adhoc

error
2026-07-31T03:31:58.416132+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
270.5 s
total steps
136
scenes
1
trials
1
errored
1

scene-0

error

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

EmbodimentFault: frame read failed for top_cam (/dev/v4l/by-id/usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_310323023943-video-index0)

Termination reasons

n/a

Operator judgements

n/a
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 am unfolding both arms to bring them into a working position above the table so I can see them and the clapper board clearly.
move_joints
left_j3-0.5000right_j11.2000left_j21.2000right_j21.2000right_j3-0.5000left_j11.2000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0059 left_j1=0.0063 left_j2=0.0067 left_j3=-0.025 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9993 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0299 right_j4=-0.004 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 am unfolding both arms to bring them into a working position above the table so I can see them and the clapper board clearly.","targets":{"left_j3":-0.5,"right_j1":1.2,"left_j2":1.2,"right_j2":1.2,"right_j3":-0.5,"left_j1":1.2}})
tool
executing move_joints over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteI am moving both arms closer to the clapper board by rotating them inward and extending them further forward.
move_joints
right_j11.5000right_j3-0.8000left_j3-0.8000left_j00.3000left_j11.5000left_j21.5000right_j0-0.3000right_j21.5000
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=-0.0067 left_j1=1.203 left_j2=1.1709 left_j3=-0.5041 left_j4=-0.0105 left_j5=-0.0196 left_gripper=0.9992 right_j0=-0.0002 right_j1=1.2015 right_j2=1.1736 right_j3=-0.5125 right_j4=-0.0078 right_j5=-0.0185 right_gripper=0.9994 camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":1.5,"right_j3":-0.8,"left_j3":-0.8,"left_j0":0.3,"left_j1":1.5,"left_j2":1.5,"right_j0":-0.3,"right_j2":1.5},"note":"I am moving both arms closer to the clapper board by rotating them inward and extending them further forward."})
tool
executing move_joints over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteI am raising the shoulder pitch to extend the arms further forward towards the clapper board.
move_joints
right_j3-0.5000right_j12.2000left_j3-0.5000left_j12.2000left_j21.8000right_j21.8000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.2886 left_j1=1.4982 left_j2=1.4708 left_j3=-0.786 left_j4=-0.009 left_j5=-0.0238 left_gripper=0.9991 right_j0=-0.292 right_j1=1.4944 right_j2=1.4715 right_j3=-0.794 right_j4=-0.0143 right_j5=-0.0261 right_gripper=0.9994 camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j3":-0.5,"right_j1":2.2,"left_j3":-0.5,"left_j1":2.2,"left_j2":1.8,"right_j2":1.8},"note":"I am raising the shoulder pitch to extend the arms further forward towards the clapper board."})
tool
executing move_joints over 12 steps (1.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteI am continuing to extend the arms further forward and downward by adjusting the shoulder and elbow joints.
move_joints
right_j12.6000left_j22.1000left_j3-0.8000right_j22.1000right_j3-0.8000left_j12.6000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=0.2913 left_j1=2.2047 left_j2=1.7752 left_j3=-0.5266 left_j4=-0.0101 left_j5=-0.0265 left_gripper=0.9988 right_j0=-0.2955 right_j1=2.2032 right_j2=1.7756 right_j3=-0.5297 right_j4=-0.0158 right_j5=-0.0372 right_gripper=0.9994 camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":2.6,"left_j2":2.1,"left_j3":-0.8,"right_j2":2.1,"right_j3":-0.8,"left_j1":2.6},"note":"I am continuing to extend the arms further forward and downward by adjusting the shoulder and elbow joints."})
tool
executing move_joints over 7 steps (0.7s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteI am swinging both arms inward and extending them further forward and down to bring the grippers closer to the clapper board.
move_joints
left_j22.0000right_j3-0.8000left_j12.8000right_j12.8000left_j3-0.8000right_j22.0000left_j0-0.1000right_j00.1000
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=0.2913 left_j1=2.5229 left_j2=2.1204 left_j3=-0.7414 left_j4=-0.0185 left_j5=-0.0273 left_gripper=0.9987 right_j0=-0.2958 right_j1=2.5229 right_j2=2.1174 right_j3=-0.7643 right_j4=-0.0193 right_j5=-0.0456 right_gripper=0.9994 camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am swinging both arms inward and extending them further forward and down to bring the grippers closer to the clapper board.","targets":{"left_j2":2,"right_j3":-0.8,"left_j1":2.8,"right_j1":2.8,"left_j3":-0.8,"right_j2":2,"left_j0":-0.1,"right_j0":0.1}})
tool
executing move_joints over 7 steps (0.7s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteI am moving the hands inward and further forward/downward to bring them closer to the sides of the clapper board.
move_joints
right_j3-0.7000left_j22.2000left_j12.8000left_j3-0.7000left_j0-0.1200right_j00.1200right_j12.8000right_j22.2000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.036 left_j1=2.5992 left_j2=2.1181 left_j3=-0.5217 left_j4=-0.0483 left_j5=-0.0608 left_gripper=0.9986 right_j0=0.0349 right_j1=2.5969 right_j2=2.1166 right_j3=-0.535 right_j4=-0.0196 right_j5=-0.025 right_gripper=0.9994 camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j3":-0.7,"left_j2":2.2,"left_j1":2.8,"left_j3":-0.7,"left_j0":-0.12,"right_j0":0.12,"right_j1":2.8,"right_j2":2.2},"note":"I am moving the hands inward and further forward/downward to bring them closer to the sides of the clapper board."})
tool
executing move_joints over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteI am moving the right arm further inward (left) and forward/downward to bring it closer to the right side of the clapper stick.
move_joints
right_j22.3500right_j12.7500right_j00.1800right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1036 left_j1=2.6633 left_j2=2.2524 left_j3=-0.5083 left_j4=-0.0551 left_j5=-0.065 left_gripper=0.9987 right_j0=0.104 right_j1=2.6595 right_j2=2.2501 right_j3=-0.5282 right_j4=-0.0349 right_j5=-0.036 right_gripper=0.9994 camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j2":2.35,"right_j1":2.75,"right_j0":0.18,"right_j3":-0.6},"note":"I am moving the right arm further inward (left) and forward/downward to bring it closer to the right side of the clapper stick."})
tool
executing move_joints over 2 steps (0.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteI am continuing the movement of the right arm to get closer to the clapper stick.
move_joints
right_j3-0.6000right_j00.2000right_j12.8500right_j22.4500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4919 left_j4=-0.0628 left_j5=-0.0723 left_gripper=0.9987 right_j0=0.1238 right_j1=2.6953 right_j2=2.331 right_j3=-0.5377 right_j4=-0.0341 right_j5=-0.0357 right_gripper=0.9994 camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j3":-0.6,"right_j0":0.2,"right_j1":2.85,"right_j2":2.45},"note":"I am continuing the movement of the right arm to get closer to the clapper stick."})
tool
executing move_joints over 3 steps (0.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteI am centering the right gripper over the right end of the clapper stick so we can grasp it.
move_joints
right_j22.5000right_j3-0.6000right_j12.8000right_j00.2300
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4854 left_j4=-0.0639 left_j5=-0.0753 left_gripper=0.9987 right_j0=0.1864 right_j1=2.7743 right_j2=2.4542 right_j3=-0.5369 right_j4=-0.0494 right_j5=-0.041 right_gripper=0.9994 camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j2":2.5,"right_j3":-0.6,"right_j1":2.8,"right_j0":0.23},"note":"I am centering the right gripper over the right end of the clapper stick so we can grasp it."})
tool
executing move_joints over 2 steps (0.2s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteI am continuing to move the right gripper closer to the clapper stick, aiming for the right side of it.
move_joints
right_j3-0.5000right_j22.6000right_j00.2800right_j12.9000
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=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4831 left_j4=-0.0669 left_j5=-0.0765 left_gripper=0.9987 right_j0=0.1959 right_j1=2.7846 right_j2=2.484 right_j3=-0.5453 right_j4=-0.057 right_j5=-0.0429 right_gripper=0.9994 camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am continuing to move the right gripper closer to the clapper stick, aiming for the right side of it.","targets":{"right_j3":-0.5,"right_j2":2.6,"right_j0":0.28,"right_j1":2.9}})
tool
executing move_joints over 2 steps (0.2s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteI am bringing the right hand down and slightly more left to align it with the stick of the clapper board.
move_joints
right_j00.2800right_j3-0.5000right_j12.9500right_j22.7000
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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.482 left_j4=-0.0673 left_j5=-0.0769 left_gripper=0.9987 right_j0=0.2405 right_j1=2.8403 right_j2=2.571 right_j3=-0.5396 right_j4=-0.0578 right_j5=-0.0444 right_gripper=0.9994 camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am bringing the right hand down and slightly more left to align it with the stick of the clapper board.","targets":{"right_j0":0.28,"right_j3":-0.5,"right_j1":2.95,"right_j2":2.7}})
tool
executing move_joints over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteI am moving the right gripper closer to the clapper stick, positioning it directly above the right-hand end of the stick.
move_joints
right_j12.9500right_j3-0.6000right_j22.7000right_j00.3300
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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0772 left_gripper=0.9987 right_j0=0.2722 right_j1=2.9116 right_j2=2.674 right_j3=-0.503 right_j4=-0.0692 right_j5=-0.0486 right_gripper=0.9994 camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am moving the right gripper closer to the clapper stick, positioning it directly above the right-hand end of the stick.","targets":{"right_j1":2.95,"right_j3":-0.6,"right_j2":2.7,"right_j0":0.33}})
tool
executing move_joints over 2 steps (0.2s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteI am lowering the right gripper further to bring it right beside or on top of the clapper stick.
move_joints
right_j00.3400right_j22.7500right_j3-0.5000right_j13.0000
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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.284 right_j1=2.9215 right_j2=2.6919 right_j3=-0.5175 right_j4=-0.0681 right_j5=-0.0486 right_gripper=0.9994 camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j0":0.34,"right_j2":2.75,"right_j3":-0.5,"right_j1":3},"note":"I am lowering the right gripper further to bring it right beside or on top of the clapper stick."})
tool
executing move_joints over 2 steps (0.2s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteI am lowering the right hand and shifting it further left to get it directly on top of the stick.
move_joints
right_j3-0.5000right_j22.8000right_j00.3600right_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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.3256 right_j1=2.9471 right_j2=2.7342 right_j3=-0.5194 right_j4=-0.0853 right_j5=-0.0517 right_gripper=0.9994 camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j3":-0.5,"right_j2":2.8,"right_j0":0.36,"right_j1":3.1},"note":"I am lowering the right hand and shifting it further left to get it directly on top of the stick."})
tool
executing move_joints over 3 steps (0.3s)
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 am continuing to move the right gripper closer to the clapper stick by extending it more.
move_joints
right_j3-0.4000right_j13.1000right_j00.3800right_j22.8500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3313 right_j1=3.02 right_j2=2.8128 right_j3=-0.45 right_j4=-0.0986 right_j5=-0.0517 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 am continuing to move the right gripper closer to the clapper stick by extending it more.","targets":{"right_j3":-0.4,"right_j1":3.1,"right_j0":0.38,"right_j2":2.85}})
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 am continuing to move the right gripper closer to the clapper stick to align for the grasp.
move_joints
right_j13.1000right_j3-0.4000right_j22.8500right_j00.3800
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3321 right_j1=3.039 right_j2=2.8384 right_j3=-0.4236 right_j4=-0.0948 right_j5=-0.0528 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({"targets":{"right_j1":3.1,"right_j3":-0.4,"right_j2":2.85,"right_j0":0.38},"note":"I am continuing to move the right gripper closer to the clapper stick to align for the grasp."})
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 am swinging the right arm further left (inward) to get it over the clapper stick.
move_joints
right_j00.4500right_j22.8500right_j13.1000right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3321 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3916 right_j4=-0.0868 right_j5=-0.0528 right_gripper=0.9993 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({"note":"I am swinging the right arm further left (inward) to get it over the clapper stick.","targets":{"right_j0":0.45,"right_j2":2.85,"right_j1":3.1,"right_j3":-0.4}})
tool
executing move_joints over 2 steps (0.2s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteI am swinging the right arm further left (inward) to get it over the clapper stick.
move_joints
right_j13.1000right_j3-0.4000right_j22.8500right_j00.5500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3435 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3912 right_j4=-0.0544 right_j5=-0.0532 right_gripper=0.9991 camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":3.1,"right_j3":-0.4,"right_j2":2.85,"right_j0":0.55},"note":"I am swinging the right arm further left (inward) to get it over the clapper stick."})
tool
executing move_joints over 4 steps (0.4s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteI am continuing to move the right arm closer to the clapper stick by swinging it further left and keeping it extended.
move_joints
right_j22.8500right_j00.5500right_j13.1000right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3565 right_j1=3.0543 right_j2=2.8491 right_j3=-0.395 right_j4=-0.012 right_j5=-0.0479 right_gripper=0.9987 camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j2":2.85,"right_j0":0.55,"right_j1":3.1,"right_j3":-0.4},"note":"I am continuing to move the right arm closer to the clapper stick by swinging it further left and keeping it extended."})
tool
executing move_joints over 4 steps (0.4s)
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 am swinging the right arm further to the left with a larger target to ensure it moves closer to the clapper stick.
move_joints
right_j22.8500right_j00.7000right_j13.1000right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3618 right_j1=3.0543 right_j2=2.8563 right_j3=-0.4129 right_j4=0.0196 right_j5=-0.0418 right_gripper=0.9987 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 am swinging the right arm further to the left with a larger target to ensure it moves closer to the clapper stick.","targets":{"right_j2":2.85,"right_j0":0.7,"right_j1":3.1,"right_j3":-0.4}})
tool
executing move_joints over 6 steps (0.6s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteI am continuing to move the right arm towards the center-left to get it to reach the right side of the clapper board.
move_joints
right_j13.1000right_j00.8000right_j22.8500right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3828 right_j1=3.0497 right_j2=2.8635 right_j3=-0.4473 right_j4=0.1059 right_j5=-0.0223 right_gripper=0.9973 camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":3.1,"right_j0":0.8,"right_j2":2.85,"right_j3":-0.4},"note":"I am continuing to move the right arm towards the center-left to get it to reach the right side of the clapper board."})
tool
executing move_joints over 7 steps (0.7s)
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 am continuing to move the right arm further left towards the clapper board to align with the clapper stick.
move_joints
right_j13.1000right_j00.9000right_j22.8500right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4145 right_j1=3.0425 right_j2=2.8639 right_j3=-0.4862 right_j4=0.271 right_j5=0.0448 right_gripper=0.9964 camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":3.1,"right_j0":0.9,"right_j2":2.85,"right_j3":-0.4},"note":"I am continuing to move the right arm further left towards the clapper board to align with the clapper stick."})
tool
executing move_joints over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteI am continuing to move the right gripper leftward to align it with the clapper stick of the clapper board.
