adhoc - opus-5.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: 470.6 s
total steps: 233

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

operator_end

Operator judgements

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe clapperboard sits mid-table with its striped clapper stick visible; both arms are folded flat. I'm raising the right arm (shoulder up, elbow half-open) as a calibration move to learn which way the elbow bends and which gripper in the top view is the right arm.

move_joints

right_j11.5700right_j21.5700right_j30.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0063 left_j2=0.0063 left_j3=-0.025 left_j4=-0.0078 left_j5=-0.0158 left_gripper=0.9969 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0051 right_j5=-0.0048 right_gripper=0.9995 camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 1.57, "right_j2": 1.57, "right_j3": 0.0}, "note": "The clapperboard sits mid-table with its striped clapper stick visible; both arms are folded flat. I'm raising the right arm (shoulder up, elbow half-open) as a calibration move to learn which way the elbow bends and which gripper in the top view is the right arm."})

tool

executing move_joints over 25 steps (2.5s)

step 25

assistant

agent noteThe right wrist camera now looks forward at the curtain, confirming the elbow opens with the forearm pointing forward. I'm pitching the wrist down ~69° so the wrist camera looks at the table and I can locate the clapperboard relative to the right arm.

move_joints

right_j3-1.2000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9968 right_j0=-0.0002 right_j1=1.5627 right_j2=1.5402 right_j3=-0.0227 right_j4=-0.0132 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j3": -1.2}, "note": "The right wrist camera now looks forward at the curtain, confirming the elbow opens with the forearm pointing forward. I'm pitching the wrist down ~69\u00b0 so the wrist camera looks at the table and I can locate the clapperboard relative to the right arm."})

tool

executing move_joints over 19 steps (1.9s)

step 44

assistant

agent noteThe right wrist camera sees only bare table, so the clapperboard is not directly ahead of the right arm. I'm raising the wrist pitch to widen the view further out across the table before deciding which way to yaw.

move_joints

right_j3-0.6500

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=0.0082 left_j2=0.0067 left_j3=-0.0486 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0006 right_j1=1.5688 right_j2=1.5414 right_j3=-1.1709 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995 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_j3": -0.65}, "note": "The right wrist camera sees only bare table, so the clapperboard is not directly ahead of the right arm. I'm raising the wrist pitch to widen the view further out across the table before deciding which way to yaw."})

tool

executing move_joints over 9 steps (0.9s)

step 53

assistant

agent notePitched up too far — the right wrist camera now looks past the far edge of the table and still no clapperboard, so the board must be closer to the arms. I'm pitching the wrist nearly straight down to inspect the near table region.

move_joints

right_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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5688 right_j2=1.5414 right_j3=-0.6987 right_j4=-0.0162 right_j5=-0.0124 right_gripper=0.9994 camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j3": -1.5}, "note": "Pitched up too far \u2014 the right wrist camera now looks past the far edge of the table and still no clapperboard, so the board must be closer to the arms. I'm pitching the wrist nearly straight down to inspect the near table region."})

tool

executing move_joints over 13 steps (1.3s)

step 66

assistant

agent noteThe right arm's camera sees only empty table in front of it, so the clapperboard must sit toward the other side. I'm raising the left arm into the same look-down pose to survey the table in front of it.

move_joints

left_j11.5700left_j21.5700left_j3-1.2000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.47 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.57, "left_j2": 1.57, "left_j3": -1.2}, "note": "The right arm's camera sees only empty table in front of it, so the clapperboard must sit toward the other side. I'm raising the left arm into the same look-down pose to survey the table in front of it."})

tool

executing move_joints over 25 steps (2.5s)

step 91

assistant

agent noteNeither wrist camera sees the clapperboard, so it is probably in the gap between the two arms. I'm yawing the right arm toward the robot's left (toward the midline) to look into that gap.

move_joints

right_j00.5500right_j3-1.3000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0063 left_j1=1.5677 left_j2=1.541 left_j3=-1.1717 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9966 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.4826 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.55, "right_j3": -1.3}, "note": "Neither wrist camera sees the clapperboard, so it is probably in the gap between the two arms. I'm yawing the right arm toward the robot's left (toward the midline) to look into that gap."})

tool

executing move_joints over 9 steps (0.9s)

step 100

assistant

agent noteIn the top view the right arm's gripper is at upper-left and the clapperboard lies further out and toward the robot's left, so I'm extending the right arm forward (shoulder and elbow pitched over) while keeping a modest inward yaw to bring the board into the wrist camera.

move_joints

right_j00.4500right_j12.0000right_j22.0000right_j3-1.3000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=1.573 left_j2=1.5425 left_j3=-1.1919 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9966 right_j0=0.5373 right_j1=1.5692 right_j2=1.5414 right_j3=-1.3273 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.45, "right_j1": 2.0, "right_j2": 2.0, "right_j3": -1.3}, "note": "In the top view the right arm's gripper is at upper-left and the clapperboard lies further out and toward the robot's left, so I'm extending the right arm forward (shoulder and elbow pitched over) while keeping a modest inward yaw to bring the board into the wrist camera."})

tool

executing move_joints over 8 steps (0.8s)

step 108

assistant

agent noteThe right wrist camera now sees the clapperboard, but it sits to the upper-left of the view (i.e. to the arm's left and slightly closer in). I'm yawing the right arm further left to bring the striped clapper stick toward the center of the wrist view.

move_joints

right_j00.7800

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9964 right_j0=0.4545 right_j1=1.9961 right_j2=1.9713 right_j3=-1.3201 right_j4=-0.02 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.78}, "note": "The right wrist camera now sees the clapperboard, but it sits to the upper-left of the view (i.e. to the arm's left and slightly closer in). I'm yawing the right arm further left to bring the striped clapper stick toward the center of the wrist view."})

tool

executing move_joints over 6 steps (0.6s)

step 114

assistant

agent noteFrom the top view the right gripper (the black finger protruding at image top-center) is still short of the clapperboard, which lies further out; the wrist camera lost the board when I yawed. I'm extending the right arm further forward at the same yaw so the gripper approaches the striped clapper stick along the board's near edge.

move_joints

right_j12.3840right_j22.5570right_j3-1.4820

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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7631 right_j1=2.0041 right_j2=1.9709 right_j3=-1.3212 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995 camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.384, "right_j2": 2.557, "right_j3": -1.482}, "note": "From the top view the right gripper (the black finger protruding at image top-center) is still short of the clapperboard, which lies further out; the wrist camera lost the board when I yawed. I'm extending the right arm further forward at the same yaw so the gripper approaches the striped clapper stick along the board's near edge."})

tool

executing move_joints over 10 steps (1.0s)

step 124

assistant

agent noteThe wrist camera now shows the dark edge of the clapperboard right in front of the fingers, and the top view shows the gripper hovering just short of the striped clapper stick. I'm reaching a few cm further out and rolling the wrist ~47° so the jaws will straddle across the stick rather than along it.

move_joints

right_j00.7840right_j12.3700right_j22.4920right_j3-1.3440right_j5-0.8200

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=1.573 left_j2=1.5425 left_j3=-1.1969 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7639 right_j1=2.3718 right_j2=2.5271 right_j3=-1.4868 right_j4=-0.0231 right_j5=-0.012 right_gripper=0.9995 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_j0": 0.784, "right_j1": 2.37, "right_j2": 2.492, "right_j3": -1.344, "right_j5": -0.82}, "note": "The wrist camera now shows the dark edge of the clapperboard right in front of the fingers, and the top view shows the gripper hovering just short of the striped clapper stick. I'm reaching a few cm further out and rolling the wrist ~47\u00b0 so the jaws will straddle across the stick rather than along it."})

tool

executing move_joints over 13 steps (1.3s)

step 137

assistant

agent noteTop view shows the open gripper hovering right over the near (striped) edge of the clapperboard. I'm lowering the tool about 4 cm straight down to bring the jaws around the clapper stick.

move_joints

right_j12.3610right_j22.3280right_j3-1.1890

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=1.573 left_j2=1.5425 left_j3=-1.1976 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7822 right_j1=2.3737 right_j2=2.4962 right_j3=-1.3674 right_j4=-0.0231 right_j5=-0.7921 right_gripper=0.9994 camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.361, "right_j2": 2.328, "right_j3": -1.189}, "note": "Top view shows the open gripper hovering right over the near (striped) edge of the clapperboard. I'm lowering the tool about 4 cm straight down to bring the jaws around the clapper stick."})

tool

executing move_joints over 3 steps (0.3s)

step 140

assistant

agent noteThe gripper is directly over the striped clapper stick but still above it; the wrist camera shows the dark board bulk beside the fingers. I'm descending another ~3.5 cm to bring the open jaws down around the stick.

move_joints

right_j12.3780right_j22.2170right_j3-1.0610

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=1.573 left_j2=1.5425 left_j3=-1.2007 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3684 right_j2=2.3367 right_j3=-1.2186 right_j4=-0.0196 right_j5=-0.8043 right_gripper=0.9994 camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.378, "right_j2": 2.217, "right_j3": -1.061}, "note": "The gripper is directly over the striped clapper stick but still above it; the wrist camera shows the dark board bulk beside the fingers. I'm descending another ~3.5 cm to bring the open jaws down around the stick."})

tool

executing move_joints over 3 steps (0.3s)

step 143

assistant

agent noteStill hovering above the board — no contact visible yet. Continuing a careful ~3 cm descent toward the clapper stick.

move_joints

right_j12.3930right_j22.1580right_j3-0.9750

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=1.573 left_j2=1.5425 left_j3=-1.2011 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7837 right_j1=2.3657 right_j2=2.2436 right_j3=-1.0874 right_j4=-0.012 right_j5=-0.8051 right_gripper=0.9994 camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.393, "right_j2": 2.158, "right_j3": -0.975}, "note": "Still hovering above the board \u2014 no contact visible yet. Continuing a careful ~3 cm descent toward the clapper stick."})

tool

executing move_joints over 2 steps (0.2s)

step 145

assistant

agent noteThe fingers are now reaching down alongside the board's near edge; still no contact. Lowering another ~2.5 cm so the open jaws bracket the clapper stick at table level.

move_joints

right_j12.4230right_j22.1100right_j3-0.8960

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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3657 right_j2=2.1845 right_j3=-0.9977 right_j4=-0.0032 right_j5=-0.8127 right_gripper=0.9994 camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.423, "right_j2": 2.11, "right_j3": -0.896}, "note": "The fingers are now reaching down alongside the board's near edge; still no contact. Lowering another ~2.5 cm so the open jaws bracket the clapper stick at table level."})

tool

executing move_joints over 2 steps (0.2s)

step 147

assistant

agent noteTop view shows the jaws right at the far end of the striped clapper stick, possibly just past it. I'm shifting ~3 cm back along the stick (toward the robot's right) and dropping another 1.5 cm so the jaws sit around the stick rather than off its end.

