adhoc

completed
2026-07-31T03:23:25.223199+00:00 inspect-robots 0.34.0git unknown
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
202.5 s
total steps
112
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change.
user
Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. You have a budget of 200 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change.
user
Goal: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI will raise both arms up and open the elbows to bring them into a position where they are visible and can approach the clapperboard.
move_joints
left_j11.5000right_j11.5000left_j50.0000left_j40.0000right_j00.0000left_j21.5000right_j30.0000right_gripper1.0000right_j21.5000left_gripper1.0000right_j40.0000left_j00.0000right_j50.0000left_j30.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0246 left_j4=-0.0074 left_j5=-0.0151 left_gripper=0.9992 right_j0=-0.0017 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0082 right_j5=-0.0147 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({"note":"I will raise both arms up and open the elbows to bring them into a position where they are visible and can approach the clapperboard.","targets":{"left_j1":1.5,"right_j1":1.5,"left_j5":0,"left_j4":0,"right_j0":0,"left_j2":1.5,"right_j3":0,"right_gripper":1,"right_j2":1.5,"left_gripper":1,"right_j4":0,"left_j0":0,"right_j5":0,"left_j3":0}})
tool
executing move_joints over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteI will lower the arms forward by increasing j1 to 2.4 and j2 to 2.0 to bring the grippers down and closer to the clapperboard.
move_joints
right_j30.0000right_j00.0000right_j22.0000left_j40.0000left_gripper1.0000right_j50.0000right_gripper1.0000left_j22.0000left_j12.4000right_j12.4000left_j30.0000right_j40.0000left_j50.0000left_j00.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.004 left_j1=1.5009 left_j2=1.4723 left_j3=-0.0162 left_j4=-0.0093 left_j5=-0.0154 left_gripper=0.9992 right_j0=-0.0017 right_j1=1.5005 right_j2=1.4712 right_j3=-0.0196 right_j4=-0.0151 right_j5=-0.0177 right_gripper=0.9994 camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j3":0,"right_j0":0,"right_j2":2,"left_j4":0,"left_gripper":1,"right_j5":0,"right_gripper":1,"left_j2":2,"left_j1":2.4,"right_j1":2.4,"left_j3":0,"right_j4":0,"left_j5":0,"left_j0":0},"note":"I will lower the arms forward by increasing j1 to 2.4 and j2 to 2.0 to bring the grippers down and closer to the clapperboard."})
tool
executing move_joints over 15 steps (1.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteI will rotate both arms inward (left arm rightward, right arm leftward) and extend the elbows further to bring them closer to the clapperboard.
move_joints
right_gripper1.0000left_j30.5000right_j50.0000right_j00.3000right_j12.4000right_j40.0000left_gripper1.0000left_j0-0.3000right_j22.5000left_j12.4000left_j50.0000left_j22.5000left_j40.0000right_j30.5000
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=-0.004 left_j1=2.3726 left_j2=1.9751 left_j3=-0.0124 left_j4=-0.0097 left_j5=-0.0181 left_gripper=0.9992 right_j0=-0.0017 right_j1=2.3707 right_j2=1.9766 right_j3=-0.0181 right_j4=-0.0185 right_j5=-0.0177 right_gripper=0.9994 camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will rotate both arms inward (left arm rightward, right arm leftward) and extend the elbows further to bring them closer to the clapperboard.","targets":{"right_gripper":1,"left_j3":0.5,"right_j5":0,"right_j0":0.3,"right_j1":2.4,"right_j4":0,"left_gripper":1,"left_j0":-0.3,"right_j2":2.5,"left_j1":2.4,"left_j5":0,"left_j2":2.5,"left_j4":0,"right_j3":0.5}})
tool
executing move_joints over 9 steps (0.9s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteI will adjust the robot's left arm so it is positioned over the open end of the clapper stick (on the robot's left side).
move_joints
right_j00.3000left_gripper1.0000right_j30.5000right_gripper1.0000right_j50.0000left_j50.0000left_j0-0.1500left_j40.0000right_j40.0000right_j22.5000right_j12.4000left_j12.6000left_j22.6000left_j30.5000
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=-0.3019 left_j1=2.4187 left_j2=2.4813 left_j3=0.4789 left_j4=-0.0139 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.3042 right_j1=2.4165 right_j2=2.4825 right_j3=0.4713 right_j4=-0.0223 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will adjust the robot's left arm so it is positioned over the open end of the clapper stick (on the robot's left side).","targets":{"right_j0":0.3,"left_gripper":1,"right_j3":0.5,"right_gripper":1,"right_j5":0,"left_j5":0,"left_j0":-0.15,"left_j4":0,"right_j4":0,"right_j2":2.5,"right_j1":2.4,"left_j1":2.6,"left_j2":2.6,"left_j3":0.5}})
tool
executing move_joints over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteI will extend the robot's left arm further forward and slightly adjust its rotation to position it right above the openable side of the clapper stick.
move_joints
left_j30.5000left_j50.0000right_j22.5000right_gripper1.0000left_j12.7000left_gripper1.0000left_j40.0000right_j50.0000right_j12.4000left_j0-0.1500left_j22.6000right_j30.5000right_j00.5000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1699 left_j1=2.5923 left_j2=2.5706 left_j3=0.4938 left_j4=-0.0074 left_j5=-0.0143 left_gripper=0.9992 right_j0=0.3027 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0219 right_j5=-0.0147 right_gripper=0.9994 camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will extend the robot's left arm further forward and slightly adjust its rotation to position it right above the openable side of the clapper stick.","targets":{"left_j3":0.5,"left_j5":0,"right_j2":2.5,"right_gripper":1,"left_j1":2.7,"left_gripper":1,"left_j4":0,"right_j5":0,"right_j1":2.4,"left_j0":-0.15,"left_j2":2.6,"right_j3":0.5,"right_j0":0.5,"right_j4":0}})
tool
executing move_joints over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteI will adjust the left arm's wrist pitch to point the wrist camera downwards and see the clapperboard, while bringing the gripper slightly closer.
move_joints
left_j50.0000left_j0-0.1500right_j30.5000left_j40.0000left_j22.6000left_j3-0.2000left_gripper1.0000right_j40.0000right_j12.4000right_j50.0000left_j12.8000right_gripper1.0000right_j22.5000right_j00.5000
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=-0.1562 left_j1=2.674 left_j2=2.5797 left_j3=0.4976 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.482 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"left_j5":0,"left_j0":-0.15,"right_j3":0.5,"left_j4":0,"left_j2":2.6,"left_j3":-0.2,"left_gripper":1,"right_j4":0,"right_j1":2.4,"right_j5":0,"left_j1":2.8,"right_gripper":1,"right_j2":2.5,"right_j0":0.5},"note":"I will adjust the left arm's wrist pitch to point the wrist camera downwards and see the clapperboard, while bringing the gripper slightly closer."})
tool
executing move_joints over 12 steps (1.2s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteI will center the robot's left arm over the openable end of the clapper stick by setting j0 to -0.22, and extend it further forward to reach the stick.
move_joints
left_j50.0000left_j0-0.2200right_j30.5000left_j40.0000left_j12.8500left_j3-0.3000right_gripper1.0000right_j00.7000right_j22.5000left_j22.8000right_j12.4000right_j50.0000left_gripper1.0000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1551 left_j1=2.7895 left_j2=2.5797 left_j3=-0.1753 left_j4=-0.0097 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.4953 right_j1=2.4165 right_j2=2.4828 right_j3=0.4744 right_j4=-0.0185 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will center the robot's left arm over the openable end of the clapper stick by setting j0 to -0.22, and extend it further forward to reach the stick.","targets":{"left_j5":0,"left_j0":-0.22,"right_j3":0.5,"left_j4":0,"left_j1":2.85,"left_j3":-0.3,"right_gripper":1,"right_j0":0.7,"right_j2":2.5,"left_j2":2.8,"right_j1":2.4,"right_j5":0,"left_gripper":1,"right_j4":0}})
tool
executing move_joints over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteI will lower the robot's left arm towards the clapper stick and adjust its pitch to prepare for grasping the stick.