move_joints
right_j13.1000right_j00.6500right_j22.8500right_j3-0.4000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4637 right_j1=3.0379 right_j2=2.8635 right_j3=-0.5289 right_j4=0.5102 right_j5=0.1848 right_gripper=0.9955 camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":3.1,"right_j0":0.65,"right_j2":2.85,"right_j3":-0.4},"note":"I am continuing to move the right gripper leftward to align it with the clapper stick of the clapper board."})
tool
executing move_joints over 3 steps (0.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteI am moving the left arm further forward and slightly to the right to bring it closer to the clapper board.
move_joints
left_j12.9000left_j3-0.5000left_j0-0.2000left_j22.5000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4706 right_j1=3.039 right_j2=2.8635 right_j3=-0.5423 right_j4=0.5892 right_j5=0.2401 right_gripper=0.9951 camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"left_j1":2.9,"left_j3":-0.5,"left_j0":-0.2,"left_j2":2.5},"note":"I am moving the left arm further forward and slightly to the right to bring it closer to the clapper board."})
tool
executing move_joints over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteI am continuing to move the left arm towards the clapper board to get it into position.
move_joints
left_j3-0.5000left_j12.9500left_j22.6000left_j0-0.3000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.1719 left_j1=2.8376 left_j2=2.4962 left_j3=-0.4198 left_j4=-0.0822 left_j5=-0.099 left_gripper=0.9987 right_j0=0.4614 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5491 right_j4=0.5941 right_j5=0.2623 right_gripper=0.9951 camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am continuing to move the left arm towards the clapper board to get it into position.","targets":{"left_j3":-0.5,"left_j1":2.95,"left_j2":2.6,"left_j0":-0.3}})
tool
executing move_joints over 3 steps (0.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteI am moving the left arm further right (inward) and down to position its gripper directly above the clapper stick.
move_joints
left_j3-0.4000left_j22.7000left_j0-0.3800left_j13.0500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.247 left_j1=2.9002 left_j2=2.5935 left_j3=-0.4099 left_j4=-0.0933 left_j5=-0.1173 left_gripper=0.9987 right_j0=0.4587 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5484 right_j4=0.5884 right_j5=0.2634 right_gripper=0.9951 camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"left_j3":-0.4,"left_j2":2.7,"left_j0":-0.38,"left_j1":3.05},"note":"I am moving the left arm further right (inward) and down to position its gripper directly above the clapper stick."})
tool
executing move_joints over 3 steps (0.3s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteI am extending the left arm further forward and closer to the clapper board.
move_joints
left_j3-0.4000left_j0-0.5000left_j13.1000left_j22.8000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.3309 left_j1=2.9868 left_j2=2.6953 left_j3=-0.3347 left_j4=-0.1062 left_j5=-0.1364 left_gripper=0.9986 right_j0=0.458 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5472 right_j4=0.585 right_j5=0.2634 right_gripper=0.9952 camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am extending the left arm further forward and closer to the clapper board.","targets":{"left_j3":-0.4,"left_j0":-0.5,"left_j1":3.1,"left_j2":2.8}})
tool
executing move_joints over 3 steps (0.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteI am continuing to move the left arm closer to the clapper board.
move_joints
left_j0-0.5500left_j3-0.4000left_j13.1000left_j22.8500
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.3531 left_j1=3.0413 left_j2=2.7892 left_j3=-0.3508 left_j4=-0.1833 left_j5=-0.1646 left_gripper=0.998 right_j0=0.4561 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5457 right_j4=0.5789 right_j5=0.2646 right_gripper=0.9952 camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am continuing to move the left arm closer to the clapper board.","targets":{"left_j0":-0.55,"left_j3":-0.4,"left_j1":3.1,"left_j2":2.85}})
tool
executing move_joints over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteI am moving the right arm further inward and down to bring the gripper directly over the clapper stick on the right side.
move_joints
right_j13.1500right_j22.9000right_j3-0.5000right_j00.5500
assistant
user
Respond with exactly one tool call.
assistant
agent noteI am correcting the shoulder pitch and extending the elbow to bring the right gripper closer to the clapper stick within valid joint limits.
move_joints
right_j00.5500right_j3-0.5000right_j13.1000right_j22.9000
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=-0.3759 left_j1=3.0566 left_j2=2.8281 left_j3=-0.3847 left_j4=-0.2985 left_j5=-0.1894 left_gripper=0.9978 right_j0=0.4541 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5438 right_j4=0.5713 right_j5=0.2634 right_gripper=0.9952 camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am moving the right arm further inward and down to bring the gripper directly over the clapper stick on the right side.","targets":{"right_j1":3.15,"right_j2":2.9,"right_j3":-0.5,"right_j0":0.55}})
tool
target for right_j1 is outside [-3.141592653589793, 3.141592653589793]
assistant
user
Respond with exactly one tool call.
assistant
move_joints({"note":"I am correcting the shoulder pitch and extending the elbow to bring the right gripper closer to the clapper stick within valid joint limits.","targets":{"right_j0":0.55,"right_j3":-0.5,"right_j1":3.1,"right_j2":2.9}})
tool
executing move_joints over 2 steps (0.2s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteI am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick.
move_joints
right_j22.9500right_j00.5500right_j3-0.5000right_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=-0.3725 left_j1=3.0566 left_j2=2.8349 left_j3=-0.3908 left_j4=-0.3363 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4641 right_j1=3.0493 right_j2=2.8822 right_j3=-0.5518 right_j4=0.59 right_j5=0.2783 right_gripper=0.9951 camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_joints({"note":"I am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick.","targets":{"right_j2":2.95,"right_j0":0.55,"right_j3":-0.5,"right_j1":3.1}})
tool
executing move_joints over 2 steps (0.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteI am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick.
move_joints
right_j22.9500right_j3-0.5000right_j00.6500right_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=-0.3706 left_j1=3.0566 left_j2=2.8338 left_j3=-0.3889 left_j4=-0.3305 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4709 right_j1=3.0676 right_j2=2.9173 right_j3=-0.5713 right_j4=0.6186 right_j5=0.3077 right_gripper=0.9951 camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j2":2.95,"right_j3":-0.5,"right_j0":0.65,"right_j1":3.1},"note":"I am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick."})
tool
executing move_joints over 3 steps (0.3s)
step 136
assistant
agent noteI am lowering the right gripper closer to the clapper stick of the clapper board.
move_joints
right_j13.1000right_j00.6000right_j23.0000right_j3-0.5000
Raw transcript
user
Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.371 left_j1=3.0566 left_j2=2.8338 left_j3=-0.3889 left_j4=-0.3363 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4889 right_j1=3.073 right_j2=2.9292 right_j3=-0.5907 right_j4=0.6792 right_j5=0.3492 right_gripper=0.9951 camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_joints({"targets":{"right_j1":3.1,"right_j0":0.6,"right_j2":3,"right_j3":-0.5},"note":"I am lowering the right gripper closer to the clapper stick of the clapper board."})
tool
executing move_joints over 2 steps (0.2s)
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 · 6.095 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=-0.0059 left_j1=0.0063 left_j2=0.0067 left_j3=-0.025 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9993 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0299 right_j4=-0.004 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,$blob:bf34a2291a103f45fd3f8d775961283b62328824e71abd2d3b8d475a7cc837c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53eaa0403c8df676f03f94761ef180b59b257ea834e2d62c8cc55f2bfb934942"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:46b4f2801760eb42887beaf03e7d48d6fce619262ac85ddf2b23491188265ae9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bf34a2291a10
wire blob 53eaa0403c8d
wire blob 46b4f2801760
call 1 attempt 0 · /chat/completions · status 200 · 10.52 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "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"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am unfolding both arms to bring them into a working position above the table so I can see them and the clapper board clearly.\",\"targets\":{\"left_j3\":-0.5,\"right_j1\":1.2,\"left_j2\":1.2,\"right_j2\":1.2,\"right_j3\":-0.5,\"left_j1\":1.2}}",
        "name": "move_joints"
      },
      "id": "nsu98lcw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 20 steps (2.0s)",
  "role": "tool",
  "tool_call_id": "nsu98lcw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0067 left_j1=1.203 left_j2=1.1709 left_j3=-0.5041 left_j4=-0.0105 left_j5=-0.0196 left_gripper=0.9992 right_j0=-0.0002 right_j1=1.2015 right_j2=1.1736 right_j3=-0.5125 right_j4=-0.0078 right_j5=-0.0185 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5843d90ebf9039d4fda55b02edcf9ac493ff5cdd48d475c91cbda439e73ed2b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e27626387454372b280faf4df9dd5f388a9a68643d30c66df779bbe9ee23dece"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:185f1785aa576d30c5d6f05a491e1fd7f476a94460d71f112a8ceb954891dd03"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5843d90ebf90
wire blob e27626387454
wire blob 185f1785aa57
