- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://generativelanguage.googleapis.com/v1beta/openai
- depth
- render
- effort
- high
- image_horizon
- 2
- images
- always
- max_llm_calls
- 200
- max_output_tokens
- null
- max_speed_frac
- 0.1
- model
- gemini-robotics-er-2-preview
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 12000
- duration
- 124.8 s
- total steps
- 81
operator
0
scenes
1
trials
1
errored
0
scene-0
completedLift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
operator_end
Operator judgements
n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 29
Raw transcript
step 39
Raw transcript
step 44
Raw transcript
step 48
Raw transcript
step 56
Raw transcript
step 59
Raw transcript
step 61
Raw transcript
step 64
Raw transcript
step 66
Raw transcript
step 68
Raw transcript
step 70
Raw transcript
step 80
Raw transcript
Trial 0 Wire
Tools (trial initial)
[
{
"function": {
"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].",
"name": "move_joints",
"parameters": {
"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"
}
},
"type": "function"
},
{
"function": {
"description": "Declare the task finished. The trial ends; a scorer judges success.",
"name": "done",
"parameters": {
"properties": {
"summary": {
"type": "string"
}
},
"required": [
"summary"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Stop trying; the task cannot be completed. The trial ends.",
"name": "give_up",
"parameters": {
"properties": {
"reason": {
"type": "string"
}
},
"required": [
"reason"
],
"type": "object"
}
},
"type": "function"
}
]call 0 attempt 0 · /chat/completions · status 200 · 6.332 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
{
"content": "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.",
"role": "system"
}{
"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=0.0032 left_j1=0.0063 left_j2=0.0063 left_j3=-0.0246 left_j4=-0.0082 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0082 right_j5=-0.0246 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b6c8408e611abc57c645da1e8d5bfa6b2c34610b56aa7b6a7d58f89e918b271"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5f564d8a287dc2251c1a9602a8a91b700296c0e51a6345c7ea7eacca160f1494"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5c951fca1e7fb4a1d207840953c4154b57d49c034415140a054898a358332134"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 5.266 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "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"
}
},
"function": {
"arguments": "{\"note\":\"I will raise both arms and extend them forward so they are visible and positioned above the table.\",\"targets\":{\"right_j1\":1.8,\"left_j3\":0,\"left_j1\":1.8,\"left_j0\":0.2,\"left_j2\":1.5,\"right_j2\":1.5,\"right_j0\":-0.2,\"right_j3\":0}}",
"name": "move_joints"
},
"id": "h7b33for",
"type": "function"
}
]
}{
"content": "executing move_joints over 29 steps (2.9s)",
"role": "tool",
"tool_call_id": "h7b33for"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.1921 left_j1=1.7939 left_j2=1.4704 left_j3=-0.017 left_j4=-0.0113 left_j5=-0.0204 left_gripper=0.9987 right_j0=-0.1947 right_j1=1.7893 right_j2=1.4708 right_j3=-0.0223 right_j4=-0.0158 right_j5=-0.0372 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d6cdac3530ceb29f21387a6e5ece54f092149008f476fc7226c55be6340a537"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a921504dcddc9e8df0df9473400cc2416d15b62660e03f0b06bbf5b130da7675"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4fdf82a6679cd152f48b3130c700766b67de242bf5d1eba63a000d8137135cac"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 4.58 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0032 left_j1=0.0063 left_j2=0.0063 left_j3=-0.0246 left_j4=-0.0082 