adhoc

completed
2026-07-31T00:51:05.485527+00:00 inspect-robots 0.32.0git unknownembedded media truncated at 50 MB (381 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
200
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
anthropic
wire_capture
true
seed
0
max steps
12000
duration
1041 s
total steps
559
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

operator_end

Operator judgements

y
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change.
user
Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change.
user
Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe clapperboard lies flat mid-table with its striped clapper stick on the edge nearest the arms. I'm raising the right arm into an approach pose ~20 cm above the table, gripper pointing forward-down at 45° and wrist rolled 90° so the jaws straddle the stick front-to-back.
move_joints
right_j00.0000right_j11.7800right_j22.2900right_j3-1.3000right_j40.0000right_j51.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0059 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0227 left_j4=-0.0067 left_j5=0.0025 left_gripper=0.9988 right_j0=-0.0021 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0292 right_j4=-0.0006 right_j5=-0.0154 right_gripper=0.9994 camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0, "right_j1": 1.78, "right_j2": 2.29, "right_j3": -1.3, "right_j4": 0, "right_j5": 1.57, "right_gripper": 1}, "note": "The clapperboard lies flat mid-table with its striped clapper stick on the edge nearest the arms. I'm raising the right arm into an approach pose ~20 cm above the table, gripper pointing forward-down at 45\u00b0 and wrist rolled 90\u00b0 so the jaws straddle the stick front-to-back."})
tool
executing move_joints over 37 steps (3.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe right wrist camera (rolled 90° by j5) shows mostly the far table edge and dark background, so the gripper is aimed too high to see the clapperboard. I'm pitching the wrist down further to bring the board into view.
move_joints
right_j3-2.1000
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9987 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2658 right_j3=-1.3212 right_j4=-0.0013 right_j5=1.5417 right_gripper=0.9994 camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -2.1}, "note": "The right wrist camera (rolled 90\u00b0 by j5) shows mostly the far table edge and dark background, so the gripper is aimed too high to see the clapperboard. I'm pitching the wrist down further to bring the board into view."})
tool
executing move_joints over 13 steps (1.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteIn the top view the raised right arm sits just to the left of the clapperboard (image is mirrored, so I need +j0 to swing toward it); the wrist cam still looks past the board. Pitching the wrist down more and yawing the base 0.2 rad toward the board.
move_joints
right_j3-2.1000right_j00.2000
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9986 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0013 right_j5=1.5455 right_gripper=0.9994 camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -2.1, "right_j0": 0.2}, "note": "In the top view the raised right arm sits just to the left of the clapperboard (image is mirrored, so I need +j0 to swing toward it); the wrist cam still looks past the board. Pitching the wrist down more and yawing the base 0.2 rad toward the board."})
tool
executing move_joints over 7 steps (0.7s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent notej3 seems to bottom out near -1.70, so instead I'm reshaping the arm (shoulder/elbow) to reach out ~50 cm and hover about 12 cm above the table with the gripper aimed steeply downward, which should put the clapperboard in the wrist camera.
move_joints
right_j12.3200right_j22.9600right_j3-1.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9983 right_j0=0.2001 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0048 right_j5=1.5452 right_gripper=0.9994 camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.32, "right_j2": 2.96, "right_j3": -1.7}, "note": "j3 seems to bottom out near -1.70, so instead I'm reshaping the arm (shoulder/elbow) to reach out ~50 cm and hover about 12 cm above the table with the gripper aimed steeply downward, which should put the clapperboard in the wrist camera."})
tool
executing move_joints over 12 steps (1.2s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe wrist camera now catches the clapperboard in its lower-right corner and the top view shows the gripper still to the left of the board, so I'm yawing the base further (+j0) to swing the gripper over the board; this also calibrates how many pixels per radian the gripper moves.
move_joints
right_j00.4500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0265 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9983 right_j0=0.2001 right_j1=2.315 right_j2=2.9311 right_j3=-1.6955 right_j4=-0.0051 right_j5=1.5448 right_gripper=0.9994 camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.45}, "note": "The wrist camera now catches the clapperboard in its lower-right corner and the top view shows the gripper still to the left of the board, so I'm yawing the base further (+j0) to swing the gripper over the board; this also calibrates how many pixels per radian the gripper moves."})
tool
executing move_joints over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteComparing the two top views, increasing j0 moved the gripper toward the board (image right), and the board grew in the wrist view; continuing to swing right to bring the jaws over the striped clapper stick.
move_joints
right_j00.6200
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.4324 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0055 right_j5=1.5452 right_gripper=0.9994 camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.62}, "note": "Comparing the two top views, increasing j0 moved the gripper toward the board (image right), and the board grew in the wrist view; continuing to swing right to bring the jaws over the striped clapper stick."})
tool
executing move_joints over 3 steps (0.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteTop view shows the gripper hovering just above/behind the striped clapper stick and the wrist view has the board centred laterally, so lateral alignment looks good; I'm lowering the tool about 6 cm to close in on the stick.
move_joints
right_j12.4100right_j22.9100
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.598 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0093 right_j5=1.5452 right_gripper=0.9994 camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.41, "right_j2": 2.91}, "note": "Top view shows the gripper hovering just above/behind the striped clapper stick and the wrist view has the board centred laterally, so lateral alignment looks good; I'm lowering the tool about 6 cm to close in on the stick."})
tool
executing move_joints over 2 steps (0.2s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe wrist view shows the striped clapper stick at the near-left edge of the frame, meaning the gripper is a few cm beyond it and slightly to its right; retracting ~4 cm and yawing a touch further left to sit directly over the stick.
move_joints
right_j12.2500right_j22.6500right_j00.6600
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5987 right_j1=2.3829 right_j2=2.9189 right_j3=-1.6955 right_j4=-0.0154 right_j5=1.5452 right_gripper=0.9994 camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.25, "right_j2": 2.65, "right_j0": 0.66}, "note": "The wrist view shows the striped clapper stick at the near-left edge of the frame, meaning the gripper is a few cm beyond it and slightly to its right; retracting ~4 cm and yawing a touch further left to sit directly over the stick."})
tool
executing move_joints over 5 steps (0.5s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe wrist view shows the striped clapper stick running diagonally, but the jaws always close along the image-horizontal axis, so I'm rolling the wrist by the base-yaw amount (j5 1.57→2.23) to make the stick run vertically in the image, i.e. perpendicular to the jaws.
move_joints
right_j52.2300
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6917 right_j4=-0.0162 right_j5=1.5455 right_gripper=0.9994 camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 2.23}, "note": "The wrist view shows the striped clapper stick running diagonally, but the jaws always close along the image-horizontal axis, so I'm rolling the wrist by the base-yaw amount (j5 1.57\u21922.23) to make the stick run vertically in the image, i.e. perpendicular to the jaws."})
tool
executing move_joints over 11 steps (1.1s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe stick now runs nearly vertically in the wrist image (good jaw alignment), but my top-view and wrist-view readings disagree on which way to shift laterally, so I'm making a deliberate +0.15 rad yaw test move to see unambiguously which way the gripper travels in each camera.
move_joints
right_j00.8100
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6913 right_j4=-0.0166 right_j5=2.1265 right_gripper=0.9994 camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.81}, "note": "The stick now runs nearly vertically in the wrist image (good jaw alignment), but my top-view and wrist-view readings disagree on which way to shift laterally, so I'm making a deliberate +0.15 rad yaw test move to see unambiguously which way the gripper travels in each camera."})
tool
executing move_joints over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe test move confirmed the mapping: +j0 pushed the board up-left out of the wrist view, so I need the opposite. Moving back right by ~3.5 cm and retracting ~3.5 cm to bring the clapper stick into the gap between the jaws at the bottom of the wrist image.
move_joints
right_j00.5860right_j12.1800right_j22.4900right_j52.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0006 left_gripper=0.9982 right_j0=0.7731 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6905 right_j4=-0.0147 right_j5=2.125 right_gripper=0.9994 camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.586, "right_j1": 2.18, "right_j2": 2.49, "right_j5": 2.05}, "note": "The test move confirmed the mapping: +j0 pushed the board up-left out of the wrist view, so I need the opposite. Moving back right by ~3.5 cm and retracting ~3.5 cm to bring the clapper stick into the gap between the jaws at the bottom of the wrist image."})
tool
executing move_joints over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe previous command only partially executed (the arm stopped short of the targets), so I'm re-issuing the same pose to finish the retract-and-shift toward the clapper stick.
move_joints
right_j00.5860right_j12.1800right_j22.4900right_j52.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6285 right_j1=2.2353 right_j2=2.5031 right_j3=-1.6798 right_j4=-0.0303 right_j5=2.0781 right_gripper=0.9994 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": 0.586, "right_j1": 2.18, "right_j2": 2.49, "right_j5": 2.05}, "note": "The previous command only partially executed (the arm stopped short of the targets), so I'm re-issuing the same pose to finish the retract-and-shift toward the clapper stick."})
tool
executing move_joints over 1 steps (0.1s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe wrist camera is now filled by the clapperboard and the top view shows the open jaws hovering just over the striped stick at the board's near edge; descending a cautious ~1.5 cm to see how close the fingers get.
move_joints
right_j12.2580right_j22.4960
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6806 right_j4=-0.02 right_j5=2.0563 right_gripper=0.9994 camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.258, "right_j2": 2.496}, "note": "The wrist camera is now filled by the clapperboard and the top view shows the open jaws hovering just over the striped stick at the board's near edge; descending a cautious ~1.5 cm to see how close the fingers get."})
tool
executing move_joints over 1 steps (0.1s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteI still can't tell for sure whether the wrist image is mirrored, which decides which side of the board the clapper stick is on; rolling the wrist +0.4 rad is a harmless test that tells me which way the image rotates.
move_joints
right_j52.4600
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0238 right_j5=2.0567 right_gripper=0.9994 camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 2.46}, "note": "I still can't tell for sure whether the wrist image is mirrored, which decides which side of the board the clapper stick is on; rolling the wrist +0.4 rad is a harmless test that tells me which way the image rotates."})
tool
executing move_joints over 7 steps (0.7s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteIn the wrist view the striped stick runs diagonally at roughly 50° to the jaw axis; rolling the wrist further (+0.65 rad) should bring the stick perpendicular to the jaws — I'll check the image and reverse if it gets worse.
move_joints
right_j52.7800
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.252 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9994 camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 2.78}, "note": "In the wrist view the striped stick runs diagonally at roughly 50\u00b0 to the jaw axis; rolling the wrist further (+0.65 rad) should bring the stick perpendicular to the jaws \u2014 I'll check the image and reverse if it gets worse."})
tool
executing move_joints over 11 steps (1.1s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe wrist roll appears to have hit a limit around 2.13, so I'll accept the current jaw angle; now descending ~2 cm so the open jaws come down onto the clapper stick.
move_joints
right_j12.3040right_j22.5060
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994 camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.304, "right_j2": 2.506}, "note": "The wrist roll appears to have hit a limit around 2.13, so I'll accept the current jaw angle; now descending ~2 cm so the open jaws come down onto the clapper stick."})
tool
executing move_joints over 1 steps (0.1s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe arm seems to have stopped descending (possibly already in light contact) and the wrist view shows the jaws straddling the near edge of the clapperboard where the striped stick is; closing the gripper to see whether it catches the stick.
move_joints
right_gripper0.1000
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994 camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.1}, "note": "The arm seems to have stopped descending (possibly already in light contact) and the wrist view shows the jaws straddling the near edge of the clapperboard where the striped stick is; closing the gripper to see whether it catches the stick."})
tool
executing move_joints over 9 steps (0.9s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe gripper is now closed on something at the board's near edge; lifting the tool ~6 cm to see whether the clapper stick comes up with it (and whether the whole board lifts, which would mean I grabbed the wrong part).
move_joints
right_j12.1780right_j22.5270
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2963 right_j2=2.495 right_j3=-1.6764 right_j4=-0.0231 right_j5=2.1208 right_gripper=0.1041 camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.178, "right_j2": 2.527}, "note": "The gripper is now closed on something at the board's near edge; lifting the tool ~6 cm to see whether the clapper stick comes up with it (and whether the whole board lifts, which would mean I grabbed the wrong part)."})
tool
executing move_joints over 2 steps (0.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteNow the wrist view is clear: the striped stick runs nearly vertically along the right edge of the frame while my jaws are centred ~3.5 cm to its left, on the slate face. Reopening the gripper and shifting back/left to put the stick between the jaws.
move_joints
right_gripper1.0000right_j00.6310right_j12.1400right_j22.3800
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2776 right_j2=2.495 right_j3=-1.6749 right_j4=-0.0235 right_j5=2.1212 right_gripper=0.1038 camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j0": 0.631, "right_j1": 2.14, "right_j2": 2.38}, "note": "Now the wrist view is clear: the striped stick runs nearly vertically along the right edge of the frame while my jaws are centred ~3.5 cm to its left, on the slate face. Reopening the gripper and shifting back/left to put the stick between the jaws."})
tool
executing move_joints over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe stick now runs vertically down the middle of the wrist view, lined up with the gap between the jaws; descending ~2.5 cm so the open jaws straddle the stick.
move_joints
right_j12.2730right_j22.4100
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6258 right_j1=2.1998 right_j2=2.3852 right_j3=-1.6688 right_j4=-0.0235 right_j5=2.1132 right_gripper=0.9958 camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.273, "right_j2": 2.41}, "note": "The stick now runs vertically down the middle of the wrist view, lined up with the gap between the jaws; descending ~2.5 cm so the open jaws straddle the stick."})
tool
executing move_joints over 2 steps (0.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteOnly part of the descent executed (j1 lagged), so I'm re-issuing the same target to finish lowering the jaws around the stick.
move_joints
right_j12.2730right_j22.4100
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2059 right_j2=2.4092 right_j3=-1.6718 right_j4=-0.0235 right_j5=2.1128 right_gripper=0.9966 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": 2.273, "right_j2": 2.41}, "note": "Only part of the descent executed (j1 lagged), so I'm re-issuing the same target to finish lowering the jaws around the stick."})
tool
executing move_joints over 2 steps (0.2s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteIn the wrist view the striped stick still looks diagonal (~55°) to the jaw axis, which disagrees with my kinematic estimate, so I'm rolling the wrist back by ~0.55 rad and will compare the stick's apparent angle to settle which roll direction squares the jaws with the stick.
move_joints
right_j51.5500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1101 right_gripper=0.9967 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_j5": 1.55}, "note": "In the wrist view the striped stick still looks diagonal (~55\u00b0) to the jaw axis, which disagrees with my kinematic estimate, so I'm rolling the wrist back by ~0.55 rad and will compare the stick's apparent angle to settle which roll direction squares the jaws with the stick."})
tool
executing move_joints over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteRolling -0.48 rad made the stick appear more horizontal in the wrist image, confirming that +j5 rotates the view counter-clockwise; so I'm rolling well past the previous value to bring the stick vertical (perpendicular to the jaws).
move_joints
right_j52.4500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=1.6272 right_gripper=0.9967 camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 2.45}, "note": "Rolling -0.48 rad made the stick appear more horizontal in the wrist image, confirming that +j5 rotates the view counter-clockwise; so I'm rolling well past the previous value to bring the stick vertical (perpendicular to the jaws)."})
tool
executing move_joints over 14 steps (1.4s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe wrist roll is hard-limited near 2.13 rad, but rolling to -0.54 gives the same jaw line rotated 180° plus the extra 27° I need; lifting ~4 cm first so the fingers don't sweep the board while rolling.
move_joints
right_j12.2000right_j22.4350right_j5-0.5400
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9967 camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2, "right_j2": 2.435, "right_j5": -0.54}, "note": "The wrist roll is hard-limited near 2.13 rad, but rolling to -0.54 gives the same jaw line rotated 180\u00b0 plus the extra 27\u00b0 I need; lifting ~4 cm first so the fingers don't sweep the board while rolling."})
tool
executing move_joints over 43 steps (4.3s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteAfter the 180° roll the striped stick has dropped out of the wrist camera's field, so I'm raising the tool ~10 cm to get the whole clapperboard plus both fingertips in view before making the final alignment.
move_joints
right_j12.0000right_j22.4900
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2456 right_j2=2.4123 right_j3=-1.6684 right_j4=-0.0231 right_j5=-0.4583 right_gripper=0.9967 camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.0, "right_j2": 2.49}, "note": "After the 180\u00b0 roll the striped stick has dropped out of the wrist camera's field, so I'm raising the tool ~10 cm to get the whole clapperboard plus both fingertips in view before making the final alignment."})
tool
executing move_joints over 4 steps (0.4s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteFrom the raised view I can clearly see the clapper stick's white stripes running diagonally at ~40° to the jaw axis; rolling the wrist -0.87 rad should turn it vertical in the image so the jaws close across the stick.
move_joints
right_j5-1.3450
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6243 right_j1=2.0712 right_j2=2.455 right_j3=-1.6642 right_j4=-0.0231 right_j5=-0.4747 right_gripper=0.9967 camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": -1.345}, "note": "From the raised view I can clearly see the clapper stick's white stripes running diagonally at ~40\u00b0 to the jaw axis; rolling the wrist -0.87 rad should turn it vertical in the image so the jaws close across the stick."})
tool
executing move_joints over 14 steps (1.4s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteWith the wrist rolled so the jaws should now close across the stick, I'm bringing the tool back down to about 3 cm above the board while pulling the reach in to the stick's line at the board's near edge.
move_joints
right_j12.1400right_j22.3790
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0872 right_j2=2.45 right_j3=-1.6646 right_j4=-0.0231 right_j5=-1.2678 right_gripper=0.9967 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_j1": 2.14, "right_j2": 2.379}, "note": "With the wrist rolled so the jaws should now close across the stick, I'm bringing the tool back down to about 3 cm above the board while pulling the reach in to the stick's line at the board's near edge."})
tool
executing move_joints over 2 steps (0.2s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe wrist view now shows the striped stick running vertically, i.e. square to the jaws, and centred on the gap; continuing the descent toward the stick (moves execute only partially, so this acts as a slow approach).
move_joints
right_j12.2590right_j22.3760
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0945 right_j2=2.4104 right_j3=-1.6588 right_j4=-0.0231 right_j5=-1.3087 right_gripper=0.9967 camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.259, "right_j2": 2.376}, "note": "The wrist view now shows the striped stick running vertically, i.e. square to the jaws, and centred on the gap; continuing the descent toward the stick (moves execute only partially, so this acts as a slow approach)."})
tool
executing move_joints over 3 steps (0.3s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteTop view shows the open jaws right at the board's near edge where the clapper stick is; dropping the last ~1.5 cm so the fingertips straddle the stick before closing.
move_joints
right_j12.2680right_j22.4230
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6243 right_j1=2.2086 right_j2=2.3791 right_j3=-1.6531 right_j4=-0.0231 right_j5=-1.2945 right_gripper=0.9967 camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.268, "right_j2": 2.423}, "note": "Top view shows the open jaws right at the board's near edge where the clapper stick is; dropping the last ~1.5 cm so the fingertips straddle the stick before closing."})
tool
executing move_joints over 1 steps (0.1s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe wrist view shows the striped stick right between/near the fingertips and the top view shows the jaws straddling the board's near edge; closing the gripper to try to pinch the clapper stick.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2742 right_j2=2.3734 right_j3=-1.6463 right_j4=-0.0231 right_j5=-1.3018 right_gripper=0.9967 camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The wrist view shows the striped stick right between/near the fingertips and the top view shows the jaws straddling the board's near edge; closing the gripper to try to pinch the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 245
top_cam
camera top_cam step 245
left_cam
camera left_cam step 245
right_cam
camera right_cam step 245
assistant
agent noteGripper is now closed at the board's near edge; lifting ~5 cm to see whether the clapper stick has been caught and swings up with the jaws.
move_joints
right_j12.1980right_j22.4690
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.622 right_j1=2.2704 right_j2=2.3814 right_j3=-1.6203 right_j4=-0.0147 right_j5=-1.2907 right_gripper=0.0842 camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.198, "right_j2": 2.469}, "note": "Gripper is now closed at the board's near edge; lifting ~5 cm to see whether the clapper stick has been caught and swings up with the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteNothing was caught: the wrist view shows bare table on one side of the closed fingers and the striped stick on the other, so the jaws closed just short (north) of the stick. Re-opening and moving ~3 cm forward (and slightly up) to bring the jaws over the stick itself.
move_joints
right_gripper1.0000right_j12.3600right_j22.7240
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6186 right_j1=2.2608 right_j2=2.4256 right_j3=-1.5902 right_j4=-0.0082 right_j5=-1.2911 right_gripper=0.0843 camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 2.36, "right_j2": 2.724}, "note": "Nothing was caught: the wrist view shows bare table on one side of the closed fingers and the striped stick on the other, so the jaws closed just short (north) of the stick. Re-opening and moving ~3 cm forward (and slightly up) to bring the jaws over the stick itself."})
tool
executing move_joints over 10 steps (1.0s)
step 257
top_cam
camera top_cam step 257
left_cam
camera left_cam step 257
right_cam
camera right_cam step 257
assistant
agent noteMy wrist-camera interpretation keeps flip-flopping, so I'm switching to calibrating with the top camera: raising the gripper ~10 cm above the board so it is clearly visible and separated, then I'll make known moves to measure how it maps into the top view.
move_joints
right_j12.2900right_j22.9500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.347 right_j2=2.6991 right_j3=-1.5917 right_j4=-0.0116 right_j5=-1.2942 right_gripper=0.9959 camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.29, "right_j2": 2.95}, "note": "My wrist-camera interpretation keeps flip-flopping, so I'm switching to calibrating with the top camera: raising the gripper ~10 cm above the board so it is clearly visible and separated, then I'll make known moves to measure how it maps into the top view."})
tool
executing move_joints over 4 steps (0.4s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteCalibration move: retracting the tool 8 cm straight back at constant height so I can measure exactly how far and in which direction the gripper travels in the top camera image.
move_joints
right_j12.0790right_j22.5890
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3287 right_j2=2.9223 right_j3=-1.5902 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966 camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.079, "right_j2": 2.589}, "note": "Calibration move: retracting the tool 8 cm straight back at constant height so I can measure exactly how far and in which direction the gripper travels in the top camera image."})
tool
executing move_joints over 6 steps (0.6s)
step 267
top_cam
camera top_cam step 267
left_cam
camera left_cam step 267
right_cam
camera right_cam step 267
assistant
agent noteI now think the clapperboard is propped up at an angle (its 16 cm depth appears uncompressed in the oblique top view), so I must locate the fingertips precisely; rolling only the wrist ±1.5 rad changes just the gripper, letting me identify which black pixels in the top view are the fingers.
move_joints
right_j5-2.8500
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1399 right_j2=2.5992 right_j3=-1.5929 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966 camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": -2.85}, "note": "I now think the clapperboard is propped up at an angle (its 16 cm depth appears uncompressed in the oblique top view), so I must locate the fingertips precisely; rolling only the wrist \u00b11.5 rad changes just the gripper, letting me identify which black pixels in the top view are the fingers."})
tool
executing move_joints over 25 steps (2.5s)
step 292
top_cam
camera top_cam step 292
left_cam
camera left_cam step 292
right_cam
camera right_cam step 292
assistant
agent noteIn the top view I can now make out the two finger prongs just above the board's top edge, and they are currently separated east-west (along the stick) which is wrong; rolling the wrist +1.57 rad should turn the jaw axis north-south so it can straddle the board's top edge.
move_joints
right_j5-0.5000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5932 right_j4=-0.0124 right_j5=-2.0731 right_gripper=0.9967 camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": -0.5}, "note": "In the top view I can now make out the two finger prongs just above the board's top edge, and they are currently separated east-west (along the stick) which is wrong; rolling the wrist +1.57 rad should turn the jaw axis north-south so it can straddle the board's top edge."})
tool
executing move_joints over 26 steps (2.6s)
step 318
top_cam
camera top_cam step 318
left_cam
camera left_cam step 318
right_cam
camera right_cam step 318
assistant
agent noteGreat view now: the board is propped up facing the camera, with the striped clapper stick along its raised top edge, and my open jaws are about 3 cm north of that edge with the jaw axis now across the board's thickness. Moving ~3 cm forward to straddle the top edge.
move_joints
right_j12.3320right_j22.9130
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5944 right_j4=-0.0124 right_j5=-0.5804 right_gripper=0.9967 camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.332, "right_j2": 2.913}, "note": "Great view now: the board is propped up facing the camera, with the striped clapper stick along its raised top edge, and my open jaws are about 3 cm north of that edge with the jaw axis now across the board's thickness. Moving ~3 cm forward to straddle the top edge."})
tool
executing move_joints over 6 steps (0.6s)
step 324
top_cam
camera top_cam step 324
left_cam
camera left_cam step 324
right_cam
camera right_cam step 324
assistant
agent noteThe jaws are now straddling the raised top edge of the board where the striped clapper stick sits; closing the gripper to pinch the stick.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3173 right_j2=2.8826 right_j3=-1.597 right_j4=-0.0124 right_j5=-0.5697 right_gripper=0.9967 camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The jaws are now straddling the raised top edge of the board where the striped clapper stick sits; closing the gripper to pinch the stick."})
tool
executing move_joints over 10 steps (1.0s)
step 334
top_cam
camera top_cam step 334
left_cam
camera left_cam step 334
right_cam
camera right_cam step 334
assistant
agent noteJaws are now closed on the board's top edge; lifting about 4 cm to see whether the clapper stick swings open (or whether I've caught the whole board, which would show as the board tipping).
move_joints
right_j12.3670right_j23.1100
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.323 right_j2=2.8861 right_j3=-1.5978 right_j4=-0.0124 right_j5=-0.5835 right_gripper=0.0543 camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.367, "right_j2": 3.11}, "note": "Jaws are now closed on the board's top edge; lifting about 4 cm to see whether the clapper stick swings open (or whether I've caught the whole board, which would show as the board tipping)."})
tool
executing move_joints over 4 steps (0.4s)
step 338
top_cam
camera top_cam step 338
left_cam
camera left_cam step 338
right_cam
camera right_cam step 338
assistant
agent noteThe lift moved nothing, so the closed jaws missed the stick — they were sitting behind/above the board's raised top edge. Reopening and reconfiguring the arm (less extended, gripper aimed ~50° down along the board's tilted face) to come down about 6 cm lower right onto the top edge.
move_joints
right_gripper1.0000right_j12.0900right_j22.3200right_j3-1.0860
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=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3539 right_j2=3.0795 right_j3=-1.6009 right_j4=-0.0124 right_j5=-0.5846 right_gripper=0.0539 camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 2.09, "right_j2": 2.32, "right_j3": -1.086}, "note": "The lift moved nothing, so the closed jaws missed the stick \u2014 they were sitting behind/above the board's raised top edge. Reopening and reconfiguring the arm (less extended, gripper aimed ~50\u00b0 down along the board's tilted face) to come down about 6 cm lower right onto the top edge."})
tool
executing move_joints over 13 steps (1.3s)
step 351
top_cam
camera top_cam step 351
left_cam
camera left_cam step 351
right_cam
camera right_cam step 351
assistant
agent noteThe gripper is now about 9 cm lower, with the board's tilted face filling the lower-left of the wrist view, so the jaws should be straddling the board's plane; closing them as a probe to learn exactly where the board sits relative to my fingers.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1403 right_j2=2.336 right_j3=-1.1442 right_j4=-0.0124 right_j5=-0.5873 right_gripper=0.9964 camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The gripper is now about 9 cm lower, with the board's tilted face filling the lower-left of the wrist view, so the jaws should be straddling the board's plane; closing them as a probe to learn exactly where the board sits relative to my fingers."})
tool
executing move_joints over 10 steps (1.0s)
step 361
top_cam
camera top_cam step 361
left_cam
camera left_cam step 361
right_cam
camera right_cam step 361
assistant
agent noteClosing again caught nothing, so I still don't know the board's true pose; raising the tool exactly 5 cm straight up as a test — how far the gripper shifts in the top image will tell me how steep that camera is and therefore whether the board is flat or propped up.
move_joints
right_j12.2360right_j22.7010right_j3-1.4225
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1338 right_j2=2.3222 right_j3=-1.1454 right_j4=-0.0124 right_j5=-0.5911 right_gripper=0.0543 camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.236, "right_j2": 2.701, "right_j3": -1.4225}, "note": "Closing again caught nothing, so I still don't know the board's true pose; raising the tool exactly 5 cm straight up as a test \u2014 how far the gripper shifts in the top image will tell me how steep that camera is and therefore whether the board is flat or propped up."})
tool
executing move_joints over 7 steps (0.7s)
step 368
top_cam
camera top_cam step 368
left_cam
camera left_cam step 368
right_cam
camera right_cam step 368
assistant
agent noteThe 5 cm test lift barely moved the gripper in the top view, so that camera is nearly overhead and the board is actually lying FLAT — the stick's chevrons are the band at the board's north edge. Repositioning: jaws open, gripper aimed ~78° down, moved ~5 cm back and ~3 cm right to sit above that stick.
move_joints
right_gripper1.0000right_j00.5570right_j12.3180right_j22.4950right_j3-1.5380right_j5-1.0000
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.2173 right_j2=2.6713 right_j3=-1.3762 right_j4=-0.0124 right_j5=-0.5919 right_gripper=0.0539 camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j0": 0.557, "right_j1": 2.318, "right_j2": 2.495, "right_j3": -1.538, "right_j5": -1.0}, "note": "The 5 cm test lift barely moved the gripper in the top view, so that camera is nearly overhead and the board is actually lying FLAT \u2014 the stick's chevrons are the band at the board's north edge. Repositioning: jaws open, gripper aimed ~78\u00b0 down, moved ~5 cm back and ~3 cm right to sit above that stick."})
tool
executing move_joints over 10 steps (1.0s)
step 378
top_cam
camera top_cam step 378
left_cam
camera left_cam step 378
right_cam
camera right_cam step 378
assistant
agent noteThe gripper is now directly over the board's north edge where the striped stick lies (it occludes the stick in the top view); closing the jaws to pinch the stick.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5606 right_j1=2.2951 right_j2=2.5065 right_j3=-1.5059 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.9958 camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The gripper is now directly over the board's north edge where the striped stick lies (it occludes the stick in the top view); closing the jaws to pinch the stick."})
tool
executing move_joints over 10 steps (1.0s)
step 388
top_cam
camera top_cam step 388
left_cam
camera left_cam step 388
right_cam
camera right_cam step 388
assistant
agent noteJaws closed on the board's north edge; lifting ~4 cm to see whether the clapper stick swings up with them.
move_joints
right_j12.4200right_j22.8560right_j3-1.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3138 right_j2=2.5004 right_j3=-1.5085 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.0544 camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.42, "right_j2": 2.856, "right_j3": -1.7}, "note": "Jaws closed on the board's north edge; lifting ~4 cm to see whether the clapper stick swings up with them."})
tool
executing move_joints over 6 steps (0.6s)
step 394
top_cam
camera top_cam step 394
left_cam
camera left_cam step 394
right_cam
camera right_cam step 394
assistant
agent noteStill nothing lifted, so the jaws are probably closing above the stick; re-opening and dropping the tool ~1.5 cm lower than the last attempt, keeping it over the board's north edge.
move_joints
right_gripper1.0000right_j12.3124right_j22.4545right_j3-1.4640
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3989 right_j2=2.8323 right_j3=-1.6539 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0539 camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 2.3124, "right_j2": 2.4545, "right_j3": -1.464}, "note": "Still nothing lifted, so the jaws are probably closing above the stick; re-opening and dropping the tool ~1.5 cm lower than the last attempt, keeping it over the board's north edge."})
tool
executing move_joints over 10 steps (1.0s)
step 404
top_cam
camera top_cam step 404
left_cam
camera left_cam step 404
right_cam
camera right_cam step 404
assistant
agent noteBoth views now agree that my jaws are sitting about 4 cm too far south, over the slate face instead of the striped stick at the board's north edge; pulling the tool ~5 cm back (north) while lifting slightly.
move_joints
right_j12.1140right_j22.1240right_j3-1.3760
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3615 right_j2=2.4702 right_j3=-1.4754 right_j4=-0.0128 right_j5=-0.9508 right_gripper=0.9956 camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.114, "right_j2": 2.124, "right_j3": -1.376}, "note": "Both views now agree that my jaws are sitting about 4 cm too far south, over the slate face instead of the striped stick at the board's north edge; pulling the tool ~5 cm back (north) while lifting slightly."})
tool
executing move_joints over 6 steps (0.6s)
step 410
top_cam
camera top_cam step 410
left_cam
camera left_cam step 410
right_cam
camera right_cam step 410
assistant
agent noteAfter pulling back, the wrist camera now shows the stick's chevron stripes right next to the jaw gap at the bottom of the frame; closing the gripper on the stick.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1559 right_j2=2.1487 right_j3=-1.3464 right_j4=-0.0113 right_j5=-0.9508 right_gripper=0.9966 camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "After pulling back, the wrist camera now shows the stick's chevron stripes right next to the jaw gap at the bottom of the frame; closing the gripper on the stick."})
tool
executing move_joints over 10 steps (1.0s)
step 420
top_cam
camera top_cam step 420
left_cam
camera left_cam step 420
right_cam
camera right_cam step 420
assistant
agent noteJaws are closed right on the dark band at the board's north edge (the clapper stick); lifting ~4 cm to swing the stick open.
move_joints
right_j12.1540right_j22.3190right_j3-1.5120
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1403 right_j2=2.1361 right_j3=-1.3426 right_j4=-0.012 right_j5=-0.9504 right_gripper=0.0544 camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.154, "right_j2": 2.319, "right_j3": -1.512}, "note": "Jaws are closed right on the dark band at the board's north edge (the clapper stick); lifting ~4 cm to swing the stick open."})
tool
executing move_joints over 3 steps (0.3s)
step 423
top_cam
camera top_cam step 423
left_cam
camera left_cam step 423
right_cam
camera right_cam step 423
assistant
agent noteStill nothing lifted even though the jaws look centred on the stick from above, so the fingers must be too high; opening and descending another 4 cm — if my height model is off, this will make contact with the board and reveal the true surface level.
move_joints
right_gripper1.0000right_j12.1460right_j22.1060right_j3-1.2740
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1563 right_j2=2.2833 right_j3=-1.441 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0539 camera 'top_cam' (step 423): [image omitted: streamed camera frame] camera 'left_cam' (step 423): [image omitted: streamed camera frame] camera 'right_cam' (step 423): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 2.146, "right_j2": 2.106, "right_j3": -1.274}, "note": "Still nothing lifted even though the jaws look centred on the stick from above, so the fingers must be too high; opening and descending another 4 cm \u2014 if my height model is off, this will make contact with the board and reveal the true surface level."})
tool
executing move_joints over 10 steps (1.0s)
step 433
top_cam
camera top_cam step 433
left_cam
camera left_cam step 433
right_cam
camera right_cam step 433
assistant
agent noteNo contact yet at this height, so my table-height estimate is too high; lowering another 3 cm over the board's north edge, watching for the fingers to actually reach the stick (or touch the board).
move_joints
right_j12.1630right_j22.0150right_j3-1.1720
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1536 right_j2=2.1185 right_j3=-1.285 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.9958 camera 'top_cam' (step 433): [image omitted: streamed camera frame] camera 'left_cam' (step 433): [image omitted: streamed camera frame] camera 'right_cam' (step 433): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.163, "right_j2": 2.015, "right_j3": -1.172}, "note": "No contact yet at this height, so my table-height estimate is too high; lowering another 3 cm over the board's north edge, watching for the fingers to actually reach the stick (or touch the board)."})
tool
executing move_joints over 2 steps (0.2s)
step 435
top_cam
camera top_cam step 435
left_cam
camera left_cam step 435
right_cam
camera right_cam step 435
assistant
agent noteClosing the jaws with the arm held still — comparing this top-camera frame with the previous open-jaw frame will show exactly which pixels are the fingertips and which way the jaw axis runs, and it is also another grasp attempt at this lower height.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.146 right_j2=2.056 right_j3=-1.2171 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.9966 camera 'top_cam' (step 435): [image omitted: streamed camera frame] camera 'left_cam' (step 435): [image omitted: streamed camera frame] camera 'right_cam' (step 435): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "Closing the jaws with the arm held still \u2014 comparing this top-camera frame with the previous open-jaw frame will show exactly which pixels are the fingertips and which way the jaw axis runs, and it is also another grasp attempt at this lower height."})
tool
executing move_joints over 10 steps (1.0s)
step 445
top_cam
camera top_cam step 445
left_cam
camera left_cam step 445
right_cam
camera right_cam step 445
assistant
agent noteThe close-up wrist view shows the board's face standing like a wall beside my fingers with its white base support right next to them — so the board IS propped up at an angle and I have been probing near its lower edge. Backing off 8 cm north and 12 cm up to get above its raised top edge where the clapper stick is.