call 2 attempt 0 · /chat/completions · status 200 · 8.172 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=-0.0059 left_j1=0.0063 left_j2=0.0067 left_j3=-0.025 left_j4=-0.0097 left_j5=-0.0151 left_gripper=0.9993 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0299 right_j4=-0.004 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": "Ep0JCpoJARFNMg/ArSiKyf0dvwOFt5Icp21v571cbWx6urWOCs86cLiaGqncrLOCgHb1rOutgG2dVAqZd1ObENlr4gP/TsV8eFQRXap+ZiVrollSrCuGgR4Wvqj+OHPfGmEuJvNslq62i+LMrgiWyvl3DJYYUv25rSz6/07io5zp9yZcUeykH5a5lXGwI21TjeFR8Xru/WElcIaobKyMgvnxpAQioMrKZN57W0F/c+ZCmfp5V0Lio+JrGMjO0aYzR9ia3Z5OItc1IyISsIAgbFiHFm8xI02gSXXDeKciCd96YhURWRIb3ncc/KdQrIl1AuxVJyjNJcrglFjBLzzhcnymHw3cNC/WeHABdsBIRyRhejA5NTxJzYErlZNK0+MZokuBFD9oAusi/PSLNAKt/DHqUe+PVbCU1O1RLFFvpjpQ/19b0xERfSih6Bqm3X9G1CswWxPDtXMxGiE/yUt+/McnT47nryP2paHF6Cu/wlO7kwjVaOJQdpBDVSep7yM93ucgNENrEEci3DoLTtOxyz/Yg5Ul8KZpvWckEMbiDXlrHBfMGHTg3hXZZPvlI2U74q6Qoo6K8/+T07Hj5WRR6NejoNteoPccWSo+bYI32fUVbKx8FvpAR30X7mLKgEB8k1t3VWeHQGl+d1xAbeHOdh0qAgt1huJAXvNggk8C0WMLQRHoK7FjyoCbmCvDrvvPle915vpg7DxIdy26/gW0H0pMPxB40YX3/hJ/yuk6v63VO+FnPmwannlfJtGOfCWIfZV2caNqke7reaCn4RXDGW/n7IP6RaCT+nIlWa15hxaMa4AL7hIDypdKwvP42aearfxQxvWvNQz8wGouQTHwgwoXGvxQT/7jGDulXWE/toA8zNuEGx3EqBOuA2SMv+T7/C0ebTyvYLVN6IgaFRmLTNjrRdOPoAwSBQQkW+ENMQcHvhfwREGTe/hD3E5f4bTrMUyXzmLFC9DOGrDOVXDl7i13dC9yXeXCN+xzfJK6WE5EIGP/ZoIi5TBjkXISdcdjnRfxvidipLVhgn7VhBlems8OeecQ7UgiCAJvbVWbTGwatwDvF4PtUwvzS47R3mUUA4SKm/WWP4ctCV2nwMG2KzcSSGDyUuDYUEUrsUXYTFr7qjhfrCSFK3kpo74vxx48wZuzhmRXC3ssDyUUgiXCv5cdmIhbTLvIflcXash21on1cHXrLZzVJ5nIeuh7N/MQPVfyNf3+zFSwNPtB8ABztyqhNEGdh9UiXwj5UEdSIRNUip3b2QewMygjpNBMU8Vftm8g+EfP70VZRTRulGayIV3bp8Ek9PgBvSKu24LA48pDAVP18rl4zmQzkpsDNq+dq123Tsu41eteCylz55NsJM+Uf25pFq/VXg6HtXrxG/rCf3a+SmR+dVtAlu3w1vpZDg8JOxqJW1EtwMWjWt1lDb80iSnsgHXrUfRgxmqJ11quMzTAndi/pSybOSw9SptGpKIMxoFeOpiZWXDyAIGI4aHLbEzGmhQNgVtHb6vsHmNv7uiobCMjT5QoONzHRfYLZhxf2xvQI6Ijst52G/FWWNlxjs6ba5gNnN+rVzbstpg="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":1.5,\"right_j3\":-0.8,\"left_j3\":-0.8,\"left_j0\":0.3,\"left_j1\":1.5,\"left_j2\":1.5,\"right_j0\":-0.3,\"right_j2\":1.5},\"note\":\"I am moving both arms closer to the clapper board by rotating them inward and extending them further forward.\"}",
        "name": "move_joints"
      },
      "id": "mur889lb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "mur889lb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.2886 left_j1=1.4982 left_j2=1.4708 left_j3=-0.786 left_j4=-0.009 left_j5=-0.0238 left_gripper=0.9991 right_j0=-0.292 right_j1=1.4944 right_j2=1.4715 right_j3=-0.794 right_j4=-0.0143 right_j5=-0.0261 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a06e5ac81740c68091c3277fae10740f4197b7a980eccad6da41bc675be80e7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:576543d32b4ef0cb8ade7eb3c5f6b806e0c8929fb74aaa8b295e3841a867ccd2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55b87874f6a826daff859b340e2ea3a7e9e15a0feefa8d46b7a6804117b4dbe2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9a06e5ac8174
wire blob 576543d32b4e
wire blob 55b87874f6a8
call 3 attempt 0 · /chat/completions · status 200 · 4.39 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=-0.0067 left_j1=1.203 left_j2=1.1709 left_j3=-0.5041 left_j4=-0.0105 left_j5=-0.0196 left_gripper=0.9992 right_j0=-0.0002 right_j1=1.2015 right_j2=1.1736 right_j3=-0.5125 right_j4=-0.0078 right_j5=-0.0185 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": "EqMLCqALARFNMg8Eb5QpLT2xugJa6jI0fAgssxvmht4cn28R6HkmQtledongFXBPFYqXArTYemNIlnHlJvUItcrO5yV9G5QMJctNOQzTZqz9epuzgnsrif2jZCi4+79LUjCu4TwCrDBEapW2TvEZeEdgYf6jg0GjExwKsjpwiOr1bYFY3q1dcGP7SQnOv2guKPeeAbqXsYmBq1Bb1LCI3Jxw9iJlQCpYIN2rG28+9Up/HzyiFKO5ix1hEAL4caMjpjD7xKqnWJOBtLFAAm/rS/1zHnV05NBa1rXD+M/Z/EFA/Kgbw5klObREixgoxtJQ0Te0qtsDBDnYA2QsNk2iwK8ifygW2yafHkW92OmyozBCLZJdkNhp+/TgG7A7ZCu8xpgCx9XsEJ0qOgItqOteWpx67TRAw9rIm8aCf5YmSvSSrlnGTOlPz2hxQsnUYSfaujJmB32ftUysvrlP6gLHfuvj16a74R4lrPetX26IQWgBk7oLYmvobnqdBfA6I3gt0rt81YL+rFPpqiuDJBFFDAGetF30a+bUnp5vaLln1sOfdSqMu7PQz8nZQ5/7t3GcCbGbeMlyCFc30KYm6GaTfHbJutPoQlUpNsosseofVzgMGPl9Rs0kftSlmSc/ODbT2BiPLumebRRNW/airzu1OGpfIgoCeAFDUe8xujOFNg2n4+6cNlYBhdaMV/VI2SyyS0OYx0s3vhKofPmZorxPxGU/VO+XOFEYNJFQa2HJEkBJmpTw3mA5rGj5CY51MDPONYIXWiHXYC54tL2lib+qQAhT0P73k28QmqWhRy6ygAEk2KysumXDU2ipZDo0AfFm2x/AC/Li6U8c/I6NjTwo91F1+QX86OS8CTD62HV9H908JO6LnUvZIXu4bJZ5AmGvMQnmIg1HMJDWjip4JLMp2+QQ4OwUBgkaDZRPZ9bErfnCOLLf8UDZWlBMbX0M2c5aJiZJTteFh3PtUqhf70xFZMumSGiJlmNzYGHL4I5ptvlnNP/B8JoEpvoYwOolryEdauVkgemeScnX3CNI/D+rqNVbp6A5+iauY/v/8at6OQ+Ri+XRHewpANfGfl7DX0gSfPfEByR7tGZTI2U9VCPLFtsPCFmnaQcGHP1dJYZnPJ2oawK25EzOQPIRZUYGQXiWFlkKBB+IEyWY9bwACoA02FuxqyOHrJDonkn8quqVIcn61pfhu8YwQuYTk49eD1TY5Mi1fs4IYFCg3cqIASBVVzfy1Sp4ytV8xucI2PUUyz88lzJnIyTcQNQVbWGzCBn9foDUlRvGj7R2s8ADrIfv5j+TyVeoD7wDTdKPHa4xr/5pxJeqAR8mnspj/3mrKQOb6xPHe5E+Im6smIs4e4XWdBRvxEfsDu4DR1CUyu2pc6XbzEh/jC64zus380K9RqiBDNF2cWdD0AEXPyevmjFbmaY0IuytKTZXi9tlHEj3PhbtOo6gIGpo32CtacsIA+CmCRdFYkpanOC2kVdwOEWMi8aU39SYpFRmWP+8Y1m+81py+kOrqmZgmpLEbCZ3Vly38w1ylLzHvsEBrhZyiu6y0eTEI+NMa0EjOXYxd7nXA2LyrDbarINMFhs5aTCrcSXzYbPtGx31Rv9ezmXqbpGKtlP8utQpbMtr3PNhBjQMnpL9S1luvQEtqIDh7JiSWsVcvmxRNcMGHvr+12CDVVujaLdwbCTOV2kBvsd6xJlElJ/g9eppmuZ5fJol44y/jhV/aOoQDcci9qxMz8sC0BoqxWgBcIWxL/XdREElgg8rK3fhIuNlqt7aOaNuo+NuwHemUGjhjWn0khyE3+sWD6zZPvFTZv5068tU5ev+dIuS2gD1fcy7WW0eBCE+6YMwvH4qZOe3vuW2TEj3Kt2kFoeUZfFyMKhXYcEQIaW7yEfoq9WiKpriB8opwa8OR2xw491YNfa386jU"
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j3\":-0.5,\"right_j1\":2.2,\"left_j3\":-0.5,\"left_j1\":2.2,\"left_j2\":1.8,\"right_j2\":1.8},\"note\":\"I am raising the shoulder pitch to extend the arms further forward towards the clapper board.\"}",
        "name": "move_joints"
      },
      "id": "mai7vb0v",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "mai7vb0v"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.2913 left_j1=2.2047 left_j2=1.7752 left_j3=-0.5266 left_j4=-0.0101 left_j5=-0.0265 left_gripper=0.9988 right_j0=-0.2955 right_j1=2.2032 right_j2=1.7756 right_j3=-0.5297 right_j4=-0.0158 right_j5=-0.0372 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f718fee38c1d75066ec5e354bccbac41ccb59210538714fcd951d3446e87be84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:58797d083a2dd38c9115711902c005bcf1d1b2159e585a7cf6253cd86afb8e35"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7e3e85d76e5bd39cfa8240ddf0182009cc154394ec2fcc2144ec8037e236b90"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f718fee38c1d
wire blob 58797d083a2d
wire blob a7e3e85d76e5
call 4 attempt 0 · /chat/completions · status 200 · 8.65 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=0.2886 left_j1=1.4982 left_j2=1.4708 left_j3=-0.786 left_j4=-0.009 left_j5=-0.0238 left_gripper=0.9991 right_j0=-0.292 right_j1=1.4944 right_j2=1.4715 right_j3=-0.794 right_j4=-0.0143 right_j5=-0.0261 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": "EtcECtQEARFNMg9hxGF9WnX6RElFk+KcgQJnVdKLrQ7JYlbMAWF+SjWE+tSGY0lREi2Qy5XrwLrIgPUcrxjbFuIDsD+GkjXGNiCbKhlHYOHgYtVLEcO9y8DNhkRmGwPctMGjTxpon3x+ZMzzeX1semZY/Vi6uYD3IlmB4VYDP9OQSfGsMy1fvdsuvgRDXd1CVUktfRYaoSaWpxnt5dusnrBF+mxMZFrfjGtdYRCUj58zC/4Rc661uWeigQpCMxLKEKhxhahk42NJuzPrI8m/PaPLErwbiSaUu+R3Q2bUdkr3FRl/TkDJMQ+bqMMTfmWdXJZcKNvovDFuj96MZmaV++ZVFbWPI3NSdlEfH6xyObtiEiknVqbW5EWorYgqTW8gB1Ok4SgAC4SK56OSOUEyc4jzk0vkWa2nrrcwF7XQaBRVz+hoIl8wxPxsuAiJ9u3UMKcocgRCwebmyU0DATcM54DXMf4binCeY7ugsrqN09CFS5VKd+lqaEyEphu7FBzpX+C7AnWQMEga+hdZ3hWfMsC9E6sIHkhD6IgxbAjKJVDtuUtgwexN9210fAQ6/Yv57wY7S+W6Kc7Azv4JRWRM5PILJVNoTapODanHQ8np0kVZATNQ50F1z/Xqo9JSRNTqqplZl3zsK0KFUAF+BX47YtsxCz3NZQc/5OkL64IUlqdwfVksl8WO2lfpdIsDMSG3rAOh6C2Jt0/Y9mrfgpIO+ZLOLL/8wqlwrqrldSEZrByhC+H1L/cz5nVQN4SncYYJ+zLumtjK8sjpknoxufmkw3KmfrlUYJSbsjs="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":2.6,\"left_j2\":2.1,\"left_j3\":-0.8,\"right_j2\":2.1,\"right_j3\":-0.8,\"left_j1\":2.6},\"note\":\"I am continuing to extend the arms further forward and downward by adjusting the shoulder and elbow joints.\"}",
        "name": "move_joints"
      },
      "id": "nignqzdj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "nignqzdj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=0.2913 left_j1=2.5229 left_j2=2.1204 left_j3=-0.7414 left_j4=-0.0185 left_j5=-0.0273 left_gripper=0.9987 right_j0=-0.2958 right_j1=2.5229 right_j2=2.1174 right_j3=-0.7643 right_j4=-0.0193 right_j5=-0.0456 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc0ab8f2886c4f5379c0a89c748357288ceb88024ada1070d71919d80d4513bc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:538088386eddabda1a08580786f9d824e6f56353b9cd7c66730ef63e02ab1320"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba285816ea0c03da485a746d19f1e5d8731165529c0c22cf645e5ce5638ca328"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fc0ab8f2886c
wire blob 538088386edd
wire blob ba285816ea0c
call 5 attempt 0 · /chat/completions · status 200 · 9.552 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=0.2913 left_j1=2.2047 left_j2=1.7752 left_j3=-0.5266 left_j4=-0.0101 left_j5=-0.0265 left_gripper=0.9988 right_j0=-0.2955 right_j1=2.2032 right_j2=1.7756 right_j3=-0.5297 right_j4=-0.0158 right_j5=-0.0372 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 am swinging both arms inward and extending them further forward and down to bring the grippers closer to the clapper board.\",\"targets\":{\"left_j2\":2,\"right_j3\":-0.8,\"left_j1\":2.8,\"right_j1\":2.8,\"left_j3\":-0.8,\"right_j2\":2,\"left_j0\":-0.1,\"right_j0\":0.1}}",
        "name": "move_joints"
      },
      "id": "ii1858nq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "ii1858nq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.036 left_j1=2.5992 left_j2=2.1181 left_j3=-0.5217 left_j4=-0.0483 left_j5=-0.0608 left_gripper=0.9986 right_j0=0.0349 right_j1=2.5969 right_j2=2.1166 right_j3=-0.535 right_j4=-0.0196 right_j5=-0.025 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9ff5c67188fc230b453cad15c35cf81480d702053721be8dae7ff76cb6095d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:14fab6d711373bbcff2a7313d652f15ad33fe2c43e1b3f1247840afa0956050f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:375abc5a1c4cf0a4823c0eabc4699642be8b5f8ad84f8ccaa25a17293fa32dac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a9ff5c67188f
wire blob 14fab6d71137
wire blob 375abc5a1c4c
call 6 attempt 0 · /chat/completions · status 200 · 15.66 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=0.2913 left_j1=2.5229 left_j2=2.1204 left_j3=-0.7414 left_j4=-0.0185 left_j5=-0.0273 left_gripper=0.9987 right_j0=-0.2958 right_j1=2.5229 right_j2=2.1174 right_j3=-0.7643 right_j4=-0.0193 right_j5=-0.0456 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\":{\"right_j3\":-0.7,\"left_j2\":2.2,\"left_j1\":2.8,\"left_j3\":-0.7,\"left_j0\":-0.12,\"right_j0\":0.12,\"right_j1\":2.8,\"right_j2\":2.2},\"note\":\"I am moving the hands inward and further forward/downward to bring them closer to the sides of the clapper board.\"}",
        "name": "move_joints"
      },
      "id": "emgnxchs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "emgnxchs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1036 left_j1=2.6633 left_j2=2.2524 left_j3=-0.5083 left_j4=-0.0551 left_j5=-0.065 left_gripper=0.9987 right_j0=0.104 right_j1=2.6595 right_j2=2.2501 right_j3=-0.5282 right_j4=-0.0349 right_j5=-0.036 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab5c87854064c22f7ee27a7d4313110f2063299775f5e044f297a4f933390e3f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:13b2aeabf06874c34b0c6c068a7274f639b0e5d8964b9479697084f4509461fd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e9cfa78210880bb47dbafe8f8a10811e694bc16809b842a39b75499671233c0f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ab5c87854064
wire blob 13b2aeabf068
wire blob e9cfa7821088