left_j5=-0.0158 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0082 right_j5=-0.0246 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EuAUCt0UARFNMg/NNQ/68dVKu1FTr+em1b+qVA/dPm7kCFBuN9FT4tzF4t7+dkm6svOHZRbJc/C+yW6t2l4A4KoeyEf/f6/0YMr9XkwsubXepvK+4FXJTjAyk2OcC9w4Xl9UEsTWlv4WuHdjrJYm0RLHTQFke/9Yatd7CKU+N4UbbmH/g/dcbiGGqhntwkQu3xQBuGT9iXWKbNp37/N9fod+kEbTMeT5Eg3bT6033NY414glBxTJmBAGS3paVapoS1Iv4kIvG2coq3zXl7dQfPUGcmPzIeHIJClcAKiVSinB90ABdfEZpYm/0cBarefzW4WXIhxMr/Q9lzEQRCXbDA/inos26k/70JDdxX9nw23hI4PnXXDeZ31+X5C/4Apq2PTysBH73XjWKyYetGBDXlrwzovKqgNnlfZThFp1mam0cSALtNMd1+JOIrA6F2HtMsYcY/n7Zzmjh3WjMu9mbjUeZinjgdDOalO7f52EjuKWkO4ASt66ZCZ+icu76mz4I3Z9JRTsW/HrVapIiIapWllQj7UDGqX0wxyANoFM88FzIPEybRkzPxSIjjhu4yNMV78B6Tgwx25V2iRcwSIJEyp8jmoM0F0al1s5PAclg+C7pWHxlZArKcS7/riXsnJflNOI4YVA9w5FbZqqdafYqjFXClz0HQCghmKMH4FusZXt9KKN/uZvr8uruUrt3aQA9Ra0k4kOJ6/1NsfFnpn+X5G3tAhUZowByXja84HGc3S4EKRfZnFj+IPZ6tI3OCM06q/xIv+Dw9WCQ2izumF9+aPTs3eHK5DcDI2atEEGN011u9ZYsbg0023frMrwS4pa8lWzOKPNHlvltf2VWCPj/YAj7T4xnLVOkExDPsnGVJH5E5IHOwvvo8XCTwnHL0SQQ+3RNqf6wl75S+bMiJrg24pNDzIPKbXRz6EoHAW8ndE61nRz3Mx30mCECMprsA9Q4rhV3IBk7TYoU9h+5xLxRoPIJB6bxAqYgsLXysGuxS76uY+pomfAqUT4fIpnLGeX9nP95hfDk/5zw7R6/t+lW4vIV1C/AVE0bDo0x0qEjBDM3Wu6x9HJ8kD8WTPJTpnnyLPd32ing4XjgstVJ45RgbHu+F45OdloQxnrOhJiTfvbE6ShRasWIl92FNc+dSRVB6lr9ibnpgjg/pMkzQE8saZDWQSovUTasWvqLTVxwdSOhCKWXFccmYAfSypnM/op90aRVJdR26OC2nk7nI2ZJrY0gPvEK/AnA4zor0n52M7c82gsBjb00ZZsJOCxHGln/ZLF4zArOyTEvaGSfFo0J7Ca7BE7HL2Am5kOLn3/NaB3wwDJ1jYh3V4ZTJBCmr5OtGECPozvvGHqg3CUqn3bR4gXTfY4zoIMhVq1OZKupiHPfhjsoiH1GfBt+cGuNDWQDjU3BZSBLCBW4i2aKIVv7WTxc97ggQeR/soQt5cdQ+f1DGFMWorp+m3wufEVg6JnpJWL8oCOiHVy33vL3s1l6rxVTMuAvxHIrOh5UyyB6Va3M7aXjbd5f9UCDd2ktknpq3sMlOwSc7L2pQ4YHBI/sFLh2ICE6S58vJhp5F4yi9/lAH/M7NXipBOTZnlpbQ96Hc9STWiv8n9Vu+Vsx0ea5kMVOYy69YAHVaFdOW0oZMpi8D7736pfOMllHW6zH/71FfebhLof33QWO0kcOd7J/nthSeVkcF4CuC23Rhh+1gybU6ATKnCu1JfAjz0HOVbUMG3LuD/XpH2jtMzSktDKG0xROj/YSPBrkVT+vmRhDNXrRPINlDjOW6GBkTkKhkM55nL09OStf2d2ftH1eQHkBcGskDVsFM5+r+UAHYJ6q/h6G1v2jtpL+glKjQSgom0tRAlWCZpEkH/o3GGYb79YulUqp7xpSYMQOllZjgXlvfV8E05htl++DvOYG+AVkRFeKdb/342amCpt1sVsUYyBqZitj3+JVuq1IEwhuWiLwvDKL5vtowoUw1NMw1NGM1U+op0uHTwhuK7hMwPrrxIPZGl1w8ruQ9nRn4L/+ksVzIcZM8oEylDayMHY6JPpLfHsxR/r3DFzepsgtQaS4unaTAREzTYzbTrMdGveahqPZeIOV0ay4BOzsofKf8kJOaxWFSsiobgYvr3FkRk3XnvGhUtFL96z3t5+qavE30yZweOcs/JUTbU7j7FEpKfwzOWCG5kYBdx6WxKZN5ApYkbs2P5wwJNd7TX7xTBxhQxAxsg2odGSHYOXOHQ7HHjL2dhzJI2ANoLVHSewiPTtVTWWBhzVjC9HVhXTVgeUCq+vIcOZz91hmUXIaEutk/91uVXQOvI3O8mUjNvtd/APxuhf4qDamgq5drFvOKtgFnb3DJuegUAwX4D8eWod8mK4kEn08H3rW3ThHysmzLGoQLx8yAyM7p4ZN09UmwuHMJvVtlZqznePbsAcjBW9qAgpfWCoFfEf5k7D9vTBGfqOLU+BOtAizGGw5U4QDwq8d8B4Q49AQ5Kce1517N6PDAefCgp+1v7n/Zk01u2wHjy7mqsFW2/jeaipE1eSf7PsXuEiKEpo6AJgpkptyt2zQlJJD1rpal47DlRkYhaqsV4g0kMNDWXz1lN2JSSVliAuobT9Me3b5rGjiquB/nXv614xIG3srGAr2pkL7sCZ+QfXOb09v31hfe/8MZDdgjX759AG9SFl0vGLmHGI3SUfb1kU7O1I8tvAoukE9KJL8+UditAzBZvoRevegBVDMamd03EmZUSoKMh0dAAp+c2lipH9y2qiBSivupl7kEINnpEI3Qo2ZbmKGwSjuqus32Sf0wMu8Bhwc6eG2G5Ngr1eb8Jk2mJ+ovQvbY+1aOy+dgrCrxn3mcndVdL4uhXnTMtEwKCI8QagdxNDve7JOaYeuu/SzXLnc7NGCw0UlrZSzDIalPGxQxqg3JabVU6+weoAmGL9sbTQhJSoKWrZCv9lWxUPpqhpuXSAk7fAiZg+imOl5QX1KsAqRIevy6dzbKvkdmQM/+CtuaHoilII7SGMIAzVZKhmSACRDOGopytuA2KtDwLaErs5m5rNP57sZjkjPf6cM2wDjLPhAPqAsB27brkFoIaK8jrhpDQScPi8sPd6ypwzQrPphEe4NdoucfG9T2LudNu3jJs/1sQd+SojaPei+3oC7npkeA3ttUsuySQCMg1C/34MZzwozcJvu1A2wnEYCerP3zzvrb0XLoerUodz3xO7encylMTzic6rMV7fNvDhSwTAHw/SS6J6/ykG35gUfmLelCarSf1U8IxkdoFdIiAi3luDQofVobyHkfiiuKfOaNuzQWC4pfTIDQWzn6MLGMrY5ONFQSlf7fMJCGUqNUtIYNd/sWCWalRtfqZ9cGbml3JMmRGZpQc/EDPfQKwgxcgvdgkj33aljkm2Ifw+EMJto2m0+6yJXx0FtxBF/b3xp0nMzwESWN+b6RXun0OBcuOOzJz9IMxSE6YjzTLosHTHTfrEIGM5VN1Rz2L5HqFJAuYC+dnvckfs+Dl6ZgEr5htNIvNpJieyoJZl1KS2ZIJ9BBgpmnPbwOtEPPVscQRR2quh4w=="
}
},
"function": {