move_joints
right_gripper1.0000right_j00.6320right_j11.4980right_j21.5890right_j3-1.1380
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5526 right_j1=2.1563 right_j2=2.0388 right_j3=-1.1984 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0543 camera 'top_cam' (step 445): [image omitted: streamed camera frame] camera 'left_cam' (step 445): [image omitted: streamed camera frame] camera 'right_cam' (step 445): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j0": 0.632, "right_j1": 1.498, "right_j2": 1.589, "right_j3": -1.138}, "note": "The close-up wrist view shows the board's face standing like a wall beside my fingers with its white base support right next to them \u2014 so the board IS propped up at an angle and I have been probing near its lower edge. Backing off 8 cm north and 12 cm up to get above its raised top edge where the clapper stick is."})
tool
executing move_joints over 11 steps (1.1s)
step 456
top_cam
camera top_cam step 456
left_cam
camera left_cam step 456
right_cam
camera right_cam step 456
assistant
agent noteNow the wrist camera is looking straight at the striped clapper stick along the board's raised top edge, with the two jaws visible on either side of it — closing the gripper to pinch the stick.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.6051 right_j3=-1.1423 right_j4=-0.0124 right_j5=-0.9516 right_gripper=0.996 camera 'top_cam' (step 456): [image omitted: streamed camera frame] camera 'left_cam' (step 456): [image omitted: streamed camera frame] camera 'right_cam' (step 456): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "Now the wrist camera is looking straight at the striped clapper stick along the board's raised top edge, with the two jaws visible on either side of it \u2014 closing the gripper to pinch the stick."})
tool
executing move_joints over 10 steps (1.0s)
step 466
top_cam
camera top_cam step 466
left_cam
camera left_cam step 466
right_cam
camera right_cam step 466
assistant
agent noteThe jaws closed just short of the stick — in the wrist view the striped bar sits right above the closed fingertips. Reopening and advancing ~4 cm along the tool axis so the stick sits deeper between the jaws.
move_joints
right_gripper1.0000right_j11.6080right_j21.5240right_j3-1.0030
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.5936 right_j3=-1.1446 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0544 camera 'top_cam' (step 466): [image omitted: streamed camera frame] camera 'left_cam' (step 466): [image omitted: streamed camera frame] camera 'right_cam' (step 466): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 1.608, "right_j2": 1.524, "right_j3": -1.003}, "note": "The jaws closed just short of the stick \u2014 in the wrist view the striped bar sits right above the closed fingertips. Reopening and advancing ~4 cm along the tool axis so the stick sits deeper between the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 476
top_cam
camera top_cam step 476
left_cam
camera left_cam step 476
right_cam
camera right_cam step 476
assistant
agent noteThe striped clapper stick now runs right between the two open jaws in the wrist view; closing to pinch it.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5982 right_j2=1.5372 right_j3=-1.0233 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9957 camera 'top_cam' (step 476): [image omitted: streamed camera frame] camera 'left_cam' (step 476): [image omitted: streamed camera frame] camera 'right_cam' (step 476): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The striped clapper stick now runs right between the two open jaws in the wrist view; closing to pinch it."})
tool
executing move_joints over 10 steps (1.0s)
step 486
top_cam
camera top_cam step 486
left_cam
camera left_cam step 486
right_cam
camera right_cam step 486
assistant
agent noteJaws are closed around the striped stick; lifting the tool ~5 cm to swing the clapper stick open about its hinge.
move_joints
right_j11.6090right_j21.7380right_j3-1.2150
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6028 right_j2=1.5318 right_j3=-1.0142 right_j4=-0.0124 right_j5=-0.9535 right_gripper=0.0543 camera 'top_cam' (step 486): [image omitted: streamed camera frame] camera 'left_cam' (step 486): [image omitted: streamed camera frame] camera 'right_cam' (step 486): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.609, "right_j2": 1.738, "right_j3": -1.215}, "note": "Jaws are closed around the striped stick; lifting the tool ~5 cm to swing the clapper stick open about its hinge."})
tool
executing move_joints over 4 steps (0.4s)
step 490
top_cam
camera top_cam step 490
left_cam
camera left_cam step 490
right_cam
camera right_cam step 490
assistant
agent noteThe board did not move, so the jaws are still closing short of the stick (they are above/north of it); reopening and pushing 5 cm further along the tool axis (down and toward the board's top edge).
move_joints
right_gripper1.0000right_j11.7080right_j21.6390right_j3-0.9840
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=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6127 right_j2=1.7073 right_j3=-1.1469 right_j4=-0.012 right_j5=-0.9535 right_gripper=0.0539 camera 'top_cam' (step 490): [image omitted: streamed camera frame] camera 'left_cam' (step 490): [image omitted: streamed camera frame] camera 'right_cam' (step 490): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 1.708, "right_j2": 1.639, "right_j3": -0.984}, "note": "The board did not move, so the jaws are still closing short of the stick (they are above/north of it); reopening and pushing 5 cm further along the tool axis (down and toward the board's top edge)."})
tool
executing move_joints over 10 steps (1.0s)
step 500
top_cam
camera top_cam step 500
left_cam
camera left_cam step 500
right_cam
camera right_cam step 500
assistant
agent noteWrist view shows the striped stick just left of the jaw centre and the top view shows my fingertip a centimetre or two above/north of the stick; nudging 2 cm sideways and 3 cm further along the tool axis to seat the stick between the jaws.
move_joints
right_j00.6730right_j11.7630right_j21.6290right_j3-0.9150
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6966 right_j2=1.655 right_j3=-1.0073 right_j4=-0.012 right_j5=-0.9539 right_gripper=0.9958 camera 'top_cam' (step 500): [image omitted: streamed camera frame] camera 'left_cam' (step 500): [image omitted: streamed camera frame] camera 'right_cam' (step 500): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.673, "right_j1": 1.763, "right_j2": 1.629, "right_j3": -0.915}, "note": "Wrist view shows the striped stick just left of the jaw centre and the top view shows my fingertip a centimetre or two above/north of the stick; nudging 2 cm sideways and 3 cm further along the tool axis to seat the stick between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 502
top_cam
camera top_cam step 502
left_cam
camera left_cam step 502
right_cam
camera right_cam step 502
assistant
agent noteIn the top view my fingertip still sits a bit north of and above the striped stick, so I'm advancing another 4 cm along the tool axis (down and forward) to bring the jaws around it.
move_joints
right_j11.8180right_j21.6180right_j3-0.8380
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6506 right_j1=1.7245 right_j2=1.6436 right_j3=-0.9577 right_j4=-0.0086 right_j5=-0.9539 right_gripper=0.9966 camera 'top_cam' (step 502): [image omitted: streamed camera frame] camera 'left_cam' (step 502): [image omitted: streamed camera frame] camera 'right_cam' (step 502): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.818, "right_j2": 1.618, "right_j3": -0.838}, "note": "In the top view my fingertip still sits a bit north of and above the striped stick, so I'm advancing another 4 cm along the tool axis (down and forward) to bring the jaws around it."})
tool
executing move_joints over 2 steps (0.2s)
step 504
top_cam
camera top_cam step 504
left_cam
camera left_cam step 504
right_cam
camera right_cam step 504
assistant
agent noteThe stick now fills the middle of the wrist view between the jaws and the fingertip reaches the stick band in the top view; closing the gripper.
move_joints
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6651 right_j1=1.7866 right_j2=1.6299 right_j3=-0.8848 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9967 camera 'top_cam' (step 504): [image omitted: streamed camera frame] camera 'left_cam' (step 504): [image omitted: streamed camera frame] camera 'right_cam' (step 504): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.05}, "note": "The stick now fills the middle of the wrist view between the jaws and the fingertip reaches the stick band in the top view; closing the gripper."})
tool
executing move_joints over 10 steps (1.0s)
step 514
top_cam
camera top_cam step 514
left_cam
camera left_cam step 514
right_cam
camera right_cam step 514
assistant
agent noteThe jaws closed with a slightly wider final opening than before, suggesting something is held; lifting 4 cm to see if the clapper stick swings open.
move_joints
right_j11.7980right_j21.7630right_j3-1.0340
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6655 right_j1=1.8156 right_j2=1.6234 right_j3=-0.8772 right_j4=-0.0116 right_j5=-0.9535 right_gripper=0.0604 camera 'top_cam' (step 514): [image omitted: streamed camera frame] camera 'left_cam' (step 514): [image omitted: streamed camera frame] camera 'right_cam' (step 514): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.798, "right_j2": 1.763, "right_j3": -1.034}, "note": "The jaws closed with a slightly wider final opening than before, suggesting something is held; lifting 4 cm to see if the clapper stick swings open."})
tool
executing move_joints over 3 steps (0.3s)
step 517
top_cam
camera top_cam step 517
left_cam
camera left_cam step 517
right_cam
camera right_cam step 517
assistant
agent noteStill no movement of the board, so the jaws are pinching air just above the top edge; opening and dropping 2 cm further along the tool axis so the jaws bracket the striped stick itself.
move_joints
right_gripper1.0000right_j11.8640right_j21.7170right_j3-0.9060
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8172 right_j2=1.7267 right_j3=-0.9623 right_j4=-0.0154 right_j5=-0.9535 right_gripper=0.0614 camera 'top_cam' (step 517): [image omitted: streamed camera frame] camera 'left_cam' (step 517): [image omitted: streamed camera frame] camera 'right_cam' (step 517): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j1": 1.864, "right_j2": 1.717, "right_j3": -0.906}, "note": "Still no movement of the board, so the jaws are pinching air just above the top edge; opening and dropping 2 cm further along the tool axis so the jaws bracket the striped stick itself."})
tool
executing move_joints over 10 steps (1.0s)
step 527
top_cam
camera top_cam step 527
left_cam
camera left_cam step 527
right_cam
camera right_cam step 527
assistant
agent noteComputing the jaw axis in world coordinates reveals my error: at j5≈-0.95 the jaws were closing east-west, i.e. ALONG the stick, which is why every attempt caught nothing. Rolling to j5≈+0.97 makes the jaws close north-south, across the board's top edge.
move_joints
right_j50.9740
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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8519 right_j2=1.7264 right_j3=-0.9161 right_j4=-0.0158 right_j5=-0.9543 right_gripper=0.9957 camera 'top_cam' (step 527): [image omitted: streamed camera frame] camera 'left_cam' (step 527): [image omitted: streamed camera frame] camera 'right_cam' (step 527): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.974}, "note": "Computing the jaw axis in world coordinates reveals my error: at j5\u2248-0.95 the jaws were closing east-west, i.e. ALONG the stick, which is why every attempt caught nothing. Rolling to j5\u2248+0.97 makes the jaws close north-south, across the board's top edge."})
tool
executing move_joints over 31 steps (3.1s)
step 558
top_cam
camera top_cam step 558
left_cam
camera left_cam step 558
right_cam
camera right_cam step 558
assistant
agent noteWith the jaws now correctly oriented, the wrist view shows the striped stick at the bottom edge of the frame, about 5 cm north of my tool; shifting the gripper north (and slightly east) to bring the stick between the jaws.
move_joints
right_j00.7520right_j11.7330right_j21.5720right_j3-0.8880
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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8584 right_j2=1.7264 right_j3=-0.9173 right_j4=-0.0162 right_j5=0.8944 right_gripper=0.9966 camera 'top_cam' (step 558): [image omitted: streamed camera frame] camera 'left_cam' (step 558): [image omitted: streamed camera frame] camera 'right_cam' (step 558): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.752, "right_j1": 1.733, "right_j2": 1.572, "right_j3": -0.888}, "note": "With the jaws now correctly oriented, the wrist view shows the striped stick at the bottom edge of the frame, about 5 cm north of my tool; shifting the gripper north (and slightly east) to bring the stick between the jaws."})
tool
executing move_joints over 3 steps (0.3s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 30.27 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=0.0051 left_j2=0.0067 left_j3=-0.0227 left_j4=-0.0067 left_j5=0.0025 left_gripper=0.9988 right_j0=-0.0021 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0292 right_j4=-0.0006 right_j5=-0.0154 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0306e4fe9f5283eb56e9283be549ae8a7cfb3523449b6a1f181d3affc08320de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a2a6def247d2b0235891d9568b06de74d09c90aee878c05e744f134756f8e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:096f04495dd6b4bfb80313bc9e178145fd1e3ba26b69debddd5416bcf909e3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0306e4fe9f52
wire blob b2a2a6def247
wire blob 096f04495dd6
call 1 attempt 0 · /messages · status 200 · 7.82 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=0.0051 left_j2=0.0067 left_j3=-0.0227 left_j4=-0.0067 left_j5=0.0025 left_gripper=0.9988 right_j0=-0.0021 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0292 right_j4=-0.0006 right_j5=-0.0154 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0306e4fe9f5283eb56e9283be549ae8a7cfb3523449b6a1f181d3affc08320de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a2a6def247d2b0235891d9568b06de74d09c90aee878c05e744f134756f8e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096f04495dd6b4bfb80313bc9e178145fd1e3ba26b69debddd5416bcf909e3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0306e4fe9f52]
[blob b2a2a6def247]
[blob 096f04495dd6]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DUfhKF2EX5JnnjerVrDJST",
      "input": {
        "note": "The clapperboard lies flat mid-table with its striped clapper stick on the edge nearest the arms. I'm raising the right arm into an approach pose ~20 cm above the table, gripper pointing forward-down at 45° and wrist rolled 90° so the jaws straddle the stick front-to-back.",
        "targets": {
          "right_gripper": 1,
          "right_j0": 0,
          "right_j1": 1.78,
          "right_j2": 2.29,
          "right_j3": -1.3,
          "right_j4": 0,
          "right_j5": 1.57
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 37 steps (3.7s)",
      "tool_use_id": "toolu_01DUfhKF2EX5JnnjerVrDJST",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9987 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2658 right_j3=-1.3212 right_j4=-0.0013 right_j5=1.5417 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39a6d57b4583b8bbd0dedccf33edcc7ae9dc46df9aa0df19b7b0e4ca4cae9728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b165e3150a5bcb7a5d3701e25bb3b59a38aa273127ab6d7bddf769020f48308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07d4f401810ba48520f2b265e1e6870684a9f1b4918ef04333998aa0fe5421e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 39a6d57b4583
wire blob 3b165e3150a5
wire blob 07d4f401810b
call 2 attempt 0 · /messages · status 200 · 11.69 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 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=0.0051 left_j2=0.0067 left_j3=-0.0227 left_j4=-0.0067 left_j5=0.0025 left_gripper=0.9988 right_j0=-0.0021 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0292 right_j4=-0.0006 right_j5=-0.0154 right_gripper=0.9994",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9987 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2658 right_j3=-1.3212 right_j4=-0.0013 right_j5=1.5417 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39a6d57b4583b8bbd0dedccf33edcc7ae9dc46df9aa0df19b7b0e4ca4cae9728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b165e3150a5bcb7a5d3701e25bb3b59a38aa273127ab6d7bddf769020f48308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d4f401810ba48520f2b265e1e6870684a9f1b4918ef04333998aa0fe5421e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 39a6d57b4583]
[blob 3b165e3150a5]
[blob 07d4f401810b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ApymJC4vmdcpomrb6R4W89",
      "input": {
        "note": "The right wrist camera (rolled 90° by j5) shows mostly the far table edge and dark background, so the gripper is aimed too high to see the clapperboard. I'm pitching the wrist down further to bring the board into view.",
        "targets": {
          "right_j3": -2.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01ApymJC4vmdcpomrb6R4W89",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9986 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0013 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0842e51cb6c51f115a8adef3aa40af6ee05bc8b861ad5d5bb5c0e1a2fa7c8161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55cf288e3101caad60856c270497ff48dddf08b69b6be9b79f4541f0c80300fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d01d301dda741a32ed23a461924be3f85ba49f9870c346b1439ea28230c97ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0842e51cb6c5
wire blob 55cf288e3101
wire blob d01d301dda74
call 3 attempt 0 · /messages · status 200 · 17.09 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=0.0051 left_j2=0.0067 left_j3=-0.0227 left_j4=-0.0067 left_j5=0.0025 left_gripper=0.9988 right_j0=-0.0021 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0292 right_j4=-0.0006 right_j5=-0.0154 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9987 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2658 right_j3=-1.3212 right_j4=-0.0013 right_j5=1.5417 right_gripper=0.9994",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9986 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0013 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0842e51cb6c51f115a8adef3aa40af6ee05bc8b861ad5d5bb5c0e1a2fa7c8161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55cf288e3101caad60856c270497ff48dddf08b69b6be9b79f4541f0c80300fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d01d301dda741a32ed23a461924be3f85ba49f9870c346b1439ea28230c97ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0842e51cb6c5]
[blob 55cf288e3101]
[blob d01d301dda74]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MVkUd5ZeB7e8bLt8n9wCAJ",
      "input": {
        "note": "In the top view the raised right arm sits just to the left of the clapperboard (image is mirrored, so I need +j0 to swing toward it); the wrist cam still looks past the board. Pitching the wrist down more and yawing the base 0.2 rad toward the board.",
        "targets": {
          "right_j0": 0.2,
          "right_j3": -2.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MVkUd5ZeB7e8bLt8n9wCAJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9983 right_j0=0.2001 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0048 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8f2a29a823ac5926e71d034c54119a4fefc416f138287741cc33b24ca78031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6d6223a14dcfda52de51006f3164cf0d628956978ff85c74f579c63ffb363a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d78b0c42ec5cb578942ca59a0315cd7a36bae90b422bd8252d2991b8c0c46a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob db8f2a29a823
wire blob 5c6d6223a14d
wire blob d78b0c42ec5c
call 4 attempt 0 · /messages · status 200 · 11.25 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9987 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2658 right_j3=-1.3212 right_j4=-0.0013 right_j5=1.5417 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9986 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0013 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9983 right_j0=0.2001 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0048 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8f2a29a823ac5926e71d034c54119a4fefc416f138287741cc33b24ca78031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6d6223a14dcfda52de51006f3164cf0d628956978ff85c74f579c63ffb363a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d78b0c42ec5cb578942ca59a0315cd7a36bae90b422bd8252d2991b8c0c46a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob db8f2a29a823]
[blob 5c6d6223a14d]
[blob d78b0c42ec5c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JztCws4WATnEVds7cHGpFh",
      "input": {
        "note": "j3 seems to bottom out near -1.70, so instead I'm reshaping the arm (shoulder/elbow) to reach out ~50 cm and hover about 12 cm above the table with the gripper aimed steeply downward, which should put the clapperboard in the wrist camera.",
        "targets": {
          "right_j1": 2.32,
          "right_j2": 2.96,
          "right_j3": -1.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JztCws4WATnEVds7cHGpFh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0265 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9983 right_j0=0.2001 right_j1=2.315 right_j2=2.9311 right_j3=-1.6955 right_j4=-0.0051 right_j5=1.5448 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a249c655ad37ea0902dce162bf173f73e7f9e214bc9f2a5c1d8ca7a513281e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81dbe9d72184d26255b8771807f331ab6bbc68adb2968a8399628a80f2fd4863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ef720c4b0c6089fe93516027ecc303c555f234981af6bfa4918ce3ab2f07694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a249c655ad37
wire blob 81dbe9d72184
wire blob 2ef720c4b0c6
call 5 attempt 0 · /messages · status 200 · 12.82 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9986 right_j0=-0.0021 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0013 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9983 right_j0=0.2001 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0048 right_j5=1.5452 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0265 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9983 right_j0=0.2001 right_j1=2.315 right_j2=2.9311 right_j3=-1.6955 right_j4=-0.0051 right_j5=1.5448 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a249c655ad37ea0902dce162bf173f73e7f9e214bc9f2a5c1d8ca7a513281e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81dbe9d72184d26255b8771807f331ab6bbc68adb2968a8399628a80f2fd4863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef720c4b0c6089fe93516027ecc303c555f234981af6bfa4918ce3ab2f07694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a249c655ad37]
[blob 81dbe9d72184]
[blob 2ef720c4b0c6]
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbCjp1nPsxGm7Up8hi29hJ",
      "input": {
        "note": "The wrist camera now catches the clapperboard in its lower-right corner and the top view shows the gripper still to the left of the board, so I'm yawing the base further (+j0) to swing the gripper over the board; this also calibrates how many pixels per radian the gripper moves.",
        "targets": {
          "right_j0": 0.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KbCjp1nPsxGm7Up8hi29hJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.4324 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0055 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28cad61e92e6999621d800d7c9520cfc07f3d1ea86ccb2787ba082b10a343dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3545d2570ae7cee8775f4c8cd5cda44d8822917d14df159afbf87ecf1cf54701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4be53f48529002e2dfacb1e10cc4f98b0b6841804bb33406d20f845dac3b165d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 28cad61e92e6
wire blob 3545d2570ae7
wire blob 4be53f485290
call 6 attempt 0 · /messages · status 200 · 13.1 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9983 right_j0=0.2001 right_j1=1.7805 right_j2=2.2654 right_j3=-1.6958 right_j4=-0.0048 right_j5=1.5452 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0265 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9983 right_j0=0.2001 right_j1=2.315 right_j2=2.9311 right_j3=-1.6955 right_j4=-0.0051 right_j5=1.5448 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.4324 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0055 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28cad61e92e6999621d800d7c9520cfc07f3d1ea86ccb2787ba082b10a343dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3545d2570ae7cee8775f4c8cd5cda44d8822917d14df159afbf87ecf1cf54701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be53f48529002e2dfacb1e10cc4f98b0b6841804bb33406d20f845dac3b165d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 28cad61e92e6]
[blob 3545d2570ae7]
[blob 4be53f485290]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019YktN2WEaNmjVWVZM3YM5F",
      "input": {
        "note": "Comparing the two top views, increasing j0 moved the gripper toward the board (image right), and the board grew in the wrist view; continuing to swing right to bring the jaws over the striped clapper stick.",
        "targets": {
          "right_j0": 0.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_019YktN2WEaNmjVWVZM3YM5F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.598 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0093 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c19444567aa93d19ba020ca2746ee95e29428ac338f3f5e54d43d1bf425a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e554280ca5ef11ad2933954c82193984c7c8f0b19bf755afbbc916b2e86a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd5811300de61a4d891a733f20c97722ed7b4815e983364f70777a09bdb55466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 86c19444567a
wire blob c3e554280ca5
wire blob fd5811300de6
call 7 attempt 0 · /messages · status 200 · 11.47 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0265 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9983 right_j0=0.2001 right_j1=2.315 right_j2=2.9311 right_j3=-1.6955 right_j4=-0.0051 right_j5=1.5448 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.4324 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0055 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.598 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0093 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c19444567aa93d19ba020ca2746ee95e29428ac338f3f5e54d43d1bf425a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e554280ca5ef11ad2933954c82193984c7c8f0b19bf755afbbc916b2e86a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd5811300de61a4d891a733f20c97722ed7b4815e983364f70777a09bdb55466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 86c19444567a]
[blob c3e554280ca5]
[blob fd5811300de6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EwZ6R79xyypPDr7dzESPU3",
      "input": {
        "note": "Top view shows the gripper hovering just above/behind the striped clapper stick and the wrist view has the board centred laterally, so lateral alignment looks good; I'm lowering the tool about 6 cm to close in on the stick.",
        "targets": {
          "right_j1": 2.41,
          "right_j2": 2.91
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EwZ6R79xyypPDr7dzESPU3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5987 right_j1=2.3829 right_j2=2.9189 right_j3=-1.6955 right_j4=-0.0154 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171df24a1854f703181bea23dc363c1443ee84dd0d42478bc891de410cc3ca00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc26ab395537e3bf459bd3bbd469d7633accf96e7b1549a5216e23c52aa7fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a8401ed17c31951831d89e2da628a8d10ad965a8e307f97331a6918e0197fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 171df24a1854
wire blob 8cc26ab39553
wire blob 5a8401ed17c3