call 7 attempt 0 · /chat/completions · status 200 · 6.425 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=-0.036 left_j1=2.5992 left_j2=2.1181 left_j3=-0.5217 left_j4=-0.0483 left_j5=-0.0608 left_gripper=0.9986 right_j0=0.0349 right_j1=2.5969 right_j2=2.1166 right_j3=-0.535 right_j4=-0.0196 right_j5=-0.025 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\":{\"right_j2\":2.35,\"right_j1\":2.75,\"right_j0\":0.18,\"right_j3\":-0.6},\"note\":\"I am moving the right arm further inward (left) and forward/downward to bring it closer to the right side of the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "45pbmw8j",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "45pbmw8j"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4919 left_j4=-0.0628 left_j5=-0.0723 left_gripper=0.9987 right_j0=0.1238 right_j1=2.6953 right_j2=2.331 right_j3=-0.5377 right_j4=-0.0341 right_j5=-0.0357 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ece7f4b7ebc4560d1f5e47fb3c59f809104ccc76eaf8b0fe88fc5e931339a5c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9637530b6daf1c1b567ec142478584bf8ba9053e55229a79fb9d1ddad6513c80"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f183a517665e84369acf381c7e56f6ec74c1e7ae1bb9c63ca9399735d4a72ee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ece7f4b7ebc4
wire blob 9637530b6daf
wire blob 0f183a517665
call 8 attempt 0 · /chat/completions · status 200 · 9.325 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=-0.1036 left_j1=2.6633 left_j2=2.2524 left_j3=-0.5083 left_j4=-0.0551 left_j5=-0.065 left_gripper=0.9987 right_j0=0.104 right_j1=2.6595 right_j2=2.2501 right_j3=-0.5282 right_j4=-0.0349 right_j5=-0.036 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": "EowFCokFARFNMg8npEh0MgrFOR84McCRTmY7YZsc4sa8IN2m/dXg6/tJ09otqF/zMq6c9kCvYcQWGwZQWz1T6wozWPzadQaltskJFT9EggSvMsie7VYxWLGWrmctgk8KZr/SK6ivMM8+EUfdhRXKXtB5aNKt19YhcQotA292GUxf6ydxbGO5A+pau22UDvvYCBlf+IVgykA6mmqMbXd6I1y5cilxgzEkB6ARj7ZHqKVI4mwz+7wiGiAgv8riixqlTJG4qFdpyMwL/tLH4bONLzubRX6UZQsNpuxeEPLQAEBlE5ZLO5Wr3tFPDbJlT680PQauYTCtpdLLd+nicWRZ6bsPy9WLQjQwQeLgcZoZwsg8u7AD8aWuELcvL92bytAdwRO0ZMkwBCX+6jAE6CBei6YuavU5omy59Xp5G3iT12JhpKgYAPBH5ksGK06V4EK99rGmVa8kgOWp48h+PQlde4kPzVEqgvBq2ZuTqmgwmLVGfyz0gxlpA/3XX+c9FV+CdXU8MSyk2Tp0u4f96GJbeLAK9hEhYLUG13Z8a0ceYQNiNjFbQ1ZYRPGKdbnV62sOpSI85gBvmNt7Sig4p0K23HUluHlis+YQ4M61RhcDewGM6e/rodpkWxF9jDgUN24EcGqyFaM5xS+M3NSa8k8dztMSvC6YbYaSSxR/uyST/ocRecCxTYIyTYVMgqBAGg/hKQSY+bn2bvMgGyu4kqUz2ULuseG0Zgstr7eQIOuIyAZ5Gpbj00+hCFTR2EFi0llq8nCKtPjv3zyuvlQgghIEuPKKWGgg1mGrwvkCyDVWqfQeYgQk/VGyO/Xt/rw0wHWESl5gTJ0z6f/MosHlg6sWY9mCFkMjT5Ne4dre84E2dw=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j3\":-0.6,\"right_j0\":0.2,\"right_j1\":2.85,\"right_j2\":2.45},\"note\":\"I am continuing the movement of the right arm to get closer to the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "0gp4e9th",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "0gp4e9th"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4854 left_j4=-0.0639 left_j5=-0.0753 left_gripper=0.9987 right_j0=0.1864 right_j1=2.7743 right_j2=2.4542 right_j3=-0.5369 right_j4=-0.0494 right_j5=-0.041 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d08f96d74f6551d2141f818fe38231d4fa09aaa22ef9a85cfe5f0142b1170745"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f01cb2971fb0c736fa5a7d1254c3fdcb9f8e78916b945b6d447da42b2c6d4703"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae682cf35d7a09b0cfe4021df3fde8c176fb5cba30d9bc6fd575ec1543d8365d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d08f96d74f65
wire blob f01cb2971fb0
wire blob ae682cf35d7a
call 9 attempt 0 · /chat/completions · status 200 · 5.62 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=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4919 left_j4=-0.0628 left_j5=-0.0723 left_gripper=0.9987 right_j0=0.1238 right_j1=2.6953 right_j2=2.331 right_j3=-0.5377 right_j4=-0.0341 right_j5=-0.0357 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\":{\"right_j2\":2.5,\"right_j3\":-0.6,\"right_j1\":2.8,\"right_j0\":0.23},\"note\":\"I am centering the right gripper over the right end of the clapper stick so we can grasp it.\"}",
        "name": "move_joints"
      },
      "id": "sro939bf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "sro939bf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4831 left_j4=-0.0669 left_j5=-0.0765 left_gripper=0.9987 right_j0=0.1959 right_j1=2.7846 right_j2=2.484 right_j3=-0.5453 right_j4=-0.057 right_j5=-0.0429 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:207b87b97512f3d121d824372df74bf8d81f3a01b97ce41f649d56b49278677f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:385effd4a1cf995a1aaa18f67c49836509cb5bf624ceda683387600d8fb494fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae368fe67c966396a3d29436a8c6fb193cb657e1446b23c27ed855dfa52929e4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 207b87b97512
wire blob 385effd4a1cf
wire blob ae368fe67c96
call 10 attempt 0 · /chat/completions · status 200 · 7.975 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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4854 left_j4=-0.0639 left_j5=-0.0753 left_gripper=0.9987 right_j0=0.1864 right_j1=2.7743 right_j2=2.4542 right_j3=-0.5369 right_j4=-0.0494 right_j5=-0.041 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": "EvgECvUEARFNMg8nXqJnSnuixmbee1L0Pyar5P6TtX+OF1w44DuHd49DlimTT2k2Cjwc4g9lT4SYQDTSsSevsdlXwN+ZYj8/0eylkyyDkIIYewrvV2riGGEcnK6/YL90/9chs98QBBEsEWV6subylgf8Xzh/v4FhGASCbeeF+GLtXmtGrDiSKhc15XaI05t7ZATI7KuSizUerBxa5AhQe4ILbBAvfaEUyzwg/wml4E24pAaItfLEKIAcMPQlqEomjQFrJTYqNRjS81mriHZMn7FkwB6Kw+XjYgU3qzMqYFXgpQI4aBmaMvi4+048URwJFIrtA7+ZP+nceNQ8z6DjQxQETiE42BMXDMRjwmkivlLGQfsn41NObRLL3iwfW/jF4Djk4jVHti0nmFOs2UBUQAloksFesUmWDiPOjifYw5lVS3q7bms7nt4UWcA8OA4jjSNWGhxWG/nw+suSR6WmpU9h8iefaqI84qEIGa/RqdNbAumATRYA8nfUxIcbWja1fwkr2vv45Ab6vT+Tjli5njKMfSpCmEfn5+ebdUEWoZMJAL0TUjvGsCzQ/o/G8rXgLDfOheVjCiXWu7YGSL2cylOyi+S892qKVxn5qq9PG7UjKd1Tg8Q0jZUVENVeDyLO9EHjucoOGhlmOLSqZ1E7JdbiQHA8BqfEYVhlmgkqXVuhcDef4z0kZB4o2RcdZy6xILav2kEjDCkwsllhc6AW2/DGYubvAoTR3zTM+mfSi39nH2+kv/jQO67URW1enrBtbjFHUCl8UfhT2QVBm3Y6D53fDvynharisVxtEWVIpfB2Cuv4+ikQQY+/Eqqk+rioVCrZDWSbgzmOdwY="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am continuing to move the right gripper closer to the clapper stick, aiming for the right side of it.\",\"targets\":{\"right_j3\":-0.5,\"right_j2\":2.6,\"right_j0\":0.28,\"right_j1\":2.9}}",
        "name": "move_joints"
      },
      "id": "2myd57mx",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "2myd57mx"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.482 left_j4=-0.0673 left_j5=-0.0769 left_gripper=0.9987 right_j0=0.2405 right_j1=2.8403 right_j2=2.571 right_j3=-0.5396 right_j4=-0.0578 right_j5=-0.0444 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e1186c8bca1def50e94db763cd3f7929c8d6a59948c68b062a2a22ccefadf3cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d6d52816eac5832e07588ede400609f497aff030ecaa675e982aa11d0093436a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:68b0b15aa5bb3fd013a18d118f89253ae04a0eb0557d34bebb6882ab319aafac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e1186c8bca1d
wire blob d6d52816eac5
wire blob 68b0b15aa5bb
call 11 attempt 0 · /chat/completions · status 200 · 4.8 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=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4831 left_j4=-0.0669 left_j5=-0.0765 left_gripper=0.9987 right_j0=0.1959 right_j1=2.7846 right_j2=2.484 right_j3=-0.5453 right_j4=-0.057 right_j5=-0.0429 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": "ErwECrkEARFNMg8FZTsLoyHNzWoNNfu3OgYfk/shvSCGNPh8Mwbgwh7PmSRPuwM9Wu3DNuebTOFVv7rZUnl/pcr0XJyYbQpiY75Jd136ANVsHpKuHZHiZicATzVZGekfAVH1Tgg8lGpTH16EOtquEe2Yhj1yOgDwFLLas/ZQtx9Im9rhL6ZjzgJ9d2zcpV/w7XADt6F0A95tVN19Ayo3bQSFe12R3zg14zrgiGdskGasyQKqwPZFXI2V++jyq9kORKHZ766+gaNPKRYTvtwoX9tW0XxZR4PXd1jWB9XqkOp7G1P5KZFawn0uAHU0W9Sk79hWTIiRRmRQw3/vywffJ21OIz5PjnJgwrUTIvXg3GBEXpZksi6E19QJ0KiZkVUloU5OnTPrWLs6h7ibw8urfQ1we5FK0v+BDZMD3qOYBxikv3J5MxiO3hKCpv0xgtu5jy927vAPN/bR46VeoaP1RwK2EIJ7y8wkM7p9PuWllqT+UWoKK4gY8yXE1CZ+BoQanUn9xj6i3oDt4j3R8h9Qdqz2lpyzWzwEZ0B9yzhTI2JiGeyl8+DNF/g6dUVhV/0Qncr+VsEHSN8LHymgrz1EAZPsSnfYbIoaWf5vpu3+FyE5hu15+j9SBOM4ClQJP7qJy1hLdTiqR7o08LRnPJhEBd0id4GMHMv3PvkcZ380mhPs1u6stz5BJBOJBXtu/lmmiYC3RHeXTjN2GT7M4b56XS+rNSs8c8pHHNlVzB+D7RoD+KOKZhi9zpeohUKgN+M="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am bringing the right hand down and slightly more left to align it with the stick of the clapper board.\",\"targets\":{\"right_j0\":0.28,\"right_j3\":-0.5,\"right_j1\":2.95,\"right_j2\":2.7}}",
        "name": "move_joints"
      },
      "id": "gj4g76yb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "gj4g76yb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0772 left_gripper=0.9987 right_j0=0.2722 right_j1=2.9116 right_j2=2.674 right_j3=-0.503 right_j4=-0.0692 right_j5=-0.0486 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5bbc68b9ef78631db9fcf0f4ca0de8422f8e82c4d5d7db661e2ce42843e92ae6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed6ec7932f27f6673ff6d0a61e78938eba9e8cc1f227cb2be70b8bb05f16ce86"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bd22985453e8c52127791ceebd501f56ce10d9d4c2868ac051b38782a708cbe"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5bbc68b9ef78
wire blob ed6ec7932f27
wire blob 4bd22985453e
call 12 attempt 0 · /chat/completions · status 200 · 8.376 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=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.482 left_j4=-0.0673 left_j5=-0.0769 left_gripper=0.9987 right_j0=0.2405 right_j1=2.8403 right_j2=2.571 right_j3=-0.5396 right_j4=-0.0578 right_j5=-0.0444 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": "EpMHCpAHARFNMg9sP8pvsklC9vBsd+qaz7Gie4L6QanuzwQe5Rj5jHLdmeTVazua3PVXrpkcdSh0f/ielTY4wNcJGgjjkVyGYtRAHYzvREJSCeX3DsO1rtQbC7OrJlylot0haqCmA/qzYfO/Hiuu0zNtgtQQEp8X+XE2x2QGs1VIAcXXVhYKNI9UTPmUXymPjdrdo+mp3j7v79mM+Rt7h8mtzC5cud0wk82wTjXdP7dr0t8vTKN73/1d4FSkT9GjQcCSbpHuazPcJOhSNX6E9ora4urNoc9qGqU4d93hdf+988Q7DDu3iOsxDLa/wDx4bc+IXUFnwdTMb18Lqpjr7PH+WEQNwpSTe7Qm8+Mb94HTWyRt/UE0odHacvhUwYHOyka2c06T2NXiRXktzq11Nz+xcMHIempA3b3+BBHwHmp/MQjByMTkkkTbukJoGzmAqhm/UafiFFgZDqg4nA5j8usnPpmXT95vmipmojyl9ePNzrJ4H0xBskAgN/OZFiQJ9g7rC0dSj7/dYF80kpUG/Yhg+le44isxzGaC5W58KlbVPusbWD4ZYPbqBXwRBljCQjFBwCY6fSzSmNVx5aoNT1DMgcHPXTmAGEs+WvVAdi+4qNrWWd74L32yFYkCxMtDvramx9W3+7Bgxau42jQEUHAfL/6bvRXsGg+igANhiNbUPDml0irocEO8GMf5PCqR3TSPm+bXZHDhgvzPF1Aiu3w9q+JR1j1CfifSefa4HuQ1ZPFfXIpCBj//uGh4wJpTVp7JcFT0Os7GTPXWmGlBK+1mK/ZKVG7VrJaydhiQHToii8jCECSW4cLud88hlmD92ktGY19okUj9uOuP9mMtAgaVeDuKVxbZe+n9KUZ6GbyEjN8XqBahp4BURz6EFJgyziux+V+Yplz8kbDiy2Vn3iAc4w79pLViOC3sInlkdgUd+Os3dLNWd5ZHsBdZVIdwKH+dfemQxPJ4+SybSrLZ8SKK92a4ViyYC38GWrnpk5m5kf+vZXI41ujECf3hM2/Y9HppsUeUxoqrVORWcPMD2JfGRggnUSl0kIctaY2S4gOXGXROSjGF4qBags6OM4QnK9P3UwVq4hEzZhQZe5lFupcat+5osyh+Y6t3DDwlVamBmnN4EdwsWy+/gsLLQZ4iEjJk9O+IKPheVBibK/XlaBj6b4OdESsPRmWoZW0+/oIAwxxu8O0XAAMC5iJHBph1T2Kb0Pq9"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am moving the right gripper closer to the clapper stick, positioning it directly above the right-hand end of the stick.\",\"targets\":{\"right_j1\":2.95,\"right_j3\":-0.6,\"right_j2\":2.7,\"right_j0\":0.33}}",