"arguments": "{\"note\":\"I will move the robot's left arm closer to the center and lower it towards the clapper board to prepare for lifting the clapper stick.\",\"targets\":{\"left_j1\":2.4,\"left_j3\":-0.5,\"left_j0\":0,\"left_j2\":1.8}}",
"name": "move_joints"
},
"id": "pmhl723z",
"type": "function"
}
]
}{
"content": "executing move_joints over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "pmhl723z"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0021 left_j1=2.3695 left_j2=1.7916 left_j3=-0.4564 left_j4=-0.0196 left_j5=-0.0238 left_gripper=0.9982 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0345 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cb029e85639cfebb44049c296e74664cb409105b1b03b4b491e69748fe97db75"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:39c8150cda794e9ac40a049a1998a3871a1240a6a0a1bd5e34222e94b8a02b59"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:74a15f5019366a91b43cc51277931446c38c7fd50a92e3f6d0f2fb1e4a8da7e0"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 4.837 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.1921 left_j1=1.7939 left_j2=1.4704 left_j3=-0.017 left_j4=-0.0113 left_j5=-0.0204 left_gripper=0.9987 right_j0=-0.1947 right_j1=1.7893 right_j2=1.4708 right_j3=-0.0223 right_j4=-0.0158 right_j5=-0.0372 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "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"
}
},
"function": {
"arguments": "{\"targets\":{\"left_j3\":-0.5,\"left_j1\":2.6,\"left_j2\":2.1,\"left_j0\":-0.15},\"note\":\"I will swing the left arm more towards the center and extend it forward so that the gripper is positioned directly above the right side of the clapper stick.\"}",
"name": "move_joints"
},
"id": "59q95dbs",
"type": "function"
}
]
}{
"content": "executing move_joints over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "59q95dbs"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1425 left_j1=2.5622 left_j2=2.0914 left_j3=-0.4576 left_j4=-0.0296 left_j5=-0.0319 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0494 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7affccc00d3b6a64661b8192cfbb60821878cc532d46cea597dc92970cac42f2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:59687dd674e9fd3bd14ff9bfdff8fce3aa2c3f2b74e5d6515da1a8d3bf3e3af8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7a0fa93092e92e9f12facece0447352dc405810a112374a415b8c4b9d81ac04e"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 5.283 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.0021 left_j1=2.3695 left_j2=1.7916 left_j3=-0.4564 left_j4=-0.0196 left_j5=-0.0238 left_gripper=0.9982 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0345 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EtQFCtEFARFNMg91g8eC1dLQWu1A7jHPS7OY/dr+X0dKTIdf03qVT3pZbGFavjEMDOtW1bwmSMnoKVWSdc/9oOuQ+oBvS3gTlKV7t9+hkbkVntj26UJhgaIku77gazpyByA9qchIUi0sTAUln9AgzNblbVE9nVv56G7gZv3rBSAk7PTYPBDROqnx6FaShFnc7sI+6Xu8jORwEwZCBId+NqaYw/RMSumUa6ll3L/AhhhR1y8JXUFRG1IuwguoZhwN7SmwtWD6eyPvBvztTHOW/K0mGw/KTXqpFbbT/O434AOJ4xZGWsNycYuYdrr7i3/Pf+3jlBnHt9Y/F5AjBJhs/J9IVTU9WoJfKKoPsbuo7b07nMsY5Znvd+hfZ9NvR5rMQrw5O+yFQ8AFu1VWSEvGCROI0+7pkH9UL6vN4FYsBpSl6qGAVmqV43xmqDy9DSdnqhpVP0O5LICLZY2oCXROJLsRrMj5vUuOG2mswM2y+dUHFRRDkg3nAeamn+uLUz0vZ/SHzBf7MPVUMTNm04nj43lSAlRd0Qs+0R6obaiVWj+dDouVk4+1XhGrjl69A3U1IBkxscNxBewPec3EqkjsB224GJeZAwKmCbdLFFV6I8vHHN5Nkh6BpvrZbCcoYl5FGxETYZ8tHR9Q87B6tDLKQTW7PZnASVQP2QWLIU//PfPYyL6YAnL3tUoVWEnAOHMTuY/PQb5mK95RHwVLhOpiOjdxwWTCJgOM7ZGbLwX5Bv6Odj+Necc3kDE8wFyBjnU2bVboOIxEehOiGVXi2kcfQ7VUbsJAPOGqidHB1IeFDgUOooYhxBFLhS9j81Ko7eT2Cl9JXZYjJ9T8FtqtslQFSs0Au/7Pg1NBQ+pcVpMFLRJBv1lQFkGoW9ZMwlKITQ1ef4QYznUGp6XOGQnljSzSLgi8rYjo6RvzMykf3TI4d5jgV8SyWtDRgkKEwL3jq8rBASANmQFX1A=="
}
},
"function": {
