFbiBISmK1yJzo2sOa5t2E4VFTTarLaLC+AOTMAgFcU1AWi8lV4vgzTfeenWWtpO4bZgVmPqKoOV5rtDEt7rUYcL/6ONt8a0Ybzz14kH4RyXPCLu9JDoQc01iT2kk7NdX8HEA5wqU7lFkV+z3mmAdweiUB9gdYsLSclqR+LTXWRCN0WY3kP+pcp+gchHNjlhtq9d097ptFRuBUYLMC+slSScKmHW68hL4Ytqec/1RN9hzz+4c/0RfnFMiazY0iv1S7pi2qIuIF8qKAM+nMu66BLuwzu++0jgJA2zdz3bBjpAqhu20ZxMHsD6ednzqL+HnZpne0eToOZXvJFEHxgDk5e/VtYbhlYcvEK1Qvs+7F2diMdSP5BBzQmr0F921vb+Xcpj7LXjonH8oMgUmsrh8HkOXFsuHEkoO78ApdnmFNSKOpGr+aFzi/hK4m182UfI7mOdFNRVaXQjh4e9wHeRzELM439vdL3zy5XfdELtjbv/HxHug5G2Ck+EU0nKR5yL3rTAe23SevWu4Mo/ZUNEVSm9mc8ZWKGSiClYQyc9y/57SmkEYksSe12AKhB2lyt4OP5COaL3zMOHf7i7TVuo3AlUco6Er3/eeWzJpVO1jrenzgLbIQFkC5DkBBi51U8spZ3PSFBDzdPXQBb9UrlxIhom7ThfhoTgEi8C8jVg+SGQEN5OVYP6pJ0syIn2yNt3sl+zTQTlfnEs4rqlanF4eOAhKxweKCqViaEpFojIVCFB1R+jLxv0IwP5ybS7/kT+YCcDWY/xXhqjfx/cVlUPNEoyx59AQY4+zIhDdY7B/n+W6dTHYiSPjGCDY4WMAfG+1CAW85+aYWGi21PXqPTY/XjcnbtIos9mGxQhqbax4UZpwQBCIOQgDhRFm09RNTeSC7Z6jX731NzKnaDxzmWqsciAtGXZMIeY7A2y/NlWL/QGwsbVDbPDcCJEkn2/LutcOjfBlpffL415OW4kISCR5v8YTCrQQd9GAe/FojAYfPxtqUVsE11nojCwkci0U5K8g1zVozX46PcXP1EpRxobX0LoVW1Jff/7s6DXy4us3N9g+PzIarEistPDHdytIoM7BAAjiEMhtu8OlAgYjy6Rg/H2ROQLpJl2fAR5/fgHS6Ue8HnqRZPC05UeSCjdrA+ZelqkWjELLp+lY68TPuCX4OGZTKqPE9mel4U59g+xkUOjR4byNnBoiQAjWP9ThapYd3i3935uKUNuPPgkzG2nfPjmJVIz80je9FnZ1AN1sht+psos/+zPqY+AqXpOlG1NLphJNQE8mgwjdzY78/L5pfHq998HI2sQiEinGh17QD1xfAXhwSGrVu72WnctX3eGygaaD0Yw4Ruax3lVbGj/zsMYXo2VdfGNdiQnbMSBv0EiXsH0/fmHJ53AM6s8YAVgjBqkmoFFvGKsMA3446fH56npeV592Vm93peGhhNvK9rQeITkEjCmr1nBWa+nxuAHsUk29v1VfnLSQNeDlaQ+OZJUjz/LmuPTDFKkeyV5jX5Eyr9CYaYCZtyL0+Uy7Dm43Ej5Fec+laKOt/E35CzCuumOJlwAUWeImJQB3eYFKsXwYq61ht6cj1bwy3ohwuV0K3EVNwnFJancckeAp6J7APatmCmuy81FNP39w8miEKpJZ46C1drmziP0t3bYRi2zeTFVmwSbbCKfWZqHG+VYeUXkSvy8qt8tznCz4LdpjPPNy60UHUz5ijcXHXxEOZbWESvqCDMGhhKGHg293y5NW7a2Zs3+bxR25j0gI21kinTngpejdriFHEmZzYe2kkiF1VTQPKeejLlFYE5MQzBG3s5T3bwpAoPFW2Srn8ZjVedN4vkRmT8fYnT/SImwKyMdrSVnx2/lNnixE+Pt/ZLISaM0lLqqzfIYe7GCkTiG2dkS4hllkSvnWAcsZP5/P0R+SRyaU9ic5iR9IThY5hTAhiP82LeAQqx9fAXN4gPzdQH4y8Wi675mInHYHuu2ZK4NFE3tM3Sy7XruobGR5yCpNABlmI6y/4M9o5eDWJwZUXjEInAMakLAoSVHgH0Jx3ccFTgjtVXo+hi6Lk6SAO1YAkRJvOHeTEwvkhInYgCRhIvwoNQ8zJaEvvjmkr2/BkkHHq2OlSWlvLwjBHNEyCsAlJM5UpaVBWa6AedWwYfQovKrCTjbUDscFyq48hAkEfENwagWfYQPzwzaoXmEN5Oxsc2dX1fxELg1LFUk6BVym7mrQRmurdX9haowJ4FjhB9oN3IZfor/QA5btHMHh35HPRheoWSjmMamVo+G52SnLBdvTbMjv5tkVQQ5I8bKXfsmrSRpUUtTOLFEzw/TPdghy/2/L/U0cKfcLw5z8Ggf0ZhiXJLapOykLflhWRwg3lTQJqkMlAGdgkMaH215xpJ2aAOTyPwUyG88ENKz1C3VL+n8vsQRIRbm4z4uVVTLIcoGmEiaEfnk33eA7TQq/XfKXG8XuuLHSqtcJUwyRFoIe3KlQxo2MWbfwP6L2rm8UTG3I8SdHJfI5+DTpJ4qxaKAGBSUhdU8VMTEHvBgqoGef4Ja5dG6xudFix3nTxwAZ9xmearSzXwq/siqr8Prf+gM0Pbli1OZAX6DCv7TD9eNUOqzYcY3zSJn1wzq8UcGHC3+E9j1Zh3IOQqyQJNXzPe/Fwn+GBlYzpYAn8pqlvEoDhnmcpqH6QsNjX9hj8RMvkrAc9tgxI5hrOxgxat839o2vrttC6JDD5u8VTa9VnPPeTJpvAKEFQi3lrgeY+mrzFMJpdJa98IMB+8IhIuS4nZiWZyrP3BapQdcBbs5L/I1sBUP3CUzc9P2OlvD/lQZoz+T8od5pd9FFTH51QCgziNnHarnA2XpLu//c1/WnUPTUsprKL+eEeXY4g2MJvKIqMjTNZp2J0S/CEMDJ4zx6fcE4QTEqIP1Wp4nu8nEAeALOTkW2FJxlccwEEATqWBTyzGd+FOz4ntPlPMsMXzMgKguGXzd2lCjd+qX4lsO5piQ6fuxAnZpfHsz/Y1aY9nDdEZPKjXSQdhSXJ8ZHYlF2r5sh4FOqOHXlnZpBnLNatsisMLw/VBky3cC/zbPCBANnzuhD+UIeMc/n/2xaYiHjpHHAx7cw9o6LvvaHQZZGQU9blY3rYEEVEfjDThL/R26/FXi8RBCXLX1nA00P+zLZSXuhge6N4TfXijsxZbtaP7YonvsfEmSqrEXRUKAQYiJakiQsSXUG6vl6E7pq5UKrmNMZHtyJmnLC+yHAnLkFyDj/CZ4HGOwaYZPtZH0j3mvoylDOMkArzB/bbkyFrrFPrnN+dVJsu6cNB9/lUjHFekiZsF2lLeVm83K/0wqeCsi30MfveTXFNms7TFITCuVP2swqdpF/vrqWCf8hyv7lBJRWYktk65R1UKhHaDMsKwBWybYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4nFTdEpqVJS9c1JdnKy3g",
      "input": {
        "note": "The last top-view frame was motion-blurred; I'm making a tiny move so I get a sharp image to judge whether I'm holding just the hinged stick or the entire board.",
        "targets": {
          "right_j1": 1.98
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01C4nFTdEpqVJS9c1JdnKy3g",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6657 right_j4=0.0669 right_j5=0.5117 right_gripper=0.1757",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89703727e5c0cab1153443a052da0bbcaa1ba87d22a62533eb3be6e9b1685d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10da496cc8ebd02948831591f0ee8db337f154963b2dfd4b9fa9ca78d7486e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40f441e77ef5b6d898afa3d7573050ed19d9ede05d0e06da16a35006f49f7641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 32 attempt 0 · /messages · status 200 · 7.098 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.77 right_j1=2.3226 right_j2=2.4748 right_j3=-1.636 right_j4=0.0681 right_j5=0.5148 right_gripper=0.175",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7658 right_j1=2.1128 right_j2=2.4279 right_j3=-1.6344 right_j4=0.0742 right_j5=0.5117 right_gripper=0.1757",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6657 right_j4=0.0669 right_j5=0.5117 right_gripper=0.1757",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89703727e5c0cab1153443a052da0bbcaa1ba87d22a62533eb3be6e9b1685d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10da496cc8ebd02948831591f0ee8db337f154963b2dfd4b9fa9ca78d7486e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f441e77ef5b6d898afa3d7573050ed19d9ede05d0e06da16a35006f49f7641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 89703727e5c0]