        "name": "move_joints"
      },
      "id": "mdidyzfs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "mdidyzfs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.284 right_j1=2.9215 right_j2=2.6919 right_j3=-0.5175 right_j4=-0.0681 right_j5=-0.0486 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac6597e22c5c3aa7b9efd7aefa55f003061ddc108764a2673e22d5457a2b1ce0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:89ab03b79f1d4b6c009d26f738fa4d07aa91d44d5684a8a6d10c1dc228beef23"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7cb3f2edc5692686b78cc62dc2d42d4b8c6289114e66f5de1151bdd347dfcc20"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ac6597e22c5c
wire blob 89ab03b79f1d
wire blob 7cb3f2edc569
call 13 attempt 0 · /chat/completions · status 200 · 5.52 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0772 left_gripper=0.9987 right_j0=0.2722 right_j1=2.9116 right_j2=2.674 right_j3=-0.503 right_j4=-0.0692 right_j5=-0.0486 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": "EpEECo4EARFNMg/P/svef9ZjZLrSw8EYtdLgQvnWvfW1euufAz1TgexZRsLFvLEUejHj9I1+Q4p78hRIMxsFwGtTOr9xUXVqL6GfM7f69e4k7QeZtTFf7U66kj32NAhhzRRQMoLA6Ae7lhHd45gwVtX3+6DeQWulj8oFGJYCJcZNoLUPCzeL6s9/L+mEXdtW+9d9nNBY1e4GTrPIj/0ZfDNN1WVJO1uHqupdZpgwWHrXfVNBVF8snQVEKyjJ7EA4MGdkuz/b7iqyObI137YwzIF6+JJD7ffmQ0mw8CjA2OGOQGXbr8b44l8cdZ1mRnp2cM2cf+2RKSx4s+jGtqsxh1DlXEgl3LSrXinpqfJbLq/u2e8Ovf9Px1h0X4suvcttfiwaRM4bxqDZV/FaXv5A9CwYNFVmPpcz0Y3avSDJEeLJ6fhDrtQIJoRLyoM7Qv6I9MgHcF6tSOJqMxHhGt8MWj0LlG812FjHg56iMUl1ESL6Q4T5rX1KEGSs/ncYd2urdQO/b06DKR7SjB0MVmJm/kkf78EYqaQuCmcZARCGolGO61rYXLuBqNCkQGjo2B0LrkibJylEEra1o2iO5+sVkGxVLjjjZSD5/8Ukmwev1XUEaA3i6dSvIFod33ace60UmCgu/vPp2q6xzS5RupmDUw5ojtHlyAA9Ex0m6/0JB4vQqiM6vwIz7ebEnKqEtRx/xdfo5Q=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j0\":0.34,\"right_j2\":2.75,\"right_j3\":-0.5,\"right_j1\":3},\"note\":\"I am lowering the right gripper further to bring it right beside or on top of the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "l3uq1fui",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "l3uq1fui"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.3256 right_j1=2.9471 right_j2=2.7342 right_j3=-0.5194 right_j4=-0.0853 right_j5=-0.0517 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:667a25a55ba88e0fc7fc871e05314b73c6634b34e2d8608c156c6698a05592c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a71f29dfc8a25443abdef4d263ff69b6c4c257e14ab4eab5396d3222fb36643e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b46eac42fb21c474044af737ddf80bc94f7ede3a05b7fd6913821cdc15ef6621"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 667a25a55ba8
wire blob a71f29dfc8a2
wire blob b46eac42fb21
call 14 attempt 0 · /chat/completions · status 200 · 4.152 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.284 right_j1=2.9215 right_j2=2.6919 right_j3=-0.5175 right_j4=-0.0681 right_j5=-0.0486 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": "EvgECvUEARFNMg+PVba/wVxUVcKSBZ2o8+J/OqKvBuY4p7sUBXk6pONIfIKxvDZYzdzflaipQnTlSX5cbqo9B9ZLzFmEalHomjSXVjp4q4REIi1dWvkHLSH/iRCjQ5co23NTD/SNLe+XRlfYaB3cr5rO5FE0rS6R9cZDT/7n6SC/9T21UCk5M6bQaWAgRTTYMptvrbD1nFTjQ3f0RGIMUm1sryTLgcTOB3qKQOlQK8la/BpW1TmdTaOzOPaZ7iDoRcpjy3/6cen/pK3BbiPgZvcj2wHjCCNA8OFTMAwmMyaKMj4ITZikIfn+8g9L/hXJVfogrVucWvjwu4H+ZLHZm7hTVe5uLLiIkinOQZu/6v01BoQS+BSKV5cUCNNCoK8mKYAXeclRFXfN0jKoKfkHPiOiyX9QQSVU0ZborIMBUFjnol+WSS4Hv5yjy+jZdtLFYmSP6biWj4SRuymoj0obFuJYsNCrFKHjn0Hlfw3wGuGG2Ta5iBHEmVZrhWDnXOJVeI7ccbFrnRZcojYYFOUNf37ACeuztHeuKR5rAiYSWzLOT0bdkolW6eeMNEMLJ1Eop9scDsDzQvcYUhZM1nElKUBzf9fwNTKgK7Vjz0Cqt+uQ1c8z3njGDwj1qw9hBJ4pD9SIIx+NaoLYOWuo2tqxPHv+e9wMG/ZbX4r5ZKbZilr8m6JJ0/dzjWccM/NnPKOMFmT8mapNjBIIP+AvZ+PqoSpb1bujnsGx/RYd/8zZ1DoWgvrpIqo2dcbmMjHkTzvVtDOAeM0UEiVCT+eoGDAdAl6kSHpC+0RllOhKR1oDUvs9wKEKUIVom1fdzToWgsB3QNXNIWCCizsu22k="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j3\":-0.5,\"right_j2\":2.8,\"right_j0\":0.36,\"right_j1\":3.1},\"note\":\"I am lowering the right hand and shifting it further left to get it directly on top of the stick.\"}",
        "name": "move_joints"
      },
      "id": "r3tssyub",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "r3tssyub"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3313 right_j1=3.02 right_j2=2.8128 right_j3=-0.45 right_j4=-0.0986 right_j5=-0.0517 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:773d0f22ca90e19eaeb2313910d968543b4f3a418fb12e289831d2bd1e0205ba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aba2bfe53ff7fa863f362910ec345a98e149d59402db7835215d77337c0ba271"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52890d8d678ce516ae705450e0d5695a14d0bfe36496e89911f26a93d5053d53"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 773d0f22ca90
wire blob aba2bfe53ff7
wire blob 52890d8d678c
call 15 attempt 0 · /chat/completions · status 200 · 4.117 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0677 left_j5=-0.0784 left_gripper=0.9987 right_j0=0.3256 right_j1=2.9471 right_j2=2.7342 right_j3=-0.5194 right_j4=-0.0853 right_j5=-0.0517 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": "EuUDCuIDARFNMg9pFhQXFcGPsDHPSZsQMo0A6kiUcMY9rj4Gd2ZLYRxyaY3B0/dFqIkTo+Z0uflHInh82FGM3DP1mFWY8dsXcMsxmmm6NN8beB6nGwqS+AQ6PY1daQJJLfVAFXrkW3YuUXz3FlSnCtDu3HRzTX2ZBA3qtmvqOiUTNaQOUE9pvld17Ifd/Ts3M85+INPKRh+qbwClMymzPOdqY3f0NvZKmIYkbR+NMJRptospnRRa7Eh5RS9tT9sktqTkQW240YnkKxRrLfC/55I9x8ZT/J/tfKQqDhVLwnn1eG/36y9bot1nx1wXV9T9iCHdUkyxsacC76ebvHWtoxBt/cbKIDggoJSbditFsPw3udkyO6O1lB1ESkSETAkMtfvR6wE3KqP5O2VrVDwUWi99jB0QL4vn8PBIQpFvhlWd/UYmRIOsH0o3eD5jq+qx0isRW9I7xW8KfWVShl5oV4z6YIDb0A9qkvKVxWgxQwH+itMtizVPXi42PRmCuvbuCgkSmwidwHgAiGar2/tuW3LfhCySVQ5fUmKGTvrE+tURpRckrUlsSMtjVE5qxCBhUHpfjK3HwqmjGvR6GYBRh4YsmR0HlC5GCGPjHHdFi5qiqANB4xMOzUwfAmGboepPrXD2ne8TRDs="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am continuing to move the right gripper closer to the clapper stick by extending it more.\",\"targets\":{\"right_j3\":-0.4,\"right_j1\":3.1,\"right_j0\":0.38,\"right_j2\":2.85}}",
        "name": "move_joints"
      },
      "id": "qppo1p35",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "qppo1p35"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3321 right_j1=3.039 right_j2=2.8384 right_j3=-0.4236 right_j4=-0.0948 right_j5=-0.0528 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0cdf6fa56b19ace51cf04231fdfc07ecbb49b45826795242ea1204655328e3cd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d39f6fd9cba64253c8d03295d525fb3000ffecafaa2dd114c956350a4cb30d50"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d7e75fff6a4eea1e0b1af16c3595581fc7c01cc096b632be061d2a9112d3a0ce"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0cdf6fa56b19
wire blob d39f6fd9cba6
wire blob d7e75fff6a4e
call 16 attempt 0 · /chat/completions · status 200 · 6.308 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3313 right_j1=3.02 right_j2=2.8128 right_j3=-0.45 right_j4=-0.0986 right_j5=-0.0517 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": "EosFCogFARFNMg9Hw7v/l5B6yP0P8ME0QtmBFPOUDHv1wFIpwxzX4fspH37rPyfndzXqkp2jDJUo7qQJz0OizSYtrjzod20EhMrTX2yUkv/PgnlD2Fctds7CMoVFe1rf05INtO8khW+RuvsUXcz2ZPrqAHmWxpN6ZU5fNosXy4o6YmzoVPjZc8ZzuBfEoODl6i7whvI7SmE+SV+AE3N4ThoYmyD6stmUKhi4b+7rS07FOIt6ORWPZ4byuftQtJ9frSlbCH6lpQ8UDyTcHY8EQCs3jDhHfEPLt9oRYV79yuWRI/XBUTj+j90BedJuObLJEQ7DSkeEo7JSt93pVqgDWUPWFHzjgbyW0qXv42aEOyibKL/4Lsmon+lgX9tBzydNiSegxEbsrpzs1eVLKgz347eISLe1CrzOtAVbErYRae7P27Ar31U44SQzo4kJZ7ZJnRslecOga44lJ4nmc08tlvr4tX85qgZDCWCQZsRKsgGKBRc47rPZtljDc8JzXr1PUMSxroKNh3s8g2K9OxJre8hnXymolaFiVW9N4LJGZI9BXHDbyEgrsq3e90wxd9uwRydpF5vuZMSAL6mXmKEICjHSQ9WFXy2DZwIKlYoHtPUIfiN42uVCUmpb11A/zI/WrcAMcC72QgI1Vy/McPugSoeVVLgPwYLv9NbUERXqjRdt8saIUz8EoCPMcLVvO8U+gHeiCZHeyT6wjGU9EFePi2tIw2wcgctZhpebKVYF1zHYMiIwIXJSaCnn0KTK2rSZolkVtDqYoIYq6L85E+/B3q9sCBtnnbyNCbTR5CAedg+Myq+4ZZ96u6fwhdpoGKFd2zPqffUe9e30f2/vg7njGAMuk1w17ZNylN92PXLj"
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":3.1,\"right_j3\":-0.4,\"right_j2\":2.85,\"right_j0\":0.38},\"note\":\"I am continuing to move the right gripper closer to the clapper stick to align for the grasp.\"}",
        "name": "move_joints"
      },
      "id": "jti75y2c",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "jti75y2c"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3321 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3916 right_j4=-0.0868 right_j5=-0.0528 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3cf0f1d9a013a68176100e8be2fcafcfa0a5d368b3f18adf3887061bae2a763"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61facc259b39073c0138bd3e0e7e8c6a4e83c371dcc754a2def5958dad318f71"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3676ab7a4b944d51fb25b6145192d7caab01edbfdbd2552fc64a1f8e20062f3b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c3cf0f1d9a01
wire blob 61facc259b39
wire blob 3676ab7a4b94
call 17 attempt 0 · /chat/completions · status 200 · 4.896 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3321 right_j1=3.039 right_j2=2.8384 right_j3=-0.4236 right_j4=-0.0948 right_j5=-0.0528 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 am swinging the right arm further left (inward) to get it over the clapper stick.\",\"targets\":{\"right_j0\":0.45,\"right_j2\":2.85,\"right_j1\":3.1,\"right_j3\":-0.4}}",
        "name": "move_joints"
      },
      "id": "d5k6hap9",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "d5k6hap9"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3435 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3912 right_j4=-0.0544 right_j5=-0.0532 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ced8a4de36df240a008f98ab8da79ba96f63f85766a6819182afa53954559b5b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b2c8d5e032a6cd9f3a8251a835dc3a4fe29c6f06c1c75773dd739b2c2c4970e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f88ce25ab160098f6e39417fbfd766e7f1cda81437630948ef5370123a24ee37"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ced8a4de36df
wire blob 7b2c8d5e032a
wire blob f88ce25ab160