move_joints

right_j00.7350right_j12.4450right_j22.0860right_j3-0.8510

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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7902 right_j1=2.368 right_j2=2.1357 right_j3=-0.8898 right_j4=0.0219 right_j5=-0.8238 right_gripper=0.9994 camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.735, "right_j1": 2.445, "right_j2": 2.086, "right_j3": -0.851}, "note": "Top view shows the jaws right at the far end of the striped clapper stick, possibly just past it. I'm shifting ~3 cm back along the stick (toward the robot's right) and dropping another 1.5 cm so the jaws sit around the stick rather than off its end."})

tool

executing move_joints over 2 steps (0.2s)

step 149

assistant

agent noteThe arm stopped slightly short of the commanded pose, which suggests the fingers are in contact with the board/stick. Closing the jaws to see whether the clapper stick is captured between them.

move_joints

right_gripper0.1200

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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7609 right_j1=2.3772 right_j2=2.1208 right_j3=-0.8036 right_j4=0.033 right_j5=-0.8501 right_gripper=0.9994 camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_gripper": 0.12}, "note": "The arm stopped slightly short of the commanded pose, which suggests the fingers are in contact with the board/stick. Closing the jaws to see whether the clapper stick is captured between them."})

tool

executing move_joints over 9 steps (0.9s)

step 158

assistant

agent noteJaws are now closed at the board's near edge. Lifting the wrist ~6 cm to see whether the clapper stick has been captured and rises with the gripper.

move_joints

right_j12.3230right_j22.3150right_j3-1.0420

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=1.573 left_j2=1.5425 left_j3=-1.2079 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.1342 right_j3=-0.8257 right_j4=0.0071 right_j5=-0.8307 right_gripper=0.1274 camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.323, "right_j2": 2.315, "right_j3": -1.042}, "note": "Jaws are now closed at the board's near edge. Lifting the wrist ~6 cm to see whether the clapper stick has been captured and rises with the gripper."})

tool

executing move_joints over 4 steps (0.4s)

step 162

assistant

agent noteThe lift grabbed nothing — the board is untouched. I'm backing the gripper up and away (wrist roll reset to zero so the camera image is upright) to get a clean overhead look at the clapperboard and judge its true height and the stick's position.

move_joints

right_j12.2730right_j22.4260right_j3-1.2000right_j50.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.2543 right_j3=-1.0241 right_j4=0.0067 right_j5=-0.831 right_gripper=0.1277 camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.273, "right_j2": 2.426, "right_j3": -1.2, "right_j5": 0.0, "right_gripper": 1.0}, "note": "The lift grabbed nothing \u2014 the board is untouched. I'm backing the gripper up and away (wrist roll reset to zero so the camera image is upright) to get a clean overhead look at the clapperboard and judge its true height and the stick's position."})

tool

executing move_joints over 14 steps (1.4s)

step 176

assistant

agent noteThe wrist camera now clearly shows both open fingers and a white object lying between/below them. I'm making a deliberate 0.15 rad yaw to the arm's left as a calibration move, to see exactly which way the scene shifts in the wrist image.

move_joints

right_j00.9300

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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7769 right_j1=2.3295 right_j2=2.3928 right_j3=-1.2003 right_j4=0.0025 right_j5=-0.094 right_gripper=0.997 camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.93}, "note": "The wrist camera now clearly shows both open fingers and a white object lying between/below them. I'm making a deliberate 0.15 rad yaw to the arm's left as a calibration move, to see exactly which way the scene shifts in the wrist image."})

tool

executing move_joints over 3 steps (0.3s)

step 179

assistant

agent noteThe calibration move let me scale the top view: the gripper is currently about 11 cm to the robot's left of the striped clapper stick. I'm shifting the gripper back to the right and over the middle of the stick, holding a safe height, with the wrist rolled so the jaws close across the stick.

move_joints

right_j00.7040right_j12.2610right_j22.2440right_j3-1.3790right_j5-0.8680

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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.8822 right_j1=2.3199 right_j2=2.3959 right_j3=-1.2144 right_j4=0.0128 right_j5=-0.0715 right_gripper=0.9974 camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.704, "right_j1": 2.261, "right_j2": 2.244, "right_j3": -1.379, "right_j5": -0.868}, "note": "The calibration move let me scale the top view: the gripper is currently about 11 cm to the robot's left of the striped clapper stick. I'm shifting the gripper back to the right and over the middle of the stick, holding a safe height, with the wrist rolled so the jaws close across the stick."})

tool

executing move_joints over 13 steps (1.3s)

step 192

assistant

agent noteTop view shows the open jaws now lined up directly over the striped clapper stick, just a few cm above it. Descending ~3 cm to bring the stick between the fingers.

move_joints

right_j12.3240right_j22.1540right_j3-1.2550

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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7155 right_j1=2.3074 right_j2=2.2513 right_j3=-1.3689 right_j4=0.0063 right_j5=-0.7933 right_gripper=0.9974 camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.324, "right_j2": 2.154, "right_j3": -1.255}, "note": "Top view shows the open jaws now lined up directly over the striped clapper stick, just a few cm above it. Descending ~3 cm to bring the stick between the fingers."})

tool

executing move_joints over 2 steps (0.2s)

step 194

assistant

agent noteThe arm is tracking a bit behind my commands, so it has only dropped ~1.5 cm. Commanding a further ~5 cm descent so the jaws come down around the striped clapper stick.

move_joints

right_j12.3690right_j22.1110right_j3-1.1820

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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7116 right_j1=2.3028 right_j2=2.1891 right_j3=-1.3258 right_j4=0.0051 right_j5=-0.8307 right_gripper=0.9974 camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.369, "right_j2": 2.111, "right_j3": -1.182}, "note": "The arm is tracking a bit behind my commands, so it has only dropped ~1.5 cm. Commanding a further ~5 cm descent so the jaws come down around the striped clapper stick."})

tool

executing move_joints over 3 steps (0.3s)

step 197

assistant

agent noteI can't tell the gripper fingers from the object in the cluttered top view, so I'm pulling the right arm up and off to the side for one clean, unobstructed look at the clapperboard.

move_joints

right_j00.2000right_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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7208 right_j1=2.3367 right_j2=2.1296 right_j3=-1.2377 right_j4=0.0025 right_j5=-0.8234 right_gripper=0.9974 camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.2, "right_j1": 1.6, "right_j2": 1.6, "right_j3": -1.0}, "note": "I can't tell the gripper fingers from the object in the cluttered top view, so I'm pulling the right arm up and off to the side for one clean, unobstructed look at the clapperboard."})

tool

executing move_joints over 12 steps (1.2s)

step 209

assistant

agent noteClean top view confirms a small clapperboard lying flat, dark bar toward the arms and a white tab on the far side. I'm posing the right wrist camera straight down about 35 cm above it for a high-resolution close-up before attempting the grasp.

move_joints

right_j00.7090right_j12.5640right_j22.8000right_j3-1.8060right_j50.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.0059 left_j1=1.573 left_j2=1.5425 left_j3=-1.2152 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.2703 right_j1=1.7084 right_j2=1.586 right_j3=-1.0443 right_j4=-0.115 right_j5=-0.8597 right_gripper=0.9974 camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.709, "right_j1": 2.564, "right_j2": 2.8, "right_j3": -1.806, "right_j5": 0.0}, "note": "Clean top view confirms a small clapperboard lying flat, dark bar toward the arms and a white tab on the far side. I'm posing the right wrist camera straight down about 35 cm above it for a high-resolution close-up before attempting the grasp."})

tool

executing move_joints over 20 steps (2.0s)

step 229

assistant

agent noteThe wrist camera is now right above the clapperboard and I can see the slate's white label boxes and a striped white element (the clapper stick) toward the top-right of the frame. Making a known 0.15 rad yaw so I can read off exactly how image directions map to arm motion.

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=1.5764 left_j2=1.5421 left_j3=-1.2266 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7002 right_j1=2.5462 right_j2=2.7686 right_j3=-1.6928 right_j4=-0.1066 right_j5=-0.0654 right_gripper=0.9974 camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j0": 0.85}, "note": "The wrist camera is now right above the clapperboard and I can see the slate's white label boxes and a striped white element (the clapper stick) toward the top-right of the frame. Making a known 0.15 rad yaw so I can read off exactly how image directions map to arm motion."})

tool

executing move_joints over 3 steps (0.3s)

step 232

assistant

agent noteImage directions are still ambiguous, so I'm lowering the whole hand ~4 cm to bring the gripper's own fingers into the wrist camera frame alongside the clapperboard — then alignment can be judged directly.

move_joints

right_j12.5250right_j22.5580right_j3-1.4970

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=1.5764 left_j2=1.5417 left_j3=-1.2278 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7921 right_j1=2.5622 right_j2=2.7754 right_j3=-1.6768 right_j4=-0.0555 right_j5=-0.0608 right_gripper=0.9974 camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"right_j1": 2.525, "right_j2": 2.558, "right_j3": -1.497}, "note": "Image directions are still ambiguous, so I'm lowering the whole hand ~4 cm to bring the gripper's own fingers into the wrist camera frame alongside the clapperboard \u2014 then alignment can be judged directly."})

tool

executing move_joints over 4 steps (0.4s)

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 24.71 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=0.0063 left_j2=0.0063 left_j3=-0.025 left_j4=-0.0078 left_j5=-0.0158 left_gripper=0.9969 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0051 right_j5=-0.0048 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4860d3aa423c4c2b7c2e0dc74d308a64b2ef10e618f02335edd7771694a20bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab65bce8201056b46cc962c7e3c25dae0aa51a135e91309f7a721d3c17453772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34c8801a9117094cc2ddd238ced171f5a3356cc371879186a796dbd6aaee6047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 12.56 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=0.0063 left_j2=0.0063 left_j3=-0.025 left_j4=-0.0078 left_j5=-0.0158 left_gripper=0.9969 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0051 right_j5=-0.0048 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4860d3aa423c4c2b7c2e0dc74d308a64b2ef10e618f02335edd7771694a20bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab65bce8201056b46cc962c7e3c25dae0aa51a135e91309f7a721d3c17453772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c8801a9117094cc2ddd238ced171f5a3356cc371879186a796dbd6aaee6047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c4860d3aa423]

[blob ab65bce82010]