call 8 attempt 0 · /messages · status 200 · 11.99 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.4324 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0055 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.598 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0093 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5987 right_j1=2.3829 right_j2=2.9189 right_j3=-1.6955 right_j4=-0.0154 right_j5=1.5452 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171df24a1854f703181bea23dc363c1443ee84dd0d42478bc891de410cc3ca00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc26ab395537e3bf459bd3bbd469d7633accf96e7b1549a5216e23c52aa7fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a8401ed17c31951831d89e2da628a8d10ad965a8e307f97331a6918e0197fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 171df24a1854]
[blob 8cc26ab39553]
[blob 5a8401ed17c3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KK3WkFsw2tGutbUwcYbmNX",
      "input": {
        "note": "The wrist view shows the striped clapper stick at the near-left edge of the frame, meaning the gripper is a few cm beyond it and slightly to its right; retracting ~4 cm and yawing a touch further left to sit directly over the stick.",
        "targets": {
          "right_j0": 0.66,
          "right_j1": 2.25,
          "right_j2": 2.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KK3WkFsw2tGutbUwcYbmNX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6917 right_j4=-0.0162 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828d5ece73dcf444882648e3c5431dfe1c2ae993fae490b709307ec172643ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b8a8d23c2b6f8029dedc8dbabc0969cd0b6ca1664cfea5a0ac7fc3284170ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0dd05e8e665115898d2007f9879b1161563140bf39a81e9c880b78e1af575ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 828d5ece73dc
wire blob a6b8a8d23c2b
wire blob b0dd05e8e665
call 9 attempt 0 · /messages · status 200 · 20.54 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.598 right_j1=2.3257 right_j2=2.933 right_j3=-1.6955 right_j4=-0.0093 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5987 right_j1=2.3829 right_j2=2.9189 right_j3=-1.6955 right_j4=-0.0154 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6917 right_j4=-0.0162 right_j5=1.5455 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828d5ece73dcf444882648e3c5431dfe1c2ae993fae490b709307ec172643ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b8a8d23c2b6f8029dedc8dbabc0969cd0b6ca1664cfea5a0ac7fc3284170ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0dd05e8e665115898d2007f9879b1161563140bf39a81e9c880b78e1af575ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 828d5ece73dc]
[blob a6b8a8d23c2b]
[blob b0dd05e8e665]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kq6FPSFUuxXyhmSNyxepYA",
      "input": {
        "note": "The wrist view shows the striped clapper stick running diagonally, but the jaws always close along the image-horizontal axis, so I'm rolling the wrist by the base-yaw amount (j5 1.57→2.23) to make the stick run vertically in the image, i.e. perpendicular to the jaws.",
        "targets": {
          "right_j5": 2.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Kq6FPSFUuxXyhmSNyxepYA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6913 right_j4=-0.0166 right_j5=2.1265 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23efbd985448abed272dc487bd1e2ed36c98b9bbee21c3d1e1eaa0a98b0a775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d19f089f6af5d5b960b0b9f5beda0f85269d61e9f2232ef8d90b13fee0be73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c41e540b4b78dc2e615749bd30bd2786df3eb3315e89dbc08d66ce1aefbd90a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e23efbd98544
wire blob 44d19f089f6a
wire blob c41e540b4b78
call 10 attempt 0 · /messages · status 200 · 11.33 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5987 right_j1=2.3829 right_j2=2.9189 right_j3=-1.6955 right_j4=-0.0154 right_j5=1.5452 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6917 right_j4=-0.0162 right_j5=1.5455 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6913 right_j4=-0.0166 right_j5=2.1265 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23efbd985448abed272dc487bd1e2ed36c98b9bbee21c3d1e1eaa0a98b0a775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d19f089f6af5d5b960b0b9f5beda0f85269d61e9f2232ef8d90b13fee0be73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41e540b4b78dc2e615749bd30bd2786df3eb3315e89dbc08d66ce1aefbd90a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e23efbd98544]
[blob 44d19f089f6a]
[blob c41e540b4b78]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8hvWQxs4vG4748mZaZuQ9",
      "input": {
        "note": "The stick now runs nearly vertically in the wrist image (good jaw alignment), but my top-view and wrist-view readings disagree on which way to shift laterally, so I'm making a deliberate +0.15 rad yaw test move to see unambiguously which way the gripper travels in each camera.",
        "targets": {
          "right_j0": 0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01G8hvWQxs4vG4748mZaZuQ9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0006 left_gripper=0.9982 right_j0=0.7731 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6905 right_j4=-0.0147 right_j5=2.125 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24f6ffad159ce8a2fe6068c60ba3f993cbf4223d9d4d9549fe5a493e543c0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5201923ab3e48e210196eb11c6526082245ed83da9ff63e18d83adb881a1125d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b89b160488e29ae4439f1d3a0a0fba02d0ac0035e0cc0e903a4aba61ccce9efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c24f6ffad159
wire blob 5201923ab3e4
wire blob b89b160488e2
call 11 attempt 0 · /messages · status 200 · 4.856 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6917 right_j4=-0.0162 right_j5=1.5455 right_gripper=0.9994",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6913 right_j4=-0.0166 right_j5=2.1265 right_gripper=0.9994",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0006 left_gripper=0.9982 right_j0=0.7731 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6905 right_j4=-0.0147 right_j5=2.125 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24f6ffad159ce8a2fe6068c60ba3f993cbf4223d9d4d9549fe5a493e543c0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5201923ab3e48e210196eb11c6526082245ed83da9ff63e18d83adb881a1125d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89b160488e29ae4439f1d3a0a0fba02d0ac0035e0cc0e903a4aba61ccce9efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c24f6ffad159]
[blob 5201923ab3e4]
[blob b89b160488e2]
{
  "content": [
    {
      "signature": 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YgULnjs6SxlsLDZD0jKVvBzDuVoeAgGwtiHYn34BJ29N+/aLYgnwkNuCnNFXjxzsij4au9J5RWGqYlFNInS9SUnaO8G3Arxmlet7FnrSzTTh9CHKCAbgNRga+2r5bPHeStjp6bkAGzYu1vgFjkkrfgUWhCWCaXeYB9jG0DK6E+fxiyOpKDxe99+slSzys1aXqCXoMui/3xH1BB/KE7wSDzSgO29fjsj26amV2vgLqny05bG9bg6JBHXORRh+HzgGLqarxgR8BPHr3rw9fLFk2hNZ/jqW+XSn/m0i/MwrTaEhLHWE0wokRFWmEiUXHRs289DB/zmHBOqLkd/nW2/VToAehhcQ6WcLcBEumtjkkrR+jIzT2m5SnxFwCGu7Ib6dBxS28G/feZxUie9CXFfAXLTeLGhRt00sd/zl3Gmb8Bng1WhVqEanchOoum035IfwU64Owt9q6DZbbeo0lqpGISgx2tYheJWtw3IGVxW/Td6jsGojhx/D+frJB0bamVJKCeCNmMo0Pds+aWyIaH6VKEKkzy2Gl+GJBfCHVTsYEDLKweeN5Cfc2Ffsf2CIT1dRliebY01XyJT1AULaEItKKWWdpPcOVJNZk5R82GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYnXJyybYVWrBbMeURfT49",
      "input": {
        "note": "The test move confirmed the mapping: +j0 pushed the board up-left out of the wrist view, so I need the opposite. Moving back right by ~3.5 cm and retracting ~3.5 cm to bring the clapper stick into the gap between the jaws at the bottom of the wrist image.",
        "targets": {
          "right_j0": 0.586,
          "right_j1": 2.18,
          "right_j2": 2.49,
          "right_j5": 2.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QYnXJyybYVWrBbMeURfT49",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6285 right_j1=2.2353 right_j2=2.5031 right_j3=-1.6798 right_j4=-0.0303 right_j5=2.0781 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06dd1801fe37db14660d79ee7c01920065c74fb796d49f451b2c14e4f730991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b118fdbafbe8540403efae80885f274970996c7e856b020a87252197597b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2763c2762618cc4a922bc1a38dee735ec72f80aa30c2eb2567bb2cc6febc6cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f06dd1801fe3
wire blob 16b118fdbafb
wire blob 2763c2762618
call 12 attempt 0 · /messages · status 200 · 19.9 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6582 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6913 right_j4=-0.0166 right_j5=2.1265 right_gripper=0.9994",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0006 left_gripper=0.9982 right_j0=0.7731 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6905 right_j4=-0.0147 right_j5=2.125 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6285 right_j1=2.2353 right_j2=2.5031 right_j3=-1.6798 right_j4=-0.0303 right_j5=2.0781 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06dd1801fe37db14660d79ee7c01920065c74fb796d49f451b2c14e4f730991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b118fdbafbe8540403efae80885f274970996c7e856b020a87252197597b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2763c2762618cc4a922bc1a38dee735ec72f80aa30c2eb2567bb2cc6febc6cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f06dd1801fe3]
[blob 16b118fdbafb]
[blob 2763c2762618]
{
  "content": [
    {
      "signature": "CAIS0wUKjAEIEBgCKkAO1eVmvoqNfi3OovbzTP2RdZt8HPQzI+Ur4dMthsR6xrUxmivcN/LIG9XgmueOnpWuak+jBAhrnk2emg5cn657MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLP2p71GIjzd4OJRcGgzqjzg8/kbabRcf8yMiMC1IXZaclDPDVM7MjoBqbni9FDbQO4d1aQ7s+cU1DF3cjjEniMcy6vkYg6aqbbGyFyrzA51jvEMxgHcmJfdb69L81jUGlxldRJTjPS3qWpxGZVp44gVEA3VgZrSHDR+vEiUNLCWkzQwwnhxIab4xdO1JgMAriEzV40zGF8cgLYG1ONwnb8EXZ5f4NFGnVnIROIC9wqc9kW70iKmQrzZ2DBDe8ouAFRQhWaQIkgtBd7fSGGs73Da+qpKOzXx3wvxSl4xlM9Azd3ZpO15LyRdhHet2XWStzSxAtXvoI9RlrQwfPiuDhELoY6JZfjD7xZGjmKH47hwht8N6vX97CdElotieBTgc+R9qqW/vDuZEy1nVd0yK7q3eZhLT3TDWwwmOMXfI7wPrZVqC4FdpypVvAz0rRWYsMZv2FshnqKt8iRWOeAFtmc3bCpfvgmZ0+ypvLWnL86GT7Jap51C+Vozt7wk3XflGSkEIJhztnpcrn0FCyH6Plk0FfR7t2S5CmAUQpHeRjPoAsg9Csy2PcWP9BxhNC5CmWfzDD+3g6si4Qxpo8iHgmwCtrZj4nxmpKJw1fQVQ8GZG2+f7G+EdPa4fBVtttrzuC7jBivoS/vMjMpN7VIIBsFwjW0cpxQuv5ImZcWuxO7htceVylHxtLPXG8c0F5mIkYCbETmp7vpB5HXUKjYJSJ5mmIdstmurzdYPgK5O3kZsQHqn3OZ+NLCKhXQk4pojqthsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018i1vjUczQSYg3EaWmb6Y1Z",
      "input": {
        "note": "The previous command only partially executed (the arm stopped short of the targets), so I'm re-issuing the same pose to finish the retract-and-shift toward the clapper stick.",
        "targets": {
          "right_j0": 0.586,
          "right_j1": 2.18,
          "right_j2": 2.49,
          "right_j5": 2.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_018i1vjUczQSYg3EaWmb6Y1Z",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6806 right_j4=-0.02 right_j5=2.0563 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba4c11eac25e2cdf73105f5efa33ea742934e5959e89ba14f598c3d8fd6d6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e914458069373f017d43e2434b67c806bff71cfb2eb1d711b541c2dc5084840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7c542b9a276286c3c75d9e6e3c2ea2448e7e1d65287a4a284735ffc8c2a932c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0ba4c11eac25
wire blob 1e9144580693
wire blob a7c542b9a276
call 13 attempt 0 · /messages · status 200 · 12.67 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0006 left_gripper=0.9982 right_j0=0.7731 right_j1=2.2925 right_j2=2.6537 right_j3=-1.6905 right_j4=-0.0147 right_j5=2.125 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6285 right_j1=2.2353 right_j2=2.5031 right_j3=-1.6798 right_j4=-0.0303 right_j5=2.0781 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6806 right_j4=-0.02 right_j5=2.0563 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba4c11eac25e2cdf73105f5efa33ea742934e5959e89ba14f598c3d8fd6d6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e914458069373f017d43e2434b67c806bff71cfb2eb1d711b541c2dc5084840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c542b9a276286c3c75d9e6e3c2ea2448e7e1d65287a4a284735ffc8c2a932c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0ba4c11eac25]
[blob 1e9144580693]
[blob a7c542b9a276]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XiXHndsh15vEXR5E87hUxU",
      "input": {
        "note": "The wrist camera is now filled by the clapperboard and the top view shows the open jaws hovering just over the striped stick at the board's near edge; descending a cautious ~1.5 cm to see how close the fingers get.",
        "targets": {
          "right_j1": 2.258,
          "right_j2": 2.496
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01XiXHndsh15vEXR5E87hUxU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0238 right_j5=2.0567 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7853a7ff8d6dcbcc0d32afd4db37067a4ae9ae3c1664ccea199d5a753aab4d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3b6eb8c0a176678e46356fdd5f1d1133a51053af82872ecdb9f098c148daee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fa5fbbc221bc1955cfa2f5c8afabfeb54260ef83891f94c911f9c5ecf6c4ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a7853a7ff8d6
wire blob 3b3b6eb8c0a1
wire blob 9fa5fbbc221b
call 14 attempt 0 · /messages · status 200 · 10.33 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6285 right_j1=2.2353 right_j2=2.5031 right_j3=-1.6798 right_j4=-0.0303 right_j5=2.0781 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6806 right_j4=-0.02 right_j5=2.0563 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0238 right_j5=2.0567 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7853a7ff8d6dcbcc0d32afd4db37067a4ae9ae3c1664ccea199d5a753aab4d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3b6eb8c0a176678e46356fdd5f1d1133a51053af82872ecdb9f098c148daee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa5fbbc221bc1955cfa2f5c8afabfeb54260ef83891f94c911f9c5ecf6c4ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a7853a7ff8d6]
[blob 3b3b6eb8c0a1]
[blob 9fa5fbbc221b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AQtHdouxmjrqLXz6Ktqs6Y",
      "input": {
        "note": "I still can't tell for sure whether the wrist image is mirrored, which decides which side of the board the clapper stick is on; rolling the wrist +0.4 rad is a harmless test that tells me which way the image rotates.",
        "targets": {
          "right_j5": 2.46
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AQtHdouxmjrqLXz6Ktqs6Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.252 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000edda09170d678662bbabfcd5fadd3a65919aeae87617d449c5b65db2eee65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3099e48d8c418edd06e8a6ba564b8e3c4b2cb90cc90308b410f78e4fa79dd599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36b1ad57f2487f4acff0559734f3f73b0f9ac86c6679740d61f0c1a0fe777d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 000edda09170
wire blob 3099e48d8c41
wire blob 36b1ad57f248
call 15 attempt 0 · /messages · status 200 · 11.95 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6806 right_j4=-0.02 right_j5=2.0563 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0238 right_j5=2.0567 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.252 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000edda09170d678662bbabfcd5fadd3a65919aeae87617d449c5b65db2eee65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3099e48d8c418edd06e8a6ba564b8e3c4b2cb90cc90308b410f78e4fa79dd599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b1ad57f2487f4acff0559734f3f73b0f9ac86c6679740d61f0c1a0fe777d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 000edda09170]
[blob 3099e48d8c41]
[blob 36b1ad57f248]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TefnhpQbzdhY62beCdSZxC",
      "input": {
        "note": "In the wrist view the striped stick runs diagonally at roughly 50° to the jaw axis; rolling the wrist further (+0.65 rad) should bring the stick perpendicular to the jaws — I'll check the image and reverse if it gets worse.",
        "targets": {
          "right_j5": 2.78
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01TefnhpQbzdhY62beCdSZxC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a769cb5cb01acfeb27fd021c6faca5419ef116937cf21e558c848a32db7a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a6c8cd9f722221e8a4a081c0641800e9663ddac859211efeaac4153b66cb49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d25055bb498dfd637220bc8e4176918d57258cca420f776e7fe05ab308f5bf91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 30a769cb5cb0
wire blob 89a6c8cd9f72
wire blob d25055bb498d
call 16 attempt 0 · /messages · status 200 · 13.27 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.223 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0238 right_j5=2.0567 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.252 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1265 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a769cb5cb01acfeb27fd021c6faca5419ef116937cf21e558c848a32db7a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a6c8cd9f722221e8a4a081c0641800e9663ddac859211efeaac4153b66cb49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d25055bb498dfd637220bc8e4176918d57258cca420f776e7fe05ab308f5bf91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 30a769cb5cb0]
[blob 89a6c8cd9f72]
[blob d25055bb498d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01623QELUizMhZgjso3WQ9my",
      "input": {
        "note": "The wrist roll appears to have hit a limit around 2.13, so I'll accept the current jaw angle; now descending ~2 cm so the open jaws come down onto the clapper stick.",
        "targets": {
          "right_j1": 2.304,
          "right_j2": 2.506
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01623QELUizMhZgjso3WQ9my",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4062077ec4fd2d6180d3bc3f02d21b80e9b919720a53abe1fa41da5fc263a522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8067f049ae9484cb548590a1bf8d6c25189c2ee492522849c0e37fd4861e738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fca004749bc056d0ce2fb61c1bcf90db5aeb2259ec806e1f51702d845036af54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4062077ec4fd
wire blob f8067f049ae9
wire blob fca004749bc0
call 17 attempt 0 · /messages · status 200 · 8.329 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.252 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1265 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4062077ec4fd2d6180d3bc3f02d21b80e9b919720a53abe1fa41da5fc263a522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8067f049ae9484cb548590a1bf8d6c25189c2ee492522849c0e37fd4861e738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca004749bc056d0ce2fb61c1bcf90db5aeb2259ec806e1f51702d845036af54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4062077ec4fd]
[blob f8067f049ae9]
[blob fca004749bc0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PG8XtkvMXpx4CZnuZcVnyY",
      "input": {
        "note": "The arm seems to have stopped descending (possibly already in light contact) and the wrist view shows the jaws straddling the near edge of the clapperboard where the striped stick is; closing the gripper to see whether it catches the stick.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PG8XtkvMXpx4CZnuZcVnyY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2963 right_j2=2.495 right_j3=-1.6764 right_j4=-0.0231 right_j5=2.1208 right_gripper=0.1041",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df23a201b8e28ccd1bd117cc520525dc828ae91db0f0a2451b240db9e3011afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca8d79de0e280a865f9aad30c4ac7ec838388860001ddbf554d848f0e396886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db6357e930b0f9b9ef66ed14ba14b3dc8d5f98938299359a0b17842a11fb6c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df23a201b8e2
wire blob fca8d79de0e2
wire blob db6357e930b0
call 18 attempt 0 · /messages · status 200 · 11.71 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2963 right_j2=2.495 right_j3=-1.6764 right_j4=-0.0231 right_j5=2.1208 right_gripper=0.1041",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df23a201b8e28ccd1bd117cc520525dc828ae91db0f0a2451b240db9e3011afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca8d79de0e280a865f9aad30c4ac7ec838388860001ddbf554d848f0e396886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6357e930b0f9b9ef66ed14ba14b3dc8d5f98938299359a0b17842a11fb6c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df23a201b8e2]
[blob fca8d79de0e2]
[blob db6357e930b0]
{
  "content": [
    {
      "signature": "CAIS3xIKjAEIEBgCKkC9YWdwnlUDb/fg/VcqZ08Vl50QEVvhOurCBcY7CcngWqSUgrKhCmePAYEMo/SOoN83Q2hj9C9R95H/KOsvIzoHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJh9M1EeK+ue0FoyEGgxl0TEUiWzu6HpAP/ciMF0F9kU7vJNcE9WYC2dO4CfH4HSKvM/aFwKJ6RdRoo+vScdhz8lNDawxM3SdLJ5LJir/EJrUkAznBqK1vArAP+I1g9wK2uYfx3a+VLLJHY8N9K/j0BC5kxf7St3N0DvoA6uaeKscxniKqe67a78mj+1dZwkGq3bgl7QxRzi6U8yXYhNVB3rZxLDf6Q64YsGzaaC00YRRhDlG5hysudoX2NwC9+HNv4nPhpZUk8ONuVWNdhqU2J7cJWCCBs87jL15kFRTXNGdlbWMvhXIKnLoHu4FyOzqYTpj100E4xzz79ExRFPqZZ2mmmQv3SiIVV+Bqliv4L6FWtWvERSur+lZhPyuDCVmI0HASiELlukKYzLt4x1uqo4YvZV2hkbZRn1kCsuT5/RFOCnUz50e+6IL5LhP/GHp/4GtnKrRR2M1NjNCVN0sfj2lMn3d8CbpyGiXMxmG3FNwR7hEpm5MhMZ3Aqx1D2tEN/lIsAfyEp19gMgOJyMPUIWx2TPc0nA75eYhIkVl1mJOca40R8/+RcjaBwU6DYPeOsBmRT4/ai4aMx/Xrm2kn+gnf/UYvbRmxsrGmGxInKz8CROOMLDMTPGhPkWag9PzTx1q/0vfD0rjUnE87PBZEUhrApYDMInNHI1HwlL7O2KGbUDj0rvPp68lFsgMGssorgdn6Wwy4jdgPk6PAiVY3DeeNmPqcy5Prn2sFz7juPXqnKAmqC4Bq9M+0ds5ZJ5T+oaeylAfvW/UdwwzssKsI4SXbwMI8JEg+B+BAK4IyTSl1XvTD7YurZIobQoksQl7OsPB/uWR1vj/nmg6vfIUGDhHc2GSOwmsEn4TDNA0pLlhU+g/0+NSljZHQHXKEZzR5X+PDLT/U9ObL9YYvg26xycqtJYaFZs2eVNsP4y8NV88iVi0la1TxH//Co+QNLoGqzAQqR7IdJQDPrwul2MOS4R3rmhi4Ziw/59ilAvGndI1ObSpzYhCSeqRhUhQ3t+Bw+QNS2wknFt+CA6fNsdcjvPFVg1xBshnayrTDk51jOYtqdvoALyKGou+gVYh67uyFYT/TnZtk0sg/Ucq/I+0a4gVjnTlh9nVB34Sn8RspWXCIJl5qHZqwrMiSzh3UR07kwCe84YU04r8RyRVfJGW+N+3IJ9yZtq08IPH4LS2yK2Np/qvkHxvdbp6cYGTXcHzIjfYeZyzElGk/Ljvmf0+AIiUraFTTjXe1BAfmHDcjW0uCSERvjqTvDCOwo3IzmY0ow+UhbcY/Kb97dgx/irnhgTY63JqMY3csxd9115ZGx6pWEkyfOw58YowfjeDcL3qSpVIBJ0PnNeIegZKdVK1LWkpjlRNT815dkhD3Fm4fT4bPZf0endKHn4ELfBZHTYiSMNDVwYZRmSWas9P9U+OTjtOYBZvyB9GLHt/ptJD4xj5H6TTAaVHGFZg+4d5Z0UzeVRa+ilvFStd8IvIf+jP02sxrwwaVuvtnwqAnWMPNSIuDGIFRe3cM1y3TJdfTM4OlbSpqTbpMqU9E/XPZ284RfbdkwYJ2IkAOfnpmAiPDbjkurXDfM6Nef/lUt46w5gCxhsoTYQPZ66geqDsir95Yp007E5LfIN1drWZ5mj6eKQdWrTDZp6yzOxBYM7U+aVADdbmW2gfTYqY3+1Mby7ka+o8AuqYDXCNZydYTAs7xbItZ6UiItCSv/koc3/rM+7EhFUj8xB0/JamJk1OFzWm9B2VVmQmXMnxA6gnl+Rb922kz0MHnU8zx4tOxadIz5+yrIlHHWWVYnjAdMBqKVYjoSxTOf79NTOlu8xKC6sGogzo/stgi/a4tOaBvmmPaXhGVXCVrjWbHjY8TOlmioXXZ+cSMS/8s+Sbv7ajpsrK2/V3JKBgGrA+AgxGcMoAskpp46XSqCJ84kR4fbhaB58L38FZv40Jg3RDHncG7LlPYgTo9lSk2B5wPL0G4sNXWrS9t0DdctZnLdBI0tCsH9Cr1h1dKLLXq036M3wiNC4XzHOkneMSxBs4YrUi5XSWN/P09lkN4mFLzlhZIdOulkPD6HVCJSfltz9qhyiJE4nULBD1ITcU4O/TTD6mnIaezoALjg0CU0/J3p9GtA0RLKu1JSoNsAknvehIvtCG6Pzb2ZFPCV71wtkoTbWAItRachm7QJ9e0YlO75CkhfMVmlcOADHD6lsYwZlizuTAq6flS4E/svmKqBwDfMfTNbWduiVCk0MPEtK1ggpdT+bsRbTrueEsqSA4h5u2JjqrpJmos6cUmo77JYoAB/AcVny+AnK/LsR/VjtQcOOnThhWPwapu1rhcel0iIGdhQTtOj5FL8UZEW3rTg+3/zXNrr9SC8wBs9rhQRJsvUoBAEha+KEUqKxNQDAx9u1CJ0FhqjxA9GxFiJ1WF6h3YO0F+5nMpEFsGOt9O3tjqbeU2dSL+8Ah47NhZnclHLtVwvuEOh6neCImRqX9b4hw6jg/AUNOk1OE2qew/8ckE3qOgAql1XA5tLLFBJN8cS8lRrDnY1Ur/p1xf6nLl8cE5fq/VcT7EdyiqW6dwCO/KI517V+Sy22+CMi8nso9SdbRZpcRW8Yp1jnaXyGx9Z+LWZUxjX9ZuexQ/5Amwzqx8Io/Z7DqhS+LEC0G+YgqfYfPHnYCsMymUl+cys4X5DCf/KFEI3YnUJzhGYDafhKSkMK7C0WKjNY1UEfKJlfo55d8sSFwbWPYpo5nvdX7AKgFgAO0iB7zgwhpQH1CN2nP11s9WgBC/C11QrpRxcqeesvUUvfN77MI9AEzY8YgO0Qobiug5kP9V2Q5uAkEo05pnRVAKUGWYoRh5gV98i8TyMfygcEvos9AL2s+4J+IQYF17Ns18RCCidVLbuhfQ29pYsYYFfuT4U9UxizBZABqB+VEdjkJ8WD8oJDdV9RkR6TesDPuAOmWUYSXONpcrqaatLtVPyUwpqUm6x/S2izN/HfqxYfvhXkgogr+Bs+ug0D0EDF4PQWWZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GTvkeH7iShtBo6CcZtVA21",
      "input": {
        "note": "The gripper is now closed on something at the board's near edge; lifting the tool ~6 cm to see whether the clapper stick comes up with it (and whether the whole board lifts, which would mean I grabbed the wrong part).",
        "targets": {
          "right_j1": 2.178,
          "right_j2": 2.527
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GTvkeH7iShtBo6CcZtVA21",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2776 right_j2=2.495 right_j3=-1.6749 right_j4=-0.0235 right_j5=2.1212 right_gripper=0.1038",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd76134b8761efa8ea94ddfd86a18edaf187c8185dc59d253b170b2ae946ae2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdcd0d072c3919fe65f59e92db031e80e9d53f1f1f3231bf48ffafd26cff4a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f85546eec367fd8d1ca1d3fa6c79e6a589ecd1b6699a63ae1bcebcf077c3c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cd76134b8761
wire blob fdcd0d072c39
wire blob 1f85546eec36
call 19 attempt 0 · /messages · status 200 · 10.63 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2517 right_j2=2.4912 right_j3=-1.6798 right_j4=-0.0235 right_j5=2.1269 right_gripper=0.9994",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2963 right_j2=2.495 right_j3=-1.6764 right_j4=-0.0231 right_j5=2.1208 right_gripper=0.1041",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2776 right_j2=2.495 right_j3=-1.6749 right_j4=-0.0235 right_j5=2.1212 right_gripper=0.1038",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd76134b8761efa8ea94ddfd86a18edaf187c8185dc59d253b170b2ae946ae2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdcd0d072c3919fe65f59e92db031e80e9d53f1f1f3231bf48ffafd26cff4a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f85546eec367fd8d1ca1d3fa6c79e6a589ecd1b6699a63ae1bcebcf077c3c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cd76134b8761]
[blob fdcd0d072c39]
[blob 1f85546eec36]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GsN6vVbxTwmRAsNJhE8REb",
      "input": {
        "note": "Now the wrist view is clear: the striped stick runs nearly vertically along the right edge of the frame while my jaws are centred ~3.5 cm to its left, on the slate face. Reopening the gripper and shifting back/left to put the stick between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_j0": 0.631,
          "right_j1": 2.14,
          "right_j2": 2.38
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GsN6vVbxTwmRAsNJhE8REb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6258 right_j1=2.1998 right_j2=2.3852 right_j3=-1.6688 right_j4=-0.0235 right_j5=2.1132 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcaa9a721e70f158d4ff28ad3a117f4305c2c74b1b0a02b53f48f0f0470db6d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf74d510f0642cb7ad02f0aadd275dd7a67ff83de5e06014d5cc3ac80fd5f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d213c73e3a4d5ca0640acf6caefb2d84f00e89b6c82fc85c9e2583e7c7574ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dcaa9a721e70
wire blob fdf74d510f06
wire blob 9d213c73e3a4
call 20 attempt 0 · /messages · status 200 · 5.045 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2963 right_j2=2.495 right_j3=-1.6764 right_j4=-0.0231 right_j5=2.1208 right_gripper=0.1041",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2776 right_j2=2.495 right_j3=-1.6749 right_j4=-0.0235 right_j5=2.1212 right_gripper=0.1038",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6258 right_j1=2.1998 right_j2=2.3852 right_j3=-1.6688 right_j4=-0.0235 right_j5=2.1132 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcaa9a721e70f158d4ff28ad3a117f4305c2c74b1b0a02b53f48f0f0470db6d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf74d510f0642cb7ad02f0aadd275dd7a67ff83de5e06014d5cc3ac80fd5f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d213c73e3a4d5ca0640acf6caefb2d84f00e89b6c82fc85c9e2583e7c7574ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dcaa9a721e70]
[blob fdf74d510f06]
[blob 9d213c73e3a4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLbA1zkAsia19wvdSLy5xM",
      "input": {
        "note": "The stick now runs vertically down the middle of the wrist view, lined up with the gap between the jaws; descending ~2.5 cm so the open jaws straddle the stick.",
        "targets": {
          "right_j1": 2.273,
          "right_j2": 2.41
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FLbA1zkAsia19wvdSLy5xM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2059 right_j2=2.4092 right_j3=-1.6718 right_j4=-0.0235 right_j5=2.1128 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a881abbff53ee2b72493ced76526cf82df614817659b617c241d1ceaaa752c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0907d2a2b3b80f3968019db1854a285aa18fbdcdd09da338d3a8614a8e41205b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f34eaf2769ac2ecaf66689b94dbba9448efa8705dce60203217c8f5056c97647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b2a881abbff5
wire blob 0907d2a2b3b8
wire blob f34eaf2769ac