call 18 attempt 0 · /chat/completions · status 200 · 14.7 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4812 left_j4=-0.0681 left_j5=-0.0788 left_gripper=0.9987 right_j0=0.3321 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3916 right_j4=-0.0868 right_j5=-0.0528 right_gripper=0.9993",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EtYDCtMDARFNMg8HdT48SI8uRcfBnlFoyW3lv0NGUpad8rlyiub14DF82bzKqTlNKCQcTGdSx4o4lcG04Q7eGHaFRkVT6GM02kLhLx8wKdZZEy9X2K+lXAQwOYPYH+f8Ck9drxGZcGqwQG4nkm4J3ckouKNU5LqvfekQJtDkTnyIVTOpC8brLowyXZBHCYBdS7dF1kE+AWPpuOU9ErMe856dFHPqUDTBFM/LIT6ZAjMtgKkp8DeJhwMRbqFfFj9Wi1Uh+7YT4H93lzlvZa8SNoGkGTGh11yX1VGQv/u3Kp8/z2XDRuwrJ+m/tLVLLhFlB+cF0y0MNBz26NY1TzJJP6W/xk88hZf8Hh8FZ/riow7EJbXj8QXDf7L4UZdLKshpnXAI59+oFrChrWGYZhzlT/mhasySp2zdMqBS5VEtHP36nZeVsz2UWwhBEakO3arqhcFEgfyaHXAyNB92JfbdiiBwkjgrNRXgBAfM3SDjZCecdNGdvs4Ou69OVVBp4VhjcnAC3yzQDNayI2AH7Hd1ucUJnINsQ6snLzZd+dbcu6XVUwRqB0Gq1XjK8rqg0pPxZwmHYrSeeeiPZQNKOMSLe9cpK62njh7F53eVVJ9iChAqjDWnwVk2Qz8="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":3.1,\"right_j3\":-0.4,\"right_j2\":2.85,\"right_j0\":0.55},\"note\":\"I am swinging the right arm further left (inward) to get it over the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "oro2uil5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "oro2uil5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3565 right_j1=3.0543 right_j2=2.8491 right_j3=-0.395 right_j4=-0.012 right_j5=-0.0479 right_gripper=0.9987",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0898e62ac54505040c442b3be02654e0d68c55f73d2e4a999cbe5086eb65671a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a510a0f3c6fc84510881d2cefcf98a2544bdeeaaae9ca69922840678cb243fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a0fb46d4fb24b8ca403c2863ffbb657f7b8898eb2b01b56b4be105b53eb8a76"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0898e62ac545
wire blob 8a510a0f3c6f
wire blob 9a0fb46d4fb2
call 19 attempt 0 · /chat/completions · status 200 · 8.614 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3435 right_j1=3.0543 right_j2=2.8491 right_j3=-0.3912 right_j4=-0.0544 right_j5=-0.0532 right_gripper=0.9991",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EukcCuYcARFNMg+RcQoAF+6Uy+7HpZlO+QY/j9jG7GnKY265Jww/SHsgb3AHidRKatW5dYq1pz0NTdGe10BX0+Ccu8UTQo74KEKkzSm9RQkp9IW8cbDCvXRQHWdhJ2b5B2tMeY/5RafZwc7+iwHXQZw9CuPjH5EhK9DG+vnmPUdNLMKTkiaRflmMXOUsyP3iaIzCAPjDFTT8sY7uYc0EshcNSSnGjFR/6kntwoJip7glaVUsSrFZ1BDSBaBYjm9GimawLbBx2pqSED4cQEiMVLb0juV+oE75mb6uxI+XbQUms+ewT2DcUvdPvu7eXVGt1ge8rhqFr937bl7grZnvF4wfaymv1q3aidwIL0ZB6z7i39z0d+FkIYFRFtNdiKi/vXVV1O8PAkX+EXsO/uNKJ7to86t85BFK+gqxvLDW5bUAUcT7U9sm4wtD9LQp5PgVmSUQAQWhqpHb++CjMAS2PC6P3QMdzUWk+xgZRVWRJG8nRzGypbdhCRlptqM1mNK+sgqbKwBwRshJG6Vlihx6Hzqty/e+zOy7aqvp8ayC/CozSs2Ssegn5BrxypcLBvg3Q1LjQl2dG96CLhKAZOZmB1100rBBInc4VkCtwfBtUEv8BODja5WLjr6efqFrsAIO8vZHz/ZgWcO5cLTXtjQNDw17FtwHNsiiNFD2IF7Iri/EYBsvm4bkzHUOupm8ASqoEl73w26mvHXYQtzglsjHjtSyEt7If0AJ9wGCuVi4RoeZCFJx8V6Q2w2wfMPxNaSrFZfWvGvyb+GugKVx3eByRYKDc/ok4o7sCf6xne7nMBryujIt+5f5T9EwjhgTTqo0HDpio6csZBJw2/AVXrtPtwY8Dsek0eKyBspx93AF/c+qAAdSUdirdNsnBtSm/JSJhZgzoSvwCN8gpOJvN188sireqh//Rphdk6/hdfk92OMfUhVrwBl5NI/X1FtjjrEEh5mg6jI1aR6JlounBhGK9VfGh4HjPGkahgvtwgRnRQwqGwzEB3XZJ8SBbQL2pLRYMgPDRGzvOe0bGwJ33eUM1TEba/1Yoz/rmn6lhEmZe5qqIlhH8QQVwxnZKiAMYtXX+ELfeaBtZMewFFLm9aJ3cZi3m54jFHDSoJtl3Q4qTK5AS71/YwyCAMcJ5yYC46j7/wgeoWjDMunmlA4S+aOfSUD7tUmVDdz/dFR7hhIf3kXowfBYwPESIZF7165ar5jrKDtQeqQ85dNBpov+fKobcv1qoROHRm+qfh4vz3B8zkotyPyRak2wKN8tr6nhQ0Pbo1mGROamIgDMiZ9df6Xt4qSrP9lZR2d0Ww4+9+DHY9OseWKPdFxtuT78tpAixwStSx6K4vfX5p5qvlB0R77KWa10nhZqysvXx86jBCs/o92eoEIb1moRpfHMBfmXANm68O2QFPSsA4AYywKPbhWmBHB6g2ydL36SOXJKmGPJRY3qnX6vlOzfDTh0jxIvmF151L1N24jq8wbdfVKbcZTLdU0Mr9s5GriYO094ssTWD4o4YQcphtrm81cp3U5F+b5oIsgNLp1QKSyPZ1Wnq8VJkgjOdOauVR8t9duDsl4IPFPXHAQl9D9v3hxs1qnW3Y9+iqViXIj8J4fwXQKn+FUG7d++mrbdHmOAQDoDjYKaVB3K9BkqfgfPcDhZ7gtv4205NsgNJ3KxHgqbz3MjvjKrsnxB2eh9qn3RecoLzbqfGngNW8piHFehDNNXtwvbnAIg0NLsh114EZsZizUnK0cNmUneG+btBuHYnEQRmaYNvPaFtLEb1BATQeMJ9hX0Xsfx4FIPu/BhRZMDAZyJuqAIap9nZy7MmrJXudX4F7j49FRie23E0nC1dfYLZvEVAcKk4uiuDy9gOlmfr/zgFoXHMJlFq3+El9pa92mRKEcpBM4kYjuLhLJA00OYuZFoNs+/69w9HvmYARCQ35ov9Ublt+cH+2/V1i23q7FBaaNZt7EK+1CfM0VlxJKp5zovt0RgEIjpY8b2qooM1GUU8cyM7Hx6hbZPS1ZbcgT+pWMgiU8noKui6zxvxQvk0ibUsJVvNFON/11rkbThgpFmoWtShLo6QU6LlWLedj4kohP6xYtXdcvptiQ3HQxnfvBgEC/QouEVa9BrHct9Cv09woTX+Bdn/pH0KtqvLjx166391iQW2LzeWC8lyxyA2S7Dn7mFhNXWMo6jeId12sSvX877l8LnpOcm0GjtjqFnSoqhQEf7CDh+yo3Lhb8ryLChuREReprZV2P0m2gQQ/8Mge91/gZm9ZaKoPvedSbBzsrKPCZjTBU/nVHNAfoYoPhzI/5UDVi58Y1fnWB7nz4JtlDpVtm3uMQxn88S9aNlIM7B9oKjanqRY0iIhAYMYraN3SwcgPNQP2AyeuqR0Xx42AGQ1BK/3zQW8lZA132cKU9JGlk5XsnB1bzZBwu2A0SDhR35Komq8dka4+6uXX6gYora4rnmdM+Vt2cpBMhQ2TTibGcchl6RVs3UBsfeRImZAZ6W4FADpbeLWyp07TxxwaCtN7Ka30br5/ow1WkLuRqGU/+7cz7w39hVoozzDhE9NivCiM5vePpD8pTkda4M5jrtDWf2iwTxW28VX0llnRnA4mFXD/a0a2Bdzvkac0UdsFgUpHmFxhSYgk4asqeyqdz8p04AEyZRTd8lGoC5E+hnhIAbY66SIVph8c5X0yrpoUCgnIwGbmqCktzUSpVYTiadjplhvxRTX9FfxXJFdLdipcF4gqtBpgA/ZXMz4FZpz5d3s4lSaK7ShJlaizvvKDiEFUIFCHf7A/D8LezhRFf776IJtmJaFegbANJsl63Xhs3I4gEJbwAM8eb/3dq9tJtbxMiY2CSKk60iM1T5r89AiBAeqm3gcgFFtlDu3+olLEFjsmVg+1oluOXlWn7kctVKjI1Z2730EZIpR7Q/KKlwVTHkzG9+wLdo5GbELtj6fqFPgYiFfZMYVQX+C1UuUyt4IoPTE19vOXpFFjiuDJBqThB7vqZAruaDzaA2opU/UKWvfGpTtrCTdVOwODfEOIKJuTrVE2wbywiPcp0Q/sRp608aEoyrC8pkMCGBmToyFGQDdEGU3l77yuCXchAmiT2mZ/IuPysLR+/+nw6FYm+gDKgv13ffk/zRQMG88Qy39SVdNzN9vGkWxdy6rAujY1bPqS9OUu4U55+7L8yikn7n+qLa2UQApf6OxCUiyrvcFYPK73poLBk3Ie+13puutqhA18lftJX5xvSHobgX3iN5EDfPgzpILxTu6fM3kZDDuAOpoztRr2n1tT85enR86T6KgZgg9CaTGPvZjAOMxUMxSL9CdYQBxQpRdET+uD4+LUjf3RWyKlxUi/iOrD5n418SdEpFAo1aEZ6LEc4cnz0mvjx9avNIHAlI+n47Umb+F9q5g1/GeIhk2kun3BgbMC61dmJ8vpTXs47zDdOe+7wm+1aIZaB1Zwe/0+XODfjZMA/GfRD3xhFNQXHiBrCpFtw+/TGuGh0oqB56ckJ9qxpmvc7WRX5aM5SiHGsBNcR0vtTPnHk6kFq2590UmCc0lzX+oSRe17c5sHid4H0jK3pip8gV2FsmQwEuraXirhfvDB8e2BId5b6cipgeWz5MjkMs2AJlz7chqMHx5KSw1l1IytrHsIhsx/7EY7zNizOPKrzqmX8zzwjABMRQhf1tdI5MPzzn2G1J+ErnT1XcplN/m6WDZobNUdqZi7EgSAE9Pq06RDrG3lC6SmRlsV1kK/G8T7D0ubvu7kQur1lS5as+M3hTeej2bLVjg1EcR377q45mhXH7oBgW4+674yHP2/Lj0swAV3u+9ynLwBKFSW20Q/AFMqMKSvTgaKa/8afTrYXfoZZlrSU+nqoV4KVjHHzv5aiyBeGPYNAXP6U3VEGezGH+CYaUMuH7qUWc6O2yLpcttaJ2YBVIVY3dYKQiF9JV+EKtHgwiC1sFI0H56/v7K4uR7KRmuvLF8Te2beL3lT4hI0NKvWFYbvLHGqueX7FN7yEQrSqreobbmW0pvlaOcQsTBdynITSVFbVUS7hBoRsMYkm4jQgO6s23eJo1nCKORrZPCoGDtKzz61HPObWMqF/DcRxCNKlRBahh8ErwLjQuPC+tzWMpTMT21x8pWcmLrxn1gJzcYW9EJQQNNRp11w2BMgr5VtLjym1ylT9wpfnt1dcncFgZGdmpR97lwsrv06RQk0pBTntLOyq6BR+hFWBrF8UFW4otOuYgoaMdGED0FJZABH/CBYfcbxrOpxF6VFa/hsYPxOL1ylJ17VAK+if5yEJLW3GTq8rPZDtPzUhHO+w1P4+RwmPgX6SshDvoE+kD2yWPmYRirEko3d92bI1lZLiyuoBcgqaHCiOfoRc8yxpH/SD3sECx46G4jaz3tpjI8mBqN0fuGwncxraWo5INV7nkzL+WnAqm16FQZI9l0xfj6bxHAujOTmkIPr6xuQf9fRfww9zEVFOxw9rXyHOHU0W/NpBgGLQ73HGsSE+FFjtmW8gF1U8QuqUWyWd5F9DLdhNJDFtl8JHwq1QjHVtDoL4hbQ0wJcoRDsUcIRdEyXSTDYIgCQDj63LBjRXouUOjoQjfmQ1l1vcT2M0SvrfgbbIAvNqzMiuGfh4losT7Pz/8r9eBOUt8JUBXMZj1MNkeY+DhOWGiNiYNflpgDETMGedEYpMuqsYI96vcmvSNDs7AWVfECah+oAz+8dm/GH0yJdc1r1aTpgFZUWsvXLnAUmw2v5reyFLUoKcOAtQaxz6BuyelY+EG8psmIyt2U9A9eBXmM02a7jGzYALKjJjmrpCXjz1vc45iBLWBEqXrXXez+Tm6W3gHF955gokWXh6AVJmUidw9VVli3Fx9KwFp5WPicKslwUfqSVq6tyPdVAyhFXcX3WTJfE9cGXKyjkqA1wiGL3YSfN4rwhKK45qXvBRx7GHytrayBJ4="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j2\":2.85,\"right_j0\":0.55,\"right_j1\":3.1,\"right_j3\":-0.4},\"note\":\"I am continuing to move the right arm closer to the clapper stick by swinging it further left and keeping it extended.\"}",
        "name": "move_joints"
      },
      "id": "xub27p1h",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "xub27p1h"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3618 right_j1=3.0543 right_j2=2.8563 right_j3=-0.4129 right_j4=0.0196 right_j5=-0.0418 right_gripper=0.9987",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4e6709bfa27908152cb54cdd27491ba9893cc7116811f19788bf3e4d2725c6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3281dce8e183ae0c8f36019917b1fa322ed152108940493c8bc0fa66f608b726"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1b43d6c3b5dbbb3166f5592415fe2ed885aac7a146ca2b690851daca21f4210"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b4e6709bfa27
wire blob 3281dce8e183
wire blob a1b43d6c3b5d
call 20 attempt 0 · /chat/completions · status 200 · 8.704 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1051 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3565 right_j1=3.0543 right_j2=2.8491 right_j3=-0.395 right_j4=-0.012 right_j5=-0.0479 right_gripper=0.9987",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EpEHCo4HARFNMg/UWxTGcgkYWqYmUs2DKsCJbl2L9fpjadw0bzASe/0JEiZ4wxO8Ws8eQZImAKjrH+av1bQLKvWPh3b7+catKggK00NCEeSodxQdY4qwd3EwMXSMFaOwt5agjDYCbRAuN37LGCenu1C6t6zduS2OSCP73/0VDodwcP3Cr70sWiFLIYlIEbFg7LpSQ+3f/q9qy4mpDq4FEkMHp+i17EVwCyiplDMv/cEPUoXrPY3onk4t6sFTJAidYkVBlM+fkOffPyw0G6Ijr0BDbvRa7ccI51D6h2//6rOAe3/+/5pE265utL07FGLMLvxK2J4+G1VlTs3VIjpeQ4fcJU8kCu17fvD3/unFhVOxMqZRvaRIYLxOPIrvhIYT/2k6G6nBM1t6i4ueOdfLllZQqjp+WnTPJGNUaHZHQ3lOS1B2FB0z9kAqVwNWFuQMuWqIqjjXCN5iXtdg/rW4uoRR7Fvptmrm/AnzRzEZQkGsrS2r1Ky7IO20iCQon1fIiIsz4hkdClE01uWKT62R1Tt/DA4JXJwgBD1tyP9hBW1LjZTpTfdF6nNNC5c6V9++4Y0T411bkLFIzj8J8gbRcN6492M4AwAsjEOLFWtAhwrgplwz5rqVDoe46Wb/ppoXPTd0Wlqr1glBHoj1Xth/hr/XIB1Bq/sd/zwWQpn226oiYAVeryazPlqDU8QG9tjOZjy+oigO+B9kmACzEKPOR2xgaFUKXI9V7xaXfkGTcG9mH9VUPSo4w5OpnMRaGb6YgmlKILM7PO2sa0XAS5AyzQ59Dm8Yua/LirTcDAHFhrE1CU8N/AOcB9JQoI4ZtmXGfmehx9illYmtm+nqdmBC0wEwroDTJZ4XhYhIHt3E2uO2oDtEC8LkXCTIDpJycYwTlAoyJ4j50ZEwqZsnQx1yWvWF26KXXiMOFBETAN0ObBitxmT8WoP97HerGSV99wSneXitGwaOM6choiokxj6pXQKCEeDpXrUYH9+nuXyJ8cWWmVVLE1V1pzSdcGMuC2LSBw4l1JeWwY3KrnwydmzDC7oAmP/ATiuy+h6OfrEs58ZsoX1AikhLsNu0xJ+U9tNAHtVnuplBtqfmb+5C9Lb1u9Tc6tO8l6EbCGf6TJlng0pgYLHBf4r0tjBEtT2k2lm41OY//aZQFtips1z12WAu2oi4v03cq1LVYOukBM2hZhVDHt4VRhcAGD2UxYFpzftWpoIQ7w=="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am swinging the right arm further to the left with a larger target to ensure it moves closer to the clapper stick.\",\"targets\":{\"right_j2\":2.85,\"right_j0\":0.7,\"right_j1\":3.1,\"right_j3\":-0.4}}",
        "name": "move_joints"
      },
      "id": "noe8wxk5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "noe8wxk5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3828 right_j1=3.0497 right_j2=2.8635 right_j3=-0.4473 right_j4=0.1059 right_j5=-0.0223 right_gripper=0.9973",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:426c7879e4188c109513f8937d122211efc504ca0f205d27f00fca7fbd2c42a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ff4d8036e828d680f626deada2b2be257a41099797767e18e3e2f65ec6ad2e2f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83e7887d40d29bb726175d53d188a53a05c45fad2c65c2996eca795bd32a28be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 426c7879e418
wire blob ff4d8036e828
wire blob 83e7887d40d2
call 21 attempt 0 · /chat/completions · status 200 · 5.954 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3618 right_j1=3.0543 right_j2=2.8563 right_j3=-0.4129 right_j4=0.0196 right_j5=-0.0418 right_gripper=0.9987",
      "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\":{\"right_j1\":3.1,\"right_j0\":0.8,\"right_j2\":2.85,\"right_j3\":-0.4},\"note\":\"I am continuing to move the right arm towards the center-left to get it to reach the right side of the clapper board.\"}",
        "name": "move_joints"
      },
      "id": "veu9af2f",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "veu9af2f"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4145 right_j1=3.0425 right_j2=2.8639 right_j3=-0.4862 right_j4=0.271 right_j5=0.0448 right_gripper=0.9964",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5cef46f53e43f0adb77e1f0e3c328b26c8ad2e925dd7d923a38d26cdcfd090d5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85b49d2723f399cac0db5b91dedf0caeb2f540d463646bae55d499032cf2ee4e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73c3d1029dc30c8efda4ba7c1ef293e94bfa652e137d126e818f1bb60df7e37d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5cef46f53e43