[blob 34c8801a9117]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017e9xE5JybP6xXo7Fr266iM",
      "input": {
        "note": "The clapperboard sits mid-table with its striped clapper stick visible; both arms are folded flat. I'm raising the right arm (shoulder up, elbow half-open) as a calibration move to learn which way the elbow bends and which gripper in the top view is the right arm.",
        "targets": {
          "right_j1": 1.57,
          "right_j2": 1.57,
          "right_j3": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_017e9xE5JybP6xXo7Fr266iM",
      "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=-0.041 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9968 right_j0=-0.0002 right_j1=1.5627 right_j2=1.5402 right_j3=-0.0227 right_j4=-0.0132 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a453edaf9018e1399b0904c867f77a6854bf7ebc3a1355dd2e33417a010a465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f81bf81b665a95263e9934dfe1366c3af4974820b20f3f366dc745139c573b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0bf07b167cd7e39c4c2c0f92a54aee10a5e6c74ef686bf883bcca38fe6acc61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 9.147 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=0.0063 left_j2=0.0063 left_j3=-0.025 left_j4=-0.0078 left_j5=-0.0158 left_gripper=0.9969 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0051 right_j5=-0.0048 right_gripper=0.9995",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9968 right_j0=-0.0002 right_j1=1.5627 right_j2=1.5402 right_j3=-0.0227 right_j4=-0.0132 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a453edaf9018e1399b0904c867f77a6854bf7ebc3a1355dd2e33417a010a465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f81bf81b665a95263e9934dfe1366c3af4974820b20f3f366dc745139c573b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0bf07b167cd7e39c4c2c0f92a54aee10a5e6c74ef686bf883bcca38fe6acc61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 6a453edaf901]

[blob 77f81bf81b66]

[blob e0bf07b167cd]

{
  "content": [
    {
      "signature": "CAISnCwKjAEIEBgCKkDMUkTddp76RRC+7XU+rzPvLjRQHVWJCfzNIy98GM7qIOMYi7IpN6S5FeHkweXWi0Ms7QHLVfoxDqPQT/yOrMuYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMb2Z2i3GMgFp/ll7FGgxqQGCvx4Yh+DNHVAMiMN8DfBu0H75sHtnlkEbBAS2yqRSIoaqot4xj0l+w8GRoO5jslZ7aJqosN8K0r+sYtCq8Ko8ZvcsSOvYiwShyy9N1o8zSNCoBIjeI4fy2PQQ4OPVomcsJhDHNs+6qayTws39Kf3XPmGn5nU3zynOiOJrztyT/0Xui9xzB931ipsMvzU99pUsfhgznlEuMgIK9CG3NbY1GDpkNByxNxN2GqPpBSfhf4AYB2eT13lWQBqwVtGyJHnd23wPhE+bONz3h8r8F/8e9Scup/6Xj8ZFBj58bDR8Pr57GhDy1WKkBnQ12AQhoGnMaY75TCfOY0dJp+NnYfjuZYd7YAA47FPKQkYdNYrprFN+POEXkR3eVyGC+vbEQ52mRI/9se4LM+qu35d9++Dj1MDCIjz4lNhhumyfaZJ+UdnVnmDLu7BaEcm3BvrOhAxE2S0wlbijHycp77Z8SxBxkYS47cJKT7yn7p/OEjR5aLvuTqSkaZ+A8npU5Iknjksk+4qvF4QaKhhYpciRtFGZIVr/Q8TORVEwjpsblk6TJz8l6Xb6XJWde6geN4DAwGuBFIDtZ/gREKdNviZ5UqkuCoEk6hgOQdTlBOlvl5L3t/GDSW80TruSLZ5kyvrrddmy+kskJHKpOqzFqQZregjBTNHblOVoWgzl+xkiGPov/u1Ybkygrei6pAnVet1Bs+tVW3Q4t8tWp34gyCXFo73+iyDbhX71xZ4tYcD+P44ehl69Nb0wKmymg/1JxwGgJllmO8J0+Pe8t35a4aqXjagd0IhBB3HCE2Hj6akc2P4Tm2zCc8M0xGrH/jO6q3WcHWdqw76ZCICyXZvGuE7gSSlNx9jaE/QBj5EvPt/t0AcXztM+814lAhuGldVBOU0yVxUkViEDiJlImJK4b8GKFeNgaBiJj3eeheP62K3kLU3RKqqfQRuV+ooSeGSTvxPBra7Qayo//FOfbJ3go01FGVshtkpYHRTKrrZKiKd97esy8n3vAd15oDHo5BpgFCq3xUQptTCweMbl+RZHESmu34N9LRlDcXteXPhQzLuYel+O/As6AExDn9ViwKo9v5SpBoxTVklplny7bzqAGgKMdnbDW9x8cdK3IJ6t+4jj2RolRp4Bzos8iPm3r4B1W6GLYnqHaTzCsJVz6p63QLxsYs5prVs41RRAIlm8qK2ntlzGmOeOcpWTWlML0sU6L5hNgc26O/9EgFCQ6svA2GaMBhn/qs724X8qHVAXtPlCR639k4PgdNjSAelhRD/R6zrpO9B4URDz8GQiTlZDoeDLwCvGjRbiNMW2/JL2EYzljcCLOHyUnrPvjrD6PDKRkMZHWFAkR93WyHCMxF/m5NkTC8+HKVsui4D0tBZUlx0a9HdjQXJqed0ES6G6TxVt/Jqr2V/dH4ICu9P50mTs7NPXe2l+XkSjWJxw59wpXxRn5GmQSFOmzWWBQIqY3B8BdqoBS8L8+4xZz59mGEwrDl2t9ullR4kCLulB/Ihp/7cQIWp+DZgzEndjc3lriIiEO5pnsJu21F6THt25f1WGsbfOjbg5DZPQbgMkw6PZGegy5IgILP49jb8rtIgJzjtsXWEUckNWkZJG91u7g0KefZCM++R2n8BaGt3rpeDiHwzgbGbXreirSWp7b/ECZZ2w3aLZWzv7XvXUrFqKvRTt6dA57jLFqAMMhqUCUOOgNZ6LDkYpyYN7yGyxYUAI/Lg6IVc2HwN8xuTxrJi8KhTlmOKiRHn8KW2Olo9/fiXFcGO46aYD/4cikoVhC+el4R8D+PYNYCSMAamGWzOzf26gXuvxI5EDHrPbvxD6+FB6SK7fjP/MQubrzrQTSkRnHVaqb/Ua1StW8BU6W5UUh8SZr5IsVHM0kedac1Ahbj64cSqiGO+2Vd39rDLvU2VX4cI4UvSLJb1904b3KSgiWyA3j3UivEF9962av0VED1+cuBg7CoTTioIeeKx9PvbTeF26g0LWr0VXsDB5c+wMNbKEkQfe2uva8b11Xjd+bn9w61tHgn6cfJEUtchuyLMHPLwQyuGoI5YfuldkNSVaCgnG030OHAWkUqFCxewXXBRBdTCPJgG3H6DTHkIE+U2ha+3YONmQHAuLvxoE6UL4xZoOuRiLgcq9fBvQpQdFaXTWlHtqaGOHfY8cvulxqVJGbhCwMySTqIKdVhpoNAWcCY6XKxe/MLvX1KO1lbRaBsIo5VARdcQVHa5ZX1nEbdcM+rOjEwhIdH99vhqHYjPxP/Q7V8WtHSMwyL1bWFynwQjTLZFqBtbjb6sA2KoscD+SBRXRokgxWG6M/QWyPeJ5IXpRsGS4OtBKN6/dUfgrzadKoz/pMcq0F0yPbtds9qH1PL/vso7ShQzeANFxKl13EfActAWfawWTgvRvJwqOExjemKs5gUX4H/nfkZ8sfn9h9p5XW2misIpyfnneat8ttX31jkHH9BCrSzyn3Z1nFap/+ymD0kczmK/sunZPl1TTooxXJCMlx5KxGueVvVP23Qjn44EwR1lJIx+agahNTTxBaG5WiUAqrz4BxkOtwx4a3XYlwJg0ZQjiv2hLeWVFu4cGx8q8+ojQlW0hKLFM0MqnFza3RsbiWkmvAImWThpcTPXqHo8n7ECDEpBmBb3tguoSpbpotfKc8bay/6I2Bionzz1DE0YP3JCB1dB2EVu4gI277xJgEE5C1bbakSrU/kpy7BIHWam7+sxLqihiaEzdFvbZTdriJdkzu2TUQ7ljBqcgPsUVVS1s0eRaHvwHixBwUJSOdraQhLU7lzQlLlTItiLZoi338YR7Y9uZQ7tVrvTY4jPHMHxcWU6vTyae+tNb0/ywruURq8oV4iiGPDH/ot3ErebIerwtzg9lqAaWwr64YldAmn9vRFencHRWMWiW7WPvUUld+LRFtKB5diIYNOnptmYx1RTl8I8nhbSgJ7A/fYTgpvetRf8R5kX2EaianYTwLwAOvIU3bI6QH3VY0/V+p8AsF7LTBMwwIj1ZSxtAI0X8qnvNszn0W8msw5w/tSMdwJAtx/5nQf2WA6sHGadZLW/tFRojutBA0O3oFRjCp2cvv4Fx9L6gsPkZTrhQV1oIVyzUxR1puclettlE/nmMGTlJ5qDJAsIr38qnGSZlg00Y6vf4E3JPQ4yuLQDxecnWhW/AwiT9M1LoDjT9v/QwuT3DZGOAWZozZ4+ndg/GOw9Y9em62wUwRozyR0E6LirkfljFDu4HFs6FnsFEvpS/ivX/1Tip09cuEhinhxJm3iAlskjaSKioTcUWz7FPy1eX1K/A4zGT/F6G5zk4crPQ8eo3TwzggtYVaUdCMM0l11HyWtZbvzSKfD4VEKO0D03aSUPSy6FcvXNuQr3sYgHiGtzMquAEJb9sgjqsDm0jv4qlqyeqME0LKydicTKTakSjecVdTvSnfPsfOjZoY+WUVJn/GyYHQ8FIwk550vmXgNxa03bj8WQFA5ITtzR2RPjpA6cbOfpxRivh0pFz07enyFKAJla5wQmTzNE12m8TcImQPQReZJIndDobAUP1jWEWQWVIAsF82qtB2+pXKgWQIPUMWh2ZROTcNGvBy+4fD2pL+cO3VP4vlkT9sD2X5ZdTnmi8GSYV/uOPt5uH1IIPw4WvGldCOARJ3OZ+Rsst0wBWL/EkFwtVlSAjwE7UpQi0Ks+E18OkUc5AyXmv/FCbrwbyJJ0sv5+76gAuoxjWVOP7g2fHf4mTAyY/7j/RBJJ0JftTmSHnlZBEX72o78xtLEdN7ZR9GHCLIHcrq0DkX39Bj7vPa8gsUYCmw3gnCRnChqeyrAZVNvgffaVBtfkvSeKPaVU7x12LiEqtglJhijRgJqvOYQ/ROhGanjhAnLm1NvLFXhy+tOVBThow2rso6MIHneDrUOK/yCp4s1nQkMgUocatKcssduGVd15r6lLzPRBhKX/ZNdsdXSskxiiXym0KMqPnvJgD+EKSswdirPPxnG3nmaczBWTKyDVDBrjPuyXdZcCwxmF8ysDA67AJfhqjdCsLCXp02Df/OOaDS6yV63IJZ3uH+YkomPasa+Spzv1N2WSYiKipw3VFKOpwL0DGuqFtck3ZRQW2K3eJryu1IrhXZuTQYYORDkn0PhMIt+vwCZJqCUHMAqDazXpdZNDwS2lfWWkD5oF/j+YrDb1A7pDg8uSxnoeRF/McwHgtCrkL9TeFWwRQBPCzTSavwsZ4m8dAhJkd8/Xz5kF9fTN4L1CmTP6yYySt1d+0tyFeJytklv1eecYegnaQwGDbI7f/ybRRhU53p91OKDyP1J9hel+RB4eOELEg70BtVCk92gK4IfGfkBDBqH3j30UW09NVNujrwUtT4B5DAwzdt5yIdYQXMXTaCGwZGDCUzl8XNTJfKxE9aHlfGzqrlJnoK95jsOTJTTvOWozuF/1vDvdtotFSRZKEcy4yIH6G/GfrTcXRcoPNLJSANQrIuWhQBMnTeH4ZxedoZT2ASqGKQ/uZw3JmGN2reQCHrLUjqnSXM/zfZXxR9bAciB+KDRQew/bN+ewPYsJqdHe/L6oyK0qnjyRk9cDlxUXzma0rSZZ/BjdhVFdgIBYDiUg9hQQUOtE+a5SXZuGowvgIx4ETDpjHxS9minhh/TMFM+c4RydoIvX1h/JXnHfuq2iNyNNQoa0NrchttdgXcpMkRlc35LndbjRjUmYyrXpH33bEE+e0y11B8zfUohlALKpPMuIpw8+Vbpnc87lAbRnGIBN+MgeQtpYo8im+pemljWk/35dHtfqUwSWNGiP9IyqYY3sU2g4QqZN7gbEQM0j6gkjxzjZY+UXyIU7VWXwaxF7AO9Ye1ck0LNAfX3Xj7+77SrrsxWvjwAHBASZsdi+0CwecfarRC2ENIR0BwegC0w2CENZJxBdnVVWwn//hod/MTijY9KBbktuIH2fh45v/MCFfPOGfrLLRbEo+OtgVpsOXLnU7dw/aKqKnA6cMTW5yKtyRD6ZqEHYIbHclAjMr18jikpE+/3SeoGRAypT/+Cj3o8dNhX1MobJhntm60KUv5YnHbWaVl7eVK0woxk6aDGzevd2eVVQuEoRm02UkBJWh/qKwgnqwsAWxkU8oTihHruN6JN9SoMNZ6PLCOLEBY4yXPKb+ADFYg8gWYg6ju1xpzzD8x066tisclG+LKmq9WwfCwUk6EuR7qHjtP2Sm5WjCke64AQ+LxkndbXxkyqeBlLJldEcxJF7JBMzvEhMqULkEREeHnJ/6XAiPsmNhIOMTuOwAwBqoeOGK47bbAhiFVDjyyxmBccf2VXD7UE9MhwPTPVivOAJzR0BsCVlpsgaGicEWIeFtzlCpsEtRU7vzI2+dMyj5bWhDePutdH2MZ9x4G2Mo+GsGkAZcd4E7LQg9+Z1gEcvrl4Y9LTJdw1p6WCzB0uTLCFNE6bHvgpIplkcKrPwj7uZ+RRX+a/cSBcUdhCb4tVWyUS6cv6Hr2r1QMqGuqTD0PX3Oaz5c87F3O+OySps0If7Ldejizruy/N21AfGXYfVNsdMFayQ29TS/8sSzmizTraP+wn1uEc8QKrvtGs7TRWAln512Om5IvsGZINPRaEW2DcZcKNwnziJ5Yrruu9hhI6F8gszEokJox5xatZk/FQ+a4ZxRRK5EZL0svxaIOsgorsH8NWGB8rC44y48cUjECabsi1O7ClgLJuoBXEh7AwMb/HblPK5GWy+FUUR+tqG3qWK6K5HAjwBz7uiu3mMSJgL0owyVO19Z5XZDroImdaRakzudFdncfPhKjK9KuRqdXNeKmK+ytuf5gjX4VDVnESoUvLye+Dm3qxbihq7BXdh3m9bi4+bY+HO5feMqdcJgfMEdavX64u9X511HiRfQ0D+z4yU4THvLGFx4M3yEY5g3q4Uv3LjSXNmkkkAGIX0tp2+D7019+hgzBiw6BVQV6mjMLjDHSXUt0QRo9Oa0EVQk+I4tWRu4lI25fuRuX1aqioHK8P/Ljw6uWWX5mBWGC944qVqKDkwVPLEQx776PE32pD8y4gOG2qh5OLOj167e4F1vFnactTr5yv39Y6i1cH6HaR5NpMZLRyrFxu7anAZVQ/f+45l1KxYNHTRF95YzkCLM33cof+1t0b//z74sd3O9V1rLr3Gxm4fVe/TEblQgl21BOl65qHkiPVxiYheeEl0BjnJsan2fneqlOpK56VOQwqXHsY4gdgkFSkY7OxHkpEkzgmKY4bqormnzC5dNu+ePSYYPDb00qEmbdxz7UVQ0g1Oa7ADuz3zMWNUEMBhH5SvvdRpTkRqaVarw4QgTcrVw9mgU5f5ya36fbERTnqW5kLawQHXEXy4HT5LEKknMctDVBnmaOR3dfgSrW+nija8EVMMNXINhRsGCUCq8PETXQ+esOBVS8yKZjvyP0sz1u3zSuUXap/Ymy3mvw6wPzc0Ou64tUZDm1LJc8gyJmexV/Z5xMbYerfDDwupEznJp3djz+gt5fC06YjXx8HLBi7zSYMNSru9EplGL99jpRs2pRdNIkQqxjGyNlvjbgKU5Dr106ABGbfGRUKQwhzvdyUhZq2+oLG50UEcePJENmPHVSATV2V/bMzd+avphdNC8r3zLcLZPgp8N9HGSaq6YDoticCXn0neg60//zCAzLyk2/zPE3Q8KPHdnwAhhOjeah8FMsc7KQ9Ys9ngiO6nWKWPJ0ccYA9eD+dhZVwLLAWy9ekieSOYwdq7WR0K6xtK8rTQXt0rvfQNEj6mOWAgvhgxBgnjG0benXpmvUm6zVkWb9RdB61QF7PJAm4hTwcintrXMJN2beIz9ZjPHNgOpZqikHaWiOK2IeqZDgJ9GQnHlmyjlGpF5qvFWeQeRbnV4mCJKw7jI6X9HmBm5UXgt4QFL7tFKXD5t3swT3Lm8xliNbDig4iD/+Zb33V0Apr87G0cgoRm9V46aiZyqMLu+qg15TGU1kcqPSWWScyhVsZx4IW3mjPLt/8gMAc0VADjS/9j+dVbVeORGwsbETUEVp16Rfw8tCcEs1xEf1RO5h16wcmuT84GxDC5V4tv9era2544FueP+eIeYXuC0ABm0kuwKhADRZNnQPAXxW1GGXTwAESABReutEgekoFhMcXr4uwJEf9sJXiaQptnoxhv1UoAmecO/tCKjv9bkJSLiZT+aFgoCDHNO6u70bPX+zFnofuDDXSenHRd+g5Goyl930XLYazBKyTUcfN/XoBWSzAKXKA+UzRP0ECPsUY4/y30D2XCPHiMIRM5sjl8Ig4/9NeRhJc1ZHDyBPohn4d20va132TH+owZZjNhaWNL3GFpbKrS/eYoKJd9O/wcClXcaXWUAM+beAQ9nwh+ZLzQcnki0vpQOrWKvlsxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWLfdZqdXXfnoQNDpjVEpk",
      "input": {
        "note": "The right wrist camera now looks forward at the curtain, confirming the elbow opens with the forearm pointing forward. I'm pitching the wrist down ~69° so the wrist camera looks at the table and I can locate the clapperboard relative to the right arm.",
        "targets": {
          "right_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01BWLfdZqdXXfnoQNDpjVEpk",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0006 right_j1=1.5688 right_j2=1.5414 right_j3=-1.1709 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace0285cc42c3a2b43aacbfe669a35250e446d95fe5fef4c69a852476268f106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9611059587c053560e35edffe503202201a97a0e21b533e21460d14c589d2dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1eaa9b5a71582eea7df6107a1f98bf0a2c38cca0bcace8ac7429ca5ca4249b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 9.818 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=0.0063 left_j2=0.0063 left_j3=-0.025 left_j4=-0.0078 left_j5=-0.0158 left_gripper=0.9969 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0051 right_j5=-0.0048 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.041 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9968 right_j0=-0.0002 right_j1=1.5627 right_j2=1.5402 right_j3=-0.0227 right_j4=-0.0132 right_j5=-0.012 right_gripper=0.9995",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0006 right_j1=1.5688 right_j2=1.5414 right_j3=-1.1709 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace0285cc42c3a2b43aacbfe669a35250e446d95fe5fef4c69a852476268f106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9611059587c053560e35edffe503202201a97a0e21b533e21460d14c589d2dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eaa9b5a71582eea7df6107a1f98bf0a2c38cca0bcace8ac7429ca5ca4249b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ace0285cc42c]