move_joints
left_gripper1.0000right_gripper1.0000left_j22.9000right_j00.7000right_j50.0000left_j13.0000right_j12.4000right_j30.5000left_j0-0.2200right_j22.5000left_j50.0000left_j40.0000left_j3-0.5000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.223 left_j1=2.8376 left_j2=2.7689 left_j3=-0.3107 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.7013 right_j1=2.4165 right_j2=2.4821 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"left_gripper":1,"right_gripper":1,"left_j2":2.9,"right_j0":0.7,"right_j5":0,"left_j1":3,"right_j1":2.4,"right_j3":0.5,"left_j0":-0.22,"right_j2":2.5,"left_j5":0,"left_j4":0,"left_j3":-0.5,"right_j4":0},"note":"I will lower the robot's left arm towards the clapper stick and adjust its pitch to prepare for grasping the stick."})
tool
executing move_joints over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteI will lower the robot's left arm further so the gripper jaws are positioned right over the striped clapper stick.
move_joints
right_j22.5000right_j40.0000right_j30.5000right_j12.4000right_gripper1.0000right_j50.0000left_j22.9500left_j40.0000left_j50.0000right_j00.7000left_j0-0.2200left_j13.1000left_j3-0.6000left_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=-0.223 left_j1=2.9799 left_j2=2.87 left_j3=-0.4938 left_j4=-0.0071 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0147 right_gripper=0.9994 camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will lower the robot's left arm further so the gripper jaws are positioned right over the striped clapper stick.","targets":{"right_j2":2.5,"right_j4":0,"right_j3":0.5,"right_j1":2.4,"right_gripper":1,"right_j5":0,"left_j2":2.95,"left_j4":0,"left_j5":0,"right_j0":0.7,"left_j0":-0.22,"left_j1":3.1,"left_j3":-0.6,"left_gripper":1}})
tool
executing move_joints over 2 steps (0.2s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteI will lower the left arm gripper just a little bit further to ensure it is fully straddling the clapper stick.
move_joints
right_gripper1.0000left_j3-0.6000right_j12.4000right_j40.0000right_j50.0000left_j0-0.2200left_j50.0000right_j22.5000left_j40.0000left_j13.1500right_j30.5000right_j00.7000left_gripper1.0000left_j23.0000
assistant
agent noteI will lower the left arm to j2 = 3.0, while keeping j1 safely within bounds at 3.1, to position the gripper securely around the clapper stick.
move_joints
right_j40.0000right_gripper1.0000right_j22.5000left_j50.0000left_j3-0.6000left_gripper1.0000right_j00.7000left_j23.0000right_j12.4000left_j0-0.2200right_j30.5000left_j40.0000right_j50.0000left_j13.1000
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=-0.2211 left_j1=3.0798 left_j2=2.9372 left_j3=-0.5449 left_j4=-0.0036 left_j5=-0.0231 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will lower the left arm gripper just a little bit further to ensure it is fully straddling the clapper stick.","targets":{"right_gripper":1,"left_j3":-0.6,"right_j1":2.4,"right_j4":0,"right_j5":0,"left_j0":-0.22,"left_j5":0,"right_j2":2.5,"left_j4":0,"left_j1":3.15,"right_j3":0.5,"right_j0":0.7,"left_gripper":1,"left_j2":3}})
tool
target for left_j1 is outside [-3.141592653589793, 3.141592653589793]
assistant
move_joints({"note":"I will lower the left arm to j2 = 3.0, while keeping j1 safely within bounds at 3.1, to position the gripper securely around the clapper stick.","targets":{"right_j4":0,"right_gripper":1,"right_j2":2.5,"left_j5":0,"left_j3":-0.6,"left_gripper":1,"right_j0":0.7,"left_j2":3,"right_j1":2.4,"left_j0":-0.22,"right_j3":0.5,"left_j4":0,"right_j5":0,"left_j1":3.1}})
tool
executing move_joints over 1 steps (0.1s)
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 noteI will close the left gripper to firmly grasp the right end of the clapper stick.
move_joints
right_j12.4000left_j0-0.2200left_gripper0.0000left_j3-0.6000right_j40.0000right_j30.5000right_gripper1.0000left_j40.0000right_j00.7000right_j50.0000right_j22.5000left_j23.0000left_j50.0000left_j13.1000
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=-0.2211 left_j1=3.0879 left_j2=2.9704 left_j3=-0.5808 left_j4=-0.0032 left_j5=-0.0181 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 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":2.4,"left_j0":-0.22,"left_gripper":0,"left_j3":-0.6,"right_j4":0,"right_j3":0.5,"right_gripper":1,"left_j4":0,"right_j0":0.7,"right_j5":0,"right_j2":2.5,"left_j2":3,"left_j5":0,"left_j1":3.1},"note":"I will close the left gripper to firmly grasp the right end of the clapper stick."})
tool
executing move_joints over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteI will raise the left arm to lift the clapper stick up.
move_joints
left_j0-0.2200right_j22.5000left_gripper0.0000right_j12.4000left_j3-0.3000left_j50.0000left_j22.8000right_gripper1.0000right_j30.5000left_j12.6000left_j40.0000right_j50.0000right_j40.0000right_j00.7000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.2211 left_j1=3.0879 left_j2=2.9711 left_j3=-0.5953 left_j4=-0.0036 left_j5=-0.0074 left_gripper=0.0137 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0154 right_j5=-0.0143 right_gripper=0.9994 camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I will raise the left arm to lift the clapper stick up.","targets":{"left_j0":-0.22,"right_j2":2.5,"left_gripper":0,"right_j1":2.4,"left_j3":-0.3,"left_j5":0,"left_j2":2.8,"right_gripper":1,"right_j3":0.5,"left_j1":2.6,"left_j4":0,"right_j5":0,"right_j4":0,"right_j0":0.7}})
tool
executing move_joints over 8 steps (0.8s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteI will raise the arm further to lift the clapper stick even higher for a louder clap when released.
move_joints
left_j12.4000left_j3-0.1000right_j50.0000left_gripper0.0000right_j12.4000right_j30.5000left_j0-0.2200right_j00.7000right_gripper1.0000left_j22.6000left_j40.0000right_j22.5000right_j40.0000left_j50.0000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.2211 left_j1=2.6816 left_j2=2.8056 left_j3=-0.3847 left_j4=-0.0067 left_j5=-0.0074 left_gripper=0.0158 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0147 right_j5=-0.0147 right_gripper=0.9994 camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"left_j1":2.4,"left_j3":-0.1,"right_j5":0,"left_gripper":0,"right_j1":2.4,"right_j3":0.5,"left_j0":-0.22,"right_j0":0.7,"right_gripper":1,"left_j2":2.6,"left_j4":0,"right_j2":2.5,"right_j4":0,"left_j5":0},"note":"I will raise the arm further to lift the clapper stick even higher for a louder clap when released."})
tool
executing move_joints over 5 steps (0.5s)
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 noteI will open the gripper to let go of the clapper stick so it snaps shut with a clap.
move_joints
left_j50.0000right_j00.7000right_j30.5000left_j22.6000right_j22.5000right_gripper1.0000left_j12.5300right_j12.4000left_j40.0000right_j50.0000left_gripper1.0000right_j40.0000left_j3-0.2100left_j0-0.2200
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=-0.2211 left_j1=2.5282 left_j2=2.595 left_j3=-0.2134 left_j4=-0.0071 left_j5=-0.0074 left_gripper=0.0157 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0143 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({"note":"I will open the gripper to let go of the clapper stick so it snaps shut with a clap.","targets":{"left_j5":0,"right_j0":0.7,"right_j3":0.5,"left_j2":2.6,"right_j2":2.5,"right_gripper":1,"left_j1":2.53,"right_j1":2.4,"left_j4":0,"right_j5":0,"left_gripper":1,"right_j4":0,"left_j3":-0.21,"left_j0":-0.22}})
tool
executing move_joints over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteSuccessfully lifted the clapper stick using the left arm, and then released it so it snapped shut with a clap.
done
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=-0.2211 left_j1=2.5546 left_j2=2.5835 left_j3=-0.2363 left_j4=-0.0067 left_j5=-0.0067 left_gripper=0.995 right_j0=0.7002 right_j1=2.4149 right_j2=2.4878 right_j3=0.4812 right_j4=-0.0151 right_j5=-0.0101 right_gripper=0.9994 camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
done({"summary":"Successfully lifted the clapper stick using the left arm, and then released it so it snapped shut with a clap."})
tool
done: Successfully lifted the clapper stick using the left arm, and then released it so it snapped shut with a clap.