"arguments": "{\"targets\":{\"left_j0\":-0.38,\"left_j1\":2.56,\"left_j3\":-0.5,\"left_j2\":2.1},\"note\":\"I will swing the left arm further to the robot's right (towards the center of the image) to align it with the openable side of the clapper board.\"}",
"name": "move_joints"
},
"id": "r6hn90in",
"type": "function"
}
]
}{
"content": "executing move_joints over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "r6hn90in"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3874 left_j1=2.5622 left_j2=2.0926 left_j3=-0.4641 left_j4=-0.0368 left_j5=-0.046 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0544 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bf236badd8288de6083d998c526512f2dcd26ca0a63f2cde2e594cf586077961"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0828a1261df95e56a8956a619cb3f8ad93fc800ad5ff21faf68c6e1873a1b080"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d2225b45ba9deaf076c98c1aab7386e5a0a0614d4bf3250d42c1a4085e29b41"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 5.911 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1425 left_j1=2.5622 left_j2=2.0914 left_j3=-0.4576 left_j4=-0.0296 left_j5=-0.0319 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0494 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "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"
}
},
"function": {
"arguments": "{\"note\":\"I see that the gripper has extended past the clapper board (since the board is closer to the robot's base than the gripper is). I will pull the arm back closer to the robot.\",\"targets\":{\"left_j1\":2.15,\"left_j2\":1.6,\"left_j3\":-0.4,\"left_j0\":-0.38}}",
"name": "move_joints"
},
"id": "llpqge92",
"type": "function"
}
]
}{
"content": "executing move_joints over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "llpqge92"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3859 left_j1=2.186 left_j2=1.6009 left_j3=-0.4191 left_j4=-0.0372 left_j5=-0.0502 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0719 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f85e30af6143e6e279eda697795e9e000d2ccc90bd17712d61e11ceb155a10fe"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de7ff51ec0b11bfb3df6e57a2a97d332ca6c6ac2bc38fdb9fd8c5190486d7bb6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:788fd16a959c672a40b43f6489dfe42c1570a93682a0a9fdadcd8d1f7a4aacc3"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 7.355 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3874 left_j1=2.5622 left_j2=2.0926 left_j3=-0.4641 left_j4=-0.0368 left_j5=-0.046 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0544 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "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"
}
},
"function": {
"arguments": "{\"note\":\"I will pull the arm slightly more towards the robot to align it perfectly with the right end of the clapper stick.\",\"targets\":{\"left_j1\":2.05,\"left_j3\":-0.4,\"left_j0\":-0.385,\"left_j2\":1.45}}",
"name": "move_joints"
},
"id": "63wfbcs6",
"type": "function"
}
]
}{
"content": "executing move_joints over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "63wfbcs6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.384 left_j1=2.0796 left_j2=1.4639 left_j3=-0.3775 left_j4=-0.0452 left_j5=-0.0608 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0834 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1e0aca8257997a3dc45a54e316960264678ed70644407a2fb670ea754f941c55"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dc8efd7e1e894cf2110e4b101b3d2ddeb3dd5bbae8d3e623ae0ae17a2438081b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f675f50bc5a80c6116934ab6b13737031bb823f9b42323269d996357478ff14b"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 8.522 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3859 