[blob 9611059587c0]

[blob 1eaa9b5a7158]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SVftgWbKCz6UG2B7h19uDj",
      "input": {
        "note": "The right wrist camera sees only bare table, so the clapperboard is not directly ahead of the right arm. I'm raising the wrist pitch to widen the view further out across the table before deciding which way to yaw.",
        "targets": {
          "right_j3": -0.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SVftgWbKCz6UG2B7h19uDj",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5688 right_j2=1.5414 right_j3=-0.6987 right_j4=-0.0162 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e1d9ded352a347762a61268635d61e22fd1640d1e88e64bd676ae1b6d36fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d15c1d5021152c35eaae0e6fc9f299c2940b06a818291fe45444883b36d709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c799a952b0e927c06f63fbcde155b260599cce7b2da637bfdce6d454a13853b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 4.537 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=-0.041 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9968 right_j0=-0.0002 right_j1=1.5627 right_j2=1.5402 right_j3=-0.0227 right_j4=-0.0132 right_j5=-0.012 right_gripper=0.9995",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0006 right_j1=1.5688 right_j2=1.5414 right_j3=-1.1709 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5688 right_j2=1.5414 right_j3=-0.6987 right_j4=-0.0162 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e1d9ded352a347762a61268635d61e22fd1640d1e88e64bd676ae1b6d36fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d15c1d5021152c35eaae0e6fc9f299c2940b06a818291fe45444883b36d709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c799a952b0e927c06f63fbcde155b260599cce7b2da637bfdce6d454a13853b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 90e1d9ded352]