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 · 7.234 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=-0.004 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0246 left_j4=-0.0074 left_j5=-0.0151 left_gripper=0.9992 right_j0=-0.0017 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0082 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe7fdf788d001d206c4a0740c2edfafe601b98a262b32dbbef5e53ac82578000"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8006e0471ec6ca2bb027894b03e4351e98b3655c58d6c67a8e1284616bfa5a58"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c2f8cea15e175e531335fea35d6362c11c4c9aaa5502964e6d8b323b144fcd38"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fe7fdf788d00
wire blob 8006e0471ec6
wire blob c2f8cea15e17
call 1 attempt 0 · /chat/completions · status 200 · 3.484 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "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"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will raise both arms up and open the elbows to bring them into a position where they are visible and can approach the clapperboard.\",\"targets\":{\"left_j1\":1.5,\"right_j1\":1.5,\"left_j5\":0,\"left_j4\":0,\"right_j0\":0,\"left_j2\":1.5,\"right_j3\":0,\"right_gripper\":1,\"right_j2\":1.5,\"left_gripper\":1,\"right_j4\":0,\"left_j0\":0,\"right_j5\":0,\"left_j3\":0}}",
        "name": "move_joints"
      },
      "id": "lsk2qrco",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 24 steps (2.4s)",
  "role": "tool",
  "tool_call_id": "lsk2qrco"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=1.5009 left_j2=1.4723 left_j3=-0.0162 left_j4=-0.0093 left_j5=-0.0154 left_gripper=0.9992 right_j0=-0.0017 right_j1=1.5005 right_j2=1.4712 right_j3=-0.0196 right_j4=-0.0151 right_j5=-0.0177 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0d4b932eaf2854beb1f6b99066f2b08b6d8bfdfe7f36dcf1144367403fbadbdf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:502d13735585a9450c5694226b2d6ec0e571283b30a0924b6c77c77eb4201d1b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:445ab062a3bb2ec586b3ca09b9be69de8010a06974726a522655be261bbced4d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0d4b932eaf28
wire blob 502d13735585
wire blob 445ab062a3bb
call 2 attempt 0 · /chat/completions · status 200 · 5.643 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=-0.004 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0246 left_j4=-0.0074 left_j5=-0.0151 left_gripper=0.9992 right_j0=-0.0017 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0406 right_j4=-0.0082 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "Es0JCsoJARFNMg8goyaVwNLpiW+C9K1L4KIIIXLI2SO1PJeBRKagupUaXDGGQ7wW9dskaTcx+1gaTsKRoTzZ5D3xOzOVRv/CnqyvbJYGVO+5Y2LFQG2qx6m4bW/F8xvELkAjUw83smQJ0fpHCqMFs2TWHxW4nmuQnI5S9Wf7B5RpR/k/jyDqt3z1rjYxPf7yvHYvf/vx5lypEgFEYI23XvLbyrlc+E9cIbuxTI7xb1aZbatm7sUJ9AaClS2Pwi21lg9wRROY0rtNUjd/9m6/leygRHjZfx3BfkszBHIasoBuNrh3Lr4clypyicLem9JYDBDZOKluyrg0bHmU0Xv7ohAt3z4s7cTA+uUztkOhZyW6+uMPDyP6gfvwXZRXpKOgz3Zrk0/7UaLPuokBP4QEK4BY/VN1YBVEdcsdNbxfp7Ev609IfN5MMx6gXPiIUv6IayNhwOcgmSnzqk2Z2Zlm8zrQMhgtPJn1/vK4zauLa2wjaVfl3mnLIG4a95nSErEnxh7burirlIo29trXCCiK4+3BklwTYtggLwj5z6A94Y4lsK7INks1gMWXTmOY9nmT3ZCsJILst03gedVkdy+4JSMjwcSGgLGxVYJD+oaovNaQGWqadjEhOE1i+uJZPoyLpsL4uT8LGZn7cMvLBX61Ez01Mt945mqzxcO41Ko7pCxQusVKnX4VwlVEiStXGvNN0E9SBhIKYTzPsxb8s9Wr/vdMfd8DwTkdlP/geGQcLVqLZwm7iOLtLWPxzrYhWqa5rFcN7qGJxYejttIeYIhikacmf0TA3M8bGohKikTqm8TYtSz67u803g5N+syJNdGJptoQf3habaipH529GkzOlMXSoATm2ul/ZzYSeXiimlxVGn9L+n5olIrVpeMrhHrDwtN3kE4drhfgFiH/VVipkGoC7jCZppgNIyjxCR2MwaeaZ1VLk2gO2TnBagwHLU5EQtXmFcWwQCXp+pKy6LC5x8B25Q9NllykUeT7Ul9NWOxz2sm4On0OsZtpHxqrbz6sbLtoJeiDvhBHODtgNGNnBa7uzM0m5YCMenJmHBHr60OPBzgQqeFisNHdyRZXJty4DYm/qtawlYVxy6pMlc1hKX2rvtkVBTFeFOo+n1jq0wIIbEwniEK2pGo3WLwJeUQwZDXrRx8xr5AGw+cuCW4yp/6Ot8ZUqxfDIEGndruLtfSBhOe5BIluM8H/icrJRzCc7KxmBHmkJgjbpVX6j0h9buWOHf/WTP0wklzctDJVSkxgmZHertrEUKVwdH5fQLb4UFWPpAMg/MRctfraoe2DO3p4t6fb/3xg41TKrxCF5SwW2EAuI9s6MqHNbcIYgW7M7F+sT7iI6a6WPiH4CZuIotWs7NL9pI0JI2ZuSNJ0fvNLhOjpcJm20ulA7G5zjFL8P52UAzNqWtvNbBCdClJCKgjDiFIh0BPci5Fbr2/MYFxz9BJDS1MKxNKecHLIzAfOmuGDGmyVNUw4lyyzFAAMYgIm5ty8REvPWXdnnY36e+0yIADs+jX7N6vYUpfz0L53IjZbo+5B/LDDzJk1PTPEdK5Ajttq2io7JQtae5/n6AxfQuGOj5ySGJf5L8hOkRpMYaGx8Tjm35KlV4XLTeqlOt5lVQJVgZacl7sIFNeiQfc="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j3\":0,\"right_j0\":0,\"right_j2\":2,\"left_j4\":0,\"left_gripper\":1,\"right_j5\":0,\"right_gripper\":1,\"left_j2\":2,\"left_j1\":2.4,\"right_j1\":2.4,\"left_j3\":0,\"right_j4\":0,\"left_j5\":0,\"left_j0\":0},\"note\":\"I will lower the arms forward by increasing j1 to 2.4 and j2 to 2.0 to bring the grippers down and closer to the clapperboard.\"}",
        "name": "move_joints"
      },
      "id": "od2dshm6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "od2dshm6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.004 left_j1=2.3726 left_j2=1.9751 left_j3=-0.0124 left_j4=-0.0097 left_j5=-0.0181 left_gripper=0.9992 right_j0=-0.0017 right_j1=2.3707 right_j2=1.9766 right_j3=-0.0181 right_j4=-0.0185 right_j5=-0.0177 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6888b0bf1797bf590b5a55326138abace81789ed627427f95b3e4bd7726f916b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b1cd777588bf1a137d8e8f55b4c8519b1496fb7a50a79c4995777cda000ba1c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3e69f9446e83f8a5d7092f011fb795f60f5f206fc46c778666fd754bad04c92"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6888b0bf1797
wire blob 6b1cd777588b
wire blob c3e69f9446e8
call 3 attempt 0 · /chat/completions · status 200 · 13.84 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=-0.004 left_j1=1.5009 left_j2=1.4723 left_j3=-0.0162 left_j4=-0.0093 left_j5=-0.0154 left_gripper=0.9992 right_j0=-0.0017 right_j1=1.5005 right_j2=1.4712 right_j3=-0.0196 right_j4=-0.0151 right_j5=-0.0177 right_gripper=0.9994",