left_j1=2.186 left_j2=1.6009 left_j3=-0.4191 left_j4=-0.0372 left_j5=-0.0502 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0719 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EtkNCtYNARFNMg9QrH90RZpYzfdsarbWGgNaQ0WTZOMhHHdIvdo/YPb47ZFNfUgN0oUzGNs+XlQK49vR48PZKLg0V5Z4YXFop8vEjtp02qVzrosKHTx4u0QDFqypNK3qqpEvo94wHlFDOdwg1jR/7K1PQHmEfsMiV3v74DFrxejY4QEdmM9LkpDCL3PN/2ZbIgqWgbCXyO0gPVIB0m1xXCopzZoKHCHWDgBzV4ZYoalboJi7NzyS/+u26UweeJhlotnMNlIg8DlP8QscHN3/aZ4T2n7S6Ff7B/RXLjHA88yQbWsVE67fnSuXwPj2a4Mxlw/rvI4egQlbVIoJriZYgsYJCORPhelEaRHFYU8LmMTBLL3XnMqFUw9YUxamhHy5aZ60GY3Y/0Xa+o+plpfzOLZCEWpCl1U3lSlMHcgad6E6kYPEiwwEiHKBkrX5rd55BXP4h2Wf5bM4UJnVYPWibug3uNIVaXSLJmmQ9ZV49BVjY0HjrHht//EKK01S6h3+2IBABm3+5fA/iraAfAKF/lU2bFHuiKC2XODelBb/a0Av8vT7vrKlNZAoizZ4I4TbnuTDKlukHytj7svEYlkFm1iu8JVWS9Qj7CBg1Lfl7xLtQw+qQF8SoILG876KVzY0KygECHQhbrNjGkmYq/Bw90BalXYVl2WfPqmiH8OUl0C2bG9C/Qhhlk+ard/HfckY1ZIbN7Mx58Nld6m6bVqG8aAeWk93PBHTsa21p6XNOPQx1eWIN+ix2Mwf0HE6jqj2Z9o8OoO+jdsh63y0L5agFp6CMh7bsXkbjwyqfKsZO3ONVFWQycNsRFeInkwgkxqGHomSFHcBSOEwlssddDEGagFgDJrG7nhk5AKreWYPJ5c6PF+RH+8GZC/uX/7GFKw4ULPB6VUc6Uzo2kbQL1I72IsSBZfppy24T0iAVj5quGJVYopVv5CXpdEz5S3kc4hDScEjOHi6MiqkGW32LnM6E3LYkjWtlI04UvXaj7IvAIEdd5U159xJzrpX6Iv3c6Z2T8FNfDPROe3j6UUHR4+qp1HwDEGxahYqc4oPTWaLyph33k6n0jgnbfzcHvFy7YkZGMKe1Rl5dJbly6XaEzoBEkDKIn8Oksw9TEZhd8eYWOp0ulVWBVGMFEttzUqx/3T+7P0aK+5/ruLoyhx5n3SZfJpzFIU8fUryb4Vg13nT86c0JEkCnTPdo5MPlPZ6wvLgPFqS/+pSR+YuKPGkBAmcEZ57/KNRnDF6N0VcgQs9t6JHh9HgpQQioyHTuP3UcvHt2Lo/AVvu0PW/fuQ8j5rzTXbJCjgIrm7hslM9eOuHPjecJJDJmc9oput2EQGmMw+jX5et+jU38cJXVpY62JcvrmzuVJHLaWZ7UvURFGeuHWrgLpjxAU8nenDkUBPvQOMIitRs5DBgUuCQeqpptGhXreJmaSrmbj04NLkfPBgpqBkOlCI/mWB4fcPAFvT0Nr4BgVlZutS58URcqdowwNA6AKep3UldtcDLaKtErASO5r8BsZeRW0fpFnNontanGjTZVBv8Z6SqCUprLrJrp9XXYLAEdIXhADtTrjI7cALiFGDyNXiS0+aPfeAopvzu5EaL4elfBu13DVTcuCvA+EwPp2jSbdL+aAaChwvT5v99YxQhFHDqA3wSryfH54FAHFO/SSLRK8ZBeskxRNrRVrd8PrlsVhgFdGRDlRJ3U7Ojo+dF1iOPH1yTzJDRDMWbqBxmMJ+fKAQ2i/7L18UYXlyzRAVJ/p6CTquyLn21YKV60cqbOVLWCZ5+Jg9muDq8CHu+8ouhkBOphAEYmYp3JL10zHM3ARdeagzOLadrIYCxOVq10zQfVESvJQMgKgWxRbnqqVdeEy6GWU8llgCJO7SBD+EzIxWUEiXrxqkFMCiX5agZnm3u6uGSOUgI+ja+nN7eFWDHwLhmk7eXFWWubSi7fyyA2lgKg3wpiclBl+CTb4X666ciNFPghsQF1G2J04Z7T2lWwI7poG+4YSFOi4BG45yqimN4l9ZpoZYcy1SxGi5aWNKMo26gshLqhalvYW2xW9RgR832QTN4IYk2gnNmUhwIQDn7x6xxUijpD36OaLuQPTvtuGSXQzsJ8IUHWlSghWgeQ36YclVPfe4UyXukeqsGT7c6g9q5CqvDSrU1eiWLQYafJpwlHF9W1YTecCotRUHMIwq5JhzGxr05bzA8dR07NxS5q//KR3Yjz/JaThD/G3VYoWev81YG7ruqtJpVuUapw/W3Q9uMZJ0gByZM2F+YpvFcrooaNqizp736/kTrjnYk1yjL8N8X1/dYMFA9hlYrUU6Th8sucRKbR2h44t8Pg2nUqg0iUYjQ6Q=="
}
},
"function": {
"arguments": "{\"note\":\"I will swing the gripper further to the left in the top_cam image (towards the clapper stick) and pull it slightly closer to the robot's base.\",\"targets\":{\"left_j0\":-0.45,\"left_j3\":-0.4,\"left_j1\":2.05,\"left_j2\":1.4}}",
"name": "move_joints"
},
"id": "6ftr96r1",
"type": "function"
}
]
}{
"content": "executing move_joints over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "6ftr96r1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.4194 left_j1=2.0624 left_j2=1.4265 left_j3=-0.3248 left_j4=-0.0746 left_j5=-0.0803 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0952 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:75942bf52605609fab26910a9332affa944ffe65bd4e206d1c8b83ca617cce55"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:91d883678185b9646b5399e1de8c9db36ff3ae594a876b753a6f050f9e0e17ea"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1bab877dd3fec0e677917393a5f0af1059a8c3d14ddc63a1fd4bc94f2f6ee508"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 7.671 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.384 left_j1=2.0796 left_j2=1.4639 left_j3=-0.3775 left_j4=-0.0452 left_j5=-0.0608 