call 21 attempt 0 · /messages · status 200 · 24.58 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5861 right_j1=2.2776 right_j2=2.495 right_j3=-1.6749 right_j4=-0.0235 right_j5=2.1212 right_gripper=0.1038",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6258 right_j1=2.1998 right_j2=2.3852 right_j3=-1.6688 right_j4=-0.0235 right_j5=2.1132 right_gripper=0.9958",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2059 right_j2=2.4092 right_j3=-1.6718 right_j4=-0.0235 right_j5=2.1128 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a881abbff53ee2b72493ced76526cf82df614817659b617c241d1ceaaa752c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0907d2a2b3b80f3968019db1854a285aa18fbdcdd09da338d3a8614a8e41205b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34eaf2769ac2ecaf66689b94dbba9448efa8705dce60203217c8f5056c97647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b2a881abbff5]
[blob 0907d2a2b3b8]
[blob f34eaf2769ac]
{
  "content": [
    {
      "signature": "CAISkAkKjAEIEBgCKkB4QXd9Vl2vsp5LZv2Z09FssekNNx/pTYsJebfKxdaQWDddNoQhBENcWJTK217ynMkNoJMD2G3GzexugRWLSSVMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMB1dt29ZPNvvqpmRJGgyBXSfz4W+fKxTZk3oiMJaHmFwtM0OvKzpkIJ4pwjTebkWrO0Xuq8V0dP+5pilM01vL2Ms1gelkwdGSQOnGfSqwB9IYsnJL/6FhWYPf3/dJZqJBt5s8LpHC9/7RPt2Ds1+6fvzq46XdIJMhyk9psWofKMsYWdCtzCF/5R4IvnC7qwJeyri2G/DH+0izOG0N7fOcSSAh6LYSrL3sDfA3dk6dCWcMEAHv8/6CQw6fVxaCUIB5JkFcDWkDdIcMyecNEDVQb01BGqCDCh5WwSWDU3NM2PFnrQZRQO2PhkDs3IghrfaK1xqJ6JozQZDdaxMc7+DNTlSwE0qfcOEmwvuPwupUOtQrCY79/U4p1Tq3tCR5rbH4qn7VPcxxo0QG09UH//hGkqxzZx/GKMJJpSNK1oMspKd1T6qoJp/qHuU7gGVN84ynspJLZCPwk5AuvxAXfalE4QB6VsXF/n6y+XFQRuKigpK0/8pAkQi9G8MiTAiTSxM/vrYIH9pmITsaC7Xvv1A3nOuJ1qiAyWCFcRPchCJQnZ93GaBJvGCjfTXGFLIUl7MljFc7OqqdJGYg6zzAVt8Rryi9xT4Ph6UkixYt2U9riE5pCntRNWXCXDoiSf36tPB0W+xz4pmhcrj5XmYOLIuddSIIgAHNibiMtFhh1LqCSpDlvsxiKRFE1SWW8cQ3kImXfEOcGL+wFGrFvYNHOHx4j0m4GDiE996Xb/rc0YCFAyvxF5SLm5kDTsYwuubOODwtCE3auxgfLOSV+6nmdqFF8g9nFsEW9dv5JHlLarntp8raCXNmwXoe2bCrnuOtQpvgD0p4YC4Cw/Q6gFeVbE2dmUxLP26+489giqwsqnAZLmeyCbcgZ85l7loUJo5d7HfmFbFjCpUvhZebR+LcianQ6O2OB44UeaTN/Fjhu9/olul+ZEgkUSemAbvHR4Eo3JbaKwAKRCyXLebE8Udy9+q1ZJA3o3f941XsveLgF3jsir8LSYLJys9lFnbHHakRo2ZBTdNXWRe1iwhqBXj/7PddXBWQlwRkfqOjAv3vUpAb64tDujlnulethYx7NiXai/4Dde8SQgwU9AXAawAxz8vZhTNtFb+/tT/U8lDsnp+pt+qzaReprjG+B/xkIr2qsxScKHWUF8OmoL4U1atJFluQ2jQhLB2U/8EC7qAISiBePqTj5KcMj9iSwq+qftDfQSBfFGpssYJNuck/HupKDZT5esUgaB8U0Pco4QDf3h8wracfizEma99JDJpu0aJ1t9+ktS1rgBmxfSR/gQGJWx8zVQkrLpuIJGbXF8j5ZJ6+TI5m6N1PpO49wApLdL2+6KuObBjMpgW2UOwe5y09A/iGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dt9TZNUd1vK67oNN1qJTQK",
      "input": {
        "note": "Only part of the descent executed (j1 lagged), so I'm re-issuing the same target to finish lowering the jaws around the stick.",
        "targets": {
          "right_j1": 2.273,
          "right_j2": 2.41
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Dt9TZNUd1vK67oNN1qJTQK",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1101 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca38c976571c1b8966cc41f494282381f305bc1d9baed82f42665d847603b75a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b154f240e3136d8b0122cf6c547c2346ded80289d173ecc7df82244d35edf74f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4faa0c851837090d39cacf33d3fb3072425291b62e87a9a1b475392036efc027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ca38c976571c
wire blob b154f240e313
wire blob 4faa0c851837
call 22 attempt 0 · /messages · status 200 · 8.165 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6258 right_j1=2.1998 right_j2=2.3852 right_j3=-1.6688 right_j4=-0.0235 right_j5=2.1132 right_gripper=0.9958",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2059 right_j2=2.4092 right_j3=-1.6718 right_j4=-0.0235 right_j5=2.1128 right_gripper=0.9966",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1101 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca38c976571c1b8966cc41f494282381f305bc1d9baed82f42665d847603b75a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b154f240e3136d8b0122cf6c547c2346ded80289d173ecc7df82244d35edf74f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4faa0c851837090d39cacf33d3fb3072425291b62e87a9a1b475392036efc027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ca38c976571c]
[blob b154f240e313]
[blob 4faa0c851837]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N6EK7nk27WSxWjeNDPCk1b",
      "input": {
        "note": "In the wrist view the striped stick still looks diagonal (~55°) to the jaw axis, which disagrees with my kinematic estimate, so I'm rolling the wrist back by ~0.55 rad and will compare the stick's apparent angle to settle which roll direction squares the jaws with the stick.",
        "targets": {
          "right_j5": 1.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01N6EK7nk27WSxWjeNDPCk1b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=1.6272 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e22c5c719f7e0e2fffc3e60820111c2b9b399c024c9fdcbf3218485903f14dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f682e7079e132ba1d3b95fb496af1a1a2b9c15025693b026267a71f75e1cf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c5e3f05f47d0230afe5a105d676167b0dbba2aff386dff057dfcec06bdfb752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4e22c5c719f7
wire blob 8f682e7079e1
wire blob 3c5e3f05f47d
call 23 attempt 0 · /messages · status 200 · 10.25 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2059 right_j2=2.4092 right_j3=-1.6718 right_j4=-0.0235 right_j5=2.1128 right_gripper=0.9966",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1101 right_gripper=0.9967",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=1.6272 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e22c5c719f7e0e2fffc3e60820111c2b9b399c024c9fdcbf3218485903f14dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f682e7079e132ba1d3b95fb496af1a1a2b9c15025693b026267a71f75e1cf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5e3f05f47d0230afe5a105d676167b0dbba2aff386dff057dfcec06bdfb752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4e22c5c719f7]
[blob 8f682e7079e1]
[blob 3c5e3f05f47d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPA4Dmk3qSEbC42fqxTxt7",
      "input": {
        "note": "Rolling -0.48 rad made the stick appear more horizontal in the wrist image, confirming that +j5 rotates the view counter-clockwise; so I'm rolling well past the previous value to bring the stick vertical (perpendicular to the jaws).",
        "targets": {
          "right_j5": 2.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GPA4Dmk3qSEbC42fqxTxt7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8ccffbadd9f6cec6f262161a1e502681f27c905fd6ef2d112aeec6dafec2d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55a43abc1518b34e8ece36b2028050f9f11dd6fe598c8f74db97ffc71d0615d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6c6706632301f47d9c4a0cc0230a3641013b7fecfe561dbaa445262a108b96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a8ccffbadd9f
wire blob f55a43abc151
wire blob c6c670663230
call 24 attempt 0 · /messages · status 200 · 15 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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1101 right_gripper=0.9967",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=1.6272 right_gripper=0.9967",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8ccffbadd9f6cec6f262161a1e502681f27c905fd6ef2d112aeec6dafec2d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55a43abc1518b34e8ece36b2028050f9f11dd6fe598c8f74db97ffc71d0615d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6c6706632301f47d9c4a0cc0230a3641013b7fecfe561dbaa445262a108b96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a8ccffbadd9f]
[blob f55a43abc151]
[blob c6c670663230]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NAz24QW4WPbNBR6wiBbMt5",
      "input": {
        "note": "The wrist roll is hard-limited near 2.13 rad, but rolling to -0.54 gives the same jaw line rotated 180° plus the extra 27° I need; lifting ~4 cm first so the fingers don't sweep the board while rolling.",
        "targets": {
          "right_j1": 2.2,
          "right_j2": 2.435,
          "right_j5": -0.54
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 43 steps (4.3s)",
      "tool_use_id": "toolu_01NAz24QW4WPbNBR6wiBbMt5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2456 right_j2=2.4123 right_j3=-1.6684 right_j4=-0.0231 right_j5=-0.4583 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc991b733e5fe5590e9e2e2ef4894d4c985af1158d476f862d8949d11c3f6837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c2e93260a1dbb9267015da3176e43726ea502481a777bf13cd491550a8dcde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60da58b5cc93fe554080d04f7c5ba7fbbfe977ff4977650e2132d68ae143d1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cc991b733e5f
wire blob 03c2e93260a1
wire blob 60da58b5cc93
call 25 attempt 0 · /messages · status 200 · 6.892 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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6262 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=1.6272 right_gripper=0.9967",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9967",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2456 right_j2=2.4123 right_j3=-1.6684 right_j4=-0.0231 right_j5=-0.4583 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc991b733e5fe5590e9e2e2ef4894d4c985af1158d476f862d8949d11c3f6837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c2e93260a1dbb9267015da3176e43726ea502481a777bf13cd491550a8dcde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60da58b5cc93fe554080d04f7c5ba7fbbfe977ff4977650e2132d68ae143d1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cc991b733e5f]
[blob 03c2e93260a1]
[blob 60da58b5cc93]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L8V3kx8jywENPvcjfw6Ycc",
      "input": {
        "note": "After the 180° roll the striped stick has dropped out of the wrist camera's field, so I'm raising the tool ~10 cm to get the whole clapperboard plus both fingertips in view before making the final alignment.",
        "targets": {
          "right_j1": 2.0,
          "right_j2": 2.49
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01L8V3kx8jywENPvcjfw6Ycc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6243 right_j1=2.0712 right_j2=2.455 right_j3=-1.6642 right_j4=-0.0231 right_j5=-0.4747 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f0e5fbbe749accabacda085f52796d100ea51cdfcee349eb3b42ad61530fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a762829a4261841c6a54b4ddfa7d6024655889d5f5d8c8538c4f20b60994aa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d5e6f774ddb3c8dd73394e0f20ee147e9f58173299ea8aad7ae001f47665c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f0f0e5fbbe74
wire blob a762829a4261
wire blob 1d5e6f774ddb
call 26 attempt 0 · /messages · status 200 · 16.71 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6266 right_j1=2.2856 right_j2=2.4073 right_j3=-1.665 right_j4=-0.0235 right_j5=2.1265 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2456 right_j2=2.4123 right_j3=-1.6684 right_j4=-0.0231 right_j5=-0.4583 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6243 right_j1=2.0712 right_j2=2.455 right_j3=-1.6642 right_j4=-0.0231 right_j5=-0.4747 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f0e5fbbe749accabacda085f52796d100ea51cdfcee349eb3b42ad61530fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a762829a4261841c6a54b4ddfa7d6024655889d5f5d8c8538c4f20b60994aa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5e6f774ddb3c8dd73394e0f20ee147e9f58173299ea8aad7ae001f47665c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f0f0e5fbbe74]
[blob a762829a4261]
[blob 1d5e6f774ddb]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P2uKsvYbvr7txCGA5TMHXi",
      "input": {
        "note": "From the raised view I can clearly see the clapper stick's white stripes running diagonally at ~40° to the jaw axis; rolling the wrist -0.87 rad should turn it vertical in the image so the jaws close across the stick.",
        "targets": {
          "right_j5": -1.345
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_01P2uKsvYbvr7txCGA5TMHXi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0872 right_j2=2.45 right_j3=-1.6646 right_j4=-0.0231 right_j5=-1.2678 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22be4b638f1bd4314a24eb209cd8a97d82449550a0599dfb9181cfecdfe1e652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b1fc2f7c884b1f82fc2056de470c8f097e05b28c4fa4d49d317361ab54f08a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:193a7a1049af66063cd391371ce0703aaa2693a95b9851008b3f118c34d7fe17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 22be4b638f1b
wire blob d8b1fc2f7c88
wire blob 193a7a1049af
call 27 attempt 0 · /messages · status 200 · 8.031 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2456 right_j2=2.4123 right_j3=-1.6684 right_j4=-0.0231 right_j5=-0.4583 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6243 right_j1=2.0712 right_j2=2.455 right_j3=-1.6642 right_j4=-0.0231 right_j5=-0.4747 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0872 right_j2=2.45 right_j3=-1.6646 right_j4=-0.0231 right_j5=-1.2678 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22be4b638f1bd4314a24eb209cd8a97d82449550a0599dfb9181cfecdfe1e652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b1fc2f7c884b1f82fc2056de470c8f097e05b28c4fa4d49d317361ab54f08a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:193a7a1049af66063cd391371ce0703aaa2693a95b9851008b3f118c34d7fe17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 22be4b638f1b]
[blob d8b1fc2f7c88]
[blob 193a7a1049af]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RyyHoD7tkhb7cwfSg8dSex",
      "input": {
        "note": "With the wrist rolled so the jaws should now close across the stick, I'm bringing the tool back down to about 3 cm above the board while pulling the reach in to the stick's line at the board's near edge.",
        "targets": {
          "right_j1": 2.14,
          "right_j2": 2.379
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RyyHoD7tkhb7cwfSg8dSex",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0945 right_j2=2.4104 right_j3=-1.6588 right_j4=-0.0231 right_j5=-1.3087 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6093b43e5c56420eeb30528e76b907f80efb46461445e0602d10dfd4bb364e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70b548b7d38cc888f9bbfdbe653198ba4cf6bfc43f789c77985343e273e21625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5bf3980985a2d16471f9302a112500ea2b45a07edb29533f692e6f196b58e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5f6093b43e5c
wire blob 70b548b7d38c
wire blob c5bf3980985a
call 28 attempt 0 · /messages · status 200 · 8.977 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6243 right_j1=2.0712 right_j2=2.455 right_j3=-1.6642 right_j4=-0.0231 right_j5=-0.4747 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0872 right_j2=2.45 right_j3=-1.6646 right_j4=-0.0231 right_j5=-1.2678 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0945 right_j2=2.4104 right_j3=-1.6588 right_j4=-0.0231 right_j5=-1.3087 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6093b43e5c56420eeb30528e76b907f80efb46461445e0602d10dfd4bb364e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70b548b7d38cc888f9bbfdbe653198ba4cf6bfc43f789c77985343e273e21625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5bf3980985a2d16471f9302a112500ea2b45a07edb29533f692e6f196b58e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5f6093b43e5c]
[blob 70b548b7d38c]
[blob c5bf3980985a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VuiKhQ51ZMTLwz6fhbciwx",
      "input": {
        "note": "The wrist view now shows the striped stick running vertically, i.e. square to the jaws, and centred on the gap; continuing the descent toward the stick (moves execute only partially, so this acts as a slow approach).",
        "targets": {
          "right_j1": 2.259,
          "right_j2": 2.376
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VuiKhQ51ZMTLwz6fhbciwx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6243 right_j1=2.2086 right_j2=2.3791 right_j3=-1.6531 right_j4=-0.0231 right_j5=-1.2945 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576d23b3617f7d20d23ff69c0c13e55c9ec6f844de8c2e74134d84bcdc8e5682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963723b5481f1b749fc7743de147b7100dbd9a9628c7f08206e7f652ccd99e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dac47b5ceaf04f877ed91710abfe47dfda9345321e794438ca1d4955cb2f9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 576d23b3617f
wire blob 963723b5481f
wire blob 8dac47b5ceaf
call 29 attempt 0 · /messages · status 200 · 14.96 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0872 right_j2=2.45 right_j3=-1.6646 right_j4=-0.0231 right_j5=-1.2678 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0945 right_j2=2.4104 right_j3=-1.6588 right_j4=-0.0231 right_j5=-1.3087 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6243 right_j1=2.2086 right_j2=2.3791 right_j3=-1.6531 right_j4=-0.0231 right_j5=-1.2945 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576d23b3617f7d20d23ff69c0c13e55c9ec6f844de8c2e74134d84bcdc8e5682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963723b5481f1b749fc7743de147b7100dbd9a9628c7f08206e7f652ccd99e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dac47b5ceaf04f877ed91710abfe47dfda9345321e794438ca1d4955cb2f9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 576d23b3617f]
[blob 963723b5481f]
[blob 8dac47b5ceaf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FbFV1GHSvfgrZ5o6tFJzNb",
      "input": {
        "note": "Top view shows the open jaws right at the board's near edge where the clapper stick is; dropping the last ~1.5 cm so the fingertips straddle the stick before closing.",
        "targets": {
          "right_j1": 2.268,
          "right_j2": 2.423
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01FbFV1GHSvfgrZ5o6tFJzNb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2742 right_j2=2.3734 right_j3=-1.6463 right_j4=-0.0231 right_j5=-1.3018 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad88322a1d70956382b3ebfac8715ca1b89e305f524f14378f919d0cc30f9004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dad7394db1dcfcd84019f0bbaccc7ab86477adcd71cf118d578735a6f9df68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ef8c18443c2482c3003aa9a771793d1fe955ebb88f201aac1cc4a3cead63c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ad88322a1d70
wire blob 62dad7394db1
wire blob 2ef8c18443c2
call 30 attempt 0 · /messages · status 200 · 6.381 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.0945 right_j2=2.4104 right_j3=-1.6588 right_j4=-0.0231 right_j5=-1.3087 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6243 right_j1=2.2086 right_j2=2.3791 right_j3=-1.6531 right_j4=-0.0231 right_j5=-1.2945 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2742 right_j2=2.3734 right_j3=-1.6463 right_j4=-0.0231 right_j5=-1.3018 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad88322a1d70956382b3ebfac8715ca1b89e305f524f14378f919d0cc30f9004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dad7394db1dcfcd84019f0bbaccc7ab86477adcd71cf118d578735a6f9df68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef8c18443c2482c3003aa9a771793d1fe955ebb88f201aac1cc4a3cead63c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ad88322a1d70]
[blob 62dad7394db1]
[blob 2ef8c18443c2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQd2gdSjDnBcatZCYTiZs9",
      "input": {
        "note": "The wrist view shows the striped stick right between/near the fingertips and the top view shows the jaws straddling the board's near edge; closing the gripper to try to pinch the clapper stick.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UQd2gdSjDnBcatZCYTiZs9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.622 right_j1=2.2704 right_j2=2.3814 right_j3=-1.6203 right_j4=-0.0147 right_j5=-1.2907 right_gripper=0.0842",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2290ccf7bc7732075e69c01c6f570efadae0cbab51dfddd9a51e84958ed5b65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fd3fd5c918471bed88fe52d1ac8148ebad64a63278e70d0eef3e8d9625920c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08291591e0f024662d6001e1a0a6396e5d647724a1927a8a2bdc4ffd807054f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2290ccf7bc77
wire blob 96fd3fd5c918
wire blob 08291591e0f0
call 31 attempt 0 · /messages · status 200 · 17.72 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6243 right_j1=2.2086 right_j2=2.3791 right_j3=-1.6531 right_j4=-0.0231 right_j5=-1.2945 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2742 right_j2=2.3734 right_j3=-1.6463 right_j4=-0.0231 right_j5=-1.3018 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.622 right_j1=2.2704 right_j2=2.3814 right_j3=-1.6203 right_j4=-0.0147 right_j5=-1.2907 right_gripper=0.0842",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2290ccf7bc7732075e69c01c6f570efadae0cbab51dfddd9a51e84958ed5b65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fd3fd5c918471bed88fe52d1ac8148ebad64a63278e70d0eef3e8d9625920c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08291591e0f024662d6001e1a0a6396e5d647724a1927a8a2bdc4ffd807054f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2290ccf7bc77]
[blob 96fd3fd5c918]
[blob 08291591e0f0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ABssC8aPFCGve6NbaJn5Uc",
      "input": {
        "note": "Gripper is now closed at the board's near edge; lifting ~5 cm to see whether the clapper stick has been caught and swings up with the jaws.",
        "targets": {
          "right_j1": 2.198,
          "right_j2": 2.469
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01ABssC8aPFCGve6NbaJn5Uc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6186 right_j1=2.2608 right_j2=2.4256 right_j3=-1.5902 right_j4=-0.0082 right_j5=-1.2911 right_gripper=0.0843",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2aef4cbc6f89dd2c42819f4b3bec87321d2a6bc915c4f67d7ec1e4d37c60945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aae9edec2ef1101b17f664908fae8f1c2468cfa7ffc39f5ccaad5a108201115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1b4a15492a8ff9edc94a710c0b82cbff992037d81f1532c6761c6292c3f541d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2aef4cbc6f8
wire blob 8aae9edec2ef
wire blob f1b4a15492a8
call 32 attempt 0 · /messages · status 200 · 36.42 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6247 right_j1=2.2742 right_j2=2.3734 right_j3=-1.6463 right_j4=-0.0231 right_j5=-1.3018 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.622 right_j1=2.2704 right_j2=2.3814 right_j3=-1.6203 right_j4=-0.0147 right_j5=-1.2907 right_gripper=0.0842",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6186 right_j1=2.2608 right_j2=2.4256 right_j3=-1.5902 right_j4=-0.0082 right_j5=-1.2911 right_gripper=0.0843",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2aef4cbc6f89dd2c42819f4b3bec87321d2a6bc915c4f67d7ec1e4d37c60945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aae9edec2ef1101b17f664908fae8f1c2468cfa7ffc39f5ccaad5a108201115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b4a15492a8ff9edc94a710c0b82cbff992037d81f1532c6761c6292c3f541d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2aef4cbc6f8]
[blob 8aae9edec2ef]
[blob f1b4a15492a8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LpVvVNXSSnFDzUv5nnLkFB",
      "input": {
        "note": "Nothing was caught: the wrist view shows bare table on one side of the closed fingers and the striped stick on the other, so the jaws closed just short (north) of the stick. Re-opening and moving ~3 cm forward (and slightly up) to bring the jaws over the stick itself.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 2.36,
          "right_j2": 2.724
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LpVvVNXSSnFDzUv5nnLkFB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.347 right_j2=2.6991 right_j3=-1.5917 right_j4=-0.0116 right_j5=-1.2942 right_gripper=0.9959",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6819a55aeaad28178c710cd23be9edaec77a4f56a46c5525c462ecd5728545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde5834d6f6dd0a21f9e0222dbe467b2578e029a6c673dc200b79f6798d0b05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2cf8b016909c0c437d0661639d92675985f04c9dcd255f8520581eca94b67f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bd6819a55aea
wire blob fde5834d6f6d
wire blob fa2cf8b01690
call 33 attempt 0 · /messages · status 200 · 8.404 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.622 right_j1=2.2704 right_j2=2.3814 right_j3=-1.6203 right_j4=-0.0147 right_j5=-1.2907 right_gripper=0.0842",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6186 right_j1=2.2608 right_j2=2.4256 right_j3=-1.5902 right_j4=-0.0082 right_j5=-1.2911 right_gripper=0.0843",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.347 right_j2=2.6991 right_j3=-1.5917 right_j4=-0.0116 right_j5=-1.2942 right_gripper=0.9959",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6819a55aeaad28178c710cd23be9edaec77a4f56a46c5525c462ecd5728545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde5834d6f6dd0a21f9e0222dbe467b2578e029a6c673dc200b79f6798d0b05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2cf8b016909c0c437d0661639d92675985f04c9dcd255f8520581eca94b67f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bd6819a55aea]
[blob fde5834d6f6d]
[blob fa2cf8b01690]
{
  "content": [
    {