      "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 rotate both arms inward (left arm rightward, right arm leftward) and extend the elbows further to bring them closer to the clapperboard.\",\"targets\":{\"right_gripper\":1,\"left_j3\":0.5,\"right_j5\":0,\"right_j0\":0.3,\"right_j1\":2.4,\"right_j4\":0,\"left_gripper\":1,\"left_j0\":-0.3,\"right_j2\":2.5,\"left_j1\":2.4,\"left_j5\":0,\"left_j2\":2.5,\"left_j4\":0,\"right_j3\":0.5}}",
        "name": "move_joints"
      },
      "id": "c6wtstgo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "c6wtstgo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3019 left_j1=2.4187 left_j2=2.4813 left_j3=0.4789 left_j4=-0.0139 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.3042 right_j1=2.4165 right_j2=2.4825 right_j3=0.4713 right_j4=-0.0223 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac5fd17d7443e9b4fad44281835d50c3a073d38cafc868ccbfa414275c9d349c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f990b3cca6442487c17f0f984c999ad3946ec6c35934a763069c527d37709fc3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3b142e4a0aa54d06183dcb98214a5628cfcb59129b920dab36cea9a61e48e87"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ac5fd17d7443
wire blob f990b3cca644
wire blob f3b142e4a0aa
call 4 attempt 0 · /chat/completions · status 200 · 4.099 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=-0.004 left_j1=2.3726 left_j2=1.9751 left_j3=-0.0124 left_j4=-0.0097 left_j5=-0.0181 left_gripper=0.9992 right_j0=-0.0017 right_j1=2.3707 right_j2=1.9766 right_j3=-0.0181 right_j4=-0.0185 right_j5=-0.0177 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EsQPCsEPARFNMg9TtxQ5XA+aAAPtP6J6H0vArO45eSFN5IU6lx/8e8bNNcLEmSK2QzfaXuXglthzkQ+YUverN09gViEK0AsG5PiJcIm3sSAVmt7Vo9isVOrOIqlot28q7P3e+5xindMjVgyKfRxEawyx4Kgxk58WBaqkPvL6hRYomODl6JlX5iKuND4srIITkuZdFqBnBmdj+0+O7XV1H0i/fMbROAM7uZyOFV87q7FbTHs3a8pYGbkLh9M4uS+w3nf0FBHk2Xtt4aTSJWg3atKbaqjtDEmshrqMfLgrxPparARmgW4UAOFb9iphvFNGnLJVmlwGRz9jyrZC5+ANXnulsVYJvGWFG6JBNP4FzOwedoi6LYM29rReFU7LcBaUOolzxj9/7gXc2kPrDWR9++cyqODDDza/haP0GU2sfUEC1Id5L2jrQ1oEzr/Y/pSoyW38JwccJasSixUnwLEGiLK52lkBu2n51Bhv8u8/U/ewwXJh01o3DVcolHNKpzBz4xXhtxbXOzR7QKU5klt8LC9IwfxjJHxeRjJsbo7fjNBEjUc1X05HQxZzR3xWedTp9onPyK1DE+1gtnJHuYBMp36gZXV/vKnce6mhwH2mZLUNvywicXLhFVKg3CS7BEyUuBFCFFUs7kyhxg7zF4k7RDqsdX014gC/N60FP/XDksNaPSZdkh8iJEosStYGv6W4Uv3irrwBI5gamkx7LxIB5NXUI7sNWF6uqOjv9onGPhCtZ304ECPF+MRlaVOOFAOo9+S+1Xu/GI5CRz+2FjoulW+po+6FNKvs+e1uwd4ffuFwa1Cn2DoTi/bAiWvDZxe26oYzHdb9XKoHupnoXjdMXJhwC8EAgRu213XfBVvDzmY4NExcBc3V3+fvlB5yRN96S5Sfx06N/4hs/9W7rn8yntGsOZRGKy1Xfu9diVFRl9cy6SZfTTtdKC460c8N/TWdubv8QOGQCSqlCglCmjCQpGUWyQ3OMwltnSAryjiwMe5Q0ecORvo1wcU2uc4tWsgrEFKDiAkpIEzfdCvEl0yDiKkKY+KV8LbXpQgbfvesEU7XSi0IQZ8lLhMwdF4CiryZQYtoGwKHGwsX/mRgtZFf27HDWKaUHZtt74bxNK9cXglxTXOJnZ4B5qrElOZ/j3O62Zok+1Bi6jtSOwEKDjEV5liNCKcnGzH2XmYVxfGOjAu/4KNtvEOWbiNTSVLESilaJKwz8X7pXNQnk7EsU7H2lTHODaxCG1USM8ZvRYOssQKLKhUybaMl5nVioZv7HWf3Cl3D+IgYcmNr0yHnNHAzRz43VLl08KTDhPgrqkQUNY2UmFxFNKdGH5awlQWJ5BqQmVHrSyr/puIp7mEJ3HfeL5rkVPmQZmVjCB31rAba0zBQ8l/KsAIxnSEi6wj2tcMSFMcGGUyPkAGvTvdIOKerkdmKs1PgTX13uo1uDYoRA+awrCnIE0uqf7eL3kMxdQBeYpY2pjhUDPBKwj/S+KDuCycYbGLnYCMbSmGt5dt7KDERKOOxWCLsnm0TBAzoPIql+YxfrWOAnKu8QiumiVAOjiovnppSizIHH8kVzWUGIqexmRrklGRK8ri2OmeQPIOIvISXOJL3Q0Yyg3xBGTcPbMKliIg0eA3UOb0NyYx1OUUk2VxGpRHJ1glsKew4n/cpyX4NR8ZqgOf0SgWKdl8yLzfiz9WW4jUu2drebHv+mLQCS3q6/ONMq+Jj5wKUVSqTq5Mox1L+yWnYOyvhvw4PveXoOfgMpYiZhxkyhycWYeWuVWfcjIizeLDO+y4yu1u5iE8BpFkoX7mQ5zDLlK8SjrRl1y7M1RtQwkGpz/JE4dTHOeRJ/AzYhqdAlcjMiQA6XXwbimeksr//EVYG5+eAosnxd3GSyUjNsXgeWh3jI8VQpVagsoMIZmLE0ncPMZURnASAlpg5z59vWfG1ZE8892yzfxVeoggHHKkM1ha0qEDmnS4uJcBl0ZFA8l1QHZg99M3Guik45vzMaQH7hyHUqn1tXlpPBnFILbE50oGrbNa81VxQI+joZvh+msizIiusiEQxW9R8Fog/wT8EUAh9Xz1x+3CAWrpirMNCEze+Zg4TRQ1l21quT/RepcPEnJat2GMpMUYeDsXcQ25uthUTQUTOJxXIbH/XjDKCUeit9VQ7HcE/6EJg6sQEBVoL4avxxJN6KcWh0PzaikK7AnHBX5xvarLy0ZKiS88C6sIwmHrPj7TKKKtBdTki9vFmxemWx08B06AzQAA3huQ8WcnRRN0U9b4QDkD4T/vGZoTkKbTrQ4s6X7QKXSGJ0aqmsgQAyHeJePSUq4ZEXIiwAgL1HvIn8O4qFQJqeXb9VJMVTManCOuUa36Cd7fU9qa8mmSncadlIUJ56gudiCzGqxeYs4Ij9RVzU4n3pwWkQNdtHSSFbQnKHcKl5KT2aULRWoMEXlXbnqh896Oua7KhRB44jIVtHxPJuohLg/hVEo3f1ELGp+DKg8/yY8ShGBmbnwkdMT2cihsYKOc/p35i2+GiyOR2gNmwSAjIojm+zWz75Kd0vS/BuLu2mPlSzBQvC/08MkLY02fJWF+OjWDczI6gXwsXninDuAsY4OYmQO4J/56RUZedCqbLhrTCINEaIm4TSvOanLxLogjQ6X9abNxceN13dApT8z4="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will adjust the robot's left arm so it is positioned over the open end of the clapper stick (on the robot's left side).\",\"targets\":{\"right_j0\":0.3,\"left_gripper\":1,\"right_j3\":0.5,\"right_gripper\":1,\"right_j5\":0,\"left_j5\":0,\"left_j0\":-0.15,\"left_j4\":0,\"right_j4\":0,\"right_j2\":2.5,\"right_j1\":2.4,\"left_j1\":2.6,\"left_j2\":2.6,\"left_j3\":0.5}}",
        "name": "move_joints"
      },
      "id": "61ktu5fk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "61ktu5fk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1699 left_j1=2.5923 left_j2=2.5706 left_j3=0.4938 left_j4=-0.0074 left_j5=-0.0143 left_gripper=0.9992 right_j0=0.3027 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0219 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fbd84a640eddc3f285ae0f7a5174eeb4548984dde96a1e130d4ecde85731dbbf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1f41a3f4e4f25fda344ad705010bb9c2ac9e6a791642ffea858785f39d88283"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a19aaa19e1bfc1e28083560363b176fbe868a6f23b6ef858fae4d591ff10cb0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fbd84a640edd
wire blob a1f41a3f4e4f
wire blob 0a19aaa19e1b
call 5 attempt 0 · /chat/completions · status 200 · 15.6 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=-0.3019 left_j1=2.4187 left_j2=2.4813 left_j3=0.4789 left_j4=-0.0139 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.3042 right_j1=2.4165 right_j2=2.4825 right_j3=0.4713 right_j4=-0.0223 right_j5=-0.0143 right_gripper=0.9994",