wire blob 85b49d2723f3
wire blob 73c3d1029dc3
call 22 attempt 0 · /chat/completions · status 200 · 7.084 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6621 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.3828 right_j1=3.0497 right_j2=2.8635 right_j3=-0.4473 right_j4=0.1059 right_j5=-0.0223 right_gripper=0.9973",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "Eu0ECuoEARFNMg+F/XVIHPxlP7rBpTRHg+XUXrE1fRzZrsJqFXnHJ8tAAjwrGOfhn6QOlysFt3YLrvFMemQCFUa92yLmk6OccFQq055wYzPWu7iIhbNG4stOcDU6AG3VJ/Zx7EVuEN5FwRqmigcMAVCiU5veU+fDY8gciepUfLfULPP68QMPz+crPlPCHtDUjQWhqZHvKTaGth77PnWnc94UqVfoBWoyHYDi4VhHNYFZoY6/sXeyWukHiTo45L/SxEkPVI6aPtydiBrluQI1In5lKc2DZxguh2ljNNM15hVia+7afByjFa9e2rGJR438h8HCx2vmAwRInIX9FlUAsae/qf06j+yrLLRZcqkPh4vnsfSBRecnhN+LGeDvY73O12fbSmw9jCdXyGnsnBrSZkTJiV5PdTUWGXXOGb4xOue6ylLGid3liMlWKNfY2wIcmzJKqjAi3miPNW4LO+SkmcJG9V/GGEKqteRsUYuPAq7WMPBfKULfrnygb59jBqrY6VXXFJZvHT0+s72iHR8vrs6qBlV+Z2qgsTJGg25514nQnQ8KAYhrY2cgkRrt69Fp/4UA+7vXIUsf6sjB3u6dJiWqGPOwblxfqQLI2ERitbkzCpaWAHerbDRlYo8MSU96/y/OfR/Ro53SPW6M7d+fkrWMvXte88d96yByX6ljWlrKjOUWLTHECryiu3wFmvcC6kmzb0EqaDo3u/fgspZKw5Vg+IB5aiP6A8Zk9Sz4XHnflkBG189gLCBGab6SJxjE+qq75FGv/rwmwRr0senhIkizRFmy2d6S4X2NMbOrGqUnDS36pBrXK+v3q8nqlljY"
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":3.1,\"right_j0\":0.9,\"right_j2\":2.85,\"right_j3\":-0.4},\"note\":\"I am continuing to move the right arm further left towards the clapper board to align with the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "jrv6md5i",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "jrv6md5i"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4637 right_j1=3.0379 right_j2=2.8635 right_j3=-0.5289 right_j4=0.5102 right_j5=0.1848 right_gripper=0.9955",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:35a8168212413d73982a27b711864c4f5178cba3cea5b3e7ed8a9d0e3333c299"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:09a1bbecb55b6a402147810c2e859c7313bf834c59dda3284476196fb8f7e4b9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2ec6c19c2bc00e6889b7ecb8c53377d2f02be2be4fcf3b306582a191fb453715"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 35a816821241
wire blob 09a1bbecb55b
wire blob 2ec6c19c2bc0
call 23 attempt 0 · /chat/completions · status 200 · 4.963 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0681 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4145 right_j1=3.0425 right_j2=2.8639 right_j3=-0.4862 right_j4=0.271 right_j5=0.0448 right_gripper=0.9964",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EpkECpYEARFNMg8/bu6/QPWelG6cbLsAX6G0Rprult5QWKwjurvbm3j+dHRAFoiELC8BPdd7CpiloApSjKiaAdpC1rfXFLRZcGbJJ1kLpVR6Dqk8CBzwhJkJHQNi3JOXwN+CCC9Ouh3EBtjY48p8SbVe/Cmfu0SP+zDKsksXASCkCPigC71qQBHeiPLFfemtfk05KxFF4jfme4V20E0LWElZIr0aGrZaXyWDyMXmSzXLRG5wxQPwiZA0XE3oGSUQHmSDnLDLXc0LwVTjkeVWB5dNuWWj1FiN7/jwCc4bN3FyiseDuboMpDGBMCQ4MXh8+r7ypRNpUAv17gP3mGcuB2P7nErQt5Va+6lIxtVuOiD1PYOgmcntHaIJijpqmuIxOY/U36H893yzfOBfqRhX5jBidliZuGVktJODwTDQA2JkkPITvLC+nX/o5s+I8T54RVV7u3RBTAb7doMJ3PWWgrMAK7rpYneH08QUHv1VdVslvDnHts+vSgLebw73dFZTfOZZuNlOf9YM6DtDKO24fxx+w1B4C+kHynLlMKo2+aRdb6V3T56d0bUryJbvRbNp9lxtEHK5phDqtcI9YeeKTODlZFoSjkn1w+7YczKXqJZlfJyS2Qll6H3ImVHlrvhfgxIT81hwa3OkvIDKnhAZo6XV8bp8EAt+3cAxIyqWN0iemZkUJrCllxEuf/tOSIUr/NnWIB/4Broc2P1P"
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j1\":3.1,\"right_j0\":0.65,\"right_j2\":2.85,\"right_j3\":-0.4},\"note\":\"I am continuing to move the right gripper leftward to align it with the clapper stick of the clapper board.\"}",
        "name": "move_joints"
      },
      "id": "nt9xvx2v",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "nt9xvx2v"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4706 right_j1=3.039 right_j2=2.8635 right_j3=-0.5423 right_j4=0.5892 right_j5=0.2401 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2a746a2809fa45dfa58c307e14796ad76f91e532cb8ee1459d61ffcecb76ed58"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7616f8d9bc575acfa8665dc09d311e02cb75838bf2b886d439e3fe8bd9fb98d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e030f416b825d66fe38797c1ac23b2f95775219e5041c00d2c00f9e5c253a49"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2a746a2809fa
wire blob e7616f8d9bc5
wire blob 4e030f416b82
call 24 attempt 0 · /chat/completions · status 200 · 5.113 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4637 right_j1=3.0379 right_j2=2.8635 right_j3=-0.5289 right_j4=0.5102 right_j5=0.1848 right_gripper=0.9955",
      "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_j1\":2.9,\"left_j3\":-0.5,\"left_j0\":-0.2,\"left_j2\":2.5},\"note\":\"I am moving the left arm further forward and slightly to the right to bring it closer to the clapper board.\"}",
        "name": "move_joints"
      },
      "id": "j8zzp39c",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "j8zzp39c"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1719 left_j1=2.8376 left_j2=2.4962 left_j3=-0.4198 left_j4=-0.0822 left_j5=-0.099 left_gripper=0.9987 right_j0=0.4614 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5491 right_j4=0.5941 right_j5=0.2623 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f9f121e6ce3b4de47c97cf1b29c414a18e38a2e1a1336b9911e7f74691f619eb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f52e4c558914046653967d76681560b710a6b630b0aac4674c5d1bf0006c16f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdf815f7889a03e7d3ed780ad86b9808e84a3d151c401f91f1974acd7f4f41ff"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f9f121e6ce3b
wire blob 1f52e4c55891
wire blob cdf815f7889a
call 25 attempt 0 · /chat/completions · status 200 · 2.761 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1055 left_j1=2.6625 left_j2=2.2665 left_j3=-0.4816 left_j4=-0.0685 left_j5=-0.0792 left_gripper=0.9987 right_j0=0.4706 right_j1=3.039 right_j2=2.8635 right_j3=-0.5423 right_j4=0.5892 right_j5=0.2401 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EuUDCuIDARFNMg99TN233lBQciz1liWfWD4rwOzYzmGWvDATnth0lKAfJ49urkIhXr8q/PM9hiJsEFvE2ZHpVr5bSQdA1rO1gH8xO72Ucn1hJoAIFy7l/3Re5sTPSo4Thb9m9btv+TU6alNvf8HsHI0KucZ4rkHbxdFcmMVD7RIvELDvkTMu7gh0p8xvWEF2Q4G/uX13pHp/4VLWLS9evxMl6XFCt/dQTbWdAeHoYWWorThoJamLiKLjWg0vVzpSK51Vv/aOtXE86p5Eu8lL2lwhVWnb5y2vPEApalY6lB2WNNtxYR/1dBKFHYcqUgY5RnY41sXzRt043E6L1Ly1xwR73wKcDxHz4UBo314uvtd43tLw3jGMMoB0B/+FIncCbQI80/SeJKLVyT5mb2UvVDRKa+CjRkIsWvy6zGfzq1SuOap3LEGAEQ9Cc9l7ElqYG7EkFOWqvJvzeFo1UZPdk4Jy2E2IeyIrhRlSKri+2bIzFUeRdbD89OKBfBONzHTOAgtw4Ix/OSO7JH9K2vYzEtCqMZYQaiR47iIDA6RmJwETxovrlKj8PiqYs9bY9MUq4oFPRfdSOo8Rh5hfP8vZ+ZUyTsCRkvrI9CwRPY2Y50I70k/ws1Nm1UWLVLPAKay6cD6yDJADIfw="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am continuing to move the left arm towards the clapper board to get it into position.\",\"targets\":{\"left_j3\":-0.5,\"left_j1\":2.95,\"left_j2\":2.6,\"left_j0\":-0.3}}",
        "name": "move_joints"
      },
      "id": "tvztv8br",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "tvztv8br"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.247 left_j1=2.9002 left_j2=2.5935 left_j3=-0.4099 left_j4=-0.0933 left_j5=-0.1173 left_gripper=0.9987 right_j0=0.4587 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5484 right_j4=0.5884 right_j5=0.2634 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b017498d2c373a75e7729af92dd8080732c0c8621484dd0ccae71c036de6e26a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:374452e07c36f241a3f76901e3bb93da014b67cb45d4e6a75d5bd0ed65ed2a0e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbf5caf91fea21c8c6635cabffb756eb8c525ae560b1af844f9d48bdf8b61bdf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b017498d2c37
wire blob 374452e07c36
wire blob cbf5caf91fea
call 26 attempt 0 · /chat/completions · status 200 · 2.334 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.1719 left_j1=2.8376 left_j2=2.4962 left_j3=-0.4198 left_j4=-0.0822 left_j5=-0.099 left_gripper=0.9987 right_j0=0.4614 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5491 right_j4=0.5941 right_j5=0.2623 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EvYDCvMDARFNMg8hbEfD0B+yd0qTGDMHXfNMCxTMDafZvUcITV8UyodsCdUPQemnV30fiVbWMTO+6HZ8HOfidc/7zgUGVRdAOVXUz6vVy8RBLfVvumscXRufnLylUUN8ZjNTr8XGK6LCUPekAc2dX8B+jEjZtwrGIPFEA0fNBbeF9FTowxvVGu4EEcr68Mt0IYMqpcsdNDcyur+DAeISKPg6uoPFnLIWChYgB8EIAiA1eRBG/6GT1yQj5BNval8aWWJhr52FKdYuJpx48nJCLnzFL9K6vfkykDfqCXeozrMWivnkWb3Rjx0C6vC747TIG0WwDIDQ7zYnlkmf2ZUHAgv2879JNEEEv2kPlOa+0t17/NrodR3dUYCZm5x1jXiGOUVu+KMaGzk6+w9eTDzVRo7Udo89qUkaz+isIONI+TEVsOuB93nN8bOAmMta7oWIn55Jo8nb0E9CclTfCDYlgZh1f0iJRdisGCOGRYJmoSPhfIB5YEwkOo8Mv9KEIlOjcGlR0mkmQWOx5hQlzLdj9YuEfWW9gScaqxOoasmSTqfjWXUjoLnM3Uaa42/OR104oi6zXJzQWCu8cc7039lejjMpMQl4EpQMwJm6znkz8pS/33uzWC4uhhCXmR84FmtaxjAOYLab+7J4ibdsNv5PUvAZD2PAO2N2yw=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"left_j3\":-0.4,\"left_j2\":2.7,\"left_j0\":-0.38,\"left_j1\":3.05},\"note\":\"I am moving the left arm further right (inward) and down to position its gripper directly above the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "6uhe8ngp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "6uhe8ngp"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3309 left_j1=2.9868 left_j2=2.6953 left_j3=-0.3347 left_j4=-0.1062 left_j5=-0.1364 left_gripper=0.9986 right_j0=0.458 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5472 right_j4=0.585 right_j5=0.2634 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05550e0d721c6af60481049d7b3b0e052420694554ffcc7553b33ee797cfdc59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e2721df609d3e373cae83a5a1823f1aa54249b64c2a90480f913ceece14683d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5fad401bc05106af9d7bff13422e41509aedc97fdce34f43c30d81730cbe35ea"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 05550e0d721c
wire blob 5e2721df609d
wire blob 5fad401bc051
call 27 attempt 0 · /chat/completions · status 200 · 5.969 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.247 left_j1=2.9002 left_j2=2.5935 left_j3=-0.4099 left_j4=-0.0933 left_j5=-0.1173 left_gripper=0.9987 right_j0=0.4587 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5484 right_j4=0.5884 right_j5=0.2634 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EpoCCpcCARFNMg+dJWsStI0BOHuxXTYGh8fmJjWQoVSXBrL55pVe6vXABUwbea+2Y9rqH1WjXoRih0i66SSM2c9SZXxxybwJqabaU1Y4F3hAM9VMTgkxo3n5w5BhlYsf3Qwsh+IN96Uhj/vMoi+SJBoMsE6uWaC8qnet6mmLBkOyY3qelQJCRQ44uTau/a5XY/zWSbeIfe+kpl0Ptfbft8Fb0XOqxq2BcZQAEUHF05Fhbav9NZx5htdGLXdmkU/uEcX848yDLy/2HICIt5ZZjadLC+6xHQv6JJ6IoXEVdAltbslPG8uSGEjY64H8NO909TxHWmDDgFyX5xwdF6mfPX7ZhymaWpgm1PhB68PK9m80UgIlPXxQVIYuD4J9"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am extending the left arm further forward and closer to the clapper board.\",\"targets\":{\"left_j3\":-0.4,\"left_j0\":-0.5,\"left_j1\":3.1,\"left_j2\":2.8}}",