      "signature": 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2Nup6vtQLoXT4SEVQITgAT9r26sGXTnMo5MMXgmO/pP716KKhTMMIjTy5tO9fzmXEShI0uiRa5BQJZELg3adHS8h4ClnUWhuTkdSB6ERjbL/K6NqLsqt58wct2zCMndYbHosoYzZLWJ+9yOD5QxbI1kNzhzwXbqWM3m6nWwDSHD66G8Do0iBUTi1heDi9K6NVSQvkdFU6A5rbLCaCE7y4WlJYum+y9Yxl+YgWnOGVeWPH7DQqNebKKdy1YFfmIUozspmK+sjvlKt3ic1nXn7n/V4EOvpm/tyawr4KNT3YB1n9IQomJTq4GfvvYrCeeh2+p0XFgrY+gDNcqrX4F/67NZcCCb5s1PyZtzn9qGnrAq9Zn2HtwgGtnaTbvm08falGmNa2hNJs48fu0o7y/2c2Tn3aDa7ddziL4M5DOeYi7sWFhBwv7+UFaCuUsyAC/+iCtqITVH4OwiWJa6HjOPmjb4Ek60oGrmEGqK1bOgB5Rq/eJ+Jila/OAGPTjsnkiYMY4QhgyFVVGZeKuZ1TPnHMfDjjukvOxWZxkKkmKcT4ddV6eXRvc9cpzierrfTWSDLsDgw6hDcD48P7czN9t/CflWUMl/Mnu4rF90e2Y3DosYDP/1klYcTA39kE2XTo36zkKRL2lDFiZzO+Ewu2p1IxcXxWEXLDHWV6pR9nTJgiuNCrraDWdvXu1iKBC8mBA55pZ5S9wY2899nn7+TCuHsZGr+vNfh4dFODOAJHShZjR2wf6AauKczb5OxeEI6Uc10OL6YLpYPWIuy24/ory1hnN/TjougglEM+WgiwI4xf7D1J3zl/pR9mM3uyxO+mKmS+IcnEUwdwxnOwnpyyLEEYxcv/HHDXqw/1TMhIJKUlrv2qiCUPx5HbUoZH8wiXK7YBuEg9/5jbuwGslYTwmi1t6R0KfI4rU0kE17fy9e/J4oSSGrZxPRrpo/HIqSPpkUXvAL504dEXPOm5Vn/7Uk3T+vWuilGtS6YEHVhIJU/IGsHoB7lGmk1tsMUKZHDgAc+s5VkW7cLPZRs58CkRyV1lcxKp7PRYPPDjI5KYNV4JAH2Wwn+nV87jULxA+xNbkvutcHuZFlwGzr3F3oXU9nEA0IlG0vxuBoZ+92MgSEsha0i3HmOhxReOnsgPx/H3XWXFwJ5PTbx6DOzlJnJEZZ01ubgObiA4eApS291C52EA8lYeLrjnmiQRrnS9U7jmpjsMDATCK/ULkdxPX0UVsd1QuumGksJBR1gJV9vcSfwgtROM/I2c9/bPuGHspFSD/KpNtDJViJcqMMMFtqzViRllQqlAI4xOyVIUG/D1DhxSPRPmsISzWjNKFFPo5n0c8IjDSTRNRYKHxWY6jLzQVGydH+wCGjJTHhtkvVULDZ+O4wFJ0OfS67EbfI8ILqzSUDBPnRgj2+d4459aMHW3hIvjS87vsSyjzSapL5iKQ42QcLJIf9z9ZZslCkCFc5cbdR3pexRo26SQ5zSnOhCqQAoDRh234TIGmFE2+RJizMYPdiNmWdR4Qj2W7gLf/UMN9jEXVG3AGF8c/FhY0lZOwuDygl9L4eKJp9XRdtOTif1P1y5KnN9Lr0eXHWEpmOu1/XWGvk11GuqLdTpL0PcxKKmr+1CF6jFYiVFwVTslrZ4sDZ2p2HW5tSCFvSXNKmypMTqo/TXd7myO2xUjEOjuFx2ggF7J3Ho8db/GuGKnDZyvm7U/Qbxfna78QpwKIc+QB+aDvhN2HwgT3ldinr7bgOdGu/Jnkyq71s0YnmZYaja/k25evzG0PJLR186a2QY3MFGm8l6xFuN+GWn9+M+w7nkvZ/rybv/hW2eViaGbUGee20YD60XIAaUcSd/IHH4iVi4UDgtiJ+M/Xf6hEHVlEPVFtow+6mdvk1KOI8OSbYb5duN4w5GN1JNEiGhm9rP3viIUg9/O0t4gU1ZgFGutmCn8sZGKmaFGY4zKcQIhB5EbeeDNYnxEnw1bZyCWkCCLpjAFcMppzT4o+QJa+ybEZSAxBOnnxGYE8LqwGNcTOuo811b/PoGFMDWxR0z83DFmF23RRw3p4uIXLM1r5gYbVaONvWudCC5S4RtFGiUWArZtPvzs7U0RY1dJSDs+bbN/vVhfaA9xDGh+SHdn4ascQBofrRldcmzZCryTixPTTCNh4XHfDHrb13o6kDYfMupajGy724feDzrCFxYDDkOSAlJMvWWoAM47wc5kKywdh4qFyBAVkEWcty3VzZgEVOWjWdoa/ZaZ2ohPD15nmUbq7FdorTBC78XowlHyd0cJRoK/HX7BZmg+vr+JeG9bPIn3Ch7jUyiDsI8OYsk1Y4VwvD7ak1hgiKtBAWvcnYEURcUBQoui6bBXcscrSlzejMFxeJBLsQIjGmtUo+J3isByD+0j6IqWIhmRHva5vpzmRoXqjvCQR+Cf2PkkD0wAkZHqK59KYsw7SB8FqBj44LGpwQ34dPdInVGJG/AcupdPzMfaNBhDX5H8JLzRvMM0xXY1NtA8Z47LfB70Zn++9s4/ZPm8S3lw/kXn3rozeleB9cCPVoxPtX3yobI7y+MBjNZqe3zRoWK+xE1eknau97g0kEXXXDln+80VN3e/UfV//1YwjTFq0oS/fIHSgLTfM+lXLDzhB1JwE5JeqmwHOoKfo6SA7tOef60e1US4VaiJxdWbm2zGlbVlB//0Jy3Tfrp++x6js6WE/SWsMCWqrzTJG8uUP6rPc+lj9mMaUTvfhaY2S9iqhZsS/B47ZjWiRkCUcAepXOf8bQlCtPHZsGTHzbeLzfT37cbApoOU4Hzf1GRUrp2aoWt9mjXvxMJqh8CDviJKHtH2xGSo3TlHQWW/5e5c8euMbdlfr0LPMf4j/HlVX45/JctyHQ7a8sWXEX88UMhMrvs39RJhJHDQzflDfHKCqFGJS70pcA6pBGA+RumzEDoAd0CgsB0Y1H1hUpULujNduCBog2f7MEnRY5JAGrDeS3tNONn8ygYkJFYSFSyNzJjncgpbxvHhHqcWvx8eWKsq7tJdZSXbCtRhaCYNeC2zK1Hj+/Z85Bu+fZvPdv9/DpuMLI+/VGLKsOKvr6D3TXXHSQWTh7Abggo09X15p9CHx+NGV8BJsBjz9a6j0aauZ8Aswy6YG4SVqeYJiVbdjlzoN93zCi4sn7l1GTAKqk761sTyJyD2M3RZmUhoT0VEtlIypqICWx8y3YPuNrzzijeo0MVKLK0OSwF7SA93fxM4zjSzEieNb/ou5crTbx4SMw+IkGFmXe//f6+2uqJX8yEj4q45e4zQCZZfwI3VdA7g5MAm0geCwDjyHGxQnyR4dmHSEUR1mfB72Ocg6kabSbSdqy5TPikbY6w8tDohA8paQ0GUNCXYZaSQtfTAoX+kOTjgljG1EYA7pBFOelyJt0Z3y0n/u5CwLrRlfQSlMwpmEIA1WVjKEq2ulNjm+nvdpLDWazpYnquprFb7x7pcBdrmHbxgRwk+QrQRI+cu7Pym32/eIIXdkhCMwjFcLh8YICoz7ysE+weNnQIp87WjZjPYKK8wto8wWLkq3LGch0TLZH+0pVIbixrI7PQWLIZ3pm8gFI9ROMW0bCn/CJUJgwJXm/tuzWD7dIDgug/KF6p0x7vEqnqJau7/SbYs9PjUNoWGUwqr0kXwqCM5ZD+amHTaMmbvdBTZQyN0ysC35SbBAbMl9M6FRzr24HOVy7j/QjazK3fx/xtlUeUqdLtIGJRcfc869Xv/LLGa73uZTiQrMn5TXB2tUn1ANll09Un5S0JBWR1L0P7pEqK7+43s+CnEXY3Lw4qmFLteNEb6JZ+RpB1WzNttm60PT33feBrKpyk1P3U4yvcwChQUPycb2UDTJDhxpyFAFr4upWmLx/cHikviJfCoAbImddkh8xc5ztFyCRPk40y/M7Sjf0a7yr9Wu0BjHTpPdqzWbEi9s1LNeHWE8hrgNvnbFYCBxikdshJWeeZhtdQZjHdZk4x30K2uTjIAVD7tf0ZYlgKlgK5XXnQbxUV0F9c9MGMZLf18IL3G2lPY1skGCK8updmfPPt/faZOXIS0NcEi6wt7eqUd94WppqiqQfiU5DROkFVr/150ldCBug9SmcVlTahHtUzOp74kx4zrqzhn0XmDHTJ6AUlSMrIwGoqSyr/pSXaHlqPm+t+Z3+mphPsPWovGnMtSHFsNQoTdj30VR7T1UeNVJcD2GSLuH5q1g1qszU2CYiit1CXko60AOTyuezRx+DkIwj4cRbL2Q007mkuSOfu7LaIKUa+aAti8k5aIwEunE12SGIm+XsMk6qNNn6/M5nQM2fZyzD+oCstP/edYDx4A/so1mkSup5mkedMn2A4UjJW8uQU9JySW5P5NFo8yjbQhSMiPI5MKM6u0TlzAf1tZFuPR5q0YKFsMv71NwQu3KcGgbDyEbHFrs/SGGkVIkgxN2GK71aThNbyHAaSwlx+fip1yGxi6rWNNqi4Ggl+oQwa2YnAV2GFgkt6/daj8R0obeUq0j47esUx/L6RpbDKLS5fh+RLQOQCnQHGGXd4LbTzNLoKbfzxz80R70bhSyk04Lx4Y1aPtltVaODgpBeduNIgiB0lsXJ5h4lR447q1p3cdyO2sjhGsvvYRSgug62tf6g2F8JPMUpgC7dsRMydL8DgL64nW9eu8uurQoVTukdPj3RHGxWh9jv3C95dyLISTgCM/43dV4Y7o1O6ldCrFe2K/DegnYYQI2G0qrfk68MotDe3cr9kKHWFwZ5aCsHoGuioxmmfetQtOk7noU2L0gTDOlWpLhD8cneN31TzEl2FEfTJNhzhwco7y/dCmQ5vLMDK4LSUQwXlJ5pYBDoBRA3wnDHugMLoojwZGKvra20cJYILC8M5AYxAeqKsGuLvugNmXBZYw5sfHQyBgpvH8fzrfwYn8ovWpFOG8UXyhHeBbZyxI00WZEFGyxYn9JQxum/xjywalqEe+NgwkWSybxkwu0IsxnK9NefLktT5s3cUr5Stbah7jC/FPX0g1IWa53svtVaECOTdiB0DEckbR0A4KcqUnwcucw/0aEUomY5hfiAYBozyQxvy4Q1RGIfd+TGpkm0xqLraMRe4l0FHEvHFeC8x5dKBvn85vqEiFKiQc/FC7726gXDaogz7/n8DZAtpZFJ6ULJDs9NqyAsLmHOCID2qawCiAkfifuZVA+uHWY8YjgKtAcHHCVRHDW7DmelH78jRdxAfZJrzsWeLgT6yUyOdPUqj1u6VB3KTsP363sJAwpjrCPEcSu1W3TY9qX691RHx4pq+N7gENGBod7yGkWtS1x8eFBQdP4lY8W0ulbQxXBFxiQ7ypRX7jor6rHBTAWcroKmZuGLC6rVyOfIB5A9QFyrYdyn4lSBmI+nsvORq0ZSF/3hGIc09viZgA01gmcD8obG+q+SJRVsH88uRBArdHdpf4ySeDQw+9IuoO0ozYQYJsTOXhYDjmWR04hDyGeOq0kJd1Z+Omz/Nn2S3Yj0aiWJli9C417JSKbS8G+q/LS6dtTRsi7VRJNSeqiSeS0zWp7ul0Ngiiv3Wo4AV1cju/bXigB2EWzE1AMDPN6+3U/ppf7+ukDKmC0IT4OtJzXldZFaeLBnmlBIthSPlMmtIsEEXimmzgt8wu/PtSkqxTSXrzmtJS+X4JXGSJIcwwp+KZlbvBL9Ow5I6umNzMLqN4d/O8X2BoqvhCseHZyNGE6OK9MrKFvrbpsCJRLKPBynkN9T+JCTOv+f/kykB5rZZR2zvXySAKbgTLaMyEF+N2G+FqJGNbJXYL8LJgRlRa+F2fxtNtZ39DTld/WB3FqxAyU/3sUIsWFgN2kyACzVM27pxN3KU2VTs6nrS0IjPGavAq01k2PGPOeX+9vSS9qdXCxpgaAFxe+HJRe1d1iQGMT/cWZwtkIXf5/uHbD6WXPr8nR9Rb3LV6C3yxPYL1I+4SoMTsJUOKSqPhbYq6KCrLk+C8Hf8uJAS6kZ73MQQdHPoGMbGzAOv2G/KWR35u3x1JYdGd7KjJGIDsfimpP3lh5T4Z8zttKYiZcxso09PGPgbyxtNzEDfrfCNsFu6s2OIxdXTVNCQLLzOBfm7QpmgyqX727ano0trxdsKeE0nSrMnLBS034SmP2VoX1hFGqlKgJtyMGOw1sfPzODx+tjJTVcQxPYLGHYHp9codvUK98W30h3qlI5SyONI05M4jt60PEgMXVdiyRGhPmv2PRHI7EjLnjbqHDCWqk9qzI+IGVwoMj2L0oTawchH3Efr+2pgeo5XmF7TsK/naf4dDdIXmmfQdfPdTWdIEuZHd9rOs7cqrjwpwCYLhhTPYepNUIpMesqbzrJibVTLEBqLwuE+ht8XqQbSscp3r/trYDAObY/VHvCkk9yVNqMzEZAMf5zwLl1/9/yQf5szVGvnNydwxnwMRX8jazHvdSIW64kbaQrXFm6GeGBMxPM8Qb3uQbUHQeBfyxbDvD9EqlmT9K6kbBjnbhzGkKrE2mMWqgc7w8NUxtYE5zCzmS5nKjZlJ/W1MwNz/wZK7OYEx8wYMxWYH7PKtygAu/vyZohjInHsH8Chl6F1QqGFlpnlQ42Mg8ubDSNCuyyFOj/zAodoukPWMvh5SDWLw3uD2o7hfe82V5gu4EwDUm3MiBIaTUsbXRXBEggR78TJ+pD6W7txvXtXwjWPLkJ1ouu0oQOw1+oYqFks0XAsCI9M2Hg42Lm+KHRZLWNUCnkExYgNI+Mme/eMQUlw1ox4sAbbXxrhOKAJy0WT9S6HJPy+AcakQh9yogUl6Hq1pdr2Vp4mzExeJICdBKL5AnClfR4uzow5yQe0n0khqNsklAkPCFjLoWJxlla0hqGz2DkBywuZnq6oMKo96IbeX+yGI3PIUsHKsgt+EL/xdrDMUNeQd6QXCE0fpwvPoyfiadAjjPL997tw0yX+Sib3msJ+q4LT5yGUcPWAN681c3SJKWe9AHgSruAOaMkZz3AYlj1WtJukArcmDy/9Tyhe/Dbv/4antpheHVwtxt3sA621uNiFC0RHpwTKJOFTcGLl2AW5Ek3QcQja2+BT7LPOPBF8Vjk/lsy/tmrJIA8CiuunfrN/TlmAgfbfPtRj8Vq+zN6C4FsbAvOOHmhqShY7vRUDfiKFvQpVAWc3WJiFoyUuw0dNzu1V1kBsLYyQYq0OsE+7NBluT3JGf+W2Vk5NUSULinPZNR2DRLhQqKaj6L5OIVjFq2nkyxnn35jceOnbhtGxnoBfNMZ9vdZfpqww5No8ra9fUIViH2XEJ96oIXULa94A54nQzqk0PlfWLtCIodKCHfeunbZONMNi7qAMitJS4XEDGztgtsznkPxXD1kOWw3UrJpSHH4hJCCh9imUPQuxRmE5dAU+UILA0YSSuM/KI1AxchPcM21H1WQZvZ/ZZw4J3gS82hHZ5CcIGRUHYqiU11FMv+RGuNM6TLiYhwl2HQgnatUjFcvdpcwy5vBc05qbFXAU/re+cT9XXSlMB15qcpLc3I2Y5xBI7FT8Nep7fv7hroT43YuB5zkSk8SlIuY3OXlRs71fhYfAa3q4Bwp/uJbNy+n/eZM0hPC6pScBFJa/GXY+zf4D+n7AbM1UztiOFeeMnu6bJCEyVpiIMssSKSKEjOYn5O+vrZtuPUWQuI+sXjF0n+t74N9IOKQ6jzOqh4ySX1nP05VOhyshrx4X7D+oCiUpLM5w5KUgBI6SHPtZoX99ahfIuvF/yHKSaJsjC2Lfs26Juuto/wnc9lGmN64Ux2E1VRZFCthvxUpDSyM0Cqh6hodqCmlVzgCF/e+S+kjuPNlAhYWq8GQ91KUglZhVUAdyiibF5F1BxGvofiOuikW8TuHRfp0rujwjr2N2JHCSzHCnp9WXLGCbk43/ubgnnKL6nyqFaiGd0ywvq+ip/DqgxKkHcxUJBTEkaDJEROwKnl+8MxL7AVinzoxEe0OQIALUcRkCqw1YWxjpsaXFiAOBNZnlcQ32MN6APFuvcYI0iNlZolwxtwxXrzIPYFy0IgF2X0Qjsx0+i83qow3kofs+IsGk0Bbxg3JHO9cQAOg/YG/eRAew1rLA27xan8bpLcONFSSvDh6n/uipHhOEwBREcQ7vhvCw4/VHfR9x764e1YsFKUNVPXZTaC0KdO1Bqe7fzpPH/vuOcW4HB/iGaKwhFx3Brnf0ntAp9qZWUl3FU1A+Jw1a7BcFdM/tR02dg2qwsCv35zHJVqiJYs/b/Nc/Sfw2WuPuGpnj2MQhyiEryTHx+pzUUmzdU0dNou4AkIE+klCxoKhnDYhIjmaEur70Lnxgc8jTtYOLg4ujwUowxFuf/Tt40JpkArvkMd2+VttWBVune/ovPIWgkAVnlijciYoQo55EIm5SC0xUMLExknHOrunG/EIu2WsrbZ0UIt2FECBRXYco8gjqBdmhzTykxH+SxEt8ZEjs0+SVIFnKNpJMQd7yk7CF7P8Xnj8FxnCnq6VXbXP4cqK0KERJ3vHAmFtEdQVm8BLnPl+8B29+BwAHY6R0KUTMzPdgNJNV+Whmsye2qTor5b999PTR8J/DpiGF1To2xJwO7s1MOqqyiDNZpHC16riaI6EgkQRJqMz9CjBM3nZ9h96qzxGUMvLrpGw92jw2H+3LfuXZDGMcckCe9HFivT6breNuGS+xWaNxMaSM1qGgcV58zRoEWv58oHOoI7/gAx4KKATn0mCHG5IoURYAsm9fO2/JX7K5nmRnGAGj1D9ElaPzXSDwrLmZsACau/ONGjoARwgtOBF+Mo+NzaJRWgxt9689hyyCV3YRQahmopvO+5nXQtI47IKffMOTZRYwjaGijr/YqfIPz417BsooZSwJ9T7Yc3rwb5brsxjWH7nAvpCAr5yQsIG4UYDo9El5F1s6rvefcSiJP/qFk3eCHvQO4gmEGmTFeMIzart77IKG/TXXMFBtjQ5wmtbeCS41Qo7JOfe0yI11y+wfDFageBCjKu/k2wNcQ11VxRi2vEoRFXekPTnHWf4LfOwxL70wKdYlSLAfNPkRLtOLMF5LObHGo10C98lU+jeV+4AWeTmTleI09//WXNUKPEvOoYsluPW06lbnKs+zf9IvOibGujWkS6eiJp16gWkQ+yHB0pBbgKwuXIl2QuZJOevF+ZYh7K6Jvanp4RioU/FShyQ54gPgqqyUm0Wjo4r/eeO9O837LWSBGBxvDccu13NOZ1ofg1/nP6Pb2p7Uiam+QAETySxFv3VW3ujXDK/guwkYTDMcJWA4nE6M3GvaD/miKYzMLLb4p7PAOhaw5hnmKwMEX79f01gaRofumGGRV+F20jL59oaE3NU1hk5ci45uY9B7QunJdirUl87D/hL4ZDTaesX2aX4HwNbDq80Rcp3bU6BoyD5GFINqVU/IAa+HixKpTe8yIlQBorg0Ny8q00c4W2cJ3Q/RjJWQk8lLIF0LinuO5BpBaufL7tUmqOY2QxDvxKzCg0TSIrn4+eUBrt7F+DIQ0EYMpPsI2SNmgt9W3f207Flo/eYGXJJmwilcu12r30PcWPLLNflB349h+rS/EMURu3ypXgLhXqPetXX0IT/MVboPwwO95RpSH/STkjXR5wKp98YStfHvSHctff+9fTfuDkXpGtLzgGwYTazCfZXRfzfbmBZzv5Z1vg1OHQ3lFRe60+oNHB44rFyIqSJkjAURsjRrWvZIzsv4YPU+jM2qTbr3kj8ipPgCWxlgn623PGkmNSMhnxzBt0KezPxccSnHtYrUpT1/5+h6YjwFkUusNZDytl1ia4dcPWhYwtAazURQHVYoj7kx+z9gp2s6QTm/NYZOWM9tnOnDJ6dEzwuiwfhFGXwDUmPDtgL+1K2K0YhoHsoom4+pJ+qk8g88U9pGHzLfzIB5quMzowGb7OD34+FkXxfwQMHmCZd7rFVy6ExoOQl+Hgn0XzkfqeSTayu8mAN6sr3lLFCRkMqJzqUeNEKdffJajIRXZjE+Wyy8IRT0Xy+QAVErFoqQs9GEYJp2brTFUQHCQwp/r6HnPf3/qOPyuvkfvRnocp/C6M4NI5zpAeU2rfIVgcx0LmR5/XxV4Ksz93u7Eue+hTjLa7aT1/gbFa3tWT1AeVlqlVBuymVNig5zGwkStuauT+zymkK5srmX3t/YCvADS4dk6RL9jLCz2EEUoN3bCaCkLGul+21vdaNyJjsGO9OjUx1Ugiye3MHt159oB8x9uojleKtdW/ZFRF85PnyhAr3JT3PlY7J31fYBxNZrRH6TggeqaAEclreqhYBtC9w/ZC7+cBuIFcwSzENufUPfEvkW6+SFkildMPaGZDC1tmFYyQD443JVk14qU86eqLtt6w20tG5G3rm0QIF/bgDnfzcLXHOOEybXg1IxvS9neT8mUw9DdeDwAguvYrWJVBc0DSqsfHL7UXYmFoer3xQBy0WvUl2Lo7VqBxEljKWpEvAYtgX70OGZMf44UZy4rXJ/kHYcYji3KLHkrM438Rlv725/abA84xOLFWPkarhhoE93yLpsmhQGkMrfEk6WqzPcfn+uSnvWKkkS/J1au75Crn2R7D/DT5Ozz71wKhE/MJGj/TxA3uAK4S7Pc+Eew8iYMA20YCfwMjwDm2PTDbnH941VWCqXMUKsGCLMpzuPSbY3Wv+BEisbjad6yR7PLcJO+uLXm/nRxFFvmwsDBIwSrh9oBc1QMq8QZm1jmrhYv/JiqZKhA8IcFvqgn+yho6XVeckakFcXHbnyJNYq9Rw0HB4yHhmmdx4OS1wRSEJLeaCZHELDyq8YngMctBo127rp3ZzMQEHUYWIGDrJ0pnUwOwYEQoeCrF0roIZgVXEcxD/5T2mbV5jnx7BOWd6L6a2Dr30UI49Swzf1CIJifc1Lxstokra8fnAMv2aBkEYfpHvS8Z9YDSQ7UYPTZzJ0XnX0aFJ1WDBiVE/4da/QP3tEkkfajS6uDd4SefAFx2Aol0MgdWLHWnQYBYTWbliSq6lm5h6CybmyjgUKJj9UBudHh8tkDUz3BNTz9yOyqoFmbWMwBBfyowgp5hpJveQ/qirpkWcO4CcUBZ2ojklc6Lk7/zdOYxl95VcYXEiTPfxvNd+t58gej4+BWrCCid+903DXk9+lSDQnUrcTH7zXghxWe02D9ByRMc2Pv3Kmn4MC/txpviTfKLd8Y0rk12JZrhOjtCx/GvLTPI1rRkp8IJjrPCI/k3xVcHSCf7DXAvUr4+9KYGyg6d4ynBcm5OQojlBW1kVVpC327XVtMWnP9O3B9bb0Y7lEr+nKnsyYXakcZPbhHMhYp68VZT1ym66kMMFDMmnDcicFjJHw0OGjO3MQlY+/e1j8aFPmW4cHeTmXuzprUCHsv60uC3iYdqIhaZPaSyVHnq7KZyxx3GZRP+YkCZO0EvLKPzsYsuJV3ayXp4RSoAOw0FyqENf2snuCJr+KfFg3YI+jS/7Qv+mMp72uDVPN1Rhv4WeYJRtZJ6vrY8GPY3G9Wj4O7kqDLw5jtCwjEQOyv6CCzZSjd/nRAjyw7ItzECVsmnUxXx0u879TB0ib9PVNi00R2NbhBbEJ5CTAXFf5UUG3jLJUNEnjTD/JK0O9wo1PUAvm5f7X96sHYelNQViZ5OvVkc6Bl31xoQ/9zmpueAgQKwTL39SeKkut01Yu6Qv6fZIPOMHCxEdQTNwZ8e63tagBlgN6t2fQOP85TRq96q6tEKQAfxkIL1uQwrqOs2LOk6AAqRnU1RE7+JdRElc+V1mwHyc5F02JQVYJ2qHMw+zywYzHyZ2jtgWIU/OsH5+V6wnryeDeqkW8SCt3rBTT4WjLWRTUQdTNMmzu1LMpk0LVpXGMrHCTGltYoM9yGBvYexzN5WxNDoAm8T/2/t1Ilq/e7hg5Uyp+wuNpTCu6X5xcsFOzBaC52kIXkmgP9F2F8ObvX4d87mLFRLSfLLiTsdkn24NborBmI0pP8rexCfUqDpq8GGleegXSkc943g4mEfNJBLJTHqVZil9XHBM/6PGy/edBVwoHGww5Jec7BMF2qlFYhlDJwQo/4pJjOaWhWwJf/+2YRTqZCbvqrnHEo7StUHfHAYgHzJW0JWaI2rgHdZQwHozUMbrmKgR1fduC0NEqJwcxbwd5c/9brhstiOONRdzUVFwMo6VYTDUG7/TW9vTraAXP0PEbk6Jdkxl1QoLF4UjPbIGEyadzkQilj9dBsJTu1t5pw47sU/zZ5cAJtwv95VY46T5LzGOI42vg2kpHPbR1iw/F8phcuJPvt15pUQ5LLueWii5EJBGAcX41qwB/HPjcIHIBGfdk7r+o9H3dghXGY7E6l8zFSgAN5YMkffQX035qYO4p1IGGsBEnRTyDLs6j4KXpcuMXa6zmcYHhFi+pis4vaVPe5Yex2a7jrKdRbYXz6Wa3TkNH88Nrt4syiydVM2kjMNPwfIscjPrNCXX6jLFv7OgmnhaOaS7mN7N4XwdamTkrWJtQ8OWtT/89hSlf1qlIDkv/gfPkzpLty50B/jbXHCWx/z4VDvXcEyGWQ0BFVy6M/9+XQ/djE7e8EkYEAHrllDOR7e+f0o7mCnm3t7vE0QUwDialFs1rKl0SZlkx9pxxYXEKs0wDS4JBizFViTSvRbD96HdroF9F0PwAaahcs5rkiNL1q5DCEeGtkoziqqBIgo7Um+0y6mxy4Q6JnA4tsZYsqhx4sQJLDhNAy6pBmHwxiwZEONHRMWBvscQP8bsC6nuUXimj0JDokwuMFimaRIFn2Ns3WkV1HReRP6/akOeVgMFfQtsFqQZ/aNmArWpvCJN9fIIyUqq++A9Y8DsXs0GLA3z+mq8sIp2f0Q9NjFADp8zW1RI1FlRh8StegtqbJQB0u8zxeH4jpO9fIcANW9NBCfV22WrxgoW5Z1ghPiTaJo5g5/ivM8d6VQEg5K3fmBK/iIW96kI9pYa2qMlw6IWgQNkvWNsLjrl6sLFkC1VihyQHAKdeAk/kuprEOdFk5y27bHYcSpUpyAqOpeKca49/rQbr2npRZE79oK9k1L8q6qCXEpfFFRbnk2TLuzMdzj5/PmMCEpO0+3QxXjkdZ6JEMu9w/wmZMXO0PbDfuym7vbb8k9tt7hKBfJJo+wMBRHWWF1Du5YQZAA4YaIpy64h2GkzgaP1ij3TTkSdq10od7WOobDOGJVolDGyF1uNxKT+u3Sa5+f9Kr6vHnQrNhysqCer6SA0+aUogoFXtyDfbcfRxGoFE0G1yHMjGrdpMgf57JOBf1yFzEWLjngUD84ENxye2cLrBEJfYJr7m04oPwa3QmS/jx98XaFzXqj/MQ3BJ/J+0eaN7dmbnAc0qQ79KxE1SjdLWylw0veE4ps935GynuECOzBy9Kiusyp7D3DbgO7+J8mgR4fVePCuzKqeISlHK5COMIVsuFKF5NVL9yzn+R1fhNbzbP19oNqA5d4vxt3jkbCjPVxzczUWVwpXn07huExeTZQJhr5l3KbXQbNrot5NtC5GMuiGqnwiNU/PR72ULgFoWworxTEtq4UkPMvhkowceqiLwv5IuZQuD9UWX6pTk8vzHDGXTjPYIXeDjtNFjF5Q3E7leZXjDSxjaDSCdNt7XzR5u5SbHLIC6iDcQiSZaeSNMdZmzkGq+eE9GZI/LysTcFn6GKwJfRUH142cAtzaWruyCcl0cjhrZl36Yj1nNoZbSM4PpnR9llVoRJ/s55UMZ4xRumLLI6uAcrvdwbml4gS15UwlkX8A2H5j3rlMboYFZtP2kfvY5/pll7UamzEuAtmS2reolBvAHmpe8XjjYiSPVg99PgEl39ogIgkUDn347aSSH7346kU2t3PKBTIiVIpaQYd3kytJZmzRiOrk6lESjqYe+C7n9ZmWpy57WcbRwgoTsKpn4gIW8LfraZlpfmkFiYtCm1+tOnqVXiCzGB0DTCP3bxoRxELgACSDcQfGe+Un0wPw5X3FzGkA0LxjmvPRIog2F9TmSMaW+gFLc6yX0/XJhqf2jMVwj+c1A8Xkbdjdfse5JkawmLx5oitVtsJku4tQLQX8rmfph7EmlSBHL7U/9jukxGob02hpBySPrZX9vbEjrdb7klSMPp43nGy4lP9zg0W6w9lAbICxWwp0jgtgQCpBD2IyYeDoFk+ta52zD/IESb6+AgDhqWnJ0/B12MoMil6X++vSV1/H+VLz73/PrY7Te8xQhlEsGgpLT7Ja1JOPYGiwB8SmgJlJX0Zf5DhYAEpvW//zmFFF6Oj3N4Af8yqbQp/zyaP0VINyQvfYoHt9PP0jxl0kd6va0kKs9wneiqhkQWdORTjsxO457U1t1/vJflx4N9iJlSBYWmh0DVLfHlWxrOKm4VanaiTSCRqers+gWrjdGr/XU7KbQGy66Rx6CwGqkSGQvZDfYtU9QiHYn3OzlhHrAMcFhAsWEwuvNHDW94ICK0VT1ENBbSE8sZ5W2AYu5L5OYShCNgqx29H+tU6Yh3dYhUhHwJVGhR89yUab12E9O/ZFYHEgtbyXmjYFkAanuqNWf/FIh/iN1Svb5Lia2BuSX51bh2nfqVbyqoIaI1hnMHbc47doJIxQpA63D6z0zyPbIqOzw3NQ/ksKcqDwOyWzAUHZRrJveWTgoOg2FJN0hAg7deLYlMvGDFp8d2SbNibA1NFsWOaZrJanpd/mMII4IFA5eCLVy6QtBLt+tyLV0cpq0QeFg6NV9mdUfphfNUwQMuK8fzWQpD5QJ0vh+rERLAlAx3kk7F3THsQZIK139Ic2xvgoKNMX7WW4j7vQu0plVH7XEQ7EDHn67PxoNP8j+l2CYefNEqavSOXSwEgejRg7jyJ4hZ78jM0RxEwj92hb1IvIjoNdgHHO/MyoR6naPeQOOzmkFzHk9QgXPPRgUOLbiKkZritkWooEO8NScB7CD0gPLXRK8KdSPT1xQjPVcqTUxXb2H90LDBzQjOv7faUELS4KafmiCyKP1v8galwTFSiFrdHsc+nwhy2/sCb1gUq2xiWaf7J18t1s7evk6oXfaaHAjlCZTA3yAqTiElIz39kNrsHBFrYsVlFfuFknoXvgXiUonHO6fRxGWjSzCXt1YJfHQk+YMKHPuw/UXheZH9aOh2WUPe4buVagnDnaWpeYMX7zKhyyDF8TV+6F+ls12aZbdPOQz9Ee4H9HhbwXfMHeL6lYsNMtCVTIJ2JVVO1QNwjsAwQ5iQNhdFhEsV0KH+Eim+B+SoivSKNYq6fj1iQdyIk+H7oZbsKNCotBUFgbbtg8+BqQqzMqu51plgrXYEQBDlFkvWXRAcHbUw4jXGavmVva/ZhB/gcf/IvDHhTongqgaU8iRmI/8ljvTBwWPm0b83dW5BwgriQ56/Wma5c08+LP1swVPfhd1btTeKSmAkkiZ0r7s6Pqz3P0F97V4KPLdggmQZRkAyG/zqJb8qInmb2eYwwHqW82nr43P43HXf/cGJvVrQaTwfPTp6q5r89JMI0cXgle0vvV3VYr6DeDSvHt2ohj4jSKsDJ5zpw+B+DciRawqIStLHPjQJy0ipA2KdtjS5X+gbgUKT5wPDUcOKS7SjfiDC05gScnNpLSfeuNB/zAlKz1PwKN+cOLKPZXuPrMlnKylE8fwdoxFGtDiLXFXn2FTh5p2dRKygHKfhZ9xcJh9f/8zAr6PGxxn0Vz7eWK7BYpT9tNBQob1wWRge8TTqmNGuTq/Hi58ymJUDweAnPvK4Z8yWcI2I9CV5Bie9Py3UhNRjqL2qzwAkRMbPo1UtO2b2kgsHo232n7kgyjQCVzq4KDElH8cSYUT6iyPdiaW6WH1COaS683piKoHyHuhysUO43hgLFlSzWJHIM81bvLKHDcF0n0G4d6xy9KggJqP284E9a4F1goiA5ujJKKHpEu5NpfSEAVPi0n5bzyLzM/GZ6r44YSr8Y8MfIMZ0j+hGm3XqBLnhXUrm/ONLJPyuxQIN4/ifDFL1Mg9hX+geNquogKilUJZj2KrpD0YRikeZgCSuC9p6IZ6gP/NxArCKg1pZeWfhERqVSkHpGovZq60iL+956AL3SMWTHiRI6tKnkzD7UQ7ZZx9EzVW0lV1YiXAvocxf4hochHHj9Af7cL4zUT5OK+a2IEJ2+6RKf5OgC2QITgE1fOpahpnxKbAVJ7UoZJJ9vcWRooYirGXLoVLCZMPtMeE773t70u1IVeySXnqwOv55xHCEarRzYARr8E9wjkaTSbzqtkzJYhGFAHFF4hQTp2Pk9vH4YF0JcqFj/FTl9bRaMYAXIkMlobNL5veuZGg6svj5tUSCtYEU2JTObn13wOF7MYtuEDLpir5kVG6uQpl941Dr+Flj5HHAWU3dFmNz4Ku64AKuurjFPwQ6raz2iLbeHi4986bLGEm88yvcxvZgrQLJZzowGKnoyIIX9zW8x0jPx5XheDcqa/aL9erlbE09r/a/YK0ru+yd3/tm9Mw43O+qVt6D3WDHPujVksxeWOQjWvwRfSkAjt2KcGhDEecmqT0I3zKFeBh1+Zn175bs4TWVNHpKYTA4gD6Nu4BKHAn8/6wNqbzkqTt/6dapZx0wRSUA8oinE0vvYOWOSyInk+g/JwEKlbPB9mEu3ynJGa5TwWyYImzEQm2sPX6TyCDJySMPoSaeR9qYAlxg+6vPT/FRb0bj9HWUk2Cf54UUQt/RWBIYtlEUT8dS7npUYM0jg/PjDEY4OV4BYw6j7ynsE2SRtFLFDoA6K6kJkTIb4xOWL+uWXXxcOrG6kvZiRDN8XHkJJZ+6cTOnXC5mgFXauOPrI5wcIX1i2eMS8+eaJxlQId5dcKtKcuTRklTeOIx4cBSxPgW0BGFga7ZCYEV6O/z91eGLFdF/xO/jmv9jlLap6U+AuM9eV1Dwgn0DgPkgXVwJWrNLcO8mH5m2HZGKTkKVo0CZQRt0Ygc23EiST3sn+qq73lQp/a6XrZYU9Du1sCDydBquXS9I0UDmB5U2Tsd3nDWdWdBtvrFuN56vnNs9ipJ8QwX9ZMZ5qnPAo7Yq4DvGHocUvQGYgSobxnoWpiTyWAWdv9k1f8R3EfOqkenlEwBSy2PbXy1ahgdLwCvuemtnni0gvZNnT3uAI8X136TRBWdiD54VEpSIq1wy1C2AiDh64PGYQqklLpV8Y6F/EQ+HibT7O9Un7lCRAL48W3qgvjA6ZQgScC/YYp2z7Ddqn/dAnZzDo8sfBy2QmxsnyhBAYeuc+scz+Sonbbp8lMu71zoJNFD97RHWTXu7arMnMs8+TqzLeBXxFYPRM5tTj1AL2/Gm8vx5U54wuI5gBe11zXt5DxAoXEkFKDa71Vo+8mrDZore6X5IxHKP61rbfy0LmJ6bBOWihqCti8WtP22A15UJUcRjTxVdVOCOcNTPcFaYq5AS1NmrMgn/DyCNlknbbNgJ0Zsn+gXza6q6eDC26QRJW8lh0Eb7rymbw4a2UMIAvGfIZC4jlv1kH1XVuBBQp7I59D6/DpSK4SCp6tvM5xemMzqGvRM9UDTtq11zi7D/2vDfykxMiIlY9zgo0Mes2K6vQGOlb0CH2GxY3Z2fwre3wBjn6Vr7oR0qG5ABic1HZSMvxR8B9nGNSzmtDOKI1SnEtjUNRuFzC7w/A1F8HuBqM79SIfArCPH2BBP6TO8nAEMPoIK9cOhXgAhQtGaWZPDLDEEHvxkA3S0l4N/K6rp2su8z/Lp8Xx1jjtAPLZPMj85IopqN6sxDdxSdbpqUAC8d/ekifUJgqn6o8FAWax6klhXjWIeFa8JPwlsVoWXwBBfUvo29sH7l5d1OQAj997qhwGDXHuTRy+sjy+sFjOFqoyguWSZCIkykg9saEX7rgiuYvP7QFHFzweiid+pTm+/4eRD2HjUxwOd75FrOSze0lLWbi8qJTXXDL7Ltk5WqNjlPKE9WlKc2qrVD04I+mZ07IHoyWBFUpNpnTPTSf8fsZLhhVKXHFr1Cqv7J7Dja2uAGUGM73pkp+rQA2kPJQpnyIcDyV1SsccD75gjTotdRdi1xJfSIalWOxA6w55WtyWQ8+q6AiLIJW506TuTcLtUuU9DxXjULmbmsHCXIAw9s9BusfMddfYwrdGYg5YmgJwQMNo9ZKL1LW13AQTiORAROJvGzftjNFtYnf87I+RajuWKFBlTrB33QVe9X5iLCZhaxs4YEz7sfoE35ztuofV8nLeR65fAIFQyMcCsOkw9BtYtahLK1UnDfocoSzDR/lUUHXmDIfkPypcvx4OwZJywdqo/Vgdg2dp57pS7bTFuY2trB9LuhusYdJZIoGuG3lZNJoDNZbOKC+MtgarU971EGYSGZoRCqCNmD6Kpe+wI9CC+xw4BxbRhY9jdoEgsxwf1kzdczaSB9vfp8FGeWwwTmSyGbpeWvcZMz6OcRmJrm8gKTxOy4EM14/Dx7+GST7Yc36YrpD5n+r5hp9XY0S1+/dSZwWQJiijHoxsnMH3iM5sK81dvasTPIRUJ7bWd64MVHOuJ95vShxk+XUaMV7Ogf2vi3XoWgHvv5SmCzg2L49Z37d28b7iTf3ck7BxaNg5aATsCaKGOspCsfzHcO8lWIcDRr/WwfLt1POOLP7ayHvRt/o53RcqkjzO4vRu6auZ/bfKHEFxC8ksh7lwBt4NlpRSmVdZVf+XoNJITH4woc4+eGBTPlXopMrWW0OcKbHjzcCdjCHFkeW+onYhDkHc1dcfvBP3U8ZW+XxGgM3mOexgh/DXJy8ZEpr0dec4CEJzuttcMs3wRorKWeErnUwjrwkzzzeg3NqU5hUA3TA5yRCHkHdbIlBGyq79vd7Lj0iEcbOM5YLM43fnsPERiATGXrMMbh7Csq9wAvMR5macer5u0MNzkX/+mU4GlfMUEHA7TNTVsi0oZVFd9rP8vj1nWZaLUK9boRpok2TN6FgHqwY1Zw9yF3Pkxzu7cBYIicfPYZxsPHQUlGn6lSL36Uy0RLWtHyTuV6KyY8T8Tt0PBMWb8/fX6Rpvy1hr6jsltsNcfQC+XDNj+Pt07Ywih1hqjU9G//0dVDlm49cJCyNowAxiFnEoU0fIktgyE7aJzrB3AO1BTO9tao4tViiRCVCaW68B+oobEPKmNybto4Lz1A3s3sfmrn15Ckbcis57x48T6SRhLex/GMbSEHQWysZxQbYodvyf64YVyXbHcjK92wQahx7b5bE7q7+PDCiHgYWH8sr56MY7S3dc8UQ4MJbZi4bx1uatCUQl5CEVPzAr+69B8iEnkg1ZU/RgVsY8rARWh1xhqfabTophZsy6/dOaX4UkiFR+Lz9bAk7nBzRz3OntA4fh3msGKBi/C+T9P/1bOkX5rompjnirltJiK9RzgqdqeKwwciNr9xOo/73fDHjnHZ+q+sH+VXehYJCDPjZD9L+CZXvvC3DuxFf+H34HGAX2zHLP6eQZCjcfqet83IXGE/sy0gWnHBpcSbAVdbTiF522vzpRoHn8uKwSm5QtgAaZqa0N8cA7i57sZytxgN+i36m40xNaxmY8qp8oViIul1VXKGlDiFYWjBPcJuJEpnrjOVayU2q8RDQlfg5P+uIaB+9muuhSCnPm3bgw2YQEqViROvvNiBRL2REj7spzaZnJagREk+HiBjVwuuEnB+WW4JfOM7UCFTV0uIIdyTdhMMVobXUCsiw41GGa1PeBhIBa6YUpj0Aq3zd++jWOxk7CzJrCN2psN7/ij9vkDg4T3hk33ZUoLJ9zniECRNPYCV4SO+CEzMlbkMxXRxzDLxGLs1cVU6+cuK9F9ytu8MRJYdhubR6mw3p8DYKG6riVRWlvWMEUc13vajvkzq+9B5OwRpeKV12nTWFdDIMfFzrtL6aRGgRzB58qxw9Qx61s6Hx0m7Y9b0aa5DCL8HtiXOdGffC3Vd734ymuMW4h4s+/SxpRrueWf05X2Xv+OlEAXgvjKSVqoz7+S2brZmjts0BUek2KaLpkeMHHIUA6BEAmW28FfF+cY9c8WS1qlRYDKyifMbNNiuQne7dFTAlffy0nNnQNb/K6m1xuj8dQBanE0VKZKO4c2jU+Aof+mDkzb37yYbicrP0iv5qMnRUlTpzZ30tZzuTzynwSRjCGqXgbzED1tFVpa297+Bm0yix5f81wlBMnqdgSPSyHZzHhjt9RIwzRn1nLyD1noYdYWwwL9UoEwNYG2EkrXHlHHB1uqTwWLyapQrw7l9Farw63QXGDcicsZhDIGCzKFAVI863X29w0FACUselkbxiID125Ws9SdJLNWuoQdcv3j4RjRvgPPl5l/6XmczIcg5F4moglytu3QFQgWcTGLnv3HQW4dfhTjgMVvICfGPKSzBItGWdUHvNz6k7NSCqIfS5o0WHxFHeL4c704MycHOsixDMnYHZOQ46GTi+sAViuu8lslGumfXLdgvN4p90Yi5x8RJZuHL7FCppMAqLMW5jODBUE6l+wgnD0td7aE5bRSW0OQhNqYWCTQjhjFp97/rXBZK48XR+StufQQEuFnqM+anGxav/seBTbB7cViHd/qhMO7rew0LoLmKqJu2800yT1stsGJaaN5pkVKg6v3j/wtxbnhBiLNwkNR05pt/p3GnR3Uv93kIOPeUe3zDzS+rRQ0BkdPynR8HmBAx3cxhna41MPz/7TD/aZatNIPDbJmOyHDggBdvtgNpuork3ilsQCHPgfaox+hOoMIfcbim4mE+WzBNIZFJmg/jA2NW++Tu4sAmCcvnQqhDxccAbe2VLYTE1sf9L2JaR7PdqQnb2C1cMYi3C4/MpMeousp//wAGkmZQ/P5D9JpvVvXK+6inED3Dizi/l1+ExEe3kz8HdcYtbdskETRMc42HK+JuQYc6IVimNvzBm89ep8JBuYuk1ELJfGx0vAxYMUlCc2ey0hofdCq1f/qO+vHtT5CTspmPqWlyqLySGqWFXYlmQlxoxxtMi39Sf4DjIYo2UwaEZat7Ypy+115w9xB7/3iEt7nbeY4xxvDdkcrW8TZWDQFgPsEw76N9G76pnHesNAyOsGtSnQa2NG0S5hur5FyvOKDxPiZqOAyc7ImyKFqqM+piILumg5QOJzwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RscZ45VeMgftiwHrbbH9Hy",
      "input": {
        "note": "My wrist-camera interpretation keeps flip-flopping, so I'm switching to calibrating with the top camera: raising the gripper ~10 cm above the board so it is clearly visible and separated, then I'll make known moves to measure how it maps into the top view.",
        "targets": {
          "right_j1": 2.29,
          "right_j2": 2.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RscZ45VeMgftiwHrbbH9Hy",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3287 right_j2=2.9223 right_j3=-1.5902 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886ae9a51348855e030adcbc080f571f0d8ac924f629b2cfd3b98141d385cb00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4b7daee10cc1b122f6173718b97ed1c5554a63325537e3f0053ac3696eb9bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b35f357fdc78d7ea2ff589cbca4106bb125df5aab82a68d7288a4f58f6fcb1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 886ae9a51348
wire blob ef4b7daee10c
wire blob b35f357fdc78
call 34 attempt 0 · /messages · status 200 · 36.21 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6186 right_j1=2.2608 right_j2=2.4256 right_j3=-1.5902 right_j4=-0.0082 right_j5=-1.2911 right_gripper=0.0843",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.347 right_j2=2.6991 right_j3=-1.5917 right_j4=-0.0116 right_j5=-1.2942 right_gripper=0.9959",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3287 right_j2=2.9223 right_j3=-1.5902 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886ae9a51348855e030adcbc080f571f0d8ac924f629b2cfd3b98141d385cb00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4b7daee10cc1b122f6173718b97ed1c5554a63325537e3f0053ac3696eb9bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35f357fdc78d7ea2ff589cbca4106bb125df5aab82a68d7288a4f58f6fcb1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 886ae9a51348]
[blob ef4b7daee10c]
[blob b35f357fdc78]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CG2G5JVURSpuy9qk4UYATA",
      "input": {
        "note": "Calibration move: retracting the tool 8 cm straight back at constant height so I can measure exactly how far and in which direction the gripper travels in the top camera image.",
        "targets": {
          "right_j1": 2.079,
          "right_j2": 2.589
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CG2G5JVURSpuy9qk4UYATA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1399 right_j2=2.5992 right_j3=-1.5929 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e41fad0c8ca9404c4800505a79d761580cfc50aa059fffb6e039e4e513cf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4034b70d70ce817ae9c8a0384aa643c709f3e972299dc6c2eb08da91ed25ac77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a423333ac1a673c5fa18c740a3e15732e51cf04e2e3c16bda7cacda17666f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 87e41fad0c8c
wire blob 4034b70d70ce
wire blob 7a423333ac1a
call 35 attempt 0 · /messages · status 200 · 12.89 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.347 right_j2=2.6991 right_j3=-1.5917 right_j4=-0.0116 right_j5=-1.2942 right_gripper=0.9959",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3287 right_j2=2.9223 right_j3=-1.5902 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1399 right_j2=2.5992 right_j3=-1.5929 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e41fad0c8ca9404c4800505a79d761580cfc50aa059fffb6e039e4e513cf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4034b70d70ce817ae9c8a0384aa643c709f3e972299dc6c2eb08da91ed25ac77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a423333ac1a673c5fa18c740a3e15732e51cf04e2e3c16bda7cacda17666f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 87e41fad0c8c]
[blob 4034b70d70ce]
[blob 7a423333ac1a]
{
  "content": [
    {
      "signature": 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ByVZKtZShQGPRP3n1pSVCbRuTuEi54PgKnoeQfS9MsLFOHig/t7G3KyQgAvxqI0LDXKB8np2b+o2OcOBZCnGMViyZ0Lc4GaWmsBd78pMwBJv4iRfiFu6z/Ut/KF/Lz4lYmY07zUiYpGXNQvSV8+X4fhxFaAh8T2/WGu5K0+K0rXmK8DEYB8Us+F3yAEb4KAYCl+Ws1OupGVNC6/tHSlk/cU/DOoK4QfFg0zGygiL7IZoCOgvrYwdyT9IwPTLAhmvXILv9yIcrYfPl7mS54FfJmNLbu7G3kLzZI+f46arOqL2on0RW/jJbNJfoLWchZ01CVVSJeQfOK/PtBwLha+olsvAfT5yVva7rY3RhCw4+DUUbKaj/T1E5/n2+aQQ8pUEj2qdOTKBJ5THY0yMQBBYAS5mq6NF8Vg1KlT5qGAeht0McFu3jltY6ll5ksMoll2/9IS8HF4gC39FTk7mflyCzzbO8cP17qsk520wG9AruiLHrFgNtzMVRQmMMvS/LC0mfRQrHCj4a8Qrm7IqeW9A0kertnNYg9mrW0Jb6XXBfDFApW1j4ANXIZ2y/0jyP10NykbzNV2exphXEQFQqNamxbBbMVvp+gl6m4GpSthFwYx7h2PJ0WI3xVwYQuR6DWaetOc3O7Zlsdh8xUh6O5fCkUiP9F7kPeswkhXT4Lb2Zn28M+t02gwkNOWwcdH3vVyASXH4TYuuJmyw5LU9TffzSKp+bhJQc8xwCqeha/yt19vXm1seS9gWTn0rWrfgx1IK2OuoQTQfzpOEMdewuvwbW01Avl7RxT5z05szbq+5/7ZEtFQ5Ad5eV8AJknUOx8FNo0/VCuvD1SwAZLBovRyd4QGeZH7+8Tdkij9vshfbor5OFN5KlhI+Y8Yv+5/+f1wszedLQgBa7qf0BNGH9nZ4xg/R601FqalbWWXV7r9VYk2TfahjbVzugMwwZ3Oq163rZd+eRHivSywWPIAwiAaRHT/z36YTpP0cg9/HSggJod3mlupq1w3jpx+mOM0W+VIBRlKWs8ZYckCZQojbm+V0YfDL6dXFQObOzmSt0lEV17mMRz7KY/af57/bphZKCEMZ7BuWix7M3p7WNrwfPiZzTVrrF375ESsZQQKyizqwjyJsxOFgt7XrqDn9v/mA5GsXrpqRxy6djOBrIX5EmJudotGuH4QuLKPF9BBVW9NfUY8Uf7YVl2G7GD6BhFzawQbF8PLNXs0DIw3WN8V03QkOcOtrO4wZWYsv8Jb8By32Y4oLM3mCUgfM2UE9tvYW1n2c+c7eNfMbOeRuKOLJjGSHiGCKf4H6JwBixKmRpEpf1qiua2zlMDB2g3xhsZfXEioJ8UW96Z9h6d+2IYK2TlUCbqV2Dp5Wnq86/MUJsGJvnc87uLsN27xrAPSiB+aPDcSm3Uacfgzd6kZbhJH72EcCYhJrdKZLZE+MuU/GgVW3owDLV8kTaYcf2TWXsDQTZLxt185tIrz3teG2309pTdMDH/KZRVb35UxjIianC8/h4vd4UzMhi7ZUa5R4L1YNohMOrWqHa6BOx+Ab0rvLfAypdVv0d4faKt4qFchgySDQaA6eYiEnu+UQzsGDaZxQ4DpRBsrmXg4wd+vGvG6f/RhrUrcjU9RuhcBNHVUPGsfHuZ2JiG4BxNMCpmmJKUM5fQV9AXfDPLPgP/rwN0tWGYjiQkvBhQWW1TCe9OTk1h7VRO+4LGE4yK5rMmS4dReqDFUjID70j0/ydVQId2aWLUY6ZjXvZg/KJ8tLbEY19GLw8Bs9WFkbEdTUVIK1bgLMjwsLHLjeS+xkjHWMY8TRGfrPH0gpiJiosIHXz6ErV3qi9967ZwSg6FF2AoQno0IL1s5BUCQmgBvJar+0IXIcU1tU68vvAJ9imx/rXcbe9s2NF4XVQ1ep+dU0K83O92KU7Lk7vyRBla72cZkjos9bBlCyhRva06NrpCOEZU3OQaeLSrRNWpn8RO6SMca2FJh+KnlI3H4+9pIjcQL4O/a6y2aDqpqHYX6PtEmgW9fGI9xyBamw0NodomMyurJCQfMkdiVTs7Q4rfSZpupQAKgg1rBN5LRU6qT0R3ik25EKo2OmyPU6UKOHB2rY23vYRk1hwNxlNFlLj3WWkNqRUg9uBjSUalvdh/LCv9aUEl+vh4m9QUOmj27UfT3/TpUBO6tEuVBkf4i5O96XyXNiYz6HN71Qu14nOn/WIbMCJi83wP2Yx3MzalPo2OE4Kp92yjW9XEFSr7c7oS1VXnk56sM3L5ZYQO6rG9LnFEXNrU4esODUJQHSlfy/9rO9XH/rU5EhYAEEd1Odut9lSbZ4MVzTZR7FoD20WpY1RU8qVCP5OrhaLN8TnBzvUGUpOV+9QMU5dgjmm9v0RwbiO3XCdJRufQCKqFvh7MkMlhqSFuZKxtSsEp6MgLH/Aqk4xwwgC2k7pxR4d3Mb/csxonrPmknFcNJiHFK0TwphpXuW8luPReEiauEcyxaQtJUpgS1IpYg5oeKaCX9f61+gCe7o/pI6xCOtou3tkX6kJ5wDQW9qfNAbDXRWGjSA/hGDukiHjleD6C4YtD2muRDAsozOQtvildmI5AEYmgyaeMJyBWzPBhRJ4dM32kNSQMMxT2KyDKNTNqCW0dyP1/+zV5VoxAO2Vs2yKNsIduPhzTymSJOAguvRpIFHlUDngQk8PkwWx8ADthu7vsIwzQHv3e+1lljkdsDeIDkm3c4HWgwBsGASYDz7gAChBu79GNLCbYl5pGUd5ODbFw2cokEfwukLRPR55gi5BAMW+fv16/puHK7HILixQZ2kjvqh1+ih7S/P1hDTXf+FGXqpv0bRAVLDFXguplmh8te43OjztPFiC0u8gW8Ch6Fw6AM7oeVZJI4uIwEZ8ijOovmIkpHzVjFpc9Lppem4Nn20KARdHJMiLqrj1yjxUvPAjzHE5LN1fbznu1jPPSd1m4mJvb0ayR+Y3jn6s8e9aadFCQtGxtskeYgdq3DoUNDWqZCedyO7yxhD2F13ZxJD9z+HxS6s1dx/Fa6uHNRn2z0Z+aoWKWSSzofPHhY6IWm+UKkzZ1SpFePoREK4J5xy/Vpqwbym4CN6ABfifxaIfVoC3ePTGyz5odo06RARbEgQisN+IYY4996JXDbfQcgclUZwM1qG3JZ0W/OcT7Tzh6gn9zusQVmJFpMXabYmjXdZpl9mifdmxfqJD+WBWVBbHQfl55gjAT9Xy5Qof7PkNPSqO6ji6mGGg6mNwcRJDEvoaBV6YHBSysZunSQ8fiJOdJwzyG7Pg8Wa+trXIYERNJxawXu+ZHUJfqoxtryNyoGxv42KrNjotQOdtwMzsVp8yOGpHXEUaUKawt22QpRqdVBL4IiDJopvKNqQyMxo/jNzeevaCFyyJROvuyrmid4j35cevJXxxLI9MpN/vJMFE8z3blHB4AalEq2Oxxm1Wtj8RA1eketMfczj6leJzdlQaJTA4QEzmnFWYVZFr/3TdgostJsQukuMrjlTZOkpMl6dKm6wwFrPDAe+d+3W/GR+U7GkfBr9NEGH88RMaWVa28z719JcR93lduYJbeNo30xlGQh3P8tq4Z7ccPZr+Ilwn4V+1wD6BCct3vVZSukdPyMCTAWov44f1Zlk0PNcIq1iXq9XrCDzjce6OSCeRm4aEUlnRZMkWsfdA7ktg9m7tU7MVyEuraoqPfVZY/Qd8A4+B0QnwhRjCukb+BULNyruTtXXrhnp8sBBaUznqP2IL3SVC1tP/JNTEiqClCIltPmyOMA4xnI0/3lvFPa35VySHx4frRlsuwz+pyqIKbQ1XQII07+RmhVP2YaGDjZW6gGt11VUclx0UnlantVG8Mp94xzrbRevWsVAU5xsDT9HcLFtBfMp1gl6GxnkvdvwPMbwQkfoGd5Pkn6yxK1D5iDQVGvVO6Zb+mbUr52amIPOW91DlwV9OUq1AVT4agT643jJgXDk36v3jnQQSxXjCOmbbFlYjFvjnAwNNGP5dfMwrio8xvR+twoIDYPgJIh6c6rtB+53xuWXMLTsBcvTHlrm0TSFyUm8qYsXshioISi9iIz1WwCf4fGzBwNv+FwimDs/LPIDP9tYtcq2c2xSoZZNyMyMobVus4jzFYI/11gn2GgHmhJ6Kmx1ASyxh9QxUIwcgB5/LX5/8xVDx8uyMgE9crrqxNNrcL4kxnnAskqLYr+UNkrnVYklXflp1fSfFJ7EOK9F+lmV6PpiAGMaXniTp+JkfCj1GdntZor/vE8NDgbj/81IWjeggRty+CloAUrozRWz+asiTEtm5R1mBkO+ddlDfTec90dzD2Jf4p3UPsOr3neRURhanqgvfoJzXsefRd5/8Vxy0Sox9mwbEVHjkQ8yA2SwXR181nywNXh38KZbrRpn65I+vfyYKAv2YxIDRDB+LcVLZ778PkYgT+QDBlw9R5Rfr4vM7CYtnpQDizJd5i9d9pK1fKp1XT5dddn8RzgN/pWRKelwjz6ry6o4TVeS96fUhdlGK4XuHayi5ktuexHNfjfIlj1K24WEQ/kEXrwTgItpDzGlWsGm+zRulVQwmKMNaTtcrv51vfFNfvyR85o6KPyRLGVhBKvk41CHHgbae6OE7GJNB09Yd5jEYk4Lpx3rZKFhavFbn2IG5tUYHlkPkL2S9KUfT9n3Q31/ocvBjlW78qmYCim0JiNQF42j8uOiHJAuo5VLXTiT0x2NKKAd7Q9SVkyCqH6gzDBAJDispeBC2kYflNFPUQXqQDz8nrirQin3D5QURopvCyrnDptiTqbr+nLW1ZoPBSCZfoYYM60TBuogttU2kOUSSX8sjvdEnDo9JfSuhXTwEpmWN1qzGkmBJMquxoE5UccDLhluG+9jbIjL39mBAICXRq9whhBSPlbyVtY1wAe8Lm0Ug3kvyd3qEDx4sABikJLdTYJgZ9kD8FXKh6MNiOHs4XLD0nhKzxdyqApUNOfrgrZ0075brj3vPwAUuApY8I6Dsuz6sonFAKbwlgJGLcLfMuJSbCvh392M+qe9FG3sXSdJdHHAlCY8lFs0B0NkQWXdx13Q6ikh9uESHxcaQeDzLCQI4lNG5P/Z8qT7sxhiKBm42fg1EZ4VKaef2mbMCIU/2FfXKO81Da5d+rf/hdz81ZE/RGLG5CY/HN6ym6xKcBxdo5ZSX+xYNlgOn8tnu8ZetkxMrp0NACogvGH6VUTjtE5UOiHW86C5AmguNr7I4Uk6P5h6jEP/f2sQxgqQLHT3NqCBsi25V2vCgv3hfdFABqMkPUTsIpjFV/IC5rCGpqm5OxzinY6uuS6oSti4rdRAoxH/G9PliWu26m1T4Akke74DXyxtxUP+TzqEgfYMiHxZkgv1jw6Ttn1dvi/75iJDi7WOvSwCWpKSxD3NXYorB7P+knE+5J1lTuUXvoQW2CjUnumhd0neBqkH8TrDraXR2DUA5AfE+ySiWCIWwXEZ9cxVNK7+oNJAcrtcPTiIim8tB7EZQkbZk8KQN+3fqqKbssivQSbi6RIRTbX/bgr68+DaZSgtDaqyvXqn9PiMWuDCp2WFMnmDdZNfSLh/tw3kLBUoEJSnSbtFIo0A3zGJvZDl3GuxQbPi4jtgGzEqSBoDk5aLN9a+TUU7ahvPkc9sEa0/2mIBYEozELXnlOhVr8uTB4j4tRO4wYp+QVT53QajLtgq0IA7w6adsX1iPY49wPlXLAdH/WE4DdY1/DSP3BackuAdI53XalfKSBfbnm0EiFjT7wHEdRMM3/WGiRnq43QOvXXRLVge2J8etvVXccJRMMePmkujZ8uyOu9P9VD30t9re2jNnuF8TZqmng8diQ0C6dXADSYmPmdlISET3ppDvO8wkHGCgqLEFYeaox9qUPXWnvfLcn4a9i+RtVwkZgHnMmKGCtGmxxZxfjkAHZEDaPzSL+fEbcI5EA/asbQl4YgSTp0xh4eJJDoYInuJ5igdxAmdAevZxca1W6lyjGC/i+KqZchmuddiv9kIBCZN8GtYeOq2/mDqU4f1lcJuEfUStzqwQG/Ag6YBIXWcfMziw179ofC6HQfuDHiQDIjPRkXoL7/u8T1iuMWbyrfpSTJbrPiG8rUX+5GU3If90v/vIHCk4mn58hTxLX9IkUMyTdo1Zj90Y4Mb9N68H/frGji6TXZdIiTIMmuypYo7i4ZKkp/BvK+4Kz6pBcDDENrIMDOVz56iSRi/cWChmTo+bfFP53FGJfQXPigc1wRJh297YZViMF01nqxoW5x+M/HMsNZGMi5UcflCnCodjlseMFiPN2PWyS7RxVSmKfh8lf688EDrH+OuX7Gcol2Qnrf8GTjYcAncd1SEpTti+/gPkK8UABZUW3SbprPpbnZ6XsPUZ3doJnQES0Obh6wMrUAUXu149ByidM26KLQTGznebz3iXFChkR6e8V6lP6L1VPlipN8BzUNM5KvmhKgzxE+uzbM8ZQv+bxguXtT1MEUP+7WkeigkIDN6yvOkEs7d+9TaFSbs15fXVYDT3m5z/5htWmoIn5Z+0aydykLS/EPl60E/kHgoZ+sjmS4xxZ2sCzxkMhzJw295H620QP3hZx4opu5lZWzCPfh2ZuiwNI5eDlAVKVBYBqUTTkMXB/4ExCCxuhPNmY8iBjrxtPwTvbcMFTfSOsIEiT+E9yvX/dlQ59OGSgNLlA8OO5fayLerBM+IJycvoamJdeDkmshRsDGGn+Pr3SW3y0eQpOYIUjI/D6/laRYXP056g77wp6ibABFQ2CjaPpnQ/0gorQIiCfxLX4uBXjNrkH7AWXkHgziIYMhkPV7R5k3nTxYhFZMXIpqNGQ2G0ja3azdkndzHUBJm6KLMEb3QvFMBKSE+9t0W3oTc+B2qBu7a7uishpN00dKUyeYbNefCgTxxl63XU1fPLis3kx4LmwzwQLfVzFnk/Etgp0s3Haa/8fcSVA6BrBnh95usrbkpVUhREMdqRhyDBFJ+E5Mne0hrX2j75vS4hKIVCVZe4FFDlbeKyiXSo1d/yOAEjpVyqaMXAZMuIDMJiTTSqEu76brMTzH9Pd3BSf3LwnnvbbOvgbFAS+Rqao7F8l/u51mMNO4lJr2VOKlg4ThrMeONrSrk0bVMVAOmOYaffaLqt4o4ytnYeFTbGmTwYz4Jn6N3PbrV24LeqhwsQJoTOGfS/rM6/Rl02wVtfF5Mv+cuZJVPWA2htozN4XEtVrLCQpz071yRr0mX/MLz5lrkmb50jlnIj+wCp1DCXdodSALCh3rFHlcgfjNi17SHlZSyRvgFZFMFW7hFk/+gxnKu/bqrKAfRK1fNI9xmBTrvQFtmH5QozoWY1uHThdCFg/bjYuBImSYF94cZsFi5M+HXSvHIEecrx80un+qSXgd58w2zi9aMzpmN4Xyqr683rqDo0zxZhCJG/Z/pygE9oDb74Kwh/N+Lc/yc/VFZwU3o4QxspvXjIol1W/7ozPRvzDbsDf3ch4rboEHfH4oOGO0RXdfpekeivjw1DXCIEqiNhlKX/qgNBMRVW3fRfA5xEFQ3F0wewKyGKEjMCBu5c9ZVJl2wCDydpmGC50w4CCU1JoU+bbPPKRx82WuIIxbq+CS9vmIoviis2bCGndWjJOVqCjn1UrJpKC98U/ApifjCThQNHTZZBn1tuagg4S+fP3dSN25ZDDT5Cu8jCdZiCTruorYPouOqg+ahV3Q1rXXWDxswmsemMlyuiAOPkfaNbIk6ET9eeVVvJH/td7uxtrqRr7SQ51fMPynU8zgRDAiCxBOS5KGqFpXlDuuFXCtOjbmink8NyzhdXXMAcmDU9d7rCTvU652mMmcDEroZcrDjK82rtDG3nggvgzvGLJzvmrUrEaK3dh3r+8oX5LeZgA1N/vRIYUKByo+KInbpecSh1vcpfFpfE3Sj2vm0qxo/yoKYuG1r5/RV2z6DX0jKDsWIdQvLDgnq5WxvhdeppulTFy1VxAOrFT3d0eABvdYZQi6naUTajkJhf6aGfbtiwgdWS7jh4pnJkQYxFZw3Qp3LKE+GnX6jQBZb+W/zeeHQ5y8TyrBKdTbrqfbKdZuuiozOf37C7S18iop4jJHbV0lv4j0RYPUhrcpfMqhWkLybiaLnxcBK5rilcU3HMql80F/pqMP59dqe93Pnn/w5SY5yXUkszJbYNQ2T1gSA1Tk6iXMXLAUUzOybYsvWzO24OOmY4YiLg05NDMRGhxryfrRjN29FZxRZLtxKgB6K/pSV+2MSRjJcoHLroJp7oaN8snZiNhXkFeapjS+9LpDNB/HWvQ21qKpiW5s/P+vnRumZjgbBcEA8URVxNcXMvJGV1WLhbvDak2o9FspixFhamVi08z9K8VHuvOu5Vnkm+DoNJU+W7GsT+0Qx5btS6oHJv7WJDLCTra6oEDSDNlg31KSySEvq2coO6d0rsgDRm/W/S3b+OKkkrDUGSf3tNzCZIdLp3l65mEBFITqQfPchO11GNuThiTcGM71GDaMMRSYsuwbhAJ+9JEt5DTzo6kiWKLp3rrZObR6BAb5tPdMeu+Vcx5qURwWEsF5mgLuwV2ZRWjwNKDb8s9TOyQMfMOgzw78gfloxb0WjlDtZJ4c5K+su2URS3BDm3o1RS7oBnzdLxn0Oc5xwgmHswphoVK80Yoi2tk2jPgY0opfvV2qCViCHEit+wRZLY9ZnDO4uIKx9rLfWGd2zuKJhWEGZ8q1Z68nf/aYKDeL7V2rW0B8DiRNXs3+Gsgp6GbQZWJu3e6Z60CaCnlGc3gs4GO7jNhkEQi1o/G3UTfXYIeSbHAXBYYIfkuU8MmCrq4zK+WgcLPnMBSn8aGhZY6SEGNz+KeibZUkzBSiY045tUSXpNxqgMYxoVhHJPZa3644n9rzU8lXP3w7NsBParW9jn5dMlGDmHqj8S1bV7j6xelMZN8fUleA1IQR12XZ8RE56sF17ps1ahPiJa41WtuSfOkpXHpmTMXer+gJOB2lhIUPDdw38hylrzAOLUqg64RLhiw4/W6Jsiqz86RE490wUnem4Q7xBVkZKSXwNe8WCYYaLRZK024Q4ODCy2+uvUucJnbgKnHnZEBuvimJBKxqvJ4tmwHd5jrWKe2YAcLQHJdh/qsm1dDcHHZiRdXlheDO/fqs+Fa+szjDP6RQVJa2Hbf8rmEcjORR8bNDCGzTimd382eyRv1XIKXpFr82cPG3D3Z46vDCuvJnXIRgzAo3spx+f/P9XbnFO63GsnXHPl58n+Ci994cBVr0G1wh3yBD9lq4pJitSsstCB3sYVveqUZkCfyD8bCu8ljpRp+H3aLWXdrq+CMdN0EK+Uq1pRSDzDiMlR+GlCUK3mvzcG0S5cPM0rYXxDECsKM0glxLzWdkjVmMsgSzX46oGEiAkW1wX9kMU2bkLdCLMJxN/+kx1PEndbQVdfrZjmFfrQ6HzqkwU4cvJohfVzO7eOosoUsicpwwxnUVXX1FtF1cYamVVeuerDspcUhp1zz2VJfWiFANbBEzy9Mysl97qrvh5eY99S0qeAj3/+IDB4kKEq3VxBQQNx8y1gGnRWFTOzGONMw1+UsCFsAVprHLjNaV67S2w68AIbsUVSwacq/EHHhK0bteKUgyHiZd0u1fkIBwfV7ciPRtB1sZhAUs12QJ5Cw0RaYrRuxeXZYfGwoxbk+8xc+fTM2H4Ola1GcW3yC7KlURwyOX338B0maZXAxja1LJ30Gf6mBuvelcAqDx81qdhnH+4VYqIM/kcMZvkJzBW+KEOIDzAYu+Koe6IB3BdkPS9HE1Zgt6Sn+uqC5nXH9Fk4j4yDdYo2l2GUyZo9JdL0Cgy0ciUGjKZrf57AI2Pny6VRCTFVLhFTsIwMpn+pTpwH0ZkGPDY6ncU9WTzTThMBtt/rd0pCrxw4D/bC9E0Tyx4yaK0Z0ZAM9c6ifRprxVMJRPkLme/Qh6bq4g4cyNajC5qDJpR8Zlj90Qy/CkaOycvyStl1jLxQW5/5u0gXglqDm38vCMqoaccyBpBfDAePf0IdQjF8cv1gC3+6Su1Z8qk9rFURxm4KWxXowE2kSbTmKjmYO2Ef/RifHN/J1w1Y3S6BrcG/JBVz6ZVXMEfFUSlLgAcTcG1Nsh82VDoHernYSLe6oeYdZ/w2/vuJwCXQPYlpMfGJmCZS5TvWzqjB9+NTo8s94aXhOnGK14GKn4ZGS0QRE6icsvptUuy8JahFEc9C2AHlENYaAAFztMd35COjtlE4LQpP2RZpAGnh9VZ6Tkp3vEJ2Y1rH5Mk6A8fuJGj9CTib4jU3lkfPkEXyE2kFfc+0wsOd/NkMrQsBPagiqpXMGnCL5K0TgIGvdgukf9zuHWi4GA6HCpM45NLwCqRDsBzT3pFWABowHvYcT1Ip6r6UaIAwi/TaDcCwOv1nPyWrqyRpdIleb78YuIRv1oittCjCS2X4IMvUoI9nWCHd56x57XZSUJNOU5ffUC+XAClmXFuiGiQhTr/u1srlBVRt7u5V5gTYimGpcwVxBcLLk/Zl/d9yzVhSt0DOCGWct0lMjAf0ZpHo32ZyLBC42T3SXWgasERy3qilNX3wR+pyxvZM1fn0wib1oeJsfKMuPFdUJJtnSNTUe6NeQ7xc9YHwN9gMSSLKJkliQEi3jSPSJGRDbuqU/vE+CcxbsP2pODUNobOa4wPQz1Ux0bqkS8HalMq0HotKSA6E2U4QM07gFiDUSDP50mr+iHWEEfwVxYgQEd/epPfg0AWAtd87gobtj5EjsGqYYfnUW2Hdl+z5WiLAGr3Xe7cisLznPlQ3f6/sI5MpqBt52OfgmLFP9h5PLjFEUgMYcAiKYKLdMhJddhr4abJQVGImRwAN135Ku2VAKNdaAuZ+UgfvwAgzU73onzoY47DSmeTFkCNe+dBVnpdq2Ev9yx6SRAanXEGs0lTULok0Hb66ZOH/ekcGbzpxCZJCg8c/BugPEXaUDrswQWi79inEFOGHwq+nE8NJD/JIq8WuxR7orqzEOAoFAD9YjB9NhDsU5wU3a80XhFS+HpEIg0MZch0gQeybxGCIt8xSLof0gymt+WTZaxf0lD5gKp9rQoqR6MoWdLkpcSpRzRyZVT8ADydSsHGVNlNBGIYmJXvW03TADPdLigPUV4K1Z3TfWghZinF1C8DZuVoIb8TCRWwNiznxSotzd3esmD2Bp9PaVkuy5oKy7FogMLfXTdRRzTssNH/l39iC2qNldrAVElvmFC5pKagdetUPA8201CtQD1q6pKvHLyhyo6Y4C7AJoTzNX1QRPTmoaLSlDT166blVMnR95kQ73M5jl0okv1dmNzqTrp2htLDfnvDlPbCVdD8KcxGO8RUZXvqQ8Qu1+V0lm37SHogemohao0Ly38VUdtqiE8jpk/nL9FlIwzLeX+mJmEFDqspVwvKknwZcUgWmz2TZMeOOn9Jd4IXwXmDdiA/4wgETkMIOuDoo7sy0F4kiOw6JBbH1EaMM+u+NPgxavcUdhFXGhv7aowe0s6fI2ddn10/UJLUrLfRa3slPDq67fRTxwSs59A1IiIopp7TWmPOQw8DJOTC78+xdzL4wv4T0QCnZn4ZCYgbFSO8OD1VWKd2AyfPtR0+y8xVRRszvUorZ2HAkD7Guo4PFB3HO+gE3QD+yJtragXrC8wPTliNBz2TlDLVTTRBYsQpZ5yGrF+YPswG7vtK4n5e7Iwi1h3eyhEr2g8raCDYY8EsQEyhG30ick4z/IO0wLE1xsICWXvEMdrf2dVvWpoVd/Mk2tIlYF2Yc11TmwyBhpxQkfDsaPkkz4xx6z0OaiTR/Y/TSdCVYcaS+bKqqJ4e+nain5HnrhEN7nLfW4LS+NR+1yKk0ntBSqrf5Hvry0LAr/4eNkgZdN+M8jb8MV7QlwI0jWKsuKgkPeyqsuEr/6ktbn1j2rUtdWsLNOHKqfmWO+BnFNBpov/ok0sUrnX10kGsKcG8scNYKlyRa564Krk6Yb9tfOKc62X6DflywtJYgKeR9NgVUhf/qqmwO4kpA5DkoYjgyk+fXSc8o4zpupN4B7QXrOqmunU/tXp8JeMrj3r5WBrIAqIhLewd5rKFTesIScBrPUO4MeiYzyCbxV75NhOvihZPYCpQt9Ehvuyw3X/70tLLtjWky64g/kfuWyg5f+hGeqaBdVJcOe7D3Wlh6vtzplqHNoqq5P8LBLa8qr+FiyZKIa6TZ/eoixRcoVsd4g/xzuENKMLdqt7HIIapwg7zEcDGd62WtyANY0gql2tLE7lF7y4yah899ruJ3LarX9oe5HMS7uKFjra7FovNMsZef6xBtpKiWByZNU1Z46DG6/X6HIPAji8uMRa0PWwtXd8a7oTeduYomeXYGALVZ6WyybWYPcfIMT1AVnJq190f+ad/hPKWnwAxycoQakt3TBV4p989UV8lzYcpGkg2OT5KP/o0g01yA4JfPYgf2VZfufq+t3jyA+oAHN+55Ofs8T7clNXdeFzUsIfGSs39/YB9C1V1I2rSrQVrF2O3PHFcyWpH1aFd2xhb0VK4ixQ3aA4WJhZHB9oWy5YNDLQgO0f+XmQG2nflduo+/QOdcTDrdFyj0x3AMULPYtcW+221lnaEIzJpOWYWcKTUwXo4YBCqiPViz7gJ0+MQYhjJ9HGDMdarZkEbOaeaLeRVP9K+OyPuuF28XHJJ4S9kb0r1ip/y1Wh8lR4hF8IBbWkm985spJoBzZru82sEUzm4G+jfD5+pbr1zY5/5W+9xSkplzYVe5In0hs17lDZAiJj+V2ukb7dQIrWEIDTdLH7phWOBAD3cY6WSra9mwTEw1TGs5kbhCUOSZIvcsORah9Cv4Pt1fuSC9XlfNIZgwMSlrM+oC/3WQvlZpgggULwrZiE6ajKIxEsy0gADJtSO46akUiFYTHmSlXWeqZMQqf96MCOucOIKnsEmrvX2fEBp3fezdNz+HeSIC/8Q1GQN8/0X6gd+IMliZ3nthGk7mLEkQIPOcxPAV5SVZQXYjx6xEKPexloLU8VEzLHDG53oBUk2Jag/vv4fnUvQRK00kFaczwfp1HTgewsbLIQF6ZhAqucIgmj936/Eymh6r8BeQqcn9HO3393qF0nfRnX1yCYtJActIhYfQe2H0XR6Of1ZZkCwPVcFHBg4L0xkTmnMg0pNtgc27X1abOMiVgv/lqeg3qF3SYsHOWI5UyRst8agzfC60RYW2fFhAFZv2izKmxAHujPZQpisi0JyrNM7B5pHWrHIbtt2ak7SNY6CauoGn1i1gx00Ivp79KWSdi5I0g0cvBaCL/8KL2Vup2B9UKgSy9/kNi+QxTdfjTqsqaG0+ZksudDQ+570AcWO7vK/tmaD7Gq4EUvSbq+N2JwA7ALvZnYwJJaMvJr/OWeB0ML1sMh1jSsElPfFjTzV8JewTcQHxGWxAtKRFfGwjLPzBQJpyqONrW60hciB/sePhkERnoLAor82fU4XxMciZ1OPO3orbkcu7Juvgq4ePcb853T0zugIYQRRhlz473rRhTM9Wh7+Hfq16+aVMosxDwczKfZShpiJj0G0TDEPGYb7HbR2hILJhhKqct4dFl/uzrkDfmJmQpJQXFogVw3rdEDKxaErO5Cv9P1j80VHS3qh5f1OFt3GNDt73Cr+ga0UGjrjJRkshnUCTwi2WMDxtRWJwSoHcccWrsj6J6J34b2JEsldESU8N5VHIt2NomlmRZiNj/OlOvdOgkL6mwFJ8+T1s+e6KCsxT7Kglbw/rRx0O7AH09SfcErD50uS/XCFyRSWCfKfEHuT0Br4W2DRoQFYcvxOubUJzFoW6ubd7AjS8+EBLOOKEJn/16U3T8w9MvNjVHrh4VF4mW3CEqdKNP/iGSVaxsgOq0Y6sNPztZQW/1yxZIvNjXb4Yzmt+kfNDxia9gziiadVsqCcXuMYJle7qOnBoUIAT5EcSp+9yGYjyP/zPElJXGYee5RoFoJfF+hgkY0L1QZldu9bY5CFesEJ3HfEcsJBZWGmHggI2Qkszzd1gDh9fXYCVqaN0Q2ctFARbA/joJZH8qJm/vvzmiU9qUbvtBYg0jleFREyHMvBJj24MeNJ9qfmv33P+dUQs/iOiH33jJ4ViPhY9K5fkOCQnT89ufMK5pIKF7oBJOov7pVyN+1uxPkVrNLUUAsBO3Bc9mxqAeNhiRO9LA9xq+W7bri0R/UqWw7W/F9G8byY7kItw00N+P0sdehxpFBIUfUxCua/ih/tXZl31OfjCaesmMGr8dpr4uJ4NRfUNy8A1NMyoiLyP94DzdRl2zHuDPg4rtlKbpm6L91e0UzHQ4umA/WX8jnFxk5uKUOs9peuJP7eb6qPVvqBQZ0u2DSoIvysLKY9aIagvduYQrajW9j+k1W3Lv22TIZ9u9FS7YY+zxRT5YJSMJ3iQhwgdF9KE758o1JRlwMPHrGJvDsEbunJpmAMkuLGoCWh50lX5Ha8dIBB/Z0AvhuEN2qtaszI+UnJw+nFossUIVOeEurZ4Zq/xyAGK3MBYr838/wVxBPUZEMlOvAmfEkE7A2MDmJJzdJvezXiKd5u8rqd1LhR5U/PjU4sjgActqtSrQ/f0Ua4BGxyvVNrDxbFn6z8dk2yW84wPQmjvqZMhWlou+asRrFm4XfshMrQvu4jhMz3IZXNjfL4A3lWWVoAGxmatzc+xxPlbNK8Vu5RUMHHBtmE0cSK2lp1z1LLTGB3Th4UMHF+Z30Nb6WNgTVoBnAnkN6WWT2YIxdZkqcGEUEdp3EU50U1uff+DT1E8e7p329DzHTFg1wTZUoAtN3nrpA7VnnYbZnk7UFj2X6AaODTz7cS6bNHHbLUsd5YOwI1D5aYnCteodm1rzUp80WzjJoX3ZrZZ5G0j1I1ehbm8j9jH0gXUe3nGosVv0XuqdTtHolkkVX8vOYWgO9+9mqCKWojWvzsp6XRGQL9bY+sJWFAbI7XEPxLMkm62dxPwXCqd5PxNej2CO/pU1PpOOlmJKuLtRn11WLiwN57IdWP5BcLfjnOARj6bd5nU1HlJERSpnsO/W8NjtI0g0kUOeKqUb0zXQsuC4xku3lVvtAalBw03UsnfVIObaDhMR5h3INCxiBYJGXAuZRdURtNGoUNkbCDSch9LFLK5gwh0F1B2fnwQaOwFOzt5HeNML9/iJauoLkUQcP/THsyqxhePtK4ssQ/DrsXEWzwvJSxNYecs9clKTvqjB3vtjkhMZYgd+MP6aLUNIK+QP44vYJb1KRnH9r+QC675vEAPkUfv1SgHD/SbCEMh4YXtQIzq4iDqbt7J4Q7kBdSL+W2YiRAniiNvBq1kPjO689jC6WCrVEe+ZsLAUqN6HEKfY8ygsKcD74Q/CZcYNvGi9ArlOskTviVQ9WatMtvJzwo3tYU635kU6F6+1ikPpHGXouqCVRBmfUdDPwdHLYilwxOlZ3TO8o1i9/TQgjbxa8hTHkVUPgCMCrMdDO1GhtM2mbva0IvlrgfK8l7v2mXHRWa04Ft2APCAlfdnSqXyGQupYutrynhgxmZXr94hitlP8WH67Izg4No1kIeEcwc2qjCTjQYU0BoEOkOOKCcxufd6kRKB4M5ClHHvQ3X8xj5xD2/RaYbncMw0io9pXBNueIBHXcqWrINzAaoHqj0wp6tic6K4caJ2UBvmAfGdPW+bS17+5nHO9+ry2LxObnsPrsoJKl683QLb7qn7JkIV2xat5hj5cn7azqo6kn5VIFcej0P/qDLYoWztEijUZMvFJsEW5qqdWnFdbX6k9GCQMG7ay4PVaUfVU5k2mSAopjlOY48i9H97v8liNPCBHE8Ifo1qG5Y9Ienxlj6rIgtzlHgxES5zmOXBZENNmtUvidBeJrfwdI2/Qxjxfi5Z4SK8LaHcKRxwWKbZTgh0aOLWB2SA1Bs+WwNz3wMAST0gvf9r7jzVO9hr9PRL/XNpWF8iUIw90MbLUAkMqGk//xkk/l17utvOGYG5xeYDOWuc1PjDsd6D6c0R1GIwlrwmpX7nhQ1ZXIDn2y9LxjYfscwIf+dBYTMvOGMe6HJAxr05JabFMvsyr3m6rFH2FjJTTe0Zr51rU3vA9r/LPyQkmKPL79pP2jhkhL79+o6vH15f/TDDkX8kRzTNQPCbrelGLCNawhjh45UiFNTFgbUB0oRHWmBrJ8UfzeVCNk0i2U6Oi2Og07rDq8pe9hbaJSV2m8UKIEUJ+Dxv7KRlh09Pm/NlUujgAL2THR2JMlfmtzNTOyHiMt2pzqNgwjL0nXGzae/vdAMv/Qlbmps/8JEsqFxmWtIaFQheZQbvVyJh1fav25YT6odFccY+DyOn6oL5YyfkulOThvoNfupJxdQxdEQH2f6JeC1xCNlGVWdY4w3Gy1iVxdYKXhSrRzfOZiC6KPvbGDZTekUTzdqVWMqW/WKqem6NUknDunOcvsi0on6ZvcJM6zQP/WhxPVcrPBdLr+0wqyyZcaUj5kjQo/vl57zmqVl9Rzw1W6Nw5zeu5S8lnG8CPHEQ3ge63sXkF2cR2GwsfwVqUbOQ1LmAg4A9n+XO1RDBkig4vcxbxtYsppQyv2aMstynRbV/Yq12LhFR6WVCfO3sEbmcZCR81c34Ak3hMdcuW5Xe7kNs2n5QnIaG/PzwkCo3b3SzQacpSW6azfQjINTYnsBXBQgq7Uz9PL18z9ocydwJ/wKQnCsrFmoUbvCIzAnPeCsqB/98Q7LDlJ0wjosBNyKt8yf7Ic/Xf+GtWqpdA0KHGPSJArTQYAEuuzzcOvW0z/0adKUB3UFWkX8uf8uclPivAmiAPMeWsQs32fQ1r2/1sMkizKLAQZh1LZ2IRcTEuMShnYpOeCmDSr9ACxJs6muk5ivq4hLCMcV0eO1VA3uuy7G64ew0MBc741OvirCzcZfEh/L9WPYfVYo0uHb6q/qA5JW39GLgmJpLB4RrWH95QjGinh+2UZ5JxWnWP4ba6XuBCIqwHIJTdgas6m3ldqjNWBIf3uX567N8NUd++aXWLbmf51f0722kWcEJyTo0Ui7ONoDkh+KgPxuV1vJcNLmhIrIhHCb1ItoKBmuGB6RwriBp28RTG8GQf9Nak4SLj3+afft0heNm3a5gJR/xCtiSinnYA/ZHSgyoIa9tQnv7/dXutzCmLEPPkmzY07nFtO/D+kKxUahaMrJJ+CiykJcAHSLHgE/wKbnwuMCYkZFiyd2QMaLlvHaZfE2NrjoGJO78D8/fMA7VQj85J+tPQ/Zp7qJuPVUxiiQFh0TF1fo74OdHQUmXYcZ4OS/jXLYE0R3nlZ0HJf/D9gbIToXksqA+cqhrCNohZE0mcZNja14UxSXNslJLiLoyDuq0ojTz1fQyOPGXK08Ou1dNJxfR/VdOvHoN/QvueBl4ZhQoAZXNTEeR4hXX++kkZBGMwL5goQ+49XPnLjssdZQctLYCVNaVmIAK2pIW+zq/ZfnPW/mwGs/jZglIDtjx025X1/EWKQ8h/Duli9k3+QvisNkmJy3GLl3+duAU35+6whdUYlQVBe2mcOEoG+92x2rNSx0dRvrLaFDwkoWkZ5gZr7i6AbSDlTSID583osq1ofeqCVifQ3PpNWryiQ7/A5jOp1LY37pQ27WiUNYIja5LX9YvIJHUznfxuudYAz0UWb3lRewDRW9TXWBbAEo3vqeXPSCiDA8tG/0nqlC3WwmGYvXORHYg4OVVQ7DcQLbpfOEJTmDYSUJ1M5LZT9IvLEt6200eH16kTqO2oxYCOp6NbO6TmvNsS8mnKqoLCXv5AO/lQZnpdAMl1uhqAoNRx0/FjPLyJGn+Mv8UvIBjgQN2Fun9dkziF86NKHeYsBNAlOHZk/JuEMlWqYUS/0fgPED5uKNREMsUFo2HWmOEUGf0UiGIStu/xBRcK5ANM0T0FX1qbOOd7hOxfJD+IusBrC3k3kpsL3rslSrPQOE6s4AGskmrXhOxj1T5kVRj3ni+y3gHSkL04ll6785ajqcljpDn1zUykcyBsbAwWW8SDw9zfJG22jVJl1qwjPcJvxyoyAssLZ9tecQk5kRMDVhA6TqZ+tkoWc6nXoZmUXOLQIzrRlmdenlUK/63PEp4uW8D6KOrvh6OMp/2s3wYFyyXqQvHMBM8oQkCbNROXyTAakX0XFG1k806/YOMhOweVyqnOfi40+MP0eZ7ftBCND5YkOrJ2BPKPBQcLJKMoiNcC5Gnk/XdTsXlsuYrb+b96ipH6jtJnjgkv2Qbje6/m3wIqfYEkevUQiuWNLqtDndg6tzscgAUawetjWJSz3/Dds7e2k1OOa0+5ZJhN04B/rg3cmYIYgLbEKkmfP/L8a+xYVfRwH3ff7bmrpcRHpW3uaOSymsoLr5r506aERnsnEHxDY/82d4sV9NWWWPZkh5yOUM50l7t+E57Sj6AFI0rwk0H5n/FKTgMaM9ONzD2To1Hn9Cz8Ute6LzJmDrEqbmWRvoGILuzPN+zLiOEoCEp46MxngqpgWyEc/LnDBY9UnzYdNgfgCfeaqMi9xTGfSbEyNfTxtaI/QbMsnuIXtfHy0WWf4EG5ET3hgdd+J34+1ksuN/LLDb1iQJX8pAEeblyeXBVxTtnKLAq9kz/4VmHnvU5hejQ7WJwvH3cuUVSmCr4DSALhcPmHUid0z7d1j85MLjdZP6c7yFbkKM8x2q8AEM0T4QZtSI4fjVuc/+uNEVqpOGGLSoSxWJPWC4lyjAMAimkHriNoWy/Ib37uhLwQWGum/BTLzo4zOGeSPvVNQjuGAieMDwsr3EmNgQQJl6JTAaZAc+jg6g2e77abRSR6+RCJX1G2QB0qCvzer92pl8tSw5uqHCvPLAPJuvWe1qABsv9j3nftg9+67CoKzwykIuqn6T557NubFC9Vv8xV/tKFI2fb6MH6VCGPsTqivlA65ehTTM7kLvdOgGx2CAXavUJbBtGMjl1nEt8iAxVaR//EFlsEs+F52BVxrfeowiMA1cVo8eUGjp5uzep5tOiV5ZjsxXvHhF2nvIaSnU7/153LrVJ2v0ceTljT4RFe4o+c/FcjGRZmMb67hC2VpHxsmZ3D+rSweqekLMvIAFeyMSauTP7W0+QJYUMnN1SWq3GVW+r7zL1ggJH2KDqZBdfDfuZAW6o/HUKcq4iuOafDwv7PBTnPh4/RHyu0DlJE5DMyvLE2IsozsaBXKTzGgOB3JvH3WnrAzq2nZ9NxkFtL//0yZ2LR0UcYb/Jjz/okYKDrvNGVwt1dB40kyzNcikacsoupa6Sq/YdV1Mb5cPO27rwZsvkLPKUnfYB0OpGKTpH2UCztudoeO5yg4qVm12JciNpB1dbZeIFpz189ULIBlr0fAF+OydGCcKDHaw3cvewmxZp6a1R8z9q98J5dhm+ayquSga/lW8Jauf3C/9QUFotS00XAO1taX9KHDwK7mveor8rQkQQFquB8JFcJZ65kyIOqEvz+CJxlsVsMt7tIRjNMMX6zKjj3LpcVpCCwtch/aSYHEyou9EfUwBge+5XmsFPAY+R3EqRUFKRVcM81v9Nmed7CrrfpxdrkGtm8YUJC/z5T/NGZI9pQZNeajT0kLbAi8qIVGDguNgaj9To7fbkrBO7Jvrv7sX/f540aTWS28yyLNGJ4/h2yJRmLXBJwuPpa4MsMPiVFnxyFJzdFE9+e8VVT4WKCauMxLiS5kzdS75oytJHevoxyCGVee9KjaiFZktZAHbrS8fwP6WlLbTP3aRIyg5/+Ei+3bawHyaSOU854mMguezlneKQHtHVy4kgwtv4VuBD1xgs7z10/xXmH8Uhmb5koeFzCFy/capiF+7yAr2ZVLi7mSyFwGR5NXba1+wBw75vc88krre9kBwys2/J/Kzsi3BeIHdIuAfuDTHQcopWRymbPOf2dPCM16zFR84kMERZ0kLXyrysQOgkMR8FqUYQQ5RbFX4Nwns8b6leIrjg5B2oemEjW1jNso3VmsHYt60s3UFJu2jUijPLTC4n4qHuDkgSTtZC451/YWs60U6g7MHWVLnKy6WY7fHBhtrl9cDk5p6yVjrpVl0Cl/GTOxLuE5cLoh1olzaAPD02tsPiCCcFAWsYl2pI0fYsLFzihWcTu42x6aBRpT3CHVdGvZprkno2H30luKa64d7hy8yoJ99qJ4ru3CdQgWBMq10dTASxWNwga31WEmp4dh0Ba/zVuiWKu+3zCj8ZqjIq1krpa0AkOa2Dmn4WYRdVFthOx85OFmNy1HFNU5grsGJ95a+BJ46vwFP5wVfu2gx8/WPBfbdgKJ0PO6NHXjJBxvbZL9zGQbg5lPBTZA2NdpUPLmE05fkAlXxHu6cf3eObnZ+9GZwmmHvvHx0p8qJe1GlhnrxDBZ/S+TruIBVERyzo0wvmL8Z3R6C9hkMi2eSjscq4NylsccOXMG2NKEVjhLTerkrz643vgRXdPKUDMqELJQrQHshDTPrqK1I2pEXBpYFhNC8jlR8FAer9yUBr3yMwhXvXu/ewiziEa3iOHMq4Pd04ELuQnUYaVuUMFWLiDwNVXoQBFqT1+wAgpILDre/GtMZlAIFUk/LuJ8mY54CZhaCjtJDDUQ4ob1zPfhKhO7qUmPc5hpTBCwWFXPYCngXJOUfVFIivXptCxkSSdsEIOl0k2JYX6kbSrnO55Eup5yLEys9oiNWYPRiSmcIBLcKi94VlqghzrzlFoEyv57y3Wi87OI3J8gvC2Gsp3e/aIBXqkxeHJKC4Yru7bx657WJ8iIQvd8tTgA0f+pCsQ2oY3nSArY4yXMWVFQpYBVbi6+f6AyjAO9Hz8oVZDIs+W0pdOIqlV6mWMMUqTY6L/+pwwaeiOaV+5K38UWSB6s2YKBTeXYg4Q9/hy1JyV4lBLYI3HQa5A0T/tapizrd570AN+4TTV8jOjb/eSXcsnvIoyjuMylUCjfo5d6q1YJj81q65vtKnUZYciXkBF+huciRqF/Guud3S6AP9NrAkbo6Y1CfWhZT1TGbELDkgxiIhJJyHuN3NFoizVW4XmsGGzny3mgJ99Fz/BNXLaNPjZpq74e9HFQ5XPMJTj5YVz0KNgWwhFa199ipaE546MduZyNO1B1fOnv7uhO/SfU3K9VK9LZ0sq2fGx7hDTOkZ8IntURpvrATSbsm4BaT8CZxU4wpjr0sP3k4ZRgo9Pi2bpyIi/fl+LandMVXmIZbSkVI8Fn6Nq07m951NqYQf9tVp9GDScm5BQ9l3tLFH9Vn0T5+MlCIfyoQ67CjvJ5FHTQWSPgIvNQvgLWqaCHVeuhxzIAO4lnwjVk+qgXRLq9hbOmm4QHXxpVaGWOmOvWZ8Jgq3szUpp0NwgsZvnXL1cnTpC4M/JPJr0eTrORcYxBKpYzaMxzSNEJe2eQ0eqvq2duSNkkJTr4Oqt9qoMSGMCasn9eV+gWbs01iZjU3h8F38CkaxNVDhL5Zi4EAhpkqd+oIcmLSHDqaXembCfLQuQlaGDGngZ+AKYaUZUmYeas9OG/zwDG4dGgudueY5tdc5yFRsffFKV21hTSQhOx3T+q7X3BPLjjLSUAMRpRS+b8P1JCC3IPnk4ivga2zWioSx4QdU6A90KZh40XHWQa1ssea3AuW7kPWKUjCSt6bBKCrpVK5fzu11d+zZWIcqMmt0X6yWtxc0h43mDUwpy0MCFrfZ8sKjUigYUITu1/ImgLDQ/fcGXjB0nbqZQjAkL3Pax0wPFu4KKg9GhwAqL4DqaIZW2LjVAerpFlA4X6cr7O6BPWXCF0ooNPXWI+cO9CQxkw+appEV9cAoZ0BB9PVKRohM7CQ8d0GtO/AZ1zTt5Udfz/jIXommV0BFzAK6hIisxLqq0k8s8HdEUVrmvuy/3UozcX02UwyJdA4q9MsVbYGLlJuNf9A0gQwPIUfk50ec8idsWdltmi3kspDZNCGsQ6tWQWWm3sI4rxeHIQxbqGDD1kJf8FZ0kKWENLmDxu1Cls35EMnGdCohNQHRD7ebbVQIivSiyUtsEE5zg27D0SgZEYCdqB+vwX7aEUH3MxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017a8p6AcgxkyXkwF7Y2Ainj",
      "input": {
        "note": "I now think the clapperboard is propped up at an angle (its 16 cm depth appears uncompressed in the oblique top view), so I must locate the fingertips precisely; rolling only the wrist ±1.5 rad changes just the gripper, letting me identify which black pixels in the top view are the fingers.",
        "targets": {
          "right_j5": -2.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 25 steps (2.5s)",
      "tool_use_id": "toolu_017a8p6AcgxkyXkwF7Y2Ainj",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5932 right_j4=-0.0124 right_j5=-2.0731 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d22d0adabef0d2238a52745a8db53bd8d8787c474ae61b1c1195980f4e72f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e743cd091fe51963a0afe2441f94f8babde788baaddac3cf5fefea2854a074c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dabea1315480d8caaf945a93a8bb85f24d3eb06f0667b453b45be78faed90329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6d22d0adabef
wire blob 4e743cd091fe
wire blob dabea1315480
call 36 attempt 0 · /messages · status 200 · 22.91 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3287 right_j2=2.9223 right_j3=-1.5902 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1399 right_j2=2.5992 right_j3=-1.5929 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5932 right_j4=-0.0124 right_j5=-2.0731 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d22d0adabef0d2238a52745a8db53bd8d8787c474ae61b1c1195980f4e72f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e743cd091fe51963a0afe2441f94f8babde788baaddac3cf5fefea2854a074c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabea1315480d8caaf945a93a8bb85f24d3eb06f0667b453b45be78faed90329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6d22d0adabef]
[blob 4e743cd091fe]
[blob dabea1315480]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KFh2A7zn9udq4s8QRZvHVS",
      "input": {
        "note": "In the top view I can now make out the two finger prongs just above the board's top edge, and they are currently separated east-west (along the stick) which is wrong; rolling the wrist +1.57 rad should turn the jaw axis north-south so it can straddle the board's top edge.",
        "targets": {
          "right_j5": -0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_01KFh2A7zn9udq4s8QRZvHVS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5944 right_j4=-0.0124 right_j5=-0.5804 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c8032fbb7fcff27c8bbc6b0103d5f87049eca3a7c5597fb30d841f1036ca52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e8d90f07e5e17c23cd47d65c48f3cc678a9129dd4fa065d8de9362907d3826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f83e827d25dd67bc14f4e6efb22a9928ecb0c5e9b748a755ff8fb98e2e393c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 48c8032fbb7f
wire blob 78e8d90f07e5
wire blob f83e827d25dd
call 37 attempt 0 · /messages · status 200 · 6.137 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1399 right_j2=2.5992 right_j3=-1.5929 right_j4=-0.012 right_j5=-1.2945 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5932 right_j4=-0.0124 right_j5=-2.0731 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5944 right_j4=-0.0124 right_j5=-0.5804 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c8032fbb7fcff27c8bbc6b0103d5f87049eca3a7c5597fb30d841f1036ca52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e8d90f07e5e17c23cd47d65c48f3cc678a9129dd4fa065d8de9362907d3826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83e827d25dd67bc14f4e6efb22a9928ecb0c5e9b748a755ff8fb98e2e393c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 48c8032fbb7f]
[blob 78e8d90f07e5]
[blob f83e827d25dd]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R38JESFc6zvxypJ7FSQbHe",
      "input": {
        "note": "Great view now: the board is propped up facing the camera, with the striped clapper stick along its raised top edge, and my open jaws are about 3 cm north of that edge with the jaw axis now across the board's thickness. Moving ~3 cm forward to straddle the top edge.",
        "targets": {
          "right_j1": 2.332,
          "right_j2": 2.913
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01R38JESFc6zvxypJ7FSQbHe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3173 right_j2=2.8826 right_j3=-1.597 right_j4=-0.0124 right_j5=-0.5697 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a02212e10b72335646961617e036c0ee7807e0d8099f02e263509ee33f351400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e18c45c99bf30aeac4df3b9f5ea756d383e3b8d97eca280f6a0dc323a7f62e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec84e94c17970a86c5af7909784669230d202179f94ff6231795d356413cd035",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a02212e10b72
wire blob e18c45c99bf3
wire blob ec84e94c1797
call 38 attempt 0 · /messages · status 200 · 11.67 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5932 right_j4=-0.0124 right_j5=-2.0731 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5944 right_j4=-0.0124 right_j5=-0.5804 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3173 right_j2=2.8826 right_j3=-1.597 right_j4=-0.0124 right_j5=-0.5697 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a02212e10b72335646961617e036c0ee7807e0d8099f02e263509ee33f351400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e18c45c99bf30aeac4df3b9f5ea756d383e3b8d97eca280f6a0dc323a7f62e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec84e94c17970a86c5af7909784669230d202179f94ff6231795d356413cd035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a02212e10b72]
[blob e18c45c99bf3]
[blob ec84e94c1797]
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BYkoQnHU7EG19r7tdUt91f",
      "input": {
        "note": "The jaws are now straddling the raised top edge of the board where the striped clapper stick sits; closing the gripper to pinch the stick.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BYkoQnHU7EG19r7tdUt91f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.323 right_j2=2.8861 right_j3=-1.5978 right_j4=-0.0124 right_j5=-0.5835 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56fc9328794c1d465a56ffe7509d07f88d1b281c3bb2f6b4de7e2aefe8278b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d632d60b38f303b32df604f35d6e0dbe3df1e17148d982227b41bdcbe6166a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ff64f1412d12c1b9a409ea7bf14401b68918ffd035f46d184db1b6d1c3a5af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 56fc9328794c
wire blob d632d60b38f3
wire blob 7ff64f1412d1
call 39 attempt 0 · /messages · status 200 · 26.48 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.141 right_j2=2.5931 right_j3=-1.5944 right_j4=-0.0124 right_j5=-0.5804 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3173 right_j2=2.8826 right_j3=-1.597 right_j4=-0.0124 right_j5=-0.5697 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.323 right_j2=2.8861 right_j3=-1.5978 right_j4=-0.0124 right_j5=-0.5835 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56fc9328794c1d465a56ffe7509d07f88d1b281c3bb2f6b4de7e2aefe8278b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d632d60b38f303b32df604f35d6e0dbe3df1e17148d982227b41bdcbe6166a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ff64f1412d12c1b9a409ea7bf14401b68918ffd035f46d184db1b6d1c3a5af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 56fc9328794c]
[blob d632d60b38f3]
[blob 7ff64f1412d1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AETXeyJYpi8VwwYf8yMbrC",
      "input": {
        "note": "Jaws are now closed on the board's top edge; lifting about 4 cm to see whether the clapper stick swings open (or whether I've caught the whole board, which would show as the board tipping).",
        "targets": {
          "right_j1": 2.367,
          "right_j2": 3.11
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AETXeyJYpi8VwwYf8yMbrC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3539 right_j2=3.0795 right_j3=-1.6009 right_j4=-0.0124 right_j5=-0.5846 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6c0059e830562317750ad95e7817401e917c8402b35ae75543c2f5a63a3ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8ecdcdf7e86f9b4adaba0ec81f01778476ba55d54f4e1b6b3045fddace6930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e66131bc8d13575c4e2c47c8d603503d614cbb42c676ca55c9abb6052f11563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob db6c0059e830
wire blob 5f8ecdcdf7e8
wire blob e66131bc8d13
call 40 attempt 0 · /messages · status 200 · 29.7 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3173 right_j2=2.8826 right_j3=-1.597 right_j4=-0.0124 right_j5=-0.5697 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.323 right_j2=2.8861 right_j3=-1.5978 right_j4=-0.0124 right_j5=-0.5835 right_gripper=0.0543",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3539 right_j2=3.0795 right_j3=-1.6009 right_j4=-0.0124 right_j5=-0.5846 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6c0059e830562317750ad95e7817401e917c8402b35ae75543c2f5a63a3ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8ecdcdf7e86f9b4adaba0ec81f01778476ba55d54f4e1b6b3045fddace6930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66131bc8d13575c4e2c47c8d603503d614cbb42c676ca55c9abb6052f11563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob db6c0059e830]
[blob 5f8ecdcdf7e8]
[blob e66131bc8d13]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FBq49HY2rck2tPKXxVfQ4Z",
      "input": {
        "note": "The lift moved nothing, so the closed jaws missed the stick — they were sitting behind/above the board's raised top edge. Reopening and reconfiguring the arm (less extended, gripper aimed ~50° down along the board's tilted face) to come down about 6 cm lower right onto the top edge.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 2.09,
          "right_j2": 2.32,
          "right_j3": -1.086
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01FBq49HY2rck2tPKXxVfQ4Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1403 right_j2=2.336 right_j3=-1.1442 right_j4=-0.0124 right_j5=-0.5873 right_gripper=0.9964",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97def921e9d2ea9fc742e19b0400b6edc4fada898f8c451e9dd4a6a3cabd5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7fbf4fa1f1ba5f7998d5d850fe27b26bad53271ae27c68ad40c5e93a137374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d9d764cb3da6e8fa21526eb1f3cd44783f7b38f2d09564ba5ae6d9eb7121022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b97def921e9d
wire blob bc7fbf4fa1f1
wire blob 6d9d764cb3da
call 41 attempt 0 · /messages · status 200 · 20.74 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.323 right_j2=2.8861 right_j3=-1.5978 right_j4=-0.0124 right_j5=-0.5835 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3539 right_j2=3.0795 right_j3=-1.6009 right_j4=-0.0124 right_j5=-0.5846 right_gripper=0.0539",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1403 right_j2=2.336 right_j3=-1.1442 right_j4=-0.0124 right_j5=-0.5873 right_gripper=0.9964",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97def921e9d2ea9fc742e19b0400b6edc4fada898f8c451e9dd4a6a3cabd5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7fbf4fa1f1ba5f7998d5d850fe27b26bad53271ae27c68ad40c5e93a137374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d9d764cb3da6e8fa21526eb1f3cd44783f7b38f2d09564ba5ae6d9eb7121022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b97def921e9d]
[blob bc7fbf4fa1f1]
[blob 6d9d764cb3da]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PyyAWbemGxSaxCkXeP5XZz",
      "input": {
        "note": "The gripper is now about 9 cm lower, with the board's tilted face filling the lower-left of the wrist view, so the jaws should be straddling the board's plane; closing them as a probe to learn exactly where the board sits relative to my fingers.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PyyAWbemGxSaxCkXeP5XZz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1338 right_j2=2.3222 right_j3=-1.1454 right_j4=-0.0124 right_j5=-0.5911 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66e82de0345480b048c36af160fc6a7e666f8162f0d9bc6ccfa7e2575ebb53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b98efc374d18fda91194bdebb552c6608b69fd73d1fb3c56712ae13db9f9f86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c725491db4a9c58588ef9eb9e01622ab66135c6bd530b580582b1089a78dd5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c66e82de0345
wire blob b98efc374d18
wire blob 3c725491db4a
call 42 attempt 0 · /messages · status 200 · 34.58 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.3539 right_j2=3.0795 right_j3=-1.6009 right_j4=-0.0124 right_j5=-0.5846 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1403 right_j2=2.336 right_j3=-1.1442 right_j4=-0.0124 right_j5=-0.5873 right_gripper=0.9964",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1338 right_j2=2.3222 right_j3=-1.1454 right_j4=-0.0124 right_j5=-0.5911 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66e82de0345480b048c36af160fc6a7e666f8162f0d9bc6ccfa7e2575ebb53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b98efc374d18fda91194bdebb552c6608b69fd73d1fb3c56712ae13db9f9f86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c725491db4a9c58588ef9eb9e01622ab66135c6bd530b580582b1089a78dd5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c66e82de0345]
[blob b98efc374d18]
[blob 3c725491db4a]
{
  "content": [
    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DM3cADneCs3e5CfZEdoBzQ",
      "input": {
        "note": "Closing again caught nothing, so I still don't know the board's true pose; raising the tool exactly 5 cm straight up as a test — how far the gripper shifts in the top image will tell me how steep that camera is and therefore whether the board is flat or propped up.",
        "targets": {
          "right_j1": 2.236,
          "right_j2": 2.701,
          "right_j3": -1.4225