[blob 96d15c1d5021]

[blob 7c799a952b0e]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BoVzmTS4MwnGyfVBNnFGn",
      "input": {
        "note": "Pitched up too far — the right wrist camera now looks past the far edge of the table and still no clapperboard, so the board must be closer to the arms. I'm pitching the wrist nearly straight down to inspect the near table region.",
        "targets": {
          "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_017BoVzmTS4MwnGyfVBNnFGn",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.47 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db860eb57c25cf6d9b37b3868d157c72047d9331a503c60fd99616695b4a668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef8e9b68092c8427643a1aa2ddd03e3e4975636a7abf29822bba684a9aefca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:668049fb6c4f939694a9d977cf6f8e5bdc33c1da87692f3b591b85e9ffe30ef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 11.09 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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0006 right_j1=1.5688 right_j2=1.5414 right_j3=-1.1709 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5688 right_j2=1.5414 right_j3=-0.6987 right_j4=-0.0162 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 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=-0.0494 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.47 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db860eb57c25cf6d9b37b3868d157c72047d9331a503c60fd99616695b4a668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef8e9b68092c8427643a1aa2ddd03e3e4975636a7abf29822bba684a9aefca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668049fb6c4f939694a9d977cf6f8e5bdc33c1da87692f3b591b85e9ffe30ef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4db860eb57c2]

[blob 3ef8e9b68092]

[blob 668049fb6c4f]

{
  "content": [
    {
      "signature": "CAIS0gkKjAEIEBgCKkAuJ2u1qdlokoM12Pdw+NJO+pTblaju41yUbfGqod2rxtmceermsvr43P9lJSQrAX20vtHXvYuT5sjqjrSgCRmoMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLue9xsD/lVa8oCDtGgxplPjTX1G0xkjt/IEiMF4VdH5vgvn2yVeuH7V2P3wfn+aYRzu/CAfYEr9xwkkkfYHvG8xaegUGA/MhuAtT7CryB/w51US6j3dhyt81sXiDJU+81Cs1PiCBab5jpFr+z0WCvolejMdUEdxXLS5AyM26BhcZeF0W1VPAe+gyZ4hOOdCClz1qgGCZ0ae5KCAerPKsiJkqwtB9uYVWF5B7+GpCGSwaowS2q7CgAHLDv7YOoroZV0UsBLJY0bIs92Alx/NOO9uXFnDW7BsnnHcJiJN+iJtGIUNbK0Eb82ogePo1yGLtsK2p0KZ+7nXXjQvtQg3l3YUuHT3tu8ht2M53Soof8CvH0qqxewwYODTMA24/gF3lPF6PuBY/Cs9QGzOnIejhvjhY8KxGoxfSblTLeRNOkGybQwLpuJheh8iOTBN80F/zLg0GNwjYYWI3j1bLM+3V1mjqGT4Dem3sBhBiLCLXZXgy8UzX6M/UxZxMpkebrQfJG8UIXP6cv2FP6xJfJe/vXaER6HT7sxDzn/jWtEsy2V8TIFLZ7B4fvuApMwroVbDkt+a6UE+9BtRwmCjeM3gCQgd8RWSkvBwMDOkbU11JFy+XVbMzwIkn1qLWnfeD4wOxKkJJ9Wu02Ffsi09Cic5+TNRwi/N7yAp0vX+hOXGxdrxsLSgVR4dy9bnoQ1kfLy1xf7Uv1Um9Rnk8V8KEADjfHX4yeFWZaLSZBXuYmzj4vKiGVNmlb1OqPPbSwH7mgitYZNY7xYCea89Fd42xkSBuVQgdbVIq5OIwZ9Tv6UcjdiVr9e2EjKgX1GRy5AcCvkccD5WtY6k0Oo8uDCLPX9LHrs51kPsRxB2DgFGYeHQ1VuTOK7OmyaDx9qrz+Yfw5zEjCXUI05INw84wY5bypSZ9Tly4mVFe8QM5p8F6v5CeqDSxCKcOSGAZopaH2RQPSZdqIpvfPLeheQvYPsihR1VQcbhb+sLQ1yZb6EkL3ko5rAakFmYTmaCeUmn3Ag2/jYKaPKbv+HjDr794d38fDdYt0Px3MCmcY9jvsilmaqNIJSW3HmmGakBjV9BFzw03j+dNWhyMsBbKO8ZT7ENVvxctaaSdUAG2AUcP9A+YOwhEiVp0d2jh3jxNM+FpbW1xQ3sgl/TOyhfTLRAaFEixo3MUZmb3A8PuTchrlWF8rua74IE2/8jlpg5niCqouF18S0j5TnCgt9umc1nwexcZ/FupDqIlxsa0fNYNViwkhKmeGkQgmMwMyuV3Kc8ymegwJ6VPbpGkpbNwZ+DTAOPdCfPNkckJWoYYMdd83v1g52ptp5WY1RmysErQ7h9ST/7SzcyPdZZK5P4/pHC+fYjSpNxomI+17gWs90dzxnX3rvIhF0dDCIDnS/zPiV237Bjhc9CfU0Zsc+vW0bYuIGIL9EaM80xMAJfjTckFvjxGrnceHf3MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LaNC7PFjmgckJouG61JEyB",
      "input": {
        "note": "The right arm's camera sees only empty table in front of it, so the clapperboard must sit toward the other side. I'm raising the left arm into the same look-down pose to survey the table in front of it.",
        "targets": {
          "left_j1": 1.57,
          "left_j2": 1.57,
          "left_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_01LaNC7PFjmgckJouG61JEyB",
      "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=1.5677 left_j2=1.541 left_j3=-1.1717 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9966 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.4826 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a76317440f6e9a4aeb0589fe7fb8a6918d8f892b946079208a554ec88ce147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1e61ea48a303a1f6294af8396c3530e0e61114d33eb3bb4f92bbadd40c752b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f268777e028363cd9afc51a94a626fcfbf5de19cd56419909451273ab93a618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 10.46 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=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5688 right_j2=1.5414 right_j3=-0.6987 right_j4=-0.0162 right_j5=-0.0124 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0082 left_j2=0.0067 left_j3=-0.0494 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.47 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=0.0063 left_j1=1.5677 left_j2=1.541 left_j3=-1.1717 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9966 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.4826 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a76317440f6e9a4aeb0589fe7fb8a6918d8f892b946079208a554ec88ce147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1e61ea48a303a1f6294af8396c3530e0e61114d33eb3bb4f92bbadd40c752b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f268777e028363cd9afc51a94a626fcfbf5de19cd56419909451273ab93a618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e3a76317440f]

[blob fd1e61ea48a3]

[blob 8f268777e028]

{
  "content": [
    {
      "signature": 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Odi/DfQXKvBgjCBK+2zWK1fkGwouBnwfX/qIW9hB/5BwV9n4sFXwNOhW+oGjV6ycjh1icLCAMlnMcL6zsXFhnt2Y5xxx1gzBM1/DqbNEb6a42IQTF+9Q8BBM6TV8qxaS6ujf5S4SsaLHA3LIpgwhJZ0dRYnBJ1MTFgjLK5DQ1wzJqMFcbCcuKqqmnAUXK7HZKsvOSYuvbskJAv61RnoXgQrf1qAFCqDh4iWXof1yL3UB+nzoF33ncZl5BZ7IRTGpHRgkl2S/6onKbRJ3ZZ7pQZ/eVmHpGI+0saK7L2CPmC5EzUTI6uHpsZZquOm06fZ0Ffs5eqN+V4eW/0NubfWdwvJb4BAb3Jpxz8Qz+wPrMVHsHHfZlba/52bFhPEPMIPcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7tKcdd1VxF7DPmeUpvxmL",
      "input": {
        "note": "Neither wrist camera sees the clapperboard, so it is probably in the gap between the two arms. I'm yawing the right arm toward the robot's left (toward the midline) to look into that gap.",
        "targets": {
          "right_j0": 0.55,
          "right_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01J7tKcdd1VxF7DPmeUpvxmL",
      "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=1.573 left_j2=1.5425 left_j3=-1.1919 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9966 right_j0=0.5373 right_j1=1.5692 right_j2=1.5414 right_j3=-1.3273 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe7342a953be553d7068a3f1dbdf09e26e856a3ccda8686e65486f8324c0c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f9644f5382e09067c6c7c36365d22d0afa5da0604d93ec0fe76c91969a8769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8659f562b80b03f21508f7a2d7ed0caf63ad5fde5d8f1321266f4ff5b5e7087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 41.88 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=-0.0494 left_j4=-0.0086 left_j5=-0.0166 left_gripper=0.9967 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.47 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=0.0063 left_j1=1.5677 left_j2=1.541 left_j3=-1.1717 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9966 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.4826 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1919 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9966 right_j0=0.5373 right_j1=1.5692 right_j2=1.5414 right_j3=-1.3273 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe7342a953be553d7068a3f1dbdf09e26e856a3ccda8686e65486f8324c0c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f9644f5382e09067c6c7c36365d22d0afa5da0604d93ec0fe76c91969a8769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8659f562b80b03f21508f7a2d7ed0caf63ad5fde5d8f1321266f4ff5b5e7087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2fe7342a953b]

[blob 97f9644f5382]

[blob c8659f562b80]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KZkDdg5xxXv5vUW8Jx5Hsa",
      "input": {
        "note": "In the top view the right arm's gripper is at upper-left and the clapperboard lies further out and toward the robot's left, so I'm extending the right arm forward (shoulder and elbow pitched over) while keeping a modest inward yaw to bring the board into the wrist camera.",
        "targets": {
          "right_j0": 0.45,
          "right_j1": 2.0,
          "right_j2": 2.0,
          "right_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KZkDdg5xxXv5vUW8Jx5Hsa",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9964 right_j0=0.4545 right_j1=1.9961 right_j2=1.9713 right_j3=-1.3201 right_j4=-0.02 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873c446e441cc0c648c6d29914732666b650657d7c65db7bb6f8989671ec5a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f6999be7673b4c765776de53ed283ba04f856f86a28498e7a229922089f930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1042e92b62f9060db454bd53c55d0d18610c36f18329e1cca219c4b63cc42e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 55.87 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=0.0063 left_j1=1.5677 left_j2=1.541 left_j3=-1.1717 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9966 right_j0=-0.0002 right_j1=1.5692 right_j2=1.5414 right_j3=-1.4826 right_j4=-0.0158 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1919 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9966 right_j0=0.5373 right_j1=1.5692 right_j2=1.5414 right_j3=-1.3273 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9964 right_j0=0.4545 right_j1=1.9961 right_j2=1.9713 right_j3=-1.3201 right_j4=-0.02 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873c446e441cc0c648c6d29914732666b650657d7c65db7bb6f8989671ec5a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f6999be7673b4c765776de53ed283ba04f856f86a28498e7a229922089f930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1042e92b62f9060db454bd53c55d0d18610c36f18329e1cca219c4b63cc42e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 873c446e441c]