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0834 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EoYFCoMFARFNMg+YefSMmpktoVHrpBtT2T53wJEbAA5aosCLzolfiN0D7GUjQ5+GCX16wAV60HcqCttcZhZqM08PTF2zK+dllK0NMbX6M9NmNPZsYwahGkwHwzNae4Rnugl3OnPSwp9gbHBQbDQt+WN8ZD5Z1hiqGxsi6SAxY/FsfhNJPQtWSWCjLzfkIwKUNkcOK9aPRVsY7ea5ULKDXjdCGdSiEN6ixqW+PNMNkI2KIidUrTMqwdngWfEwCAebebleLROFYsjILnM0hbVXbNipAv43Az3grm3Q8ltIjLRcy/yuibKm7/WEFrAmelydnFtks5BdGh9v9IJ/es++TmWZ1KT8y31y5IFCnTcWjWtvN2Pk7Ar3m7O/4AulEzA03TA1lAgX714rP3Rx0rWDsI9wYuGKNceHw6HRptvNy6fG8oj62G/t+TWZ3z98tK7831plsfJxw/juYINT2XnOYQSW5sxkg5bZOHncMssCHuLaQ9scSd2SUfjBSqvudlEvmpKwcsrKk/tsklmuHuw841bhlaQFmU0t0Q9ni3IGdl8Mjiy54xoDo6jxHacij9RRn0Dqk+xhBwUTYd/IHDAuI+JZee/4SVA277e9yIAyw+PAJNUtLa2SlHa8iMDLh+ta2sxjyAPHTVjzcyBw4pP7qekY75Yi1gl55mIscmnuZYBn8kTOo81+Hq/MH6R7W6tdewbjWigrpNP/upyecMwvURjWRdLFQe/eRt0aY6E49k4WeTYZA3y1mWFywoAT4FiJLiSr+DntWZhDJTpkqSDaYVbA3cxhbuzOI1wwdeQq4hrQ+DnEkq4lgHOZxKfT5UTojy8bplCZDdHJ2abcf+sl99FeVe/t3ifO0w=="
}
},
"function": {
"arguments": "{\"targets\":{\"left_j0\":-0.55,\"left_j2\":1.45,\"left_j1\":2.15,\"left_j3\":-0.3},\"note\":\"I will swing the left arm further to the left (towards the clapper stick) and lower it slightly.\"}",
"name": "move_joints"
},
"id": "e1vadivt",
"type": "function"
}
]
}{
"content": "executing move_joints over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "e1vadivt"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.4839 left_j1=2.1036 left_j2=1.4494 left_j3=-0.2699 left_j4=-0.1207 left_j5=-0.0956 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1032 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2c5f15f2945d751e24af3af377d029c2da62f5b1069a40e069ce9ce700f02453"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:99d538125a2464b810abf65892471e4da68560d822679da5e2521f354ead5f25"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b6d22d3878bb37aae010961e3fea53a694f0fedbf0f56c04c73a99ff14a46ac3"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 8.454 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.4194 left_j1=2.0624 left_j2=1.4265 left_j3=-0.3248 left_j4=-0.0746 left_j5=-0.0803 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.0952 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "ErcHCrQHARFNMg8pfsIoA2cCPTU+o916vOJ2i+iCPPisjBFApn6b4Y+Pzer7fVL0kxcLvonNdZybjGC8F+QlBmNXbHrnzvdBT7Mpg17BpkY00Vxtixfgl54rgxwUt7K3VgeVzacZd39PslNsYSdWUG3UfH1jiihzAmFHzapcbfsjBqRTWBD3rMTSOxCs2B3UtQY3ofoB/RvFDR1BabYW/aKgIAysFGJxpY5V3P5t5KXPQncU9yPKExwIi2d1xOe0eo2OJl97D2fS6YkY+/aVpyog+7MFSD6fWmreQm1YF6dmrc3teMIC1aygWSy17iKST5WzmS1+oBR2dABu9GejISwN2iAngAoCCJHGsvHoND5x3Nj2MMrDRVxC31WJ4JKBfbfT0nmT6cMxS2IfSc3psVg5eYGYWix8EopijTtfiL90fYeqMVt0YA9KrItJwc95JX8JKN7QIq2gtetJjNQsz/wZlxeksrU0jIpqHs4cX0DE3W4b2yENJwt2rqdSHBlD/C9EiRGLS/XeajK8vRa1amtqefYx/ES1IkqGXE2mWhKWjMFutDkXdL39uZyRrMKmJIazqEqzhgQqueNvtJVQtTa79rHydrSGJDrXudwURQecZGAO3599YGNNuFNjoUYLJBS6b+xdBuu1mAUQOvJeojThZTbwCibqIZbFCUCfQzGtF/22dNg/QzYprlr/bki1FzcPaol+5lQm8MFJA+qOrnuC5Xm5CeTHY7ERi5tCyY3X/FXFLv4p6CaenR6E/gEX5NF67AytG+wSbzePuo2+zQpu6ZtH3UpPTB4SbBJuR5SPtDTp7X8TRQQ6X4+Shkfj8Woho/zz/z8NUabl+ta+Tow4Y4Y5Bmg6S0/ziW4bV5SCuAXc2V8KgMSnT4GH86rxhrthh0hAKKKO3oCUPSWSJHZq1k/oYmFqbTFcY3cXoTRQZ4mBhDH/pXIf5xGi7x8UA+u68IbvI5IyDa/hPjUqFqQ2Ug3g5DaenNc35JUNhBNmoVNPYMMvsEoS+8ytyFUSfB0HwpnJhk2Oov44PNYX1OudvoiD1PFcr5xdt/537TZvdT08fO6iOBF4AcEXzFIyOp3ZXwIFoehNr4lw6kIxH2/XQpVb+dJSTKt/PIGCRF29MGwJ84zUvZnA99V90iocOG4jVJyFPFpi3tbXwmVq9gSUgv5SayJ3qkVvOCno1/LV3L2NUuLqE7IhIG4FzEn2CNxf/wlSkLgMdPI1dknHM/796y5Ao5QcrYw0vUIftsWtc6SA1T+FLjUM"
}
},
"function": {
"arguments": "{\"targets\":{\"left_j3\":-0.3,\"left_j2\":1.35,\"left_j0\":-0.58,\"left_j1\":2},\"note\":\"I will swing the arm further left to `-0.58` and pull it slightly closer to the robot by reducing left_j1 and left_j2 to align the gripper jaws with the clapper stick.\"}",