      "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 extend the robot's left arm further forward and slightly adjust its rotation to position it right above the openable side of the clapper stick.\",\"targets\":{\"left_j3\":0.5,\"left_j5\":0,\"right_j2\":2.5,\"right_gripper\":1,\"left_j1\":2.7,\"left_gripper\":1,\"left_j4\":0,\"right_j5\":0,\"right_j1\":2.4,\"left_j0\":-0.15,\"left_j2\":2.6,\"right_j3\":0.5,\"right_j0\":0.5,\"right_j4\":0}}",
        "name": "move_joints"
      },
      "id": "eq384bx1",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "eq384bx1"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1562 left_j1=2.674 left_j2=2.5797 left_j3=0.4976 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.482 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f538d860811f7dd60754777fe87e92fd3540522975454eabe28bc9a0beb856e9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef6ac17c5207019b65f6e40525de708ad03aaca8270cf98f2948162772a8afc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab011b472f3b3e677b5b430866e9a0177c7aef2074da123734c52ea1b4e8cb3c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f538d860811f
wire blob ef6ac17c5207
wire blob ab011b472f3b
call 6 attempt 0 · /chat/completions · status 200 · 10.33 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=-0.1699 left_j1=2.5923 left_j2=2.5706 left_j3=0.4938 left_j4=-0.0074 left_j5=-0.0143 left_gripper=0.9992 right_j0=0.3027 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0219 right_j5=-0.0147 right_gripper=0.9994",
      "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_j5\":0,\"left_j0\":-0.15,\"right_j3\":0.5,\"left_j4\":0,\"left_j2\":2.6,\"left_j3\":-0.2,\"left_gripper\":1,\"right_j4\":0,\"right_j1\":2.4,\"right_j5\":0,\"left_j1\":2.8,\"right_gripper\":1,\"right_j2\":2.5,\"right_j0\":0.5},\"note\":\"I will adjust the left arm's wrist pitch to point the wrist camera downwards and see the clapperboard, while bringing the gripper slightly closer.\"}",
        "name": "move_joints"
      },
      "id": "l57e9zsw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "l57e9zsw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1551 left_j1=2.7895 left_j2=2.5797 left_j3=-0.1753 left_j4=-0.0097 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.4953 right_j1=2.4165 right_j2=2.4828 right_j3=0.4744 right_j4=-0.0185 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a3ddee69a92b44dd1e03bd19bdaba3ad0d1497d9ef739f0a479e3959327247b3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0582e3adda5415c3ee3a1ed6a7afa8ddafd9456d6552a300626d4235d70d6810"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7fc18b5956ed850ebc94f2526921596a1a9fa25d1468546a3fa9a9f2e14566d0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a3ddee69a92b
wire blob 0582e3adda54
wire blob 7fc18b5956ed
call 7 attempt 0 · /chat/completions · status 200 · 8.497 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=-0.1562 left_j1=2.674 left_j2=2.5797 left_j3=0.4976 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.482 right_j1=2.4165 right_j2=2.4832 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "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 center the robot's left arm over the openable end of the clapper stick by setting j0 to -0.22, and extend it further forward to reach the stick.\",\"targets\":{\"left_j5\":0,\"left_j0\":-0.22,\"right_j3\":0.5,\"left_j4\":0,\"left_j1\":2.85,\"left_j3\":-0.3,\"right_gripper\":1,\"right_j0\":0.7,\"right_j2\":2.5,\"left_j2\":2.8,\"right_j1\":2.4,\"right_j5\":0,\"left_gripper\":1,\"right_j4\":0}}",
        "name": "move_joints"
      },
      "id": "jqgjqeuj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "jqgjqeuj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.223 left_j1=2.8376 left_j2=2.7689 left_j3=-0.3107 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.7013 right_j1=2.4165 right_j2=2.4821 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0d2ca0f32e427ac4e055cac9a8343ca2779461a0605c611dbede1d57bfc2a071"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:996ea9774abc398b384205ed5294d985ca86dbe9be92813cd4dbcf6f9ae92356"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31aad0c9f78173275d814bc8328056d4ba5658b9a2a2f6b6bed56805df5b8d96"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0d2ca0f32e42
wire blob 996ea9774abc
wire blob 31aad0c9f781
call 8 attempt 0 · /chat/completions · status 200 · 5.314 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=-0.1551 left_j1=2.7895 left_j2=2.5797 left_j3=-0.1753 left_j4=-0.0097 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.4953 right_j1=2.4165 right_j2=2.4828 right_j3=0.4744 right_j4=-0.0185 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EqIICp8IARFNMg90QkW9YPLBO7woRVmDH4tOMHNwFyYpmOYt0GPvBS+T5zeZ9KW4bHA545QSErSspq7+cu+5hHqQLHE/i8wpQfCMqPEMENS5f5B3XvDJ+SqfeZXEuswDEpHGlD4qQBH3AL39r8DdtMLlbvP0OI6jdxToWWkwyxu0nONXBSGzxi3gKiGJOLQAMPy+lAi/45FTF5u5+/Oe8Pg2RArC9J05skaoy/DVGxT2QmPpYN4nN/eWByq+6mt4ydFtvNulW7K53dTS7ZsOWfANrgzyHxc79nhiVRZpqNSvFAZ1RKP7pAPchz3jJeW+skhTvZb8QWiFCUoI8AzvrpkjQg2dn8ItTphnKqP92pUN2AU1Tz+EscdliiFWBkJTSWrH4WzZD8OkiceEtcWvP5jCNTIctFniq8kvWtG8ukIOWRl+JlM+QN3l8fNgn2Sy/Q4cJKpobTsSyX674xoXFOVaznGdudNZU+ezEzW+dumeQkdzE0e05MEuICRW/4mAWmgNVP296gJmRmNudhB/9Lt9QU9tVgFlwjgkgTTSs0soAL3Uw2FrxGnWsBumRLVKCTssBq6ekXYuqR5JhQKx4/KX1zSq5RoKpxE011WqAt7L5eJ8LbLN13t+9UuUzvXWCtGC9wm0BiNcS+N+xauhNf4FUcD1hsIMSbPiQYZTCbl8Vxf9SPBIOxygVIc5g1JQzblY9xEKoGeKor7v32bGtAnFn0HETC/vf2a26NmwaqpHrIXIcg4/oxuBi1oI7XQwwywLfQdqrcUjj1j2yTVHp1bEo41ExVjfyL+U0/eaYRNMmIT5iIReY/zk/po/itZsHP1RyXqQxhLWZJYleybud2HDpdlGq15YESa8GD9tk8nXtpC1IbQI1ajj+sZcYO6ksfPWUq/yV4flbJUh+/q94JTluuA1CP5RBe1J9JPGI0sRzAh67DO68611I66Cm+80L57G45SntRduXIdBUEHvPr1G8cXWUMfVERl60u15iywjAntgEFakbwblKDGmPHDFjnIm6hzYiQ+R7zDc1GvUW3r38ZMbV3w/d4XRGLGf0yw4YXC4+Iz+9GWqafgraw5ECRG3oaRxgTpX6MgPI51Q/zY+nhcV2U/qdNCiHPR50R+ag+yzrVyNBBcyi2LSVDCxZIx1YSXtNutxTDcMpikyBpUoNFK/lC9M5BplNWVqt2CIXPBNrxG8JNpu3TSOiHZ6NXQPC5HZGmJVdFYbwsUmrL8956o5FluAuSVrFmTJFfP2/gB+knz4Kcl+Ls+7XBEq3tpAl+iLsgjrDpnwsobhvXrTTfM4hYM6KPdXkNDtcyaWqLfb6pU1DxiDJCvf/WCTJ4Vj3qFfy3WGbaM247g2Ez7hGtEFYcImjBYdDgkTh0+NIPivT94LW966bFoegWSHXPt+2+g="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1,\"left_j2\":2.9,\"right_j0\":0.7,\"right_j5\":0,\"left_j1\":3,\"right_j1\":2.4,\"right_j3\":0.5,\"left_j0\":-0.22,\"right_j2\":2.5,\"left_j5\":0,\"left_j4\":0,\"left_j3\":-0.5,\"right_j4\":0},\"note\":\"I will lower the robot's left arm towards the clapper stick and adjust its pitch to prepare for grasping the stick.\"}",