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DM3cADneCs3e5CfZEdoBzQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.2173 right_j2=2.6713 right_j3=-1.3762 right_j4=-0.0124 right_j5=-0.5919 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba01dbb8a62c9384bbdeafc5473bed1584bad41bf033d3c321149762d38e88d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5d4da3427937dd051d1570461a53e0a0c4bf3d77cd53c73ede400bf9fbab9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87db826dd28cb864b9bab045c80967e9c5fda557c5c3b7f818d1cbe4456bacbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ba01dbb8a62c
wire blob ec5d4da34279
wire blob 87db826dd28c
call 43 attempt 0 · /messages · status 200 · 10.47 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1403 right_j2=2.336 right_j3=-1.1442 right_j4=-0.0124 right_j5=-0.5873 right_gripper=0.9964",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1338 right_j2=2.3222 right_j3=-1.1454 right_j4=-0.0124 right_j5=-0.5911 right_gripper=0.0543",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.2173 right_j2=2.6713 right_j3=-1.3762 right_j4=-0.0124 right_j5=-0.5919 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba01dbb8a62c9384bbdeafc5473bed1584bad41bf033d3c321149762d38e88d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5d4da3427937dd051d1570461a53e0a0c4bf3d77cd53c73ede400bf9fbab9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87db826dd28cb864b9bab045c80967e9c5fda557c5c3b7f818d1cbe4456bacbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ba01dbb8a62c]
[blob ec5d4da34279]
[blob 87db826dd28c]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SwzwDk74naJohgiejapATk",
      "input": {
        "note": "The 5 cm test lift barely moved the gripper in the top view, so that camera is nearly overhead and the board is actually lying FLAT — the stick's chevrons are the band at the board's north edge. Repositioning: jaws open, gripper aimed ~78° down, moved ~5 cm back and ~3 cm right to sit above that stick.",
        "targets": {
          "right_gripper": 1,
          "right_j0": 0.557,
          "right_j1": 2.318,
          "right_j2": 2.495,
          "right_j3": -1.538,
          "right_j5": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SwzwDk74naJohgiejapATk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5606 right_j1=2.2951 right_j2=2.5065 right_j3=-1.5059 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e607b5d014ee8d82794c7be10cc030c32f8e59fe4a49cc2ae71b2f3344084246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f0c89599c42bd169bd1097273b192266be61b1a12e427e8c6de9a607335d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9da03cc164348a70da1aa08b8b42750e8960389f052fb27e421c306d6f4bcffd",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e607b5d014ee
wire blob 00f0c89599c4
wire blob 9da03cc16434
call 44 attempt 0 · /messages · status 200 · 7.441 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6189 right_j1=2.1338 right_j2=2.3222 right_j3=-1.1454 right_j4=-0.0124 right_j5=-0.5911 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.2173 right_j2=2.6713 right_j3=-1.3762 right_j4=-0.0124 right_j5=-0.5919 right_gripper=0.0539",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5606 right_j1=2.2951 right_j2=2.5065 right_j3=-1.5059 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e607b5d014ee8d82794c7be10cc030c32f8e59fe4a49cc2ae71b2f3344084246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f0c89599c42bd169bd1097273b192266be61b1a12e427e8c6de9a607335d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da03cc164348a70da1aa08b8b42750e8960389f052fb27e421c306d6f4bcffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e607b5d014ee]
[blob 00f0c89599c4]
[blob 9da03cc16434]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrGURFSxC3cyCrJ1Vv9zTs",
      "input": {
        "note": "The gripper is now directly over the board's north edge where the striped stick lies (it occludes the stick in the top view); closing the jaws to pinch the stick.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DrGURFSxC3cyCrJ1Vv9zTs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3138 right_j2=2.5004 right_j3=-1.5085 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5319c58788b580c0c9bfb2d9c3532f9adae60896229fc1e80e19445afaabf5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8b184a149dadba65dfa3f9485b0c58cbffe596f47c6e9ad9786b8b9bdf1cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f85f89160c99112f85a38038d5b609c9eb66f9d2eba328fd94ff43e5a2dae42d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5319c58788b5
wire blob eb8b184a149d
wire blob f85f89160c99
call 45 attempt 0 · /messages · status 200 · 20.49 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6189 right_j1=2.2173 right_j2=2.6713 right_j3=-1.3762 right_j4=-0.0124 right_j5=-0.5919 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5606 right_j1=2.2951 right_j2=2.5065 right_j3=-1.5059 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.9958",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3138 right_j2=2.5004 right_j3=-1.5085 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5319c58788b580c0c9bfb2d9c3532f9adae60896229fc1e80e19445afaabf5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8b184a149dadba65dfa3f9485b0c58cbffe596f47c6e9ad9786b8b9bdf1cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85f89160c99112f85a38038d5b609c9eb66f9d2eba328fd94ff43e5a2dae42d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5319c58788b5]
[blob eb8b184a149d]
[blob f85f89160c99]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kTzjUa39egaxGQH5ADuDt",
      "input": {
        "note": "Jaws closed on the board's north edge; lifting ~4 cm to see whether the clapper stick swings up with them.",
        "targets": {
          "right_j1": 2.42,
          "right_j2": 2.856,
          "right_j3": -1.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_017kTzjUa39egaxGQH5ADuDt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3989 right_j2=2.8323 right_j3=-1.6539 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4aa281d9d9c0749b6f10136fe8bdf1c6d38cbda34016ad88552fd8bd97e74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349aaaf36e1e3105029134d400fa3b59dac49bd55a78abbe72d4e1d5ac179033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1628138c52733fbc8c6a97376c4fe186751757d79f35b30972da45736b9919fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8d4aa281d9d9
wire blob 349aaaf36e1e
wire blob 1628138c5273
call 46 attempt 0 · /messages · status 200 · 15.59 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5606 right_j1=2.2951 right_j2=2.5065 right_j3=-1.5059 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3138 right_j2=2.5004 right_j3=-1.5085 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3989 right_j2=2.8323 right_j3=-1.6539 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4aa281d9d9c0749b6f10136fe8bdf1c6d38cbda34016ad88552fd8bd97e74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349aaaf36e1e3105029134d400fa3b59dac49bd55a78abbe72d4e1d5ac179033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1628138c52733fbc8c6a97376c4fe186751757d79f35b30972da45736b9919fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8d4aa281d9d9]
[blob 349aaaf36e1e]
[blob 1628138c5273]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JNwUgov9WPaxkHsRH2cdZt",
      "input": {
        "note": "Still nothing lifted, so the jaws are probably closing above the stick; re-opening and dropping the tool ~1.5 cm lower than the last attempt, keeping it over the board's north edge.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 2.3124,
          "right_j2": 2.4545,
          "right_j3": -1.464
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JNwUgov9WPaxkHsRH2cdZt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3615 right_j2=2.4702 right_j3=-1.4754 right_j4=-0.0128 right_j5=-0.9508 right_gripper=0.9956",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ba6a15ec9755882bb4875059f6e63483017acb280e818f88b04e99f05f2cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3efa2cf4bdb792b1cb532b233f7cf830ed7824397a860565d8025be77cdc9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dc17921b287c0c3e1f80812574f873613e73f6eb8a780c753897f10b2b72143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 25ba6a15ec97
wire blob bf3efa2cf4bd
wire blob 7dc17921b287
call 47 attempt 0 · /messages · status 200 · 5.801 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3138 right_j2=2.5004 right_j3=-1.5085 right_j4=-0.0124 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3989 right_j2=2.8323 right_j3=-1.6539 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3615 right_j2=2.4702 right_j3=-1.4754 right_j4=-0.0128 right_j5=-0.9508 right_gripper=0.9956",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ba6a15ec9755882bb4875059f6e63483017acb280e818f88b04e99f05f2cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3efa2cf4bdb792b1cb532b233f7cf830ed7824397a860565d8025be77cdc9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc17921b287c0c3e1f80812574f873613e73f6eb8a780c753897f10b2b72143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 25ba6a15ec97]
[blob bf3efa2cf4bd]
[blob 7dc17921b287]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYUjo1MywNbMAAsSuM1Lvr",
      "input": {
        "note": "Both views now agree that my jaws are sitting about 4 cm too far south, over the slate face instead of the striped stick at the board's north edge; pulling the tool ~5 cm back (north) while lifting slightly.",
        "targets": {
          "right_j1": 2.114,
          "right_j2": 2.124,
          "right_j3": -1.376
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UYUjo1MywNbMAAsSuM1Lvr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1559 right_j2=2.1487 right_j3=-1.3464 right_j4=-0.0113 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0757a19342a528b601944e01c0ecada7cef945b2f687d7f4b8e51c729094e550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6f49c5c03fe10fd3d5ffbfc8c9b08a748bac2b7f8f42e88f053181c5603e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6b40e2fd1a1f0629855109d675b0a3a788579b1d0c711a7de50f37d8b9dbc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0757a19342a5
wire blob af6f49c5c03f
wire blob a6b40e2fd1a1
call 48 attempt 0 · /messages · status 200 · 13.04 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3989 right_j2=2.8323 right_j3=-1.6539 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3615 right_j2=2.4702 right_j3=-1.4754 right_j4=-0.0128 right_j5=-0.9508 right_gripper=0.9956",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1559 right_j2=2.1487 right_j3=-1.3464 right_j4=-0.0113 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0757a19342a528b601944e01c0ecada7cef945b2f687d7f4b8e51c729094e550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6f49c5c03fe10fd3d5ffbfc8c9b08a748bac2b7f8f42e88f053181c5603e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b40e2fd1a1f0629855109d675b0a3a788579b1d0c711a7de50f37d8b9dbc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0757a19342a5]
[blob af6f49c5c03f]
[blob a6b40e2fd1a1]
{
  "content": [
    {
      "signature": "CAIStwsKjAEIEBgCKkCo7zZ4CXQjFAn+gUp52uY24H+ao1xRERGQX8ai3m01nWob+KMLVZSsT9uM6mgcYbWGAf/B8gh24C4dfLuAXy00MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMtzBjnRBxXguHQytBGgxM2pbad4+AXGgiD60iMAyx34d8GYRufXuALNGoRHDvUterSmV5QelJTSpF3yeUdFOrTe6/AZjNaHFDt5E4kCrXCRtugqGVSwMfpJgI8FK0VRGrJSvbfIWPJ/a8TxUA4wYcRR9fXPQ1qzsMGeRvme0iRfw6tS7wF6YNnSbgGNjlO92Lt3S2+AOlu9ZV18e+qaUvqyID2eTf8DRWaUiT2staCdYvFvwC0OJF2ghgNTISp0NYBJ9qiOf7S5CBik/1aZC7IBulTONwifVpCXhFfBpZJS1F2gMOd393vbsHT0tVvEfdGklFX8pi8E4h0CJvKWmkM5Scmmb9RvkGtYn1+dglEB3tt8fmMLxRYf6Trza0lbbFDcgqTB4vPQy723FNMfhPyeyQ4rdmZFCai3nMuxmH5EoMnlSptFOJINmuBmUDzbagNwdJOc7QRJ8YGj1PIuoq8Sc0QvvOR2ar8dgvtCy42fZrOIs89QwPre5rqZgwbnnFpeXDs3HlXf/sPiipBhwuL25TQ+VGjvTGcOHwz0BNsKH/6ySVv4ajFCGHAUcgxYvswFW2G55hRC+GbSsmjk78tUZ1w5gFWXKWI8pQeuMi7GCxPUpq7U5Fanjhf+h8b3auwGjUgXpPPuHUnHWp1a2C+8Gg1nBuRsuXbZq5+99r5GMbo692slPR2pkq7IIVSNDBh3Ul7wKMVgt08fnK/P2vxdsKccK/3Cs1NOQycfuquWYnynI5EiIGI6CL3w54wucQpx96VeKqIdSA/m6e4ydIFV36rLZ3jvl7phDclYlQKsLdP8qJ/BDRNWvzIiEpZgcv6viMpdNVy3xLqdY54JZAoDAPOtCDZwwKGG+E4PWY0OccblDqI8+DTwxZE9PbUFb+x4GO/RuA/vDTfbCUzJEeMP4qzBdJ/uxi4leMkfC3v0ZAPO3GCewXSupcmrscxSdQw815MlGKwRIs+0dUfYceCK+20/ePzslJqJCK9VVy6ETHt/d4Xt2gIpTI+T5541sRH4zZ0SZQnOLjge4dG964z+aEwcrL8dZeHGYBl587UOVdSfmwgoZeL+8ZjSzvjI5Td/W6+32WwsfBBQxKAy9zlCVSGLm5P4abVZnIxX8FyvzL2Lsuj+zXxTieNXVZCBPJRrMecH1IuJe13o14oZKBWsyXtCxsweNn7luLEqJpf88IJT4YY7oQls93rKO4bBj5ZPAFyN9lvB7mTRE+erA9Uoo8g09Y2cgN3y6Rw0I66sBry8lbo207mKsMRt9KlQfkBlEvMT8ALtTuhX47JwOCpE+R6gSMPZeSuOL2e9LA2nIXhW1kwtUOFluWGKtjpMsn693M4rEFFwskMj4XLkECwQwDWZmQa6kV90f9ZuG7tcRRGaSRK4eJuylO9dNiOR7uux80OjIE12wxWYIwiQpwkAzBR1nntenKUDdD7xIAZ4qRPF7phnXd0U2LGz3hoJtJXjb4LbhYQG8Kd4sq3S4R3Pj+6WLQYTikGLBLKBs0wCijrNT3AiYo6qxqDN0TIvfw4l9h07AonLNq+tSplpPg0ZiZ0Ux8fHACYe/pd/lLiuiOaLJk1PfDjvuAWtyX8bXKSNDVNuOLBpNohmVYaEUAQ/Yq87GkiEsgJHfqwpUQCnJkMK4ewb8fixqXqLceBN/c0pxwY2HTyuPQRUe1TsZnSK6fBZwaaSCmuSB5yAx+Q5qLyvWACJl5smqT+3JTLZau77cLJNEu6D2egEYRnprwTOUzhZ+rGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ABuZqTMkF7RnLxYXoRdjtP",
      "input": {
        "note": "After pulling back, the wrist camera now shows the stick's chevron stripes right next to the jaw gap at the bottom of the frame; closing the gripper on the stick.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ABuZqTMkF7RnLxYXoRdjtP",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1403 right_j2=2.1361 right_j3=-1.3426 right_j4=-0.012 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0823fef0c95956e5321501fab25f3c1e0f03debbb5c9170e97d108c8cac0bfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b5c90332c83fd3ad4902345c2594e1bbddda8ddc2b806d9c2f883c501f9740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1107bf83da3964094ca839aabd69b8e2bbac351f8984068344e45c62537cca63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0823fef0c959
wire blob 9b5c90332c83
wire blob 1107bf83da39
call 49 attempt 0 · /messages · status 200 · 9.203 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5591 right_j1=2.3615 right_j2=2.4702 right_j3=-1.4754 right_j4=-0.0128 right_j5=-0.9508 right_gripper=0.9956",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1559 right_j2=2.1487 right_j3=-1.3464 right_j4=-0.0113 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1403 right_j2=2.1361 right_j3=-1.3426 right_j4=-0.012 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0823fef0c95956e5321501fab25f3c1e0f03debbb5c9170e97d108c8cac0bfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b5c90332c83fd3ad4902345c2594e1bbddda8ddc2b806d9c2f883c501f9740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1107bf83da3964094ca839aabd69b8e2bbac351f8984068344e45c62537cca63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0823fef0c959]
[blob 9b5c90332c83]
[blob 1107bf83da39]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ACkKVojvYU4BjFSuotvY9a",
      "input": {
        "note": "Jaws are closed right on the dark band at the board's north edge (the clapper stick); lifting ~4 cm to swing the stick open.",
        "targets": {
          "right_j1": 2.154,
          "right_j2": 2.319,
          "right_j3": -1.512
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ACkKVojvYU4BjFSuotvY9a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1563 right_j2=2.2833 right_j3=-1.441 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b534ca10c61de45d05d73d138b45fe1662f969caf12aba0cb285c42a24f9b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64adaff093f28f4b34fbb98b0a8cde0304cdb3c356c08ec77f3858ad0c829f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d32e4de38678939d158c0d8a07ebc9f49cf38cd19c900dd271bcc9a85d84426d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1b534ca10c61
wire blob 64adaff093f2
wire blob d32e4de38678
call 50 attempt 0 · /messages · status 200 · 16.69 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1559 right_j2=2.1487 right_j3=-1.3464 right_j4=-0.0113 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1403 right_j2=2.1361 right_j3=-1.3426 right_j4=-0.012 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1563 right_j2=2.2833 right_j3=-1.441 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b534ca10c61de45d05d73d138b45fe1662f969caf12aba0cb285c42a24f9b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64adaff093f28f4b34fbb98b0a8cde0304cdb3c356c08ec77f3858ad0c829f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d32e4de38678939d158c0d8a07ebc9f49cf38cd19c900dd271bcc9a85d84426d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1b534ca10c61]
[blob 64adaff093f2]
[blob d32e4de38678]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMUqwqnBejSXCUNCtWwdJc",
      "input": {
        "note": "Still nothing lifted even though the jaws look centred on the stick from above, so the fingers must be too high; opening and descending another 4 cm — if my height model is off, this will make contact with the board and reveal the true surface level.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 2.146,
          "right_j2": 2.106,
          "right_j3": -1.274
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DMUqwqnBejSXCUNCtWwdJc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1536 right_j2=2.1185 right_j3=-1.285 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91e3977bccddc86fa7fc9c0be3fcfe820ce76a963fb977cfe297e08d7402883c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20889e7be3f50018a143472949adf488c7066523c1a0c68d5423cce97a247ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6747994538fa64cb64efb61d85f6be3896f37cba851a9e0fb72dcf569c671cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 91e3977bccdd
wire blob f20889e7be3f
wire blob 6747994538fa
call 51 attempt 0 · /messages · status 200 · 11.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1403 right_j2=2.1361 right_j3=-1.3426 right_j4=-0.012 right_j5=-0.9504 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1563 right_j2=2.2833 right_j3=-1.441 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1536 right_j2=2.1185 right_j3=-1.285 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91e3977bccddc86fa7fc9c0be3fcfe820ce76a963fb977cfe297e08d7402883c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20889e7be3f50018a143472949adf488c7066523c1a0c68d5423cce97a247ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6747994538fa64cb64efb61d85f6be3896f37cba851a9e0fb72dcf569c671cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 91e3977bccdd]
[blob f20889e7be3f]
[blob 6747994538fa]
{
  "content": [
    {
      "signature": "CAIS+zYKjAEIEBgCKkACO7DdEl6j0doFZRs//dt7LunQ2QB0ncNktrMD85GMv/wiFE0E6xYJLruk3pq1l6rXJ8x/T3aUHkwghWMquBq4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4FnsVF1QPndZAjYgGgyTypN/B8hBY5B7PxoiMGk2wmcC7vK0sK478ILHhkcUXwBv3wYM2sHCS4pjBFOZj6sHmoDW21KqC4qK6DFZWyqbNTATELZQ8lnpogrzmK5kOxqmP0moGrZW2NOQy5QePh25AK+INsEEJU0XtjkjJzo9FbZo76cGsEn2QCjYucU7Q5hXzDwasNJOZRp03D8V7t52MlZ15WS7snZrPRb6kgZ/PkFVu4511PE+bTwTr7lL7ESsScU6Y3akQKCK5BhVTb4exmR/ntO6C36+mQHc/R9JB3N6FEkzW8+XG3aZBTc9YO8UoS3RluNlVF5jKEVInXg/Bm6fPxF1N0E4mx1NcJvMh9euroo5l75iIZ5ewoGYddRkyVNLyshO2W4IO/Xdwoqo5ZdMJggbAwtqtnC/w8uUsANpIY/qMTuifDfOM14wcYD1lgEUCeFjb0Ma0jkuXxjm+kXzLZw4hZK+lhz1rhfgHb9oION39SqNFhcQrFHCI/d+ENni9esAgZosxHENLxCd7HV0EvaAafKT6foMImoPRhuJMGI4N73slEJYSecRu4Qc0HWr5N1Ps435TG4sWUvYlmTZmyty2+Fju56gYa4wUsUUbW/oXs0GEuHm2xDVT/aYWgTi4/+2JiSALK5BErVUqpscX4y5ZgLa/ZREcC7xC7SMwLbIUyMGqpi3F9y/6Z3+fv95ppMEzjHrlQn3QkjjdIjKwh/rqenallA02DK1bJC8qjs2uYrz8uA0PttWCbwnQoANOfRULbUL46cht+ltbpXBBjr0JxfhsE5TwHO3JgkjLZrNB1m1Gt5OeOyyieEv70VKVzqcS2uAwe5YooCVauuAJK+iUQ8COox2C2g4Qilj8ymnDxPq3auZi+9UeJ/7xkascm+WwbXcl/h/2Tblxd9w+GI0ioWlZPk0KfKz0j/FzDpXGpUSpA4c21SeMkduhyjLfngOzYPBcMbquw4p80NmMwbHJkwN8xcfT3wz2v45HKjrTIl5ruP3PzEoWqtlZqz71bk0EdxmUkpKZyEfmpucuOXRHmDD1+x+yQgZ8rMxha+ZTlRx8F3ByNiAy0L/6mqIJMoSvaXaPatANx1RAI4cdlDJ/6wkbCEUkyXK9TDQ5NHjq90XHD/LWXUqAebISi0JyguYCk9uY3T/rW4H3bpT5x0hcDI9fhksR/e8VTz7UaQMJ2Pwa9sHg4IMYwaNcAAm4CfNfoDk4RnrF6hRI3Rar5ruwpxOx4r261QLutOgQXD9pUiEn7E8Fl6605eiLS2MM/IE0CF+4I2D6e7yGsRukMySAUTMUXd7Dq/gkPzBXyVnUwURm1KSLX3BlR/+SVQnib2TIpMbnpCmT/nXUnWBmlnjMkHEtLCIxlHOhpCY/TY1jraX6h5dUDG+JoMJCkc8m3F5lctWm9ui8XGmFY+Et1neS++1G2/xbRTtykuTPIak8Mu+7uo8Lv3n5vxXlW14xXJwl7lDRIZkRu1VKwbmu5k0vlXhAPPrlM/DfR5OZYf2iijUqDnw2eMBp3c+bdklgUU2f8qS3qhxy2G7qKsm/WGeGSPDaKxKfGCCT47zEtQ8rlEKpbzjoRKGcfn4FrTT8nRXnvfksqc3SLPeE46uSP5t+vitiDfj9w6Yko9hyseOl/sIKlf5o3XLC66L4KlJF//xoe0tjjfDej9rY5SWSsndN5zkHNJIlgPztOKPdO90Q2Q7pjCCclhsWyXgi+ozSAvC7YwuwefP/4JfpJyipu+IyJY20md1Qu8SiNb/7Uk3wqG3O9sPWCqbWpmOBR3GAZrFEZCkltsqz3yK1hTc/F7iVFWx4CizWCMNZAMyEObjGg00rlUzQ1WC9tj5Lo5ZuHVQ/gDNSDHQaO9OW/tehWOXWRNBhh431CYObwR7H0/72sFwZLJGcSnaGDHe8qxYo3hg8f4KjiIB1533DSOFmAvkkiEvGYgewj+dzkQDDhufJiZzQtVGT9Mc+Ya0K9TvnmLigQXl9eJcwCfiIaQwrngsMkkPPytqhj8AdFpTlYMyG3rfLFi9yl7I9lhrKhAGqV4BOR6OQrZoH1NLaeiu84XkHpS0NA8EV74BLkBLYsy33mAjam+E3lJvh2bG06JzQmNwdQrTkApA8aAbNRXPPlvpGrOB4ry4FkctqXnI3hu3qnS/zLHlkpI1tpW2m0XwX/Gc+du5hqABWYjWQ7bB8K3Ljo7UNQayIbnvIMEv5wqDxEWgsvdJoc37W/hBqI++Km60FIf9m7LvTou29UKnqLETEU9A46eTQ3jHOr7xdKh6/rsIzbohifL7b3QHhtiS9N8yTXIKZ7u/kMWDT3h8Pf0tvkJJoJScpAPJl48iX5ggasandxbOBpFImmGgRdBtEWqB4QNDdH2wOrUSjzwG8uxD/nyGA7F1uELPuooWYtAZdPMpqsWBRYKKOUmeEG5Z1XOLaIPa7UqFBXIdr7gKMzEoX6OFAbNdyQ2sGsQ4s06udvdTx2yIJ9pXwzxcjYEOfqzAQ43gWMDtLfmtQzck0NOEKIs6CFEloHabXhk+k54GEjZBI9Qj+m1BK6WzNU1XDwZZrVtPEcTsqKvzDTVd0WoxoWjB/2hsXJT/mcQfzBzVruc7sDbxRYR/7KB/gQUdvKRJRFaPjUgBc1+4pW3PbutUuO+CdeJBxau6xxW9xrQnGJWW04/OAitl19C715IGEE1wVq2Uur2fbAJMJzMkk03j8glPWqXelUUox7QGnp8YKzms2SOsNYcH7ulEFgSrt45qz+Ex5RYLRxT5UiBqGLAHFUdVbUmTvk1AFcWL6XCyHQN8C72ejZQ7kMBqnCE+RV85Tx69D2GrHat50uBq1xVMGseVD5sDOYtoSexUFS4C0WssT0DuDWwdVxtPw8z2YF16l38P4d9nxpKI4zMtVON/tkcPan8iNoOP8wAMZzo9Pj+3EpIq38sU3JSgahm0Wbl2Lb/KBDF4YlwPSUn5YR67xXBSjzCf8feDnJjq741CyiXAcy1YUKpbTvq9+HKFBKIvDwt4AOdadVNTXJPitwj6Dei9iIC7VuT2PXVQA3kBlTtMzy9Pp9+nNMlrWjocUaxW23OW+IZKhMIf83Ql/e1Df/0/uau+8G/1cKvgHdyLVzgnqLQ6bGEJwd9Y8nca/xfwanaWv6rHRbDQyJoUTiclorv/IGwFJ7MTyOqcxkd5tHExm0IXlAPEYqymxCtEAJYZd3cWYm6DYyAYR61QCHYnZg86UevaDUiXY2TXAGv8kUhhzYR6U4NeqnY8ANCtEgReWZORWtAwW4q8Kgi68321D28+Xlf1C/Thw03Akl1kHxq7YUhbWyCIKFD2nzK0iOaisd1QeemnxV9bhxz5csNRWRxvtax723fPxWRcB1IGKe14vxcKskeepM0vmhPoaP0wPWGyZrbttkkbXHg1YdvYdBEyDhTtHu6WaC2XSWrl4nLNr8CDIM7Y2nmVyL7VweaM0qxXl1dbKhjqXzWNPbUu9WFoKZScjG6R+AcBKPluM09/M04XOnqV588zZDur7PrdsxDR7YQoTn2zmLmniz6WukTlw4ObfbycfYHhpZjas58ERmO5jDWADMkWlDKO/LTFxl5ac2Zn4Xq3Q70t1zqzkRjDx2RNU5MPudBVD3risI9Mnow6lNs7PP537As1YYbi2MH4nfyS5xycdGlyv7BZuqOVB7y0TPRJdmAU/lJ2DvRePgbNrGr8GxJC/zhjEEQz7x1QR5dCIndKjIiXNnOFoNp/c9DToNwkj/ElSL4u+FVlw3snlT0bjdn6aa6mTS5NlyaamY12B8vjlup4I5a9Z6uN7CISR8eetSnxQoLVRTxARPv5OGMJE9vj8UZRF/o5NkFCufaLCyY1JvdGSSA86r04jf2U5PMwpp4mWYc2gATKZ5bhJxTgnWevOvd7IDLYEPpH4xhSW/Q29Rk2Iu4lVt+fQX3I93/+gyX9RCzToRJQXMrdktQPkpeqa/RY236jXnwl5uswgIo0x4cApLqlE4+9/pNYt1gzYkoaWke1TpE6Pbd0/0ftCS+DcgOn9EMPqVlN5EY37u0ZOz+cjaRXL/z3zulEzyGmx/5RmpJKG3VIB23wnPpnFA/zSHnCW7m5/L9Y7CPB8u6/nxvXVPCmwHHN62sjMz7sa38unnC/bX32De5OGlpXaYZROyx/y3N5Ffcm5xydIE/ZGbRcksoR7Miw0nT9nOrOAdhHG8PDoUNXxxPpT5jhipK73OrytJwUX0jx61Ne6V7G8kXoVDeE4FCP+aHl+dSIQKUdfc8EuWfbmMEUlMkV3L/+6Y2+8HtTb5RAfXnrAMBScxx4yIJGpQ4ikOTezbL26J4WHfDYAsgOM/YSQJ+v6on3m2jVNeD8LGbD318myfCnLZgvq2Avll1q3Sjb2T0PPqaJqBiFYhjHN4mSuiHWaDZKaJwCUvMvhbZZdL6Lp+VMnh1hBtSlszX5R0WOiRMqwzkMyE27cvBsthKwNyVhwpE2Vd83k0P7ftRXTI0lahXweXOLWaV9mXIgoxML6j//oN+kTx9Q/levqp+Fdk0OOx2jtBIsGmY+HaQqTWkLuocdl2ON8Qh/KIHlCEA2vGqVN229JfXsIaDorneVXklG6iXWOtraORMphIO2EZUxsG3R/TUIWxoKTAMmDuaQAGhv4EmMUNn5FrAeUkjJV7iF3VQTKTOThXLEXS/fhvFhC3MqgUfkaahlB7QCwR0NOdKDVTAOM7SkB46Jzd2gBrbpBtChSFyOXNH6haRrhJf2fDekRr5Uhbwp0gbKH13+zO5wINVw8PkZKWfo0X2KztYrybEp/Gepbd9GOUUQi2OsRyyWTh/jsLsQNHizTvrny2+UuuvFilYwLHVc0St7G55SWHlo2t9DEiZJX+eyx6fEgK+j1tjXBfY8+yFZz04W27Wu/+5PD8jYCgaWegwm5cwoZ4gD43bX5Gr/z1FQ5D35uGHq8FqtZYewNnX76/fnLXuV5v3Qk6Q9TYJqX+Ac8EW304HAOhbtJvpHF2jRHChKexeDYlDDkcejJkqEZjyTG/aOPaC9RC7KQMtm7gV4Kg6kaD6K45Fy+utOIJhmD+Zt19YRqx6Ta+KYIFMJuxZSGQr0W+0T9sMI+ZcUSpiUgQG/ycY5nu/tmCsBQ0bWp/C5jGSPIifk2AKM1AH7+J+3s5+u+uNMmGFyMzIpKDjmiIkuGIRxIynoaYkrLsUd2mUpm/vbQgtkh8KkI/A8kciy/4Ep0LN9PBb8B1BHjoxogvU3ea/XFR8sS7TclN0Xu+oZ05PRfbu6JdvStYk6rMIhnuTbHKHWt95GdvTBaqCP0UiQ6kXFqISpcC2Ggpx8uO6b2RGvAZVONVA//pmH2wkh0G1ofwa9hn56jqnGwDmvCx/iULb7/XhHTxsqNyfUO0CNZm0mk+Qs2k1Fq/E3MmqONAPl8URWcZlGA/ZvKGs5eqm1eahCYc4VNaj2neCX99155aFTUXIH70WixGq2sH+DGMj/km7IX4bg+2AgneU78YPL8wiL5Jnsx/wOswjhSrIpsOxfAtrMwymYxE2QQhDRfjmWfq0+/FVN9R1qpEBMA1VdLEIiIX0xJnYpVHiRia6onSwEoE45dkTogNuupxW2LB+Y1RLfnPadmH9K0Yb07/NcjSsAwJ/rCv2z7riKYAx01GMOIQMPzzIT+FyeZJMt3MHF2OJvem4X7fG8DQSsUU0X1pYgIXKWNUtk/C34pJdWooB5QsbYj57f8K+wLsNCjG+FdBLn48N8YSZIwGRgCP5yQGCOAzAordDXEQWgr7St9FlVFHPSThktkhypCdpdYPHLyTP2JTrtXcwipn3FmGDVLfmP6xKzENMotXABddBDV9wn4pbJlD5GxcPJmKAbWUe0KVO4r1FG8+9+AEDwmEAOOQXZzPYF1liDCTdnBbn+tvutjt2G8wKF8zyULx+9GIiVSmJaYM8M9NqTwV2AdLAr6Bi2z1dw+6aVuGKO4Tgg9lTFc2LTvcpfgiSCNQHriSDQj1oPrcmnAUcq09iCB5m9tulVRzvkGzfQlFwJNEzVQj0JpJuQTV/JlForvCkp6X6kR5l5Cj4oZ3vAwQpkQRMemCqokSp2riKJWU5+DkVysiImCacJV+ZsdTF0C/hO95IEjX1lNDd8+VUlYMhjuDmSkU9HGICaVUDxdO/YuvNJ9MGZs3icXliW2bQ1rfowZLfKwwDKBXFl1lREooM9NoweTH4ImwynlFI11DtWOx2tOc8BNQlWLLZz6YRD+wEnIDVDxygk/ZrHfc0Cyv1MHIbwkJIrUEVVg67SryIAgvkkCiYx//ufdHhUsjnb4Q1N/2V+8yUcjP+Ei23/uiKKhGNzNXOnxG5apYKEmKdPxE6B8OQ7D6NGxMnSgtJtLoZBFU609Ig5i9BIVKSG+9Yr9qDNQOjNOnP3rf8uNf+AxaY5EYj+95EbAvM7eH4A6khGhIIbZTRurREHMZnowFEDixuLx5ioIGrmFh1syIafVf/LDkpR/qVVK6gYN91KnS1xawpeMEqQSYD5Nt+yZn3gdzt7fPtB1POY5UjqVKDjWLVpxG6wchlE0TJRCHwVZRSY+HyBH5B/lJ4fIJIZ+6DGskeBkAwuQkoOL/HMp3ePVWalBH7NjocMrcoPXUPocAEGdpT+oqYrLURr0dFmbnyc5tbTCZvdHvYC/4wX+onfH04VEJJOcED00bEft4rB8Gbss/obb/OlyhjbUgMsO8dxih8218pQcOhANY6GSfGeUIVHri2aVKT3t/gYiCxqnmAu64DqlA1ueAiRrcExQBOWBoLy0oZMeHFO7KnGYLfT+6OA5KX2KS0S0cpxWAXcP87k9/qkjinjAmCXsgdOwc0Psym61UPrIQ6RbXA2Ow1ilUj/hRJ3HPpoxOoCRDF0W6ha0BYoLS0CkGmVA/nqHFK7+QFUWOfLJVpq1jfspbhZQ02glby4+QSJ5ctwR7UGraT/BKd0er0Mc7ZyDmTfwouPMg/EgYzWq0AQoQht2I83T8plvnSgqgkDbGBEMZlO7DMCyxXetttZqQkG5c19ZqllsOsGTjjesIXYuMei1PfxSPJi9M2VD9eYklAJE0qTZERczARoDguCxwes3tN+xZU6QcNOO12TK+acTrmdJ0yAMHZ4flDQnP7knR/4wxBZHVQfuM3GncZH9mUk0jrIzpgGlIfwviDpcoM9ZueXhO+hrEnMrAPXhtJj22hM6ucd6JnM7JDqZJyr4BJ4T3RU0TJaFVJw3S4sE4x3o3PvY5FM2sqWglYzxf3adSE4lUWKki0usHNId8Mh1pq6ZUEFlnWp9Rw2xZdqEAda5FiRWEwk28LTHiztReRboAc/eEbyFEWCwcq6aDibUBaTXFyMiGrS1KlozDqLWKh6t2NeKYdhpyh/XYPFHC4Cb4GwLNYpcWZxti8+NGuLNgrEv8s8Ks5g85bZ4TZvQkSMxkTjPwoN+kY6mTYsNPePYONYwqDa3Gcr6AYIFCXtYup6BwnKhedIHVBZ67+/8YYZaCqxn6cNz1aOZ/nukfI0C4ETv70nyNK8FrlqEtSrUt3ySapOo/CbhFjMixNNasduuhIeU5fzwTmReHMpeEVYeeUpDfexFJ/XB59pbBco8w6amCz5mkjmU15YEa7+s9VvbGrrVGtCFIksftp5FNn53kJXj1WaMrPGpJEnFNCqKbbGYY/D+reand27Dwi40u846VKDwSni80DSLXSRbq/4G20NMQ1XMOaQvf0nV0r1r2CN+94KuJLTFJWFjlI7IxkNCJIz4B00DXILGWEW5O4cX4bndTk026wurGl34tTIkrx7H3wmR81sUyHsg/8MipuU/b88gNPvYNduCcut/Auzwxoy0gPDNuNGGfzg1C3OHTbkPluaURK+pWpBss94rbRhfEHb80v0EkRxGlVkGZ//BU0evLvaZzAUwJdYSYKANe4RX91nq1D2tvmsi3DOiEO4LBxaaYODzvJGZycTlQD4jKFDEQGNGXnYCeBBQpjk3Kh0uCUjQOkXKYze0OQxqtt0Z7zxEXfdfV8c6v3q7T8NVeNSgnTRhObeuoJltPNlcltUXh2GRxxQ8fwoz1jiRcVGsxgezLOSyjfPDWU6ZYvjpuC9NVeWEKvnQ5kWjr7BC1UlZ1kbksz4C7HpPJYQfiqNc7cNPGKcUnau3t8kOyDmpn7AwZSd+tINGruzfuxmL6aCJGFdiN3qlnCFivd6miO48s5Tc9rVYvKp+fE7jvWr/utAssKxoWm+X6tlqSkiVFzAPWqauUrwdH6mkoeHnbsOVvN540qWzhg4IbKR4Vr3LUi9a1jrTWTOr87Z/yS678/EKikHSvIOXfpLnLJxAH5WITq+UKzki+nyLS5OEtpEcTIvIeZfftQR6G6QT2jqpRTWgyvW2MN9nMAEP+/TUJ1MVOsYxKoA4tGSjJdc0tf2VtRbIBHwYuW+DDIYUsHG5CEZOOFbU1uS+dhDfOgJQ2CJq4cuC67D2Ijjj7n+Y/6pTAlsThCf/YYekb8xsTjWgYSinCq/aW7MYy8+lcHhNXdCp8V93u5AIvZ3WpGZwCCRiA298x4WoQ436chViXoawkxtLVjKnaKOovapjIZ4YJV4aKjci3NWLpx7DXI495PJD4nptjM6mwHeIiIIN0C90Agl1RWTQVbwF9UioPuV4NUSzxc2gDIrlzPJcGXtxOaI0ujZaVHZOVC7l/ls/M6ZcZcXpL7HcqEjFSSJVHXWxJFsF0JeQgamdrpdsW4vgD1dEfCUK1CA4dbIA4nq9+2lBrLuJJSNisVRg1QMYTMPeU1XH3W0SCpyekLMeWJPbf7FKxRITQ4/NqqOtk6b9YhvQwFSHAbry8qzkijERvt7Q1NiRfKsbnqlJnWaDnySqXMhbZHNkZX3L8OFsSgOc4Wl9lfokzpLOn3jSzS52hSCwijAfHuQZXI1EFe7paAKBL6//xn6fgRyd+VpaYl67xkMcAU/3NADR871FRy+v1KyJCpWU30T5M1gR0a2k7+eKgshc3FefT11X16hpxsPuiBQ40aDBcTQlMFlwe7SIqYN/vHL/0hiCFJwwdgoL+Bl18xsdrfoEg2TTHzQNiov+xcXPVrzte7UmY1WX2zllDfsHWgx/BRwqx9YHlkXNZkiC4MxbzTvahlhshB36FZthz6UXEzI+FyHhursoBr/jZ8lN1PXXQUtrozx/XyTWZKYfDs75ER9YuyFOeIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011UtGSdLhXfSCqwv3KrX5CF",
      "input": {
        "note": "No contact yet at this height, so my table-height estimate is too high; lowering another 3 cm over the board's north edge, watching for the fingers to actually reach the stick (or touch the board).",
        "targets": {
          "right_j1": 2.163,
          "right_j2": 2.015,
          "right_j3": -1.172
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_011UtGSdLhXfSCqwv3KrX5CF",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.146 right_j2=2.056 right_j3=-1.2171 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10ce25d38021ec60a86d68be9b83cb7d655455e6adae0a6bf864b8638c76a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f1d08982a6c6704ab82b81f67dc66513d6293afe704edd10e6dbb72c1fa1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfd3be257bec5885f8c8f5174c8d2368511104f2878d4dfab8c5e8e922be09ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e10ce25d3802
wire blob 72f1d08982a6
wire blob cfd3be257bec