[blob d10da496cc8e]

[blob 40f441e77ef5]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y79chLA19hDwWi9yLySKiY",
      "input": {
        "note": "Now it's clear: the striped clapper stick is raised almost vertical, still hinged to the small white base sitting on the table. I'm opening the gripper to let it drop and snap shut with a clap.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Y79chLA19hDwWi9yLySKiY",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6737 right_j4=0.0666 right_j5=0.506 right_gripper=0.9962",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd29437e7a4c626db3c1b9ed141688824b6475cccbfbd9997f41aaba20cc4615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ddad41c3494b9f48ebd4e729c71e5607a88fccee15a78d3b0c78fdb56ccf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60e463ece364d46ecabe7bfa394022feaf1fb8e670c639ba3473abfb758dbc60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 33 attempt 0 · /messages · status 200 · 11.3 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7658 right_j1=2.1128 right_j2=2.4279 right_j3=-1.6344 right_j4=0.0742 right_j5=0.5117 right_gripper=0.1757",
      "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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6657 right_j4=0.0669 right_j5=0.5117 right_gripper=0.1757",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6737 right_j4=0.0666 right_j5=0.506 right_gripper=0.9962",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd29437e7a4c626db3c1b9ed141688824b6475cccbfbd9997f41aaba20cc4615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ddad41c3494b9f48ebd4e729c71e5607a88fccee15a78d3b0c78fdb56ccf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e463ece364d46ecabe7bfa394022feaf1fb8e670c639ba3473abfb758dbc60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bd29437e7a4c]

[blob e1ddad41c349]

[blob 60e463ece364]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xJC7q7HcJToeKwcXkF8ev",
      "input": {
        "note": "The gripper is open and the stick has dropped back down. I'm retracting the arm up and out of the way to confirm from the top camera that the clapper has snapped shut on its base.",
        "targets": {
          "right_j1": 1.7,
          "right_j2": 2.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_019xJC7q7HcJToeKwcXkF8ev",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.7287 right_j2=2.0151 right_j3=-1.681 right_j4=0.0666 right_j5=0.5045 right_gripper=0.9972",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff82390ddf1bf27d5f2c0f961410372aabf1a02deb2b49ba48c38498d19e0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686e6091aa87f843213100d0b8007484b5647e1a6c8597661ca5454b89c5db77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0caf5f283afe0332807ec7b63982ad4a61317f5662073b09d5e83aff4f93729c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 34 attempt 0 · /messages · status 200 · 22.95 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=0.0059 left_j1=0.0097 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7685 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6657 right_j4=0.0669 right_j5=0.5117 right_gripper=0.1757",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6737 right_j4=0.0666 right_j5=0.506 right_gripper=0.9962",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.7287 right_j2=2.0151 right_j3=-1.681 right_j4=0.0666 right_j5=0.5045 right_gripper=0.9972",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff82390ddf1bf27d5f2c0f961410372aabf1a02deb2b49ba48c38498d19e0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686e6091aa87f843213100d0b8007484b5647e1a6c8597661ca5454b89c5db77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0caf5f283afe0332807ec7b63982ad4a61317f5662073b09d5e83aff4f93729c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4ff82390ddf1]

[blob 686e6091aa87]