        "name": "move_joints"
      },
      "id": "8pzaa38r",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "8pzaa38r"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.223 left_j1=2.9799 left_j2=2.87 left_j3=-0.4938 left_j4=-0.0071 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f42c8b37a96a0d69616c1c4bc050e2382a6cf05f6d1ebb73d1b0030d72056e95"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d8768f04c69df1e9f10a3dac7b086a9c8ed81e7557acc9a80e9e97f4ed37268b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:784e59c62923735b7f1db3416280e4a3a2f2c43d765b9efafb942cb21d1aea80"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f42c8b37a96a
wire blob d8768f04c69d
wire blob 784e59c62923
call 9 attempt 0 · /chat/completions · status 200 · 5.749 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=-0.223 left_j1=2.8376 left_j2=2.7689 left_j3=-0.3107 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9992 right_j0=0.7013 right_j1=2.4165 right_j2=2.4821 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EtUGCtIGARFNMg98FEYPUrHH0DkSNAthnjcGZm2DcWwbuI2JynWr0OyCw3+Tq4PaTeQIh/yyzmXXR1oDMOu5LdCyH0peSwjFKDDRdLQauuCEDfw7MGNIzjPNZy2UZ0IFD9nkskibv2cuZNkKGoAiM13MGPkhfJT7zpmizXAOZjC/Z3PDQDAauWF7NipHaF5seOTxMLTV5Mw0xe2YUT2aTQkNyuB6heCrraDqo0QYiVrgqw5vAv03ARbhRWWQR4cB0NF/10I341k1Hfdq0yLIpXGm08QYm+m5SExkMIRDAAJzymi1H0s1m5wbIfmGsoZxcgmYqFinEIcnWM1t7rVg7Xl8MjNSScXOaRZVAfGxlX2vh/5hGVwRIXO0P0rf0QXZkTpGH8Kg23K8NsYp9ClSKbNX+7pVcores+97Zy/aFxOl41s13Im8cjvRPI9r9WoJidYhmD8ZaKyjFX/Cw1UgNaQdNQoZ0LvsdCVsI9WrdnH+0MGNSSbE896FGea1W6uge4409a7grVAGEcD1zejr4PwGIotcy2jP3uM80trJglLV4UAcweVwmG8JfBlP7anakZlZytC7NzySHKa97gj/0TbZOlILm9W48BmvZckj6VHYmt09NQHUeUyZINNvsb/G04WQfxjrTqnH/kMtjBRFlmWB2p5wzkbFJzIQbnvE0hB+Omdnh414/x2QPcH3mz8Q9WSD+bI3LxCO9lDwJioHYhGCw9wQd4qqQ987p50WvEeMoUxeyZR3AtHK/KqURORTypEXaiSIDMRefYWbBfRg6Fk5N5UOYprHPrUdljzfpGIAjXt/fJdBlhbGPcWgGOz1xRPzKx+j8GSnK7/dbbqM9OBM7GHagAFdwlI+b/WwrdNN/therUlo4INbngtPj5850H03njgBDVbYOt147Mb1MblIH2XQrCQMNVLdcxCkSSvMYHEeLP9CRvx1h67b1ZmP+cI8L6THc3tzuRk84QxRP5u/g28wnzJOcxVT+2I+hQPQjupxv1aKI+eKdLTaHeQEgNGqBypp//ERCQt4uXwcpYL2ElytrLlEAYNyIWMC7dNX536o1SbZV4dHf9inFva1jy/PPDWYhLmMnJsdfZTRa1qxpueJkTtIxYnWIVE8W21uwbtnE+c5eQ=="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will lower the robot's left arm further so the gripper jaws are positioned right over the striped clapper stick.\",\"targets\":{\"right_j2\":2.5,\"right_j4\":0,\"right_j3\":0.5,\"right_j1\":2.4,\"right_gripper\":1,\"right_j5\":0,\"left_j2\":2.95,\"left_j4\":0,\"left_j5\":0,\"right_j0\":0.7,\"left_j0\":-0.22,\"left_j1\":3.1,\"left_j3\":-0.6,\"left_gripper\":1}}",
        "name": "move_joints"
      },
      "id": "4bn6kqum",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "4bn6kqum"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=3.0798 left_j2=2.9372 left_j3=-0.5449 left_j4=-0.0036 left_j5=-0.0231 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a0aa1aafc3beaf554749f5feb2bd68184c7625d512ac3d4232975b8668cca7ff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:37d83027f469d11cf7808adc53ad002bed795e4966d751e3c2e7ff733466bf84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d88770329fa50e088d05cfcc92c884e3bca385fa60235dfb2bbbf9783aa4da82"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a0aa1aafc3be
wire blob 37d83027f469
wire blob d88770329fa5
call 10 attempt 0 · /chat/completions · status 200 · 4.027 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": "EvEJCu4JARFNMg90Q+H2LMN5A8pdopMX6mD7xvLUu6+9/F09R+eSGpPd8TP9mWkmPEb5QJhQChkkTcC43S2dc2upmGj1N33rI5RqAJfYYB349mO2hZARfvMz6qXis2RSnATBZjndxnSrmk34gfQtVyf3/HYCtsaw6PJ/F/pPDi7mm4qqvRh7m4ulDfEBXRpSRoIDQ9bp+YqaUtgkRLFdi/bo+TfMmE4VciJWqyzvnjUH4mii2ttct4TacabG9G73mFSKri6raL8envEOi/fiDl5y016ZC15tI0fVfLXjkvm/DKnDWURz2IHyJqVOcdqpciHQq9FnID2JFcrqdLtjz2Me61wuAOS4NM/6EB4DaE1RHZNIo5CUtOt3i/9lv7iojNP3otuQVde9VxT01c7gNk+cnOMfzYI4OEEIrdTd2j/7MDG/Grtdu7cK+gTtat10P41+lv7BEQSNdW6IGN9fUie0a7f2G34pxEfc+Qd22t4OeDE9OIWwZSsOJ19JkXdfe2X8szjEoB9ZX2mfS2FW5Ezz5wLctYzKk1RvA/GmD3Fj4D6PNXoQ0RIKmtlnyJS7AGOhoXjY2OeoVQUH8Vdsvx/YmLJZdRdyTiamGMUB5rD0GIGpDh2DfDFNvk6qhFYy3nR1DTMWZD447F9kW8Lt1sIa/3UFcDpdQeOhremqoXugz1/u8WmIu2rCf4TgD1gZ12wfam7+BVhCxzSiUuyKohfgM2gANrGGJXxlv9oF9pQWEKL2/hBBCEQFWsKAqJVCz6FGhdrXUhrm9AW/vHOjU9VDYpkKFNfpwKHvyyfaRcu5CJyk57tR4QC71CyN74Wqqy5pjUkbhMNFZpVpw+iP5qnh+e9udcQ8ID2hBK6RYdRmajeN4si11A4k89XU+E0P0+QPv8witYOkcIHzRUEmP2LKM5ACPAWk6D0QnZ7L4+rKJhekCoSw6Fg9UwnhOwQhXLxP+e6zBQgSZCg0TAsHX3rRTM7YPwpkfttGT1+cMi77skdaBt7AdDDN/Qkr3QiXu2ZHVONoUAnlvZt1MQqo19dvsY2ZEcgg4dYTxydSkIxs0enEWCoPjyRdIGK0xExxDYS2tiKCfJvwTrBILwLYvym9enHh45JQlmI0o0eUA/gzMmshC+8RGdwDnx8nOV2U2vGNiSDusjd0E55FpBHziwpIEXgU5sVaTJ4L4rnshZhhPYh7D+Yrvhxl73nmJB1N1QQ7azP/IESS5AVnb+jTKAbzCd3GzLcNMNAcAOjuXWEb5cgts52n1TmfaJ6mV5AgOQXd/q3xwBMGVDRyWYnIOLgOWJ+9qWIFpKkCREHZFOtJtWHZIlT3Dao/pH63i0unhMiB5aGvi9byQiNyhjJPMMv/Sm4tdxpqxrxtpg7+xeolJaWVSi6FK4e+ASTyeQ9LwUMcMe5HorAAVXw96uTd89tbSV+V3Pbui5FIBqFgdRrCa0xz/8ucbWwBgcS8Dpm0nPAkL25ZbN+MwG53vmo30cEsMMumOuObcIkuZxX0OvH+7AZ1ebhBepy3KQlCjiOcUio2MRDo98bGlCDa5EIs3kS46w9h5nqPImVEDCNq7Rdwam6q5MCcjUxFwKoWvt+FPJzZi4iP1UvZ/piqntiC8MW6QRufmXSfmLzhN6MGbpKKEkSC5KoTGpWf9XVVkyExY9vRmZiXdhtUcCT8UysIBqTbZPI="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will lower the left arm gripper just a little bit further to ensure it is fully straddling the clapper stick.\",\"targets\":{\"right_gripper\":1,\"left_j3\":-0.6,\"right_j1\":2.4,\"right_j4\":0,\"right_j5\":0,\"left_j0\":-0.22,\"left_j5\":0,\"right_j2\":2.5,\"left_j4\":0,\"left_j1\":3.15,\"right_j3\":0.5,\"right_j0\":0.7,\"left_gripper\":1,\"left_j2\":3}}",