        "name": "move_joints"
      },
      "id": "llzxgo1j",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "llzxgo1j"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3531 left_j1=3.0413 left_j2=2.7892 left_j3=-0.3508 left_j4=-0.1833 left_j5=-0.1646 left_gripper=0.998 right_j0=0.4561 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5457 right_j4=0.5789 right_j5=0.2646 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a614103105ae9e5d9edbe7d605db3267ad57c27ce31085e4159b2d4c32d03e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d8cafbd849793be15bf68cf0f478ec57154f893b74f3020716288340af5881b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2ad1b15ca90935b22e0ef534a62f351187cb0226616ccce5b753a1e5a7f9be94"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1a614103105a
wire blob 3d8cafbd8497
wire blob 2ad1b15ca909
call 28 attempt 0 · /chat/completions · status 200 · 8.347 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3309 left_j1=2.9868 left_j2=2.6953 left_j3=-0.3347 left_j4=-0.1062 left_j5=-0.1364 left_gripper=0.9986 right_j0=0.458 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5472 right_j4=0.585 right_j5=0.2634 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EvMBCvABARFNMg88GNmZ8W+Skrc3kTz28S61jS8elFxke4vdsYPb9+tyXDTHJzmXR3grwENoEkVAiC+a0QXR1mL2aoYOQjBkGVFZIuEYqx4YAW3VZqnCv7PwPzWp4pQAsYCuVeHy1mEQU4HpwRgXRNxT12q4rz40w9UAypTrm8UWRRO0Ut9jW6dxzZymw72Xw+iG+UMDzHh0hbiYsTYi75QgrF3gTd0YNOukt+sdNp2HGNZagTE3qX60BrQT/gacMRN1mZNHmBHm7qUp7pS9re9YEJtrjlpD02Wvlau0ITMX2fOUQqivhRHQIzH3diimM9ie4oeA"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am continuing to move the left arm closer to the clapper board.\",\"targets\":{\"left_j0\":-0.55,\"left_j3\":-0.4,\"left_j1\":3.1,\"left_j2\":2.85}}",
        "name": "move_joints"
      },
      "id": "i9dejkz8",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "i9dejkz8"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3759 left_j1=3.0566 left_j2=2.8281 left_j3=-0.3847 left_j4=-0.2985 left_j5=-0.1894 left_gripper=0.9978 right_j0=0.4541 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5438 right_j4=0.5713 right_j5=0.2634 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4623a5e1e7fc1b38215ee77871c4e680e8165c5d7967e83279a22fdb80d435a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e2477ad1bdcb855245f10b188ffba3f52f085887bba52fb815d6ffa4b381a49"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b2e7f1239a75317bd3f3ba1a05654be81aafce76a24b91b5e3bdb1bcb611a87"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d4623a5e1e7f
wire blob 5e2477ad1bdc
wire blob 3b2e7f1239a7
call 29 attempt 0 · /chat/completions · status 200 · 3.565 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 am moving the right arm further inward and down to bring the gripper directly over the clapper stick on the right side.\",\"targets\":{\"right_j1\":3.15,\"right_j2\":2.9,\"right_j3\":-0.5,\"right_j0\":0.55}}",
        "name": "move_joints"
      },
      "id": "b7uqdxoa",
      "type": "function"
    }
  ]
}
{
  "content": "target for right_j1 is outside [-3.141592653589793, 3.141592653589793]",
  "role": "tool",
  "tool_call_id": "b7uqdxoa"
}
call 30 attempt 0 · /chat/completions · status 200 · 6.982 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3
{
  "content": null,
  "role": "assistant"
}
{
  "content": "Respond with exactly one tool call.",
  "role": "user"
}
call 31 attempt 0 · /chat/completions · status 200 · 5.412 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3531 left_j1=3.0413 left_j2=2.7892 left_j3=-0.3508 left_j4=-0.1833 left_j5=-0.1646 left_gripper=0.998 right_j0=0.4561 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5457 right_j4=0.5789 right_j5=0.2646 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EtoCCtcCARFNMg8qBhkwLl/LxUAkqkUsILmJLyQvrbLH+hXerDKITQSWAxruXM4DMGW5pwPreRW+z3l7vP3mksnW7dBRi3ddxcvtOPBsIgUIK/y/J+3N5YzCMOvM4ZRSEHKKZWbxxZm82nPwgx3DIIjd/YWqowYDYqmV+zW6ieEg5Orwd6lfd9i+NJqrmC3VaXK2jFgsOJYjKfRk4NVO1LoqjBlW3CTFmxNjWqZyGkhD+7KBDXQe3P8WFcn0LQ71a2rY8tlRavNgrVF7ZpnniMteOm+/y4G8C5wvYgjSoj4137kLcux8nR5GRrdYHU4J9bm0tEJB1X3fjXH3jK1LnfofUhhRNMomTxyrg/embGCkHO08RFXNWd5t1idILpyQQRARsFyCTQC125JOV/CNVjjwvttJxXlgFVXYtevPKdxwcj2/V2A0khY05WEwDEgbTBgYsrvjg5IXC5UT0A=="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am correcting the shoulder pitch and extending the elbow to bring the right gripper closer to the clapper stick within valid joint limits.\",\"targets\":{\"right_j0\":0.55,\"right_j3\":-0.5,\"right_j1\":3.1,\"right_j2\":2.9}}",
        "name": "move_joints"
      },
      "id": "x4321alw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "x4321alw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3725 left_j1=3.0566 left_j2=2.8349 left_j3=-0.3908 left_j4=-0.3363 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4641 right_j1=3.0493 right_j2=2.8822 right_j3=-0.5518 right_j4=0.59 right_j5=0.2783 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94cb645c0954a9d96d633af3f0df9f32659271a056d839691b352c1cefb07b74"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f21abb3c34d48d276ad4bb1d0b4ae95e68fe823f0046c9b62ff0e3f1cb9de22f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fad3b0e482e2dbc6baf0c93a089b09ef202b33eec17948ba898824694e3ddf75"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 94cb645c0954
wire blob f21abb3c34d4
wire blob fad3b0e482e2
call 32 attempt 0 · /chat/completions · status 200 · 4.7 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3759 left_j1=3.0566 left_j2=2.8281 left_j3=-0.3847 left_j4=-0.2985 left_j5=-0.1894 left_gripper=0.9978 right_j0=0.4541 right_j1=3.0386 right_j2=2.8632 right_j3=-0.5438 right_j4=0.5713 right_j5=0.2634 right_gripper=0.9952",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EpEICo4IARFNMg9pAsLZEx1dhWsc3Cl7WemGDAdvq7rAGwcWPkg0WCtKgY1PHv73KBSCnHX2Em/diiJMm8uKqDwuCe1Y+sqdldiX7GPixzWs3l0nmxNNmViZUkuCOkA87dGoeHx9l1neGo8QYcYYd65fDT0slZP0dH0MfhwYZta7DBZ49artw0yFbeoFZNO3VR5JIujXlb+myrWUdfigpSR601FlWPEY7xeEQMHtHhmzvOcwH4slhAf433MQWz3qe6fvKOV+fCLp/hg2YRh+lYA7dL5B2sH85Tu1lKYKg9hcz56nr08VTGXZ3rHTEf08joVxKoDORW8BxGXhXhYmHHg4dNCv+a7V4ixwHJr06XQe79j4e6DUwYsg6551sWcg8VT7oojELjmGml2Cj+/4Td2wpCER+UAid9f0XIFLl50V/WGsDwJsOujGBnf66CQjxE+Qb3SJXwssftJrtYHByh19+xGBVU+FNyCol7R00K4yA1Y+p1jUkUTxFIY2BB+lYd3q4UaJuUTSy40OCIyvd9oZwsBWHfocLCGGCCpkzGg05KP2dNgLmHMkxIJb0qz54DKNJt1WIDiWp6nIhEmlZeugHYQw04tr8717n6NDvc++XDXAcL8Rj1/JdpDCU6u2euQp/cvNpkG0b+4OP9rvfwoUjbVgORYRh6zfszYtkCjH7xPobxfzPvsF+0uWWl1YPk+HXWeuZoHoTVurcieO4TKQZrC4N/hwbA5qj+dhcxdPa3L3qxd+oIAnF91VAu7b46f8RH87RYzBRc4JDfhnrjEcRbcNaUkP0rQpIQKRN51UFzHk2OXOo6HaDXqK8H6+o5KjlFP7qtUSnaTsZW+xb9nBAxMhToPthophUBlvUnUQpba6zMAJdhmBhkK1kxV9lcAIHth2f4wTa0yXbVYOV6mZCjpULwxbl29goTu0hmEs0Q3jegLMZ0vfm4mDQ5NUJvQSI90VXeZWxsjRYj3dajpfYT4Dd/nEi1sb0yD0JFu9f5mz7WQEe1z2a2qYmbtYip9LLTK+s7nLFHxghwUhbHOSBTB2twYJjjwEHrRX8ZgTKSt7/oW50ZrPoNFKlMa5yPpOwPPtuSFCL2in85UZ89FTj2Tdfcr1tkk6XWR5QmJeoM1Xzz7zlriLi0mBZDBHusHa7DVWVdRnylM0/D9Igfz7+yb93ITpzU7/+4jjX7gl3NFBKOFm7AvGtgcFNkeu60J7tfHH1d5juXoUJBYAVbUU1CWch2pkbRZqnu5/bLUGCATmUjIOTkjzNua1khhRToHFQhVFLzKPObQAhn0MuXDHzwCw4NVrYi1aTAy9B1DA26uVYSnqUxGVvaNTsuc0x95BnF5zadZwDz097vtHczq8OGLpE6KP9yDZMuefxot1WKp6"
        }
      },
      "function": {
        "arguments": "{\"note\":\"I am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick.\",\"targets\":{\"right_j2\":2.95,\"right_j0\":0.55,\"right_j3\":-0.5,\"right_j1\":3.1}}",
        "name": "move_joints"
      },
      "id": "744wyklm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "744wyklm"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3706 left_j1=3.0566 left_j2=2.8338 left_j3=-0.3889 left_j4=-0.3305 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4709 right_j1=3.0676 right_j2=2.9173 right_j3=-0.5713 right_j4=0.6186 right_j5=0.3077 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03604874e1654470b7877d963b7ff20907e148fc66a052116e9e301317645480"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:716af1ec79f8bb626911109bfe52d012225b6ac533689aa306fc4f823468c496"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5b0ecd8a0f05cc7686b5c2fa59fa5604068c960b83a75e422491604ba031005"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 03604874e165
wire blob 716af1ec79f8
wire blob b5b0ecd8a0f0
call 33 attempt 0 · /chat/completions · status 200 · 3.878 s
model
gemini-robotics-er-2-preview
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.3725 left_j1=3.0566 left_j2=2.8349 left_j3=-0.3908 left_j4=-0.3363 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4641 right_j1=3.0493 right_j2=2.8822 right_j3=-0.5518 right_j4=0.59 right_j5=0.2783 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": null,
  "role": "assistant",
  "tool_calls": [
    {
      "extra_content": {
        "google": {
          "thought_signature": "EtwECtkEARFNMg+s2b+VwUm2Ax0GQeEgk5bvA1jXxgyr57y6No3Jmlsr81HcxvcbqN+DOY10GETcbMvyLyXaP8+zcuS2vfXB8OaR2z5zWNlcaOpWi6AyyYm5NUs8Cq6CjFyD5RnYNxtUpz/n3GpH8SL5yFE07BmQrP8Fcfd1MAPMo9xRllLXwR7kVGQnaEie25SqJLese65vxgc6bCYUoh8ZOf24dJXSABHffGbwuffQD78lBUf/iUVygUVb4NyLi3EInnPC66M/T89nROfWy0LL9I271fh3H5YvWnVZbYrFX5l79AAhwFnYSJJeI7gKJY/aEmsW9ZZPQff8AVVo9ihGtKJzYDh4djE/jolAzwaKrM88M6V6ciMKh4EB32GVJn65XoquZflUzjyKownpu/t70V/iqRcTnkU3WPJc2Ly40WDcFw/40mOqUKTM1DTSXfxZpCa8vGcKFEfXxXBHrMGOHHcy8WFyZXv7b9mHeaihM5Lw75ThyJrhtkHLC8MkZamyNiWC2owROLz7ZUElI46d/RZNWWJYFFGJGaFIKDoEQtXVLnJTfe3YiO4d4ktM3Z1+cGggHyoMP9cHJTkhFudotquzzck6Q+8leNuauJhVyZfNywOI4jyZhgZtpSNI9FQjtTyo2KnY1iGixI0TBrnsfAUEjwgsaO+rU0kjy/obgJTQQlljJNR/LbX3s+IxEZnrqJ6UOA+EVoI2zf5LPLsKNJYpOzf4nzzCb24EgTKBzm1NLbSehan6ClyHZ5jDoe8mCVoFB+DOd6LNlT/lRNpvaZkLyCycULDeun624Q=="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"right_j2\":2.95,\"right_j3\":-0.5,\"right_j0\":0.65,\"right_j1\":3.1},\"note\":\"I am continuing to move the right gripper further inward and down to bring it directly above the right-hand end of the clapper stick.\"}",
        "name": "move_joints"
      },
      "id": "xflwe1x6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_joints over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "xflwe1x6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.371 left_j1=3.0566 left_j2=2.8338 left_j3=-0.3889 left_j4=-0.3363 left_j5=-0.1921 left_gripper=0.9979 right_j0=0.4889 right_j1=3.073 right_j2=2.9292 right_j3=-0.5907 right_j4=0.6792 right_j5=0.3492 right_gripper=0.9951",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9cfb72de2e99573b1495b31a29c428c11ef6bd69c39201c6fca233beae3d3907"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e771e6b6931302f7d26ce34a7a7a0eac4b4bb82a42b01297656c19fb87864fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9d2d9955c4c754ffe0f5bdb72083b85014298ccadf31a4cdbe0d741aeb761594"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
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wire blob 1e771e6b6931
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