[blob 0caf5f283afe]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xKuT1McQdgGmwfyrbMF5A",
      "input": {
        "note": "The clapper stick appears to be standing open, possibly leaning on the open gripper. I'm withdrawing the arm clear of it so it can fall freely and clap.",
        "targets": {
          "right_j1": 1.5,
          "right_j2": 1.7,
          "right_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_015xKuT1McQdgGmwfyrbMF5A",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.5364 right_j2=1.7046 right_j3=-1.1057 right_j4=0.0666 right_j5=0.5041 right_gripper=0.9973",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8d773b763845d6195739a41449c71d19c4da5b65419de36bebe857289f0b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b104f43c75141fa68e1faf480cb799c0b267fa21a5317c384aeb5ee1ea1b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f78e6759ded762bf8a7d88ca2c928fd2c63fe9231a051cdda6ebe6b0cbf4c4c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 35 attempt 0 · /messages · status 200 · 10.77 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=2.0117 right_j2=2.4229 right_j3=-1.6737 right_j4=0.0666 right_j5=0.506 right_gripper=0.9962",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.7287 right_j2=2.0151 right_j3=-1.681 right_j4=0.0666 right_j5=0.5045 right_gripper=0.9972",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.5364 right_j2=1.7046 right_j3=-1.1057 right_j4=0.0666 right_j5=0.5041 right_gripper=0.9973",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8d773b763845d6195739a41449c71d19c4da5b65419de36bebe857289f0b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b104f43c75141fa68e1faf480cb799c0b267fa21a5317c384aeb5ee1ea1b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78e6759ded762bf8a7d88ca2c928fd2c63fe9231a051cdda6ebe6b0cbf4c4c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob bb8d773b7638]

[blob 60b104f43c75]

[blob f78e6759ded7]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KjCsg489SU6duF45H4JjNQ",
      "input": {
        "note": "The clapper stick is standing wide open and did not fall by itself. I'm closing the jaws into a paddle and bringing the hand back over the board so I can tip the stick past balance and let it slam shut.",
        "targets": {
          "right_gripper": 0.0,
          "right_j1": 2.2,
          "right_j2": 2.5,
          "right_j3": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01KjCsg489SU6duF45H4JjNQ",
      "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=0.0063 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7704 right_j1=2.1822 right_j2=2.463 right_j3=-1.4754 right_j4=0.0662 right_j5=0.4965 right_gripper=0.0107",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27c2a155e17872dadfdee890a35b156808867c74a0fddf7781da91f4bd228552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ab3c6d4c8c50ad8f5331550107e19c8984f4d737c8ab013c612da9d04055fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fed67f341699f9ccc8862f37a51496471816373b0aadb45960efc17e220d4bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 36 attempt 0 · /messages · status 200 · 7.575 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.7287 right_j2=2.0151 right_j3=-1.681 right_j4=0.0666 right_j5=0.5045 right_gripper=0.9972",
      "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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.5364 right_j2=1.7046 right_j3=-1.1057 right_j4=0.0666 right_j5=0.5041 right_gripper=0.9973",
      "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=0.0063 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7704 right_j1=2.1822 right_j2=2.463 right_j3=-1.4754 right_j4=0.0662 right_j5=0.4965 right_gripper=0.0107",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27c2a155e17872dadfdee890a35b156808867c74a0fddf7781da91f4bd228552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ab3c6d4c8c50ad8f5331550107e19c8984f4d737c8ab013c612da9d04055fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed67f341699f9ccc8862f37a51496471816373b0aadb45960efc17e220d4bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 27c2a155e178]

[blob 92ab3c6d4c8c]

[blob fed67f341699]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBj5jvzKNvYEHJueuZr95R",
      "input": {
        "note": "The board has ended up standing on edge near the robot, out of the wrist camera's view to the left. I'm yawing the arm toward it so I can see it and tip it back down flat.",
        "targets": {
          "right_j0": 0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JBj5jvzKNvYEHJueuZr95R",
      "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=0.0059 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5694 right_j1=2.2028 right_j2=2.4615 right_j3=-1.5047 right_j4=0.0521 right_j5=0.4889 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7739c8bd18a19f4838596cec6e5926eacf11c2338bc1fa8e61bf0fba8aeb8336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabac687bd0a4e62b2c852bf8ba9b6a6571c3dcf41cf22328f8b600e2fe39b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63acf70e2da82fba12a4bf3f888a982535b9c44d2d4f82c13f77b39f6e7e06a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 37 attempt 0 · /messages · status 200 · 10.85 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=0.0059 left_j1=0.0101 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7692 right_j1=1.5364 right_j2=1.7046 right_j3=-1.1057 right_j4=0.0666 right_j5=0.5041 right_gripper=0.9973",
      "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=0.0063 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.7704 right_j1=2.1822 right_j2=2.463 right_j3=-1.4754 right_j4=0.0662 right_j5=0.4965 right_gripper=0.0107",
      "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=0.0059 left_j1=0.012 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0086 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5694 right_j1=2.2028 right_j2=2.4615 right_j3=-1.5047 right_j4=0.0521 right_j5=0.4889 right_gripper=0.011",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7739c8bd18a19f4838596cec6e5926eacf11c2338bc1fa8e61bf0fba8aeb8336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabac687bd0a4e62b2c852bf8ba9b6a6571c3dcf41cf22328f8b600e2fe39b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63acf70e2da82fba12a4bf3f888a982535b9c44d2d4f82c13f77b39f6e7e06a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7739c8bd18a1]