"name": "move_joints"
},
"id": "dbf730z9",
"type": "function"
}
]
}{
"content": "executing move_joints over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "dbf730z9"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5476 left_j1=2.0758 left_j2=1.3865 left_j3=-0.2504 left_j4=-0.1127 left_j5=-0.1047 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1055 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:23f45d5c556cfdc8161d63a604b76b18b2e4f649aaf8fd6fef17bbef93bf5c95"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2f76a6d9df0f2dabf60b42db1763828b4fd47223a6a361e9abd47545c57bba15"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bc5ba454bcafbb73a965623e562b78ce4fa2973566450af0b476895303e8fe87"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 4.314 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.4839 left_j1=2.1036 left_j2=1.4494 left_j3=-0.2699 left_j4=-0.1207 left_j5=-0.0956 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1032 right_j4=-0.0158 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EqAHCp0HARFNMg9C0/xzmStZJraOocALq3piMwlWqF8315SN3bhheXNCJwUcUkO9Illswg7lt+JHIccmhGeXABwtS81kZ2JAYlCrTq2ETLXgJAI0Oesr79U3vmdKC4UUXbPvvmZecGfX1kupl4S1Rdbmyspp4p8+cFtcDbf7do6vWPS99cgkEUNlJ7wSqgca3KUEdpx8grR0XnNLA91Slq/NOGuH24yH8Iw1wO8Nrw96BAwCahQXv5e54jDXWRd3136bbvaBdIyZigq5Yj9a2fhaZLZXUMfS+AxWh2XfmskGiovNhq86d5Wu6IZ61drmz+nvTOL4rWOzQof9XBhJD64eV7IlKuMBILyiW+ERWQxI+2HSeB1Bll6ZxV83EqF5TxEAS8oA2XKHG7SEX7rkKLpV02JyPk9KcvzD512wnBiudseF65NtvyWMJ6+Q/VBYWCvIxb8G8CgKMbOQqgUTuxFVNZVoGfg5cwNVwtlTdnvpatrkBiTKpx9NAxYTa/G5vuE3B7yArPPa5IPgz6q7Hga31z4CgiV2jGbS2ceCutD4jukV77JuwWy/k6GWdkX+wsa0NQF3hPTtCVhrLMzJV/tEU5aWIvzZTddWH0D7vP6e8Uk7KtNwadFsv3sB9pJf7sMfER6XfPXJet01ucrxdCGhz9DORAnqG+KEkqEZBuTLR1OrR0vUE0bttSV4w14IQTTQjRPzigPgH8j+u/a+PTHdKO+KPA4d+MT1+Qfwem8IdJ8GgpmSOC/f/ARvUksaT0RqJec0ZzipV9A2xJGR6Ur6T/dBW59Arz3LXlitgiY0aieZXy/aV749zEfNqhO7EJNRXe58YQJ+1EadwcJM+GK/gSgkd1XUszF4tyyyazbhWZ+tW9XFXO2KJT+Z+mMMzSFzzvlleBoo6pV99tpyGvTj/9nrKQtIgE+FgCpeOe1y/Ches7fvVycN0fsKHsUU+Tutp8zBLhH/5DCt2uSp8fYfX2s3J2dprAxeE4UEKv7y2FK8/zxuUnvahbnwXAsqxO6aVvtZOlM5U/QPoywY72YTaGYTmJdHUcTsigquuLbLPjCEbxjsqKmOZTUW9U/oHjQELHMvGgNuNtIzYM9E/A+QGdTSqrs2QEUxyWTWDoA4HP3wJYeZ77CDIlVNdzaC+CqP2eJrv7Ytqzp7WN4XcWebrc3CCG2b79i/HgC/3P+mBwZYwt3fOL5qxKhtgFO21EB97+JnZqnPW+cTWdQgcGxiIA=="
}
},
"function": {
"arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j0\":-0.65,\"left_j2\":1.4,\"left_j3\":-0.3},\"note\":\"I will swing the gripper further left to align it with the stick's end, and keep it lowered and ready to pinch the stick.\"}",
"name": "move_joints"
},
"id": "g854hi74",
"type": "function"
}
]
}{
"content": "executing move_joints over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "g854hi74"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6041 left_j1=2.0834 left_j2=1.3907 left_j3=-0.2901 left_j4=-0.123 left_j5=-0.1062 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1127 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3719ab7130729159ffc7257089b498cb4c5a5c27f78b6de0e72f768648659917"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0e7a0a9ac3979a6204a7cd277613d9ea85d892c24d5cbe5ff4f6d37f468f13a9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a23706db249356343bf6907727badfa62292c0ecd5506b96bf73d08048b59610"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 6.035 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.5476 left_j1=2.0758 left_j2=1.3865 left_j3=-0.2504 left_j4=-0.1127 left_j5=-0.1047 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1055 