[blob a2f6999be767]

[blob 1042e92b62f9]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VMQ1KhtZX9jue61A8mz3F1",
      "input": {
        "note": "The right wrist camera now sees the clapperboard, but it sits to the upper-left of the view (i.e. to the arm's left and slightly closer in). I'm yawing the right arm further left to bring the striped clapper stick toward the center of the wrist view.",
        "targets": {
          "right_j0": 0.78
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VMQ1KhtZX9jue61A8mz3F1",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7631 right_j1=2.0041 right_j2=1.9709 right_j3=-1.3212 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f33040d95e3deba71b30f26d5fb1afb6c9f5323034e31b28c5e36e27060812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff378a8994676352d6e349248126db178fefcfa4af5c46fa98d58861cadf5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f489f2df1da11c37882329ceea775ec72100d41e5aa199827e2b86302edb697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 21.86 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=1.573 left_j2=1.5425 left_j3=-1.1919 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9966 right_j0=0.5373 right_j1=1.5692 right_j2=1.5414 right_j3=-1.3273 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9964 right_j0=0.4545 right_j1=1.9961 right_j2=1.9713 right_j3=-1.3201 right_j4=-0.02 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7631 right_j1=2.0041 right_j2=1.9709 right_j3=-1.3212 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f33040d95e3deba71b30f26d5fb1afb6c9f5323034e31b28c5e36e27060812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff378a8994676352d6e349248126db178fefcfa4af5c46fa98d58861cadf5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f489f2df1da11c37882329ceea775ec72100d41e5aa199827e2b86302edb697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 11f33040d95e]

[blob ff378a899467]

[blob 3f489f2df1da]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PWJLnsE5BdrfbCtMEDYWSp",
      "input": {
        "note": "From the top view the right gripper (the black finger protruding at image top-center) is still short of the clapperboard, which lies further out; the wrist camera lost the board when I yawed. I'm extending the right arm further forward at the same yaw so the gripper approaches the striped clapper stick along the board's near edge.",
        "targets": {
          "right_j1": 2.384,
          "right_j2": 2.557,
          "right_j3": -1.482
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PWJLnsE5BdrfbCtMEDYWSp",
      "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=1.573 left_j2=1.5425 left_j3=-1.1969 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7639 right_j1=2.3718 right_j2=2.5271 right_j3=-1.4868 right_j4=-0.0231 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4dd8a2c2a74b688dc16e6840af0afaf67bfb2f0f6727660674687334d01445a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b4fb191e29422c168e8354bc22a2008efca404849e6884f9ae00e29e70d93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbe07c88e1f855fb99dc868d21877340b38862e9a14644e5e8ba1294473c149f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 8.088 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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9964 right_j0=0.4545 right_j1=1.9961 right_j2=1.9713 right_j3=-1.3201 right_j4=-0.02 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7631 right_j1=2.0041 right_j2=1.9709 right_j3=-1.3212 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "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=0.0063 left_j1=1.573 left_j2=1.5425 left_j3=-1.1969 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7639 right_j1=2.3718 right_j2=2.5271 right_j3=-1.4868 right_j4=-0.0231 right_j5=-0.012 right_gripper=0.9995",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4dd8a2c2a74b688dc16e6840af0afaf67bfb2f0f6727660674687334d01445a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b4fb191e29422c168e8354bc22a2008efca404849e6884f9ae00e29e70d93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe07c88e1f855fb99dc868d21877340b38862e9a14644e5e8ba1294473c149f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a4dd8a2c2a74]

[blob 9b3b4fb191e2]

[blob cbe07c88e1f8]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GSWYbuhRWasFJ7ioL3ivw7",
      "input": {
        "note": "The wrist camera now shows the dark edge of the clapperboard right in front of the fingers, and the top view shows the gripper hovering just short of the striped clapper stick. I'm reaching a few cm further out and rolling the wrist ~47° so the jaws will straddle across the stick rather than along it.",
        "targets": {
          "right_j0": 0.784,
          "right_j1": 2.37,
          "right_j2": 2.492,
          "right_j3": -1.344,
          "right_j5": -0.82
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GSWYbuhRWasFJ7ioL3ivw7",
      "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=1.573 left_j2=1.5425 left_j3=-1.1976 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7822 right_j1=2.3737 right_j2=2.4962 right_j3=-1.3674 right_j4=-0.0231 right_j5=-0.7921 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af729a480076a4350fc95c3d78abe07c503ecdcb52787eba1e6746b9411f8d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413be7383031a2a41cf9070c06c995a6333b9c91cbddf0d62467e85754b21bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e214c0a8b3af607d0e9ba91bf145042f14fa71340d4ee158501c9945b0e74c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 7.939 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=1.573 left_j2=1.5425 left_j3=-1.1938 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7631 right_j1=2.0041 right_j2=1.9709 right_j3=-1.3212 right_j4=-0.0166 right_j5=-0.012 right_gripper=0.9995",
      "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=0.0063 left_j1=1.573 left_j2=1.5425 left_j3=-1.1969 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7639 right_j1=2.3718 right_j2=2.5271 right_j3=-1.4868 right_j4=-0.0231 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1976 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7822 right_j1=2.3737 right_j2=2.4962 right_j3=-1.3674 right_j4=-0.0231 right_j5=-0.7921 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af729a480076a4350fc95c3d78abe07c503ecdcb52787eba1e6746b9411f8d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413be7383031a2a41cf9070c06c995a6333b9c91cbddf0d62467e85754b21bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e214c0a8b3af607d0e9ba91bf145042f14fa71340d4ee158501c9945b0e74c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob af729a480076]

[blob 413be7383031]

[blob e214c0a8b3af]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Rv7xTahy2B8XsgsxmefKF",
      "input": {
        "note": "Top view shows the open gripper hovering right over the near (striped) edge of the clapperboard. I'm lowering the tool about 4 cm straight down to bring the jaws around the clapper stick.",
        "targets": {
          "right_j1": 2.361,
          "right_j2": 2.328,
          "right_j3": -1.189
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_019Rv7xTahy2B8XsgsxmefKF",
      "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=1.573 left_j2=1.5425 left_j3=-1.2007 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3684 right_j2=2.3367 right_j3=-1.2186 right_j4=-0.0196 right_j5=-0.8043 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68fdf7238bbacb34cb6afb2c3b7e275ba5d45235bb101e7f32f0f3dacc7b2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d19653101e3b7f0d7a14ecd59d954ef47c59e241766e775cb43c1d59ccc83eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42dee314d74673ed842b4fa2bfbd4de4b4c0b890e72f6fa71584248d676be09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 9.818 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=0.0063 left_j1=1.573 left_j2=1.5425 left_j3=-1.1969 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7639 right_j1=2.3718 right_j2=2.5271 right_j3=-1.4868 right_j4=-0.0231 right_j5=-0.012 right_gripper=0.9995",
      "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=1.573 left_j2=1.5425 left_j3=-1.1976 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7822 right_j1=2.3737 right_j2=2.4962 right_j3=-1.3674 right_j4=-0.0231 right_j5=-0.7921 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2007 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3684 right_j2=2.3367 right_j3=-1.2186 right_j4=-0.0196 right_j5=-0.8043 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68fdf7238bbacb34cb6afb2c3b7e275ba5d45235bb101e7f32f0f3dacc7b2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d19653101e3b7f0d7a14ecd59d954ef47c59e241766e775cb43c1d59ccc83eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42dee314d74673ed842b4fa2bfbd4de4b4c0b890e72f6fa71584248d676be09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob a68fdf7238bb]

[blob 6d19653101e3]

[blob 42dee314d746]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MhqkuY1tcFn42Wn4KyubWG",
      "input": {
        "note": "The gripper is directly over the striped clapper stick but still above it; the wrist camera shows the dark board bulk beside the fingers. I'm descending another ~3.5 cm to bring the open jaws down around the stick.",
        "targets": {
          "right_j1": 2.378,
          "right_j2": 2.217,
          "right_j3": -1.061
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MhqkuY1tcFn42Wn4KyubWG",
      "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=1.573 left_j2=1.5425 left_j3=-1.2011 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7837 right_j1=2.3657 right_j2=2.2436 right_j3=-1.0874 right_j4=-0.012 right_j5=-0.8051 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbee21e7a336d719b36f941849f0b3cc6b1a3ff9d1564f61811248ade1497e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf90fb82939bc3aa597fc415bc2f53380c4aceefe7171987634a4566c634cea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fe1bb1867b2be0971a09251c82680b1b5f02d8c920d067b1b1bc089525b881b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 9.856 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=1.573 left_j2=1.5425 left_j3=-1.1976 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7822 right_j1=2.3737 right_j2=2.4962 right_j3=-1.3674 right_j4=-0.0231 right_j5=-0.7921 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2007 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3684 right_j2=2.3367 right_j3=-1.2186 right_j4=-0.0196 right_j5=-0.8043 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2011 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7837 right_j1=2.3657 right_j2=2.2436 right_j3=-1.0874 right_j4=-0.012 right_j5=-0.8051 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbee21e7a336d719b36f941849f0b3cc6b1a3ff9d1564f61811248ade1497e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf90fb82939bc3aa597fc415bc2f53380c4aceefe7171987634a4566c634cea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fe1bb1867b2be0971a09251c82680b1b5f02d8c920d067b1b1bc089525b881b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob cbee21e7a336]

[blob bf90fb82939b]

[blob 5fe1bb1867b2]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015b7Jb2huaVf5UtQkMEsWCK",
      "input": {
        "note": "Still hovering above the board — no contact visible yet. Continuing a careful ~3 cm descent toward the clapper stick.",
        "targets": {
          "right_j1": 2.393,
          "right_j2": 2.158,
          "right_j3": -0.975
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015b7Jb2huaVf5UtQkMEsWCK",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3657 right_j2=2.1845 right_j3=-0.9977 right_j4=-0.0032 right_j5=-0.8127 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99caf24bbdb8fdd936d582d0e65ff09cd8f935c6a7ef5cbe0bbc5222cde2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee90d9c35460e43cadb92b95ec3615f197f6b8da40af94070a0e7124b6030e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e8419090187fb57dba5a1467b6cb04c5147048e45092e9dbcb14f2ad8b317b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 13.7 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=1.573 left_j2=1.5425 left_j3=-1.2007 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3684 right_j2=2.3367 right_j3=-1.2186 right_j4=-0.0196 right_j5=-0.8043 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2011 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7837 right_j1=2.3657 right_j2=2.2436 right_j3=-1.0874 right_j4=-0.012 right_j5=-0.8051 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3657 right_j2=2.1845 right_j3=-0.9977 right_j4=-0.0032 right_j5=-0.8127 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99caf24bbdb8fdd936d582d0e65ff09cd8f935c6a7ef5cbe0bbc5222cde2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee90d9c35460e43cadb92b95ec3615f197f6b8da40af94070a0e7124b6030e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e8419090187fb57dba5a1467b6cb04c5147048e45092e9dbcb14f2ad8b317b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7f99caf24bbd]