        "name": "move_joints"
      },
      "id": "83qyree4",
      "type": "function"
    }
  ]
}
{
  "content": "target for left_j1 is outside [-3.141592653589793, 3.141592653589793]",
  "role": "tool",
  "tool_call_id": "83qyree4"
}
call 11 attempt 0 · /chat/completions · status 200 · 4.062 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=-0.223 left_j1=2.9799 left_j2=2.87 left_j3=-0.4938 left_j4=-0.0071 left_j5=-0.0147 left_gripper=0.9992 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EroDCrcDARFNMg/hZC8fOnWwpqoTl0v3qBVQ+JGeod/c6v8/1nEvh3Y0mIFZMFMcZlMGUr+Cz+XJNxZVZ5aBX57RpFL3TmeePyKZzITYuTMU00zP+9SX7lte4kH3ta5oo/ZjF9YF1+YrFREFwDEHRweAh8ElKjfP5FAV7L6UTttAd8s96GF5E7OuFJPBzEhSeTSXoRPC2FNUsrTQJQOaTRpqQaJtjF08GjB0Sw35Vgek/7Ih2GpgPFqcsXUXNaP0KUgQL5Nmzz1/7xi0WfGCqHqv1EWgdQP5chQlBAZH0Tt/YRnaYq3/hmxx2TlDe9rr+T85tpJR4nZa7altrM+NObNGDhA7MwcxGQQTXwSPmMLqOZXJ4GddcTTBRJ3V4t74nFqpcAI/HOnfCHXMiEee2DHsUCUObh5H6BibnUhYWrJ0eP1/+aIhS6V9p9f8KzcU8X9PXHrZh3bwwR1deKVOda+cAM4pZGh1GkUrfoHLQsl7K71LKtPyNc4WNQiraGloytrpq2uFNX53YnhWxugERKYjaO+ovBnVEbaZA+qTi09ju1Y0x8tuD98pug9lRr/E15NjNPYL0TP2r516XQ=="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will lower the left arm to j2 = 3.0, while keeping j1 safely within bounds at 3.1, to position the gripper securely around the clapper stick.\",\"targets\":{\"right_j4\":0,\"right_gripper\":1,\"right_j2\":2.5,\"left_j5\":0,\"left_j3\":-0.6,\"left_gripper\":1,\"right_j0\":0.7,\"left_j2\":3,\"right_j1\":2.4,\"left_j0\":-0.22,\"right_j3\":0.5,\"left_j4\":0,\"right_j5\":0,\"left_j1\":3.1}}",
        "name": "move_joints"
      },
      "id": "j5nwp436",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "j5nwp436"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=3.0879 left_j2=2.9704 left_j3=-0.5808 left_j4=-0.0032 left_j5=-0.0181 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c0266e21699fc61171410052210a560d27fbdd06b202004db8503da56a25d4f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7d26a7d0f99dced5e820fbb9abea175f4317bb268400d39e1702c1cd0f6ebea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d913641e0cdb33df41de9ece4020559970b804c6b3c79bde2193c723a94c10f5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8c0266e21699
wire blob a7d26a7d0f99
wire blob d913641e0cdb
call 12 attempt 0 · /chat/completions · status 200 · 5.633 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=-0.2211 left_j1=3.0798 left_j2=2.9372 left_j3=-0.5449 left_j4=-0.0036 left_j5=-0.0231 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "ErYCCrMCARFNMg/EziiKpa/OcJBI3Sb8UQj/Aizjpcf9aXsJ/cClxW6QQER2ssAtpn9/gQTF/+o/glwTn0JVt3B6EUr04SRT8KHb1284maEzXLax58pP82VZ6IwBJjcqz6CZ3GcC7yfdRwzxx8LQlmIhBADMUm4GntEAvnZcXZLNVQGr91WAQ9inrpzDsuR+2imC3YjSISiEY4UEyJjjwfn2v5M68dhCDewIubSswvpjraVQSUhGYzYZ73Mn+8H8OhwW3r/YNUIpdLKjI6HPp/2F21nAEP+aQ70svuVYpLCCh8WX7PzSHJ2SqWVHBelTVZeRaq6shzlSsH5i1Fu322p2suTAUUkUBtyoc+awz00l2cyenWu+ENaBxbHXw1ijRURREdRIG6QNXh8nu5ulOW/p3mhXr77eOQ=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":2.4,\"left_j0\":-0.22,\"left_gripper\":0,\"left_j3\":-0.6,\"right_j4\":0,\"right_j3\":0.5,\"right_gripper\":1,\"left_j4\":0,\"right_j0\":0.7,\"right_j5\":0,\"right_j2\":2.5,\"left_j2\":3,\"left_j5\":0,\"left_j1\":3.1},\"note\":\"I will close the left gripper to firmly grasp the right end of the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "am7qpsdq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "am7qpsdq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=3.0879 left_j2=2.9711 left_j3=-0.5953 left_j4=-0.0036 left_j5=-0.0074 left_gripper=0.0137 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0154 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b440a732bc38f0439d78804e77e9273cd8954f885537360d737ceca272d31dda"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7a3a130507c31093afaa6f9baa5c328912e7bad0d33df318ddab74e1a7d805e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d110a100db84184f4f9cb6dc21c2ee93c87c7017f8d71652e4c7f1f3814e4b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b440a732bc38
wire blob b7a3a130507c
wire blob 1d110a100db8
call 13 attempt 0 · /chat/completions · status 200 · 5.229 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 34 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=-0.2211 left_j1=3.0879 left_j2=2.9704 left_j3=-0.5808 left_j4=-0.0032 left_j5=-0.0181 left_gripper=0.9988 right_j0=0.7002 right_j1=2.4165 right_j2=2.4825 right_j3=0.4747 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "Er8HCrwHARFNMg94qZPxXwkuZDqk0xUH0ShWLi/hua6ukUwM7u7OxAjaHnqw9OkUvrCfADk0E+1HvBO+/RmIPFUCiq6vhGgqxbvJmulayagF0ffmRRZG0GLXO9x27nNZQmdwM74owLBhbhXbj6dXJLEUd5gumGoLd4P0mGse+Hmg3wRS92yR/TnArp++CzR8vvZqK1DzEW4xgVCB0Haxl7x0LwgKwKdeanXRQDpfNNuCmPZCKUfzhU0qws4KEdwpQ5x5Y2ogE75uBO59CyjbYXqLKBWZetcRI61DahKdyW9ss1cmuiWWa+KWOegKL9mQOys/iiEAHue1eH9vXr+ekrmdqwCHSMk+vtOvkRKkm/UouoV5Gc2Gm9u6OCRl/wlnK4g73nyMCQVS/3AGI3DPrcg1mRohwsgC/Da/hbE8McB23IwAOXyTu5CvLmJMOUMhIqNzzBklAaxJ4P2lOaWbuVvUwulYJKGwdYOAyRwB2j7jQP9ex5R40MnjKT7ljcC6S642NeQfB7QSQfb+rwTrmRhRQL6+GdfDait6gggkECCEiySBJv2Gs8a1cVU9uksJyol3ZHKwk6AJPlgTUM/dveSc+NNwCE59WIKQnwuiEg5AcS1z84qbBvF/w/oR29LoJVvhkqwKbEoeNkjOxwQvA+V8Jxy84d4pyvuKZjLikwkvilbVgZS1irj4DKbFlrMp581ZK/9uLrJis5hGY52tI1QaDa+H3g7QUFFPhzC9CbqNdAlpzJzOHonQS7ZISFTotwitdZ/X4ersCj8oXoA1Enahu9apIx16uXSLhW/8vLutXLOSNHARoOm7+lKGI6hcTrHG5r7HAHkvrBrsF+ikfRdiwHjjjCdLnh0GCeLWs917s9t0iz9pgULIZMxbupPk8J1dge9kuRggUnxNA2DGnNZnL9CZoV/vtGOYybFkRkvsc8C7t752610BzPAWc6T3VVgPlEtz6MV8+OTQchr1D33eWFcIh9fulalD20zMq4qzXpRZlP7aKmn3ixE1/fo714CLjzwD9V/wjhZ0WxYHYs9fHIkfOuiFjf0R0S2ZZyTK0RuQrPe2ng8Ofse+7AEjfOW2PUtegkb2fJU9Ck1yONwLMB9AoTLLVmXIGzR2ezxfc/k5Esk7zicmldkKxi7oPown1itSqQAUSbZS2nEnLINHdo/k1kkj/7ZiUr+N0HzMaA4UlRni1J6DRfW+avOQ4ZcVt/KFMZ7YMpKy/fwlm0/515WiLokhq0V1FPKSU35VkMieUriVyBCV/7aBbSZZ/BE="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will raise the left arm to lift the clapper stick up.\",\"targets\":{\"left_j0\":-0.22,\"right_j2\":2.5,\"left_gripper\":0,\"right_j1\":2.4,\"left_j3\":-0.3,\"left_j5\":0,\"left_j2\":2.8,\"right_gripper\":1,\"right_j3\":0.5,\"left_j1\":2.6,\"left_j4\":0,\"right_j5\":0,\"right_j4\":0,\"right_j0\":0.7}}",