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "Eo4FCosFARFNMg9dO+weYEDNKt7i0H36dIUP2N3QIv+VvFuIoMPE845ADbCEKwF66sqnaHce1fN1PvXolqSkmVvOxfO61yNu/smreOaVoIHETFwfgraXYheGz9BjnZ9JsCGBVL4tCOj7i8VDIaFLf7A3vFKdBWTZf5+Ur33El+OYiD6XAE1+d9Vw8whpHwIOtC31RBaccBg4wk/tfh0GpVnvKHPtFsOOjL7hnfR1UYj0oVMrtZsV10EDoiQJX+R8LtBpvaKaZrtGtqG+F03YKRi9Mng4HeOfP4WzB/HMqritE+Wjtf9KFJi4n4NtCdXEY57V+RTWiz5b3DduYX8YtUsjCUIrlDnSSNTnwWO+MqL3VQRjL74WOJmyMz7XH9QB5aOljs346zZdubN2rs1VhMBa3aJknywyVVxN9vEwd0snpuYhN6ZA5fozK4ryaJkrthzEDlvkltE2XOTaRYNHhqFrYQtoIyXIVZ7/pv6BDYGaZM4fZHmsi2Efi4x3O7HqjVyGIh8ViCoMhOxoY1QwGIfQhLXSMt61qHMqPaEaEi7fTrCIocM2G+vhGk7zi1RJaAP0W+gFBaLaNtAS3eJy1exq97EUhVJYJoo+Stl8iOmThdSF1xFEB/XwmUVzFXl0MNcRT2h7CdFrNtMR0uBoNHbZtQeQZqXfRioCb+SALmk0oYaRiUhn9ncIv2JdeXV5OJLDwKo1jWG1cfq8Rp38VuWSe0RUE+OkJWJt99ccLxxwcJk+BAoDUbGtfheT69g/x3W20i+ourqzvjNkIUIBM6ueBELu3FpoTVTG82iHTt86gI+W/11dW3vJAaJS0htIG9Yhww4GVuIsWtRaSpzXfJYWGShUiB7Jbox+3w6UlgVP"
}
},
"function": {
"arguments": "{\"note\":\"The clapper stick is perfectly positioned between the gripper's jaws in the left eye-in-hand camera. I will lower the arm slightly to ensure a secure grip.\",\"targets\":{\"left_j1\":2.15,\"left_j0\":-0.6,\"left_j2\":1.35,\"left_j3\":-0.3}}",
"name": "move_joints"
},
"id": "pw0r5gcg",
"type": "function"
}
]
}{
"content": "executing move_joints over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "pw0r5gcg"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6365 left_j1=2.1448 left_j2=1.383 left_j3=-0.2626 left_j4=-0.0998 left_j5=-0.1143 left_gripper=0.998 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4719 right_j3=-0.1226 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f140cab846f9616aaec8658b5929ed2c1e38db102f352cdb106087ff6c8779d5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9fb639d02fc0dc406f6d0822897c313f87dde427ee3911dd68303d844791e234"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:99664e2847189e22ba783792d740f4798c58100100d73faadcf191681f5bd260"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 5.811 s
- model
- gemini-robotics-er-2-preview
- effort
- high
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6041 left_j1=2.0834 left_j2=1.3907 left_j3=-0.2901 left_j4=-0.123 left_j5=-0.1062 left_gripper=0.9981 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4723 right_j3=-0.1127 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": null,
"role": "assistant",
"tool_calls": [
{
"extra_content": {
"google": {
"thought_signature": "EuEBCt4BARFNMg/Z21+cWWqouoqsL0lsy22P6rB3Mfwu4zvROuklJ/kTJ4Vw9DZCWV9W5rMuQjxzTGbFPSY3GOt7FqcJDnfyRjcVNuDtlI86vQAFqJsd50Ai3gm95MAJGcG0Scq9wIli6xr2ijrN+YPA4hqvinCto8a7JQdRCqD7Yr+Tr7le7wsZzM34RWjh3aVVcjALkVqW9JdmWEMRL5eZrIRs5xvEZKuKqiWoTFNdAtRZiOwEWk2unK+qqte5Z3MVWehhDut6z75TF5rW6QADFw8VAzC3RHC/xiw68N0nPlRX"
}
},
"function": {
"arguments": "{\"note\":\"The clapper stick is perfectly aligned between the gripper jaws. I will now close the left gripper to grasp it.\",\"targets\":{\"left_gripper\":0}}",
"name": "move_joints"
},
"id": "ts0budiy",
"type": "function"
}
]
}{
"content": "executing move_joints over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "ts0budiy"
}{
"content": [
{
"text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.6399 left_j1=2.1448 left_j2=1.3785 left_j3=-0.2424 left_j4=-0.1043 left_j5=-0.1207 left_gripper=0.0129 right_j0=-0.1967 right_j1=1.7992 right_j2=1.4719 right_j3=-0.1329 right_j4=-0.0154 right_j5=-0.0376 right_gripper=0.9995",
"type": "text"
},
{
"text": "camera 'top_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef62cf15c8616a3551a56ad1871c7912be0bc26ea3a7fdceeebf0112b4a83916"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2fac9714d43a3332449689c319537a599ca7421c9963af3ab6ec44e2ac41ec53"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:eb4cc47e57e15aa01755158c55288a9e8444c198c3ac757a0c8c6ec99909f63e"
},
"type": "image_url"
}
],
"role": "user"
}