[blob ee90d9c35460]

[blob 6e8419090187]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vcMFBAaxac5edF6UVJ1Eq",
      "input": {
        "note": "The fingers are now reaching down alongside the board's near edge; still no contact. Lowering another ~2.5 cm so the open jaws bracket the clapper stick at table level.",
        "targets": {
          "right_j1": 2.423,
          "right_j2": 2.11,
          "right_j3": -0.896
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_017vcMFBAaxac5edF6UVJ1Eq",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7902 right_j1=2.368 right_j2=2.1357 right_j3=-0.8898 right_j4=0.0219 right_j5=-0.8238 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68028835a0c78c91b47c48bfa61502cee8a9330215383a1f05878f7508b9632b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ff0daf38fa6bacbb773d660baefcde56ba500606894e9601221a036757d1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1daac58b70de924235062ceb1283bea6c0f2be0f7e58aa6c851b8427d95924b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 11.69 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=1.573 left_j2=1.5425 left_j3=-1.2011 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7837 right_j1=2.3657 right_j2=2.2436 right_j3=-1.0874 right_j4=-0.012 right_j5=-0.8051 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3657 right_j2=2.1845 right_j3=-0.9977 right_j4=-0.0032 right_j5=-0.8127 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7902 right_j1=2.368 right_j2=2.1357 right_j3=-0.8898 right_j4=0.0219 right_j5=-0.8238 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68028835a0c78c91b47c48bfa61502cee8a9330215383a1f05878f7508b9632b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ff0daf38fa6bacbb773d660baefcde56ba500606894e9601221a036757d1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1daac58b70de924235062ceb1283bea6c0f2be0f7e58aa6c851b8427d95924b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 68028835a0c7]

[blob 23ff0daf38fa]

[blob 1daac58b70de]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KECvj89JY5hBBJfBRXqrPU",
      "input": {
        "note": "Top view shows the jaws right at the far end of the striped clapper stick, possibly just past it. I'm shifting ~3 cm back along the stick (toward the robot's right) and dropping another 1.5 cm so the jaws sit around the stick rather than off its end.",
        "targets": {
          "right_j0": 0.735,
          "right_j1": 2.445,
          "right_j2": 2.086,
          "right_j3": -0.851
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KECvj89JY5hBBJfBRXqrPU",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7609 right_j1=2.3772 right_j2=2.1208 right_j3=-0.8036 right_j4=0.033 right_j5=-0.8501 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3c89fbfc47c44e0c968ef4a89a6386e7d3d873207840e39374ba0c71ef3bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0980dbb5680f22726d689f3e86f5d32e2b3cee78ad4d39e937a98ee51663dfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04e4c1d9dee155c9ab1ba108a988221f0f44b4a740319c4269823318066658d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 7.198 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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7834 right_j1=2.3657 right_j2=2.1845 right_j3=-0.9977 right_j4=-0.0032 right_j5=-0.8127 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7902 right_j1=2.368 right_j2=2.1357 right_j3=-0.8898 right_j4=0.0219 right_j5=-0.8238 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7609 right_j1=2.3772 right_j2=2.1208 right_j3=-0.8036 right_j4=0.033 right_j5=-0.8501 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3c89fbfc47c44e0c968ef4a89a6386e7d3d873207840e39374ba0c71ef3bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0980dbb5680f22726d689f3e86f5d32e2b3cee78ad4d39e937a98ee51663dfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e4c1d9dee155c9ab1ba108a988221f0f44b4a740319c4269823318066658d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob fd3c89fbfc47]

[blob 0980dbb5680f]

[blob 04e4c1d9dee1]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G81iiGkEWxU7YmRUt5jzbi",
      "input": {
        "note": "The arm stopped slightly short of the commanded pose, which suggests the fingers are in contact with the board/stick. Closing the jaws to see whether the clapper stick is captured between them.",
        "targets": {
          "right_gripper": 0.12
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01G81iiGkEWxU7YmRUt5jzbi",
      "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=1.573 left_j2=1.5425 left_j3=-1.2079 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.1342 right_j3=-0.8257 right_j4=0.0071 right_j5=-0.8307 right_gripper=0.1274",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e7401b25a1b70e59da2657fd1a39adfd5bd7a89fef0d906812900b71648595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d805ec124568cb579f9a1ffd3c9741f8483ebf98e75bf324cc80af685c90bf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30881b1f33b93e1a8c9541e07979cf8a22651ed13de0d47bbae9d3017eff9ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 34.88 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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7902 right_j1=2.368 right_j2=2.1357 right_j3=-0.8898 right_j4=0.0219 right_j5=-0.8238 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7609 right_j1=2.3772 right_j2=2.1208 right_j3=-0.8036 right_j4=0.033 right_j5=-0.8501 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2079 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.1342 right_j3=-0.8257 right_j4=0.0071 right_j5=-0.8307 right_gripper=0.1274",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e7401b25a1b70e59da2657fd1a39adfd5bd7a89fef0d906812900b71648595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d805ec124568cb579f9a1ffd3c9741f8483ebf98e75bf324cc80af685c90bf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30881b1f33b93e1a8c9541e07979cf8a22651ed13de0d47bbae9d3017eff9ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 38e7401b25a1]

[blob d805ec124568]

[blob 30881b1f33b9]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GUjws4VNzU6Z3Bcm5AdYgz",
      "input": {
        "note": "Jaws are now closed at the board's near edge. Lifting the wrist ~6 cm to see whether the clapper stick has been captured and rises with the gripper.",
        "targets": {
          "right_j1": 2.323,
          "right_j2": 2.315,
          "right_j3": -1.042
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GUjws4VNzU6Z3Bcm5AdYgz",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.2543 right_j3=-1.0241 right_j4=0.0067 right_j5=-0.831 right_gripper=0.1277",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed01722736e338acaf894aa404ab79f4478fcbffafaa214c256b48b590365813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955d0d1cb9e45adf6fa8ed225996a988946158e772e53d82bb11951e76b53ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aed6195a1b5eef40ef456656b9d3da1437af9797da7d8261fe80b09a28aa9693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 11.6 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=1.573 left_j2=1.5425 left_j3=-1.2015 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7609 right_j1=2.3772 right_j2=2.1208 right_j3=-0.8036 right_j4=0.033 right_j5=-0.8501 right_gripper=0.9994",
      "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=1.573 left_j2=1.5425 left_j3=-1.2079 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.1342 right_j3=-0.8257 right_j4=0.0071 right_j5=-0.8307 right_gripper=0.1274",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.2543 right_j3=-1.0241 right_j4=0.0067 right_j5=-0.831 right_gripper=0.1277",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed01722736e338acaf894aa404ab79f4478fcbffafaa214c256b48b590365813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955d0d1cb9e45adf6fa8ed225996a988946158e772e53d82bb11951e76b53ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed6195a1b5eef40ef456656b9d3da1437af9797da7d8261fe80b09a28aa9693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ed01722736e3]

[blob 955d0d1cb9e4]

[blob aed6195a1b5e]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XjueatWjZ3ZZtsuUt28kyf",
      "input": {
        "note": "The lift grabbed nothing — the board is untouched. I'm backing the gripper up and away (wrist roll reset to zero so the camera image is upright) to get a clean overhead look at the clapperboard and judge its true height and the stick's position.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.273,
          "right_j2": 2.426,
          "right_j3": -1.2,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01XjueatWjZ3ZZtsuUt28kyf",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7769 right_j1=2.3295 right_j2=2.3928 right_j3=-1.2003 right_j4=0.0025 right_j5=-0.094 right_gripper=0.997",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec95cbbea9f8342b38066dee5ec5980b9cac12b81d31cf99f13e8e5cad97260c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250c66db640532a1be8774955813aa5fa91fb10de3d8d16b8cf210bf34af00e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c48bcbe3152f4afe1755c342fe4555e27a7500632e5c69176b4c9cfeb569ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /messages · status 200 · 23.15 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=1.573 left_j2=1.5425 left_j3=-1.2079 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.1342 right_j3=-0.8257 right_j4=0.0071 right_j5=-0.8307 right_gripper=0.1274",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.2543 right_j3=-1.0241 right_j4=0.0067 right_j5=-0.831 right_gripper=0.1277",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7769 right_j1=2.3295 right_j2=2.3928 right_j3=-1.2003 right_j4=0.0025 right_j5=-0.094 right_gripper=0.997",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec95cbbea9f8342b38066dee5ec5980b9cac12b81d31cf99f13e8e5cad97260c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250c66db640532a1be8774955813aa5fa91fb10de3d8d16b8cf210bf34af00e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c48bcbe3152f4afe1755c342fe4555e27a7500632e5c69176b4c9cfeb569ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ec95cbbea9f8]

[blob 250c66db6405]

[blob 8c48bcbe3152]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019u6aimCqWDaeYN1JA8MfF2",
      "input": {
        "note": "The wrist camera now clearly shows both open fingers and a white object lying between/below them. I'm making a deliberate 0.15 rad yaw to the arm's left as a calibration move, to see exactly which way the scene shifts in the wrist image.",
        "targets": {
          "right_j0": 0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_019u6aimCqWDaeYN1JA8MfF2",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.8822 right_j1=2.3199 right_j2=2.3959 right_j3=-1.2144 right_j4=0.0128 right_j5=-0.0715 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51e060faea7f191feb39b807a700d5967b6d0710dbcf356a258cf85c23ea8c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341dac0b1d436e74ca167c2aa919801b7aa6eeee0d686add7533b025216e2af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6999a642559681f1f32f57162f9e5179a7f604f48eac625270c0714a652ca2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 20 attempt 0 · /messages · status 200 · 12.38 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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0204 left_gripper=0.9963 right_j0=0.7742 right_j1=2.3589 right_j2=2.2543 right_j3=-1.0241 right_j4=0.0067 right_j5=-0.831 right_gripper=0.1277",
      "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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7769 right_j1=2.3295 right_j2=2.3928 right_j3=-1.2003 right_j4=0.0025 right_j5=-0.094 right_gripper=0.997",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.8822 right_j1=2.3199 right_j2=2.3959 right_j3=-1.2144 right_j4=0.0128 right_j5=-0.0715 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51e060faea7f191feb39b807a700d5967b6d0710dbcf356a258cf85c23ea8c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341dac0b1d436e74ca167c2aa919801b7aa6eeee0d686add7533b025216e2af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6999a642559681f1f32f57162f9e5179a7f604f48eac625270c0714a652ca2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 51e060faea7f]