        "name": "move_joints"
      },
      "id": "zx4x33ug",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "zx4x33ug"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=2.6816 left_j2=2.8056 left_j3=-0.3847 left_j4=-0.0067 left_j5=-0.0074 left_gripper=0.0158 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0147 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73eb4f468fafdeacd83b2a5c04ff5667a1394d4bb605397fbf3fa404f07f4471"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ce825b2fd40f274ff527bd6357420657878c806c753955bb8647203a58c90019"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4bd72422c3d1131546965a8e961d7671ee7ebb45ef4ac1604fca43ca99470d8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 73eb4f468faf
wire blob ce825b2fd40f
wire blob e4bd72422c3d
call 14 attempt 0 · /chat/completions · status 200 · 6.108 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 37 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=-0.2211 left_j1=3.0879 left_j2=2.9711 left_j3=-0.5953 left_j4=-0.0036 left_j5=-0.0074 left_gripper=0.0137 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0154 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EukCCuYCARFNMg+aT2zViuqB2yp7j9pOSL6Zssg5rhVXgyvEgZt7tWfmF9GAAvnc2KOhrqjP5qne5tgIiq/5esXwCNx6+14LCQtidTfnviMd0z0f49ntd7IDi76LFceofIbfoqmxrVTAgFUpci0JhVxAw0c05trmLx8mAKTmv0OFMLJFvE3ULtrLOKBRk+YwPFAM1R+82ztK2AQl2BaEmt45L9ixReAvoMsbKQDP2q8YjblrP4lenZvWml+6ZW3gzfW01t8/5FgOjh164wKkI7hLVQrIESQfKPU17NyxVQxs9fL9oDV57qEa2ssCr1cForCe6vRiyfzU+Dtd/CWL1RSjiO5Tcb4YjtaQr8K8w+c79qPieHScnP0aMbwbv+i9YMF6k2/UkKztB74q08LU2wY87H8Jy14lE6AMoSZAdZAS89/8GzdW8kB/HYjpmbhuWsYbnTJ6YsyS5cjzPAjfnUWH9pjVEvPfevxviA=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"left_j1\":2.4,\"left_j3\":-0.1,\"right_j5\":0,\"left_gripper\":0,\"right_j1\":2.4,\"right_j3\":0.5,\"left_j0\":-0.22,\"right_j0\":0.7,\"right_gripper\":1,\"left_j2\":2.6,\"left_j4\":0,\"right_j2\":2.5,\"right_j4\":0,\"left_j5\":0},\"note\":\"I will raise the arm further to lift the clapper stick even higher for a louder clap when released.\"}",
        "name": "move_joints"
      },
      "id": "h7lbum5v",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "h7lbum5v"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=2.5282 left_j2=2.595 left_j3=-0.2134 left_j4=-0.0071 left_j5=-0.0074 left_gripper=0.0157 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0151 right_j5=-0.0143 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05afa3166c5d1e919bdab22f48d279f0ca10e6529c6fd00264cbe0c425efdd75"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:12fc4a1a6f05f2f626335c68067e65aa624411a45dc12d7eb25693495bf33f00"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b702a110b5c6505cefeb6e3d043cbc2b40542462c29e0d49a73e0844bd33d59e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 05afa3166c5d
wire blob 12fc4a1a6f05
wire blob b702a110b5c6
call 15 attempt 0 · /chat/completions · status 200 · 3.035 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 40 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=-0.2211 left_j1=2.6816 left_j2=2.8056 left_j3=-0.3847 left_j4=-0.0067 left_j5=-0.0074 left_gripper=0.0158 right_j0=0.7002 right_j1=2.4165 right_j2=2.4821 right_j3=0.4744 right_j4=-0.0147 right_j5=-0.0147 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EqEDCp4DARFNMg9dP8ijONHdtNsnpZN+HIljkCyA6bHAAtwN/3GcpzQNFQLi6QTZQtosu1qR4PUpz6y1jnu9JP7SKZxU+t/cw8frelFU/LtM8gAkf0ddZ2JCXkqWk4D21Xhda8+6HSXbaa28NNwRsX35+umxcrzNYZqTpV0auWEYCHoMLpwjI2RwL9eleZFuB3AMh0VxQYc+z0Mw2P98klKnnuFxGwZZxYeimq6qJUerTztbU6JSHSZazha8ZQomtP0z1eLVEojFV+AR5xj0AF0ciccxnHVADEhazvBdS5ta77a6uorzSEVnjQQw76re54tCH2LCwDl+k0s3Ozo/p3CLbOODW4DIf4CKajEXclHkeoUCtkobsh1gltvUuFuQHymfvchsy4LZshi6zxwJ5dDipDBLt6P2TXTUJBy59X2wCxV7JOc7dDO1vePyOLHwwJV6nkVzuuNUqiNeRjSHY1JmVn0D6Yebmhc6YhmbYokERFNNzAYS4kXCqozXamAtVlF7vWdA1nxi7R/mPm9SWX3/+PZYSOZ0eJDad5DXMP7XxCSB"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I will open the gripper to let go of the clapper stick so it snaps shut with a clap.\",\"targets\":{\"left_j5\":0,\"right_j0\":0.7,\"right_j3\":0.5,\"left_j2\":2.6,\"right_j2\":2.5,\"right_gripper\":1,\"left_j1\":2.53,\"right_j1\":2.4,\"left_j4\":0,\"right_j5\":0,\"left_gripper\":1,\"right_j4\":0,\"left_j3\":-0.21,\"left_j0\":-0.22}}",
        "name": "move_joints"
      },
      "id": "6tcebssk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "6tcebssk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.2211 left_j1=2.5546 left_j2=2.5835 left_j3=-0.2363 left_j4=-0.0067 left_j5=-0.0067 left_gripper=0.995 right_j0=0.7002 right_j1=2.4149 right_j2=2.4878 right_j3=0.4812 right_j4=-0.0151 right_j5=-0.0101 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7db16683eed404ae2eb926b0b93e18d6e2a70957c007043037d3e5ecd0f4a9da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0befa0b621980bb92a9ecaf604364f062cf64677d53f1a31225f3fe4ac7be662"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b79fc0f90b0ca5ef9f9e29f235eb4fed49eac4a6f71c25bf86f13a624fccdb3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7db16683eed4
wire blob 0befa0b62198
wire blob 3b79fc0f90b0