[blob eabac687bd0a]

[blob 63acf70e2da8]

{
  "content": [
    {
      "signature": "CAISzBEKjAEIEBgCKkCjPZv6+cWSlkWdHZ0DiGE6aZsnEyvJkQwwRrHtTgTr7IMiwhVsxg15IHRJSzFBmrFHVevavff4aK2RNNuab3UHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRNbRCeSGaS2XHKyNGgzRxg4BKiGL2O2PzaAiMG9D0INvOrvfp6j4aZQXOpRJPQ99N4dxiIGn/20bJO8TWG3ZdF8v779FybY9PW0v2CrsD5mZMJmroNDJDkHbH/HNO1exyUXPdy19oDsDoXaYF6JpfFFCZBN9l1J2kdBVY4Pk6FK4u1u64LWnzb9zA6Mwj+hafI8QM50DSwRHnLEgW0F0epPN36OkOMG9CkarjZWKwaXezy28vgL5msO9gcbEzvCbTrS2vhe6tN7wKY58OydnfFGRjwKwk1CyD7dF/HFuomWwScjmzOaJIORjSSpCdDZDd9GDENqJ+h0dQwlo5RaE+UNacRk0h/+rTLeJJ1HGS9NAMwfgV+bAmAZtRyubM7wieI1biihkZEzwMMy3cwHYCl3FuOEH9lRfAFo4g09qPErcVzQpU01yVXIDqqCNeYT3hOxZG63xI1byMT7NlPG68/IdbTQNgU+UlJfNJGEpri0UQDyvXDKRA5b1srBE5EOW5bvUAWc6jozjcsSiQ6e1XLXRsdJtp53yR+DJpVELv4LEV9+vMGTIXSXM09Yavs0ZLwodd1vocdbHGRiaPsBzpAXjW73hLhX4uBLtCo3q7AP4xU5AG0RBHls+aDaupubPjwdy+dsIdvZYdfNP4/3jY/H10/yU795h3wDba7yyEdbuBm8PWbsRYNXxjuZTvvhz/mM5XnyW+zz7gb//E8PXyiGeu/ICG0OVwb6TsgfMW8qvIrjZZ7ZYL+SQ465l6B2DYbww8b659Pwup1hE/wdAGJq/Mmz0KfOOBuG3zU6RUIIRfELpKeZwzey6xalCPkU38ntYXZfhWpFaqK05aRE119+OWboxIls0nwTZXb/eZf8GfG6DlIlJMdZsaxTLl8+JJ+Z+REPzJ/fb6H1xhFh3S9rQ7GzcZJIeqPcann3cWfOOnGrR8BHgWdfAtpSpBsZRCCtaO6K7tjd6MZUZHI5Ej58CKadN6X/bbyvBZUYUR5aF30dIYm4L4hiX89MTUD21IAIMScboopNlEystptpjKnTob9CttTrcpcJaErN4aFiW3FRAXgOV1gmM+r1ruRLF9TDhuOq1SBaQgSOGZKpH7/P2/Lf3iM/DRKGLGZTN/+pcoVB6Vrb6KAPO6NLJj8f2SPJYlZ94iwOXWtJrAn2Jx1m6mar+zJ8f1G4KoS1PDcfYcs94/6OKKM3b77X852QRK6itCqMAP4gqKMYM1UwYMDJ+qQnPAz4zAs/TgitU6JSbIKn8tKSIStyfQGvz6tFZFLJGMGfc7PjX6e7rJ536u0Dj2SAiixqeOOUcpVfcEEUWWDPgBDeVW3HpZ0GvnX8M5t4PHfBVn/Coi2Q2gx2EhsMtyLPfbh6x9muvG7REeFHP5Jx00cNmvJtMfqUa90GtV5HpfpDrAkJJEAPZggkCBvXSVMj4UtuiUHHk4YjHt7QWpDkHLdB6L/UqzejB/1w02tedXbiT6gGm1SE5flvzn8m8JTGiOiFa3B68RbEtJpcp38LKVlomcvanueD1PuqiMoZKSaIA572zAsWvcDfrSqSys4p4+7gOtr4z6cRzImW88JjNeNVm4Ga2UyilwW9+1/m2l/nRq8J79vDS2q1+OgvqfZd7qRKNViKVOLZBpnvVr0xOzu1Qa+F8DOlQLE8peb6cmcdUetOycICvrOPBG3yQB0dw6qEIcLfP/REodwublZ7CXCBZyIOTV4iAmxikfg/JDl4aAuzrdL2HiRe4V4vIwhYqS2DpgljcwPIk3Qn3ZbrUt2cHI4xQyTo+IqCETao4DGe+bJqbKKt5vdJbJeqAhkKaUwBHTaQaomQCt9iyEreyWAJxFD/ja3BGpzsBBxXQfpdakgSE/Y8+lesZnD0ITh89Xows+Ghh8RedHV6U8+U9Fw+8ehDChy1YHy/Ck7IJA1T3/uI08h+wudQpdFEP5f8ULr/CllnfwtOEMfBKailTszrDSfTd2eD7SKPTWAXuzxuPyC8V6NmCoHm0JH3/MTG96q4hQNeiQ4QWg6a8ObQQk02jr+iM31B5ME/1uJRULCFk+WZRgwm0nSaodIKVawNg9M/mB1N7zyhfkHRxckZWUObTNCwXomDJlFYzdqPZhciKMH+VoUv2vmNU1vAp5IrvAgvNPJ6otkfpV2Fhv3l3KkqZQXBhAO4BsaGDecV/B9LSrnAKDTjYpBPnmEzH6DJaq+gRB2w0aX5i5vzU3DRfoa8PaDbqZ7pycpBYJGOI/idlflEAQ9EbdcLDb6RBXbNNOlOAvMDz4jEbDutmtPU6+0pEVygMSYGJkCUGS4Hgu3WWOdI7cVo4GVqar3aXYCd47tLXw+Zi9ypIdIDxbZKStrmJMctWrjQ5jgNEwIOMFoe7KtxG6vPrSXj1ZOzIF5YHSLMnWLTTAhuzAPOoV/vAFzeUWCJ8PFGe2MVgyEdYx0UQGugpJMZqfDiXKl9rdoH/WmlCk6+IDDgyOEMi6JMoQwyTKr+vHssxkQ88SQjtZS+TF/BMzMjKsINMZsRgPkYNHW1jWoJov4uqESqBM7he8KcksTt2lYIXZwvUg7vcS1uQSKRW/vLEyXMPR9wOSQU92DWD8LGiyiKFyYxQKiel4KsRrX+sARSoThLNJBnpVmU56ZXfGscu0zBDFBZMcz96etcinspYCIM0vuN6P5UBFTmN4E3MDy2eXbqPKJwb4pbBNhljUVTKwHmEEzqR+3g8Pj0QjjTOL59Boc5kKteTYfW3UWscagS1uapdCnMetQvICMO8PEFgZPmmPj1SQGkQvP7TNhEGV0Fe+mr495GZGfOVMel7tRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194p5HR47NyUPwoE3ESXq8X",
      "input": {
        "note": "The striped board has disappeared from the top view, probably hidden behind the arm. I'm lifting the arm well clear so I can see the table and find the clapper again.",
        "targets": {
          "right_j1": 1.6,
          "right_j2": 1.6,
          "right_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_0194p5HR47NyUPwoE3ESXq8X",
      "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=0.0059 left_j1=0.0135 left_j2=0.0067 left_j3=-0.0753 left_j4=-0.0082 left_j5=-0.0086 left_gripper=0.9982 right_j0=0.5713 right_j1=1.636 right_j2=1.6165 right_j3=-1.0626 right_j4=0.0483 right_j5=0.4862 right_gripper=0.0139",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb6a9fff128d6bf7a15493a786864ae4f01ee97333a9926a28e36843b99c7d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f83ea5a1e85de9ca3d70b17e6fd2de5ee4037b92edcdb09040d4ffba378f5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9824af01b98e6fce576c5fdc77d213d8ffb6347da6402e74c5582b1e37349c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}