[blob 341dac0b1d43]

[blob 6999a6425596]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sSeXKUVMJnwTPgTmczsbC",
      "input": {
        "note": "The calibration move let me scale the top view: the gripper is currently about 11 cm to the robot's left of the striped clapper stick. I'm shifting the gripper back to the right and over the middle of the stick, holding a safe height, with the wrist rolled so the jaws close across the stick.",
        "targets": {
          "right_j0": 0.704,
          "right_j1": 2.261,
          "right_j2": 2.244,
          "right_j3": -1.379,
          "right_j5": -0.868
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_015sSeXKUVMJnwTPgTmczsbC",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7155 right_j1=2.3074 right_j2=2.2513 right_j3=-1.3689 right_j4=0.0063 right_j5=-0.7933 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5967316ce4ea89bac67965b04dc95a247ee8f80c4257debe03c35fb2af716d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:541a6c5deed7e349735d7f6229ca8b5c764e9cd135e0589c70006d3edd3b46a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b000fa06106775d20532c38e72559b5a7b1dd850371ef6c599d5e50655862b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 21 attempt 0 · /messages · status 200 · 8.555 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=1.573 left_j2=1.5425 left_j3=-1.2091 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7769 right_j1=2.3295 right_j2=2.3928 right_j3=-1.2003 right_j4=0.0025 right_j5=-0.094 right_gripper=0.997",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.8822 right_j1=2.3199 right_j2=2.3959 right_j3=-1.2144 right_j4=0.0128 right_j5=-0.0715 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7155 right_j1=2.3074 right_j2=2.2513 right_j3=-1.3689 right_j4=0.0063 right_j5=-0.7933 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5967316ce4ea89bac67965b04dc95a247ee8f80c4257debe03c35fb2af716d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:541a6c5deed7e349735d7f6229ca8b5c764e9cd135e0589c70006d3edd3b46a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b000fa06106775d20532c38e72559b5a7b1dd850371ef6c599d5e50655862b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5967316ce4ea]

[blob 541a6c5deed7]

[blob 7b000fa06106]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SCNbqJS9cwg8BwF1bkjLkM",
      "input": {
        "note": "Top view shows the open jaws now lined up directly over the striped clapper stick, just a few cm above it. Descending ~3 cm to bring the stick between the fingers.",
        "targets": {
          "right_j1": 2.324,
          "right_j2": 2.154,
          "right_j3": -1.255
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SCNbqJS9cwg8BwF1bkjLkM",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7116 right_j1=2.3028 right_j2=2.1891 right_j3=-1.3258 right_j4=0.0051 right_j5=-0.8307 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78c7ac4c4b45be86564e6494d836684a7b8a7b6b867e14010663fa9f08e30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2468914e93d132a9ad4061b3431ddfe4df44978a62b9a3878ba3e613cd9246a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b06ed6d5f5b067dd302b2e148727cd17fed39a1c48adaec1aee01923c724069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 22 attempt 0 · /messages · status 200 · 8.53 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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.8822 right_j1=2.3199 right_j2=2.3959 right_j3=-1.2144 right_j4=0.0128 right_j5=-0.0715 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7155 right_j1=2.3074 right_j2=2.2513 right_j3=-1.3689 right_j4=0.0063 right_j5=-0.7933 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7116 right_j1=2.3028 right_j2=2.1891 right_j3=-1.3258 right_j4=0.0051 right_j5=-0.8307 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78c7ac4c4b45be86564e6494d836684a7b8a7b6b867e14010663fa9f08e30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2468914e93d132a9ad4061b3431ddfe4df44978a62b9a3878ba3e613cd9246a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b06ed6d5f5b067dd302b2e148727cd17fed39a1c48adaec1aee01923c724069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c78c7ac4c4b4]

[blob 2468914e93d1]

[blob 9b06ed6d5f5b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BNwqL2S6uCfgxQFoEPcycQ",
      "input": {
        "note": "The arm is tracking a bit behind my commands, so it has only dropped ~1.5 cm. Commanding a further ~5 cm descent so the jaws come down around the striped clapper stick.",
        "targets": {
          "right_j1": 2.369,
          "right_j2": 2.111,
          "right_j3": -1.182
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BNwqL2S6uCfgxQFoEPcycQ",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7208 right_j1=2.3367 right_j2=2.1296 right_j3=-1.2377 right_j4=0.0025 right_j5=-0.8234 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b71f2fba244e377a8bd0b1c252ba40dde784e3c04157ab926cde298dcdc88b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c1ea9228b6e6fa02b208ee84b14ae8fe2583433718f8aed2f10da69086ab5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6e9c2b060d1bb61db90c218c3fd031ef1d121b2cc9e6e2f390f2edf510386e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 23 attempt 0 · /messages · status 200 · 9.474 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=1.573 left_j2=1.5425 left_j3=-1.2095 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7155 right_j1=2.3074 right_j2=2.2513 right_j3=-1.3689 right_j4=0.0063 right_j5=-0.7933 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7116 right_j1=2.3028 right_j2=2.1891 right_j3=-1.3258 right_j4=0.0051 right_j5=-0.8307 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7208 right_j1=2.3367 right_j2=2.1296 right_j3=-1.2377 right_j4=0.0025 right_j5=-0.8234 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b71f2fba244e377a8bd0b1c252ba40dde784e3c04157ab926cde298dcdc88b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c1ea9228b6e6fa02b208ee84b14ae8fe2583433718f8aed2f10da69086ab5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e9c2b060d1bb61db90c218c3fd031ef1d121b2cc9e6e2f390f2edf510386e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 20b71f2fba24]

[blob 4c1ea9228b6e]

[blob a6e9c2b060d1]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLUwftnSnp6EJ37JaFQZ3J",
      "input": {
        "note": "I can't tell the gripper fingers from the object in the cluttered top view, so I'm pulling the right arm up and off to the side for one clean, unobstructed look at the clapperboard.",
        "targets": {
          "right_j0": 0.2,
          "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 12 steps (1.2s)",
      "tool_use_id": "toolu_01CLUwftnSnp6EJ37JaFQZ3J",
      "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=1.573 left_j2=1.5425 left_j3=-1.2152 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.2703 right_j1=1.7084 right_j2=1.586 right_j3=-1.0443 right_j4=-0.115 right_j5=-0.8597 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c50905c1f66fff118cd51cacf3c49e1448cafb9fbc9b0e662a2eea8c6f50cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d069bf38f5289fc2553648f05907b342231a8e03601df0d19173b668054b0bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ae8699d35e8786223da3d14d3412a5160af135114f5b0a9f39bf4cc44d15f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 24 attempt 0 · /messages · status 200 · 11.5 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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7116 right_j1=2.3028 right_j2=2.1891 right_j3=-1.3258 right_j4=0.0051 right_j5=-0.8307 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7208 right_j1=2.3367 right_j2=2.1296 right_j3=-1.2377 right_j4=0.0025 right_j5=-0.8234 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2152 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.2703 right_j1=1.7084 right_j2=1.586 right_j3=-1.0443 right_j4=-0.115 right_j5=-0.8597 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c50905c1f66fff118cd51cacf3c49e1448cafb9fbc9b0e662a2eea8c6f50cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d069bf38f5289fc2553648f05907b342231a8e03601df0d19173b668054b0bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae8699d35e8786223da3d14d3412a5160af135114f5b0a9f39bf4cc44d15f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8c50905c1f66]

[blob d069bf38f528]

[blob 5ae8699d35e8]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016QkxNBBhvYnXA9nevKNAHh",
      "input": {
        "note": "Clean top view confirms a small clapperboard lying flat, dark bar toward the arms and a white tab on the far side. I'm posing the right wrist camera straight down about 35 cm above it for a high-resolution close-up before attempting the grasp.",
        "targets": {
          "right_j0": 0.709,
          "right_j1": 2.564,
          "right_j2": 2.8,
          "right_j3": -1.806,
          "right_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 20 steps (2.0s)",
      "tool_use_id": "toolu_016QkxNBBhvYnXA9nevKNAHh",
      "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=1.5764 left_j2=1.5421 left_j3=-1.2266 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7002 right_j1=2.5462 right_j2=2.7686 right_j3=-1.6928 right_j4=-0.1066 right_j5=-0.0654 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9caffa2a4a55ff2e9aa57f4aa128d96618cd2f20809000ca0013d94d050fb2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384dc0af0df9b537e48d3e54d7368b79da347b141ef33624434048cdfc6474a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64ad03f64cac7b6f39e6fd4b7fc0bbd0363e710162327e991e9abafe77bfd71f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 25 attempt 0 · /messages · status 200 · 22.52 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=1.573 left_j2=1.5425 left_j3=-1.2102 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7208 right_j1=2.3367 right_j2=2.1296 right_j3=-1.2377 right_j4=0.0025 right_j5=-0.8234 right_gripper=0.9974",
      "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=1.573 left_j2=1.5425 left_j3=-1.2152 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.2703 right_j1=1.7084 right_j2=1.586 right_j3=-1.0443 right_j4=-0.115 right_j5=-0.8597 right_gripper=0.9974",
      "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=1.5764 left_j2=1.5421 left_j3=-1.2266 left_j4=-0.0078 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7002 right_j1=2.5462 right_j2=2.7686 right_j3=-1.6928 right_j4=-0.1066 right_j5=-0.0654 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9caffa2a4a55ff2e9aa57f4aa128d96618cd2f20809000ca0013d94d050fb2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384dc0af0df9b537e48d3e54d7368b79da347b141ef33624434048cdfc6474a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ad03f64cac7b6f39e6fd4b7fc0bbd0363e710162327e991e9abafe77bfd71f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9caffa2a4a55]

[blob 384dc0af0df9]

[blob 64ad03f64cac]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K2fYPwETujrQKGNp1P41SL",
      "input": {
        "note": "The wrist camera is now right above the clapperboard and I can see the slate's white label boxes and a striped white element (the clapper stick) toward the top-right of the frame. Making a known 0.15 rad yaw so I can read off exactly how image directions map to arm motion.",
        "targets": {
          "right_j0": 0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K2fYPwETujrQKGNp1P41SL",
      "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=1.5764 left_j2=1.5417 left_j3=-1.2278 left_j4=-0.0082 left_j5=-0.0208 left_gripper=0.9963 right_j0=0.7921 right_j1=2.5622 right_j2=2.7754 right_j3=-1.6768 right_j4=-0.0555 right_j5=-0.0608 right_gripper=0.9974",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946798c457a8c3133bdaf17530c0cc575a0782f0ce2fbefdc9a892b4e38ac6f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b81670b68391830b86b5f28233316d195ec0bda2df74165ea4e0537e1345613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8caadb1ede8b2ea1ec021d2c079876665e9c1c45194ae590aad24e5f653804ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}