call 52 attempt 0 · /messages · status 200 · 17.78 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1563 right_j2=2.2833 right_j3=-1.441 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1536 right_j2=2.1185 right_j3=-1.285 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.9958",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.146 right_j2=2.056 right_j3=-1.2171 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10ce25d38021ec60a86d68be9b83cb7d655455e6adae0a6bf864b8638c76a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f1d08982a6c6704ab82b81f67dc66513d6293afe704edd10e6dbb72c1fa1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd3be257bec5885f8c8f5174c8d2368511104f2878d4dfab8c5e8e922be09ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e10ce25d3802]
[blob 72f1d08982a6]
[blob cfd3be257bec]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpF77FZEuaVzHTEShxRWSH",
      "input": {
        "note": "Closing the jaws with the arm held still — comparing this top-camera frame with the previous open-jaw frame will show exactly which pixels are the fingertips and which way the jaw axis runs, and it is also another grasp attempt at this lower height.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RpF77FZEuaVzHTEShxRWSH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5526 right_j1=2.1563 right_j2=2.0388 right_j3=-1.1984 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea16ced6f0594a413ffb4c869d1184d4fcca5f63ec5a6d4c993d9e5c3798108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6d895026cd5ff9639f2b2f8669a68aa8e4f2174f9d80bf78dc9f847a3dc130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43effd1c449f529f066d1ec5110ef9b69d2955307c2760c27b92751065e3109b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2ea16ced6f05
wire blob bd6d895026cd
wire blob 43effd1c449f
call 53 attempt 0 · /messages · status 200 · 9.299 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.5541 right_j1=2.1536 right_j2=2.1185 right_j3=-1.285 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.146 right_j2=2.056 right_j3=-1.2171 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5526 right_j1=2.1563 right_j2=2.0388 right_j3=-1.1984 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea16ced6f0594a413ffb4c869d1184d4fcca5f63ec5a6d4c993d9e5c3798108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6d895026cd5ff9639f2b2f8669a68aa8e4f2174f9d80bf78dc9f847a3dc130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43effd1c449f529f066d1ec5110ef9b69d2955307c2760c27b92751065e3109b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2ea16ced6f05]
[blob bd6d895026cd]
[blob 43effd1c449f]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018NEoLkD8gFyHZoCwvyqCUP",
      "input": {
        "note": "The close-up wrist view shows the board's face standing like a wall beside my fingers with its white base support right next to them — so the board IS propped up at an angle and I have been probing near its lower edge. Backing off 8 cm north and 12 cm up to get above its raised top edge where the clapper stick is.",
        "targets": {
          "right_gripper": 1,
          "right_j0": 0.632,
          "right_j1": 1.498,
          "right_j2": 1.589,
          "right_j3": -1.138
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_018NEoLkD8gFyHZoCwvyqCUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.6051 right_j3=-1.1423 right_j4=-0.0124 right_j5=-0.9516 right_gripper=0.996",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e133434cd2f40b8b04e2cf3980649a863a3ccfdbcf1ef62daa775cc0b47fdb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d203e6c04b0480909c6d73f513775f5b6b7e476c75bcb41461385863535625e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02d8589cca5ea418c9f0cc39337fd9efc06f565a65e698a51fdc88e767d35548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e133434cd2f4
wire blob 0d203e6c04b0
wire blob 02d8589cca5e
call 54 attempt 0 · /messages · status 200 · 21.81 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.5541 right_j1=2.146 right_j2=2.056 right_j3=-1.2171 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5526 right_j1=2.1563 right_j2=2.0388 right_j3=-1.1984 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0543",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.6051 right_j3=-1.1423 right_j4=-0.0124 right_j5=-0.9516 right_gripper=0.996",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e133434cd2f40b8b04e2cf3980649a863a3ccfdbcf1ef62daa775cc0b47fdb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d203e6c04b0480909c6d73f513775f5b6b7e476c75bcb41461385863535625e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d8589cca5ea418c9f0cc39337fd9efc06f565a65e698a51fdc88e767d35548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e133434cd2f4]
[blob 0d203e6c04b0]
[blob 02d8589cca5e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtWZ6Spzg3aK9EymhZDVbR",
      "input": {
        "note": "Now the wrist camera is looking straight at the striped clapper stick along the board's raised top edge, with the two jaws visible on either side of it — closing the gripper to pinch the stick.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LtWZ6Spzg3aK9EymhZDVbR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.5936 right_j3=-1.1446 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9584564edc653fd687fddbc4d399bffee43bcdbbe88e9fce3f8c706720a3745d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c5bfaf786a71a250419d8cdf74061826525acd312a698e888765ad34609d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d7fbbbf6ea0f08db328d9739b40616eb2a01a60fca58b006fdbec7880cf2c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9584564edc65
wire blob f8c5bfaf786a
wire blob 2d7fbbbf6ea0
call 55 attempt 0 · /messages · status 200 · 5.898 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.5526 right_j1=2.1563 right_j2=2.0388 right_j3=-1.1984 right_j4=-0.0124 right_j5=-0.9508 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.6051 right_j3=-1.1423 right_j4=-0.0124 right_j5=-0.9516 right_gripper=0.996",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.5936 right_j3=-1.1446 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9584564edc653fd687fddbc4d399bffee43bcdbbe88e9fce3f8c706720a3745d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c5bfaf786a71a250419d8cdf74061826525acd312a698e888765ad34609d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7fbbbf6ea0f08db328d9739b40616eb2a01a60fca58b006fdbec7880cf2c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9584564edc65]
[blob f8c5bfaf786a]
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{
  "content": [
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcRJWc6jVgqvW2QhSfespB",
      "input": {
        "note": "The jaws closed just short of the stick — in the wrist view the striped bar sits right above the closed fingertips. Reopening and advancing ~4 cm along the tool axis so the stick sits deeper between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 1.608,
          "right_j2": 1.524,
          "right_j3": -1.003
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QcRJWc6jVgqvW2QhSfespB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5982 right_j2=1.5372 right_j3=-1.0233 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 476):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99bf02e46fdbd026b2507061129cf78e829eabc3c6f406d2e6d438ef7e183fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 476):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a57731cefb456d18d0425e673ccffdeb9d5caf7a6e4d41d758a631aeea0c4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 476):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92308e0bb4855358f4d4d115392d75a2f2793e27c811a6168cf9911ba5f4e04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 99bf02e46fdb
wire blob d3a57731cefb
wire blob 92308e0bb485
call 56 attempt 0 · /messages · status 200 · 9.27 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.6051 right_j3=-1.1423 right_j4=-0.0124 right_j5=-0.9516 right_gripper=0.996",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.5936 right_j3=-1.1446 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0544",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5982 right_j2=1.5372 right_j3=-1.0233 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 476):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99bf02e46fdbd026b2507061129cf78e829eabc3c6f406d2e6d438ef7e183fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 476):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a57731cefb456d18d0425e673ccffdeb9d5caf7a6e4d41d758a631aeea0c4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 476):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92308e0bb4855358f4d4d115392d75a2f2793e27c811a6168cf9911ba5f4e04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 99bf02e46fdb]
[blob d3a57731cefb]
[blob 92308e0bb485]
{
  "content": [
    {
      "signature": "CAISnAYKjAEIEBgCKkDEPZjwn2mOZm2MTlkZ7g2RVJ/Cd/zKAG7J+7QF9N75N9AjTVP6XnFWKRopTnlg2ry6vcXlda+Qlbam3JwWtenSMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0KgZE+w7sTpZaKWGGgz3ck7uhOL/ztZDZf8iMCc8Om7zwptk5n5y5ncrDM80pPeDp6lXjmajOLq4uLPnpVPKRIL00Q9cXZmPKBBHtiq8BCX/nv6K4I898SpnYw5+1FU9wtte8xopqbeqsYiTUKn0/oem8GRbfJU/CIHL+11DGT5yH1mBUyoL6zWd4NteM9HrmqNjNDmpWEVu7ARkauFssUNUH8iV+nPsp48qOvIpZRqsKuarqZ79ZG7MEb/7PppwvrPMmYMFUJnjHteiyabOUdwicsQ0ihap1DctJLWx8MHsiJ82p9DmNMhf95EPO1pwmjlKaHEwCMSyoWEb0P6nBxPR5XO3SYMj32ToKITN35tmEfMlt+1EETYYD4+6bt8nDfcs1l3isuVF0mdpd1kZbbXMwCQaNN06E6eB/LxYUeP1ZJQZwsnrfKUgZXQqQL6gMkLPS+0alTgv6XHsQ/zyuSt/DCs1M5oCG+C7rTJq89LXP2EBWrs5oqmVfE8WX/r1yw4KEm4WSBYSQ1JNtnFZE8rqGMFQ9YPWo9l3WJwkcMFQ2VPWM5ubc9hG9lhWbV8EvEEV8O08oJpVBBEDwZrceEJS2FrdjNjuhU1St9rtgFUyhqqj3+Yl8GNc+f/z7XcJJbAPtQP+zlBhGFL90rFTxHdFDSJW5stI9WkUpPoRvw1lROpNJ6v8V/6J9WQD4ZAZmXDBMu5qLpEkR0OGvRxgOsVAOwe+jsDLVe61XNr7tmbu+vYYY2lr+3G0uGZP1kRKh3XCLziZU+RPSdi+NfWXXDpBVRh45ei63vL7tsGi25l/NjSr8U7q/s5oiIqS2Oxexw4MMWgDCsDtqTBwSEh+1mcRfUDebjPusmaRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014a8YtDTJaB1H7UVuU2Q2oi",
      "input": {
        "note": "The striped clapper stick now runs right between the two open jaws in the wrist view; closing to pinch it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_014a8YtDTJaB1H7UVuU2Q2oi",
      "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=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6028 right_j2=1.5318 right_j3=-1.0142 right_j4=-0.0124 right_j5=-0.9535 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd340bb2c7a4c9c12f3ec387afc2b5dc7f21b9c451c3f71b7c78bd272e415cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c721752414bcccdc52c911baf78afee99e555fe116c777a327746b56756a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:639acfdac9e3927cb2e227396b26092aed90ea51e620bb746f88858ef22c8aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cd340bb2c7a4
wire blob d9c721752414
wire blob 639acfdac9e3
call 57 attempt 0 · /messages · status 200 · 18.01 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5352 right_j2=1.5936 right_j3=-1.1446 right_j4=-0.012 right_j5=-0.9508 right_gripper=0.0544",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5982 right_j2=1.5372 right_j3=-1.0233 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9957",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6028 right_j2=1.5318 right_j3=-1.0142 right_j4=-0.0124 right_j5=-0.9535 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd340bb2c7a4c9c12f3ec387afc2b5dc7f21b9c451c3f71b7c78bd272e415cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c721752414bcccdc52c911baf78afee99e555fe116c777a327746b56756a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639acfdac9e3927cb2e227396b26092aed90ea51e620bb746f88858ef22c8aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cd340bb2c7a4]
[blob d9c721752414]
[blob 639acfdac9e3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PFVmQiSSeg4kZUHi1PDFfe",
      "input": {
        "note": "Jaws are closed around the striped stick; lifting the tool ~5 cm to swing the clapper stick open about its hinge.",
        "targets": {
          "right_j1": 1.609,
          "right_j2": 1.738,
          "right_j3": -1.215
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PFVmQiSSeg4kZUHi1PDFfe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6127 right_j2=1.7073 right_j3=-1.1469 right_j4=-0.012 right_j5=-0.9535 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a755763f03f60ca631cef80c0dc7940dfff52a90121c3ed5954a596b95d0b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0290ce87b3d8fab6b6bbe85f1995d07b66976301e10963caecbd81fbe1bd968c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00241cdd3a9026f077c0f42769564c9f7f89e31086146a0ed00c00fbdc07cfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8a755763f03f
wire blob 0290ce87b3d8
wire blob 00241cdd3a90
call 58 attempt 0 · /messages · status 200 · 14.3 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.001 left_gripper=0.9982 right_j0=0.6281 right_j1=1.5982 right_j2=1.5372 right_j3=-1.0233 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9957",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6028 right_j2=1.5318 right_j3=-1.0142 right_j4=-0.0124 right_j5=-0.9535 right_gripper=0.0543",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6127 right_j2=1.7073 right_j3=-1.1469 right_j4=-0.012 right_j5=-0.9535 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a755763f03f60ca631cef80c0dc7940dfff52a90121c3ed5954a596b95d0b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0290ce87b3d8fab6b6bbe85f1995d07b66976301e10963caecbd81fbe1bd968c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00241cdd3a9026f077c0f42769564c9f7f89e31086146a0ed00c00fbdc07cfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8a755763f03f]
[blob 0290ce87b3d8]
[blob 00241cdd3a90]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VuVzth7XvR9PJ9bjibKbPq",
      "input": {
        "note": "The board did not move, so the jaws are still closing short of the stick (they are above/north of it); reopening and pushing 5 cm further along the tool axis (down and toward the board's top edge).",
        "targets": {
          "right_gripper": 1,
          "right_j1": 1.708,
          "right_j2": 1.639,
          "right_j3": -0.984
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VuVzth7XvR9PJ9bjibKbPq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6966 right_j2=1.655 right_j3=-1.0073 right_j4=-0.012 right_j5=-0.9539 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e803850d213894ce4ce0d41dd56d8da9d7502ce808d3725752c162534ecf3408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64ea3c6acf0165c1253694c3f188f7e343deabf8085af56f73d3e8e834c4b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 500):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7962ef95a294cf513da74c3a79ac0f45180f9c407252bf59d9dec3c26a5d41f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e803850d2138
wire blob f64ea3c6acf0
wire blob c7962ef95a29
call 59 attempt 0 · /messages · status 200 · 9.004 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0074 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6028 right_j2=1.5318 right_j3=-1.0142 right_j4=-0.0124 right_j5=-0.9535 right_gripper=0.0543",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6127 right_j2=1.7073 right_j3=-1.1469 right_j4=-0.012 right_j5=-0.9535 right_gripper=0.0539",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6966 right_j2=1.655 right_j3=-1.0073 right_j4=-0.012 right_j5=-0.9539 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e803850d213894ce4ce0d41dd56d8da9d7502ce808d3725752c162534ecf3408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64ea3c6acf0165c1253694c3f188f7e343deabf8085af56f73d3e8e834c4b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7962ef95a294cf513da74c3a79ac0f45180f9c407252bf59d9dec3c26a5d41f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e803850d2138]
[blob f64ea3c6acf0]
[blob c7962ef95a29]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNEiYPAQcgpeMx2HKUmR4E",
      "input": {
        "note": "Wrist view shows the striped stick just left of the jaw centre and the top view shows my fingertip a centimetre or two above/north of the stick; nudging 2 cm sideways and 3 cm further along the tool axis to seat the stick between the jaws.",
        "targets": {
          "right_j0": 0.673,
          "right_j1": 1.763,
          "right_j2": 1.629,
          "right_j3": -0.915
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TNEiYPAQcgpeMx2HKUmR4E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6506 right_j1=1.7245 right_j2=1.6436 right_j3=-0.9577 right_j4=-0.0086 right_j5=-0.9539 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d811cde22d8e1f5bc70ff59a2b9e2152f450d97a38ee661c78fd0508c64f7a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0997af20366e3795dd6d139d1e239568ff979412059f01887d755211335a1e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9091fa5d8120b4132d8b420a1ddd5fdee8b6e6d1bb4935235cd5a3c21fcfbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d811cde22d8e
wire blob 0997af20366e
wire blob 9091fa5d8120
call 60 attempt 0 · /messages · status 200 · 5.813 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0074 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0074 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6127 right_j2=1.7073 right_j3=-1.1469 right_j4=-0.012 right_j5=-0.9535 right_gripper=0.0539",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6966 right_j2=1.655 right_j3=-1.0073 right_j4=-0.012 right_j5=-0.9539 right_gripper=0.9958",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6506 right_j1=1.7245 right_j2=1.6436 right_j3=-0.9577 right_j4=-0.0086 right_j5=-0.9539 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d811cde22d8e1f5bc70ff59a2b9e2152f450d97a38ee661c78fd0508c64f7a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0997af20366e3795dd6d139d1e239568ff979412059f01887d755211335a1e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9091fa5d8120b4132d8b420a1ddd5fdee8b6e6d1bb4935235cd5a3c21fcfbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d811cde22d8e]
[blob 0997af20366e]
[blob 9091fa5d8120]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U7sCQcmMBZabtmTNX194v8",
      "input": {
        "note": "In the top view my fingertip still sits a bit north of and above the striped stick, so I'm advancing another 4 cm along the tool axis (down and forward) to bring the jaws around it.",
        "targets": {
          "right_j1": 1.818,
          "right_j2": 1.618,
          "right_j3": -0.838
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01U7sCQcmMBZabtmTNX194v8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6651 right_j1=1.7866 right_j2=1.6299 right_j3=-0.8848 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c627ba478d0a9799160988be8a22fce5a5b0b702b096af8094a7b9792b0e34f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcdba163891c8d5826aad6384e72c92f242a57c3c0e319c1f3799383aec8121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60ac0611b1d7286ee574fbdc414243e5a99f17347ef9cc913bb63d26702683ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c627ba478d0a
wire blob 7fcdba163891
wire blob 60ac0611b1d7
call 61 attempt 0 · /messages · status 200 · 8.117 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0006 left_gripper=0.9982 right_j0=0.6281 right_j1=1.6966 right_j2=1.655 right_j3=-1.0073 right_j4=-0.012 right_j5=-0.9539 right_gripper=0.9958",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6506 right_j1=1.7245 right_j2=1.6436 right_j3=-0.9577 right_j4=-0.0086 right_j5=-0.9539 right_gripper=0.9966",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6651 right_j1=1.7866 right_j2=1.6299 right_j3=-0.8848 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c627ba478d0a9799160988be8a22fce5a5b0b702b096af8094a7b9792b0e34f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcdba163891c8d5826aad6384e72c92f242a57c3c0e319c1f3799383aec8121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ac0611b1d7286ee574fbdc414243e5a99f17347ef9cc913bb63d26702683ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c627ba478d0a]
[blob 7fcdba163891]
[blob 60ac0611b1d7]
{
  "content": [
    {
      "signature": "CAISkQcKjAEIEBgCKkCHYgctQlczQW0DLUq5vohtshO68P79jufkUM/MgX26y2EfZeE1cQw1l+MBI26ypVjhM1x1vG+ioYWyuHK2kJrFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZAByfFb+k1VEsLmjGgwsd182VVvG8gL9OvkiMIu6WPt8LR/KTUfTS4MkNAjpid2ECp/GChVhT3aZwjoLcvoR/4vUJsJfwpJ+fiTBTyqxBfmW2+fQtdY+kgt8Zyzy0q65ejBl678X8BsP4AfC1PdO/SAbYoEI7PamXB9Ik7HC+YEgMv4KRM2jQNkLNf1bo8U8wPBc6RXsK9U69za1U+BOH25HpG3957CaNJ5b/Xjwc8z4QDhSLl1HaDhI0LF7bmKvsfSDO0oRrZEVD0+tV/pMRa4BV1ixLf/QdYG2jg1WTVhZVQ8okdnuF27gFBNz6HA3cphFOXimFecnm2mIwmHyuLd59+FS2IXv1NoYsl24gHOkZyiGXakzO9Us9Kq8/AoG3FyUY954TA+OjClkn8LhFR8Lvb7oJQLrWFqo7OqaK99jqFRo5pyliw/1a87pwV3kzaZGoGMRK0tlD8jVbtVeBXht+bc0OHjsd92GXptcFnQdnD6wb3j8t3FUyVPXbz48iybyY20af9taibekBl5FpqB2YdTypRVPPDpNU1S0ochPhTU5TndkCf8U9ka1UVK+8BShEi/XgchGlNhpG8qkKvoz9dt2cubQVqLSVlAf98478iWCxYUKUttl/lnsllk4bOAGLB5i/5Ktv1VYT7MSi+/dQItAM77xq2WDagY6cZO1/AMzYpinoTkcwV+dMPLInEVRdyPPc9XuxxGBH4m0PyUYQcaTPAT35pcxxw2FpDikypJJegXlyZeQFSsG26SWCUCZpeBCEWEZP76V9T86G0bXdpxQjqVIv0T0dCd/P/zKxT5Cy7r50NUGfOeSkFPJakY8SDD2Ev8Y2j6jTrZ46JzAdeklGBjYutVGU0VvG9l7FU7oAC6RHeWgy0PzjAKRWOtpLPKx3dcBhxxSdw+txSv3zMTjgCFGWbO1LabW4U9w3RJegYz39vZ343N6/UKrNftImo/LNozOvNsWYaAD4jP7K4qiqNGUwcvVcODp0tkHI0W4ggljJOaQQgCd/MnrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012KvncgxRXZ1SKtYXS8Ue12",
      "input": {
        "note": "The stick now fills the middle of the wrist view between the jaws and the fingertip reaches the stick band in the top view; closing the gripper.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012KvncgxRXZ1SKtYXS8Ue12",
      "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=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6655 right_j1=1.8156 right_j2=1.6234 right_j3=-0.8772 right_j4=-0.0116 right_j5=-0.9535 right_gripper=0.0604",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7191667380adbfb00594eee1cde2a4e2c355706b9a3dcb5a42e01806c184131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f877f2b7d848ff91fbcc644bf884117722ccfce0378d3df7175889611a104b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9da5e5ed236072ba6b00e035269cb0c4f8e63ba7daf66521e3a6d422edab5dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7191667380ad
wire blob 8f877f2b7d84
wire blob 9da5e5ed2360
call 62 attempt 0 · /messages · status 200 · 21.94 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6506 right_j1=1.7245 right_j2=1.6436 right_j3=-0.9577 right_j4=-0.0086 right_j5=-0.9539 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6651 right_j1=1.7866 right_j2=1.6299 right_j3=-0.8848 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9967",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6655 right_j1=1.8156 right_j2=1.6234 right_j3=-0.8772 right_j4=-0.0116 right_j5=-0.9535 right_gripper=0.0604",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7191667380adbfb00594eee1cde2a4e2c355706b9a3dcb5a42e01806c184131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f877f2b7d848ff91fbcc644bf884117722ccfce0378d3df7175889611a104b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da5e5ed236072ba6b00e035269cb0c4f8e63ba7daf66521e3a6d422edab5dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7191667380ad]
[blob 8f877f2b7d84]
[blob 9da5e5ed2360]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wcMuHLdeSPnZVudbj9uWo",
      "input": {
        "note": "The jaws closed with a slightly wider final opening than before, suggesting something is held; lifting 4 cm to see if the clapper stick swings open.",
        "targets": {
          "right_j1": 1.798,
          "right_j2": 1.763,
          "right_j3": -1.034
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_013wcMuHLdeSPnZVudbj9uWo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8172 right_j2=1.7267 right_j3=-0.9623 right_j4=-0.0154 right_j5=-0.9535 right_gripper=0.0614",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e3d8a66cbce2da373a7dca0d748fa79d1837787397f8cd1f47990f57e65061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea57691a4beaf80a704012bfd6eed88c73cf59a3f2f673042102063929e6fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4980f0db7d25bee30412df5f889d960dbed4f1a87bbf6919cff782d160e5b127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 63 attempt 0 · /messages · status 200 · 26.13 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6651 right_j1=1.7866 right_j2=1.6299 right_j3=-0.8848 right_j4=-0.0124 right_j5=-0.9539 right_gripper=0.9967",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6655 right_j1=1.8156 right_j2=1.6234 right_j3=-0.8772 right_j4=-0.0116 right_j5=-0.9535 right_gripper=0.0604",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8172 right_j2=1.7267 right_j3=-0.9623 right_j4=-0.0154 right_j5=-0.9535 right_gripper=0.0614",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e3d8a66cbce2da373a7dca0d748fa79d1837787397f8cd1f47990f57e65061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea57691a4beaf80a704012bfd6eed88c73cf59a3f2f673042102063929e6fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4980f0db7d25bee30412df5f889d960dbed4f1a87bbf6919cff782d160e5b127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019EET6pAi4M8SetoenZpX99",
      "input": {
        "note": "Still no movement of the board, so the jaws are pinching air just above the top edge; opening and dropping 2 cm further along the tool axis so the jaws bracket the striped stick itself.",
        "targets": {
          "right_gripper": 1,
          "right_j1": 1.864,
          "right_j2": 1.717,
          "right_j3": -0.906
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_019EET6pAi4M8SetoenZpX99",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8519 right_j2=1.7264 right_j3=-0.9161 right_j4=-0.0158 right_j5=-0.9543 right_gripper=0.9957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 527):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509beb46c500ff457e18fd2b995460489e4e3b5e50946c5a5ce957736aff62bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 527):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f0ae154a84ecbb828a152fbba915ec02b809e6a842fddd16d32c505c21de79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 527):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5c9a0ec994d0c05f6f42c034cdfda2f4154696666445c8e54b6f66a314dc77f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 64 attempt 0 · /messages · status 200 · 15.86 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=-0.0002 left_gripper=0.9982 right_j0=0.6655 right_j1=1.8156 right_j2=1.6234 right_j3=-0.8772 right_j4=-0.0116 right_j5=-0.9535 right_gripper=0.0604",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0261 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8172 right_j2=1.7267 right_j3=-0.9623 right_j4=-0.0154 right_j5=-0.9535 right_gripper=0.0614",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8519 right_j2=1.7264 right_j3=-0.9161 right_j4=-0.0158 right_j5=-0.9543 right_gripper=0.9957",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 527):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509beb46c500ff457e18fd2b995460489e4e3b5e50946c5a5ce957736aff62bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 527):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f0ae154a84ecbb828a152fbba915ec02b809e6a842fddd16d32c505c21de79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 527):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c9a0ec994d0c05f6f42c034cdfda2f4154696666445c8e54b6f66a314dc77f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H693f4r8UVcDkTostX4qJi",
      "input": {
        "note": "Computing the jaw axis in world coordinates reveals my error: at j5≈-0.95 the jaws were closing east-west, i.e. ALONG the stick, which is why every attempt caught nothing. Rolling to j5≈+0.97 makes the jaws close north-south, across the board's top edge.",
        "targets": {
          "right_j5": 0.974
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 31 steps (3.1s)",
      "tool_use_id": "toolu_01H693f4r8UVcDkTostX4qJi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0071 left_j2=0.0067 left_j3=-0.0257 left_j4=-0.0071 left_j5=0.0002 left_gripper=0.9982 right_j0=0.6659 right_j1=1.8584 right_j2=1.7264 right_j3=-0.9173 right_j4=-0.0162 right_j5=0.8944 right_gripper=0.9966",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5e57e7fc490ccc4a1f3d59136ba0138e9d82a86fec42aac531c41bc335ec47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 558):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd77dd3491571332ce83599eece2446c3b1afe44ea4edf7fb3f69e1b723639e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 558):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f67e800ad1ac7165f358eeccb5c99e03f4f250642a0b536f6ebe1d12d8735af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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