adhoc - gemini-5.json

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: 48.7 s
total steps: 55

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

operator_end

Operator judgements

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI'll raise both arms up and forward so they are visible and positioned to approach the clapperboard.

move_joints

right_j11.8000right_j40.0000left_j50.0000left_j00.0000right_j30.0000right_j21.5000right_j00.0000left_j21.5000left_j40.0000left_j11.8000right_j50.0000left_j30.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0021 left_j1=0.0067 left_j2=0.0067 left_j3=-0.0296 left_j4=-0.0093 left_j5=-0.0216 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0013 right_j5=-0.0086 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'll raise both arms up and forward so they are visible and positioned to approach the clapperboard.","targets":{"right_j1":1.8,"right_j4":0,"left_j5":0,"left_j0":0,"right_j3":0,"right_j2":1.5,"right_j0":0,"left_j2":1.5,"left_j4":0,"left_j1":1.8,"right_j5":0,"left_j3":0}})

tool

executing move_joints over 29 steps (2.9s)

step 29

assistant

agent noteI will lower the arms and move them forward closer to the clapperboard to see them better in the cameras.

move_joints

right_j11.4000right_j30.0000left_j40.0000left_j30.0000right_j40.0000right_j50.0000left_j50.0000left_j00.0000left_j11.4000right_j00.0000right_j22.0000left_j22.0000

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=-0.0021 left_j1=1.7847 left_j2=1.4719 left_j3=-0.0151 left_j4=-0.0093 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.7821 right_j2=1.47 right_j3=-0.0216 right_j4=-0.0051 right_j5=-0.0116 right_gripper=0.9994 camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_joints({"targets":{"right_j1":1.4,"right_j3":0,"left_j4":0,"left_j3":0,"right_j4":0,"right_j5":0,"left_j5":0,"left_j0":0,"left_j1":1.4,"right_j0":0,"right_j2":2,"left_j2":2},"note":"I will lower the arms and move them forward closer to the clapperboard to see them better in the cameras."})

tool

executing move_joints over 9 steps (0.9s)

step 38

assistant

agent noteI'll continue lowering the arms and bringing them forward.

move_joints

left_j22.4000right_j00.0000right_j50.0000right_j22.4000right_j40.0000right_j11.0000left_j40.0000left_j30.0000left_j00.0000right_j30.0000left_j11.0000left_j50.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0021 left_j1=1.4193 left_j2=1.9739 left_j3=-0.0196 left_j4=-0.0097 left_j5=-0.0216 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.4189 right_j2=1.9774 right_j3=-0.0223 right_j4=-0.0055 right_j5=-0.0116 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({"note":"I'll continue lowering the arms and bringing them forward.","targets":{"left_j2":2.4,"right_j0":0,"right_j5":0,"right_j2":2.4,"right_j4":0,"right_j1":1,"left_j4":0,"left_j3":0,"left_j0":0,"right_j3":0,"left_j1":1,"left_j5":0}})

tool

executing move_joints over 7 steps (0.7s)

step 45

assistant

agent noteI'll bring both arms further down and forward, closer to the clapperboard on the table.

move_joints

left_j00.0000left_j30.0000right_j40.0000right_j50.0000right_j22.5000left_j22.5000left_j40.0000right_j10.5000left_j10.5000right_j30.0000left_j50.0000right_j00.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0021 left_j1=1.0248 left_j2=2.3772 left_j3=-0.0143 left_j4=-0.0097 left_j5=-0.0143 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.0245 right_j2=2.3779 right_j3=-0.0185 right_j4=-0.0055 right_j5=-0.0109 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({"targets":{"left_j0":0,"left_j3":0,"right_j4":0,"right_j5":0,"right_j2":2.5,"left_j2":2.5,"left_j4":0,"right_j1":0.5,"left_j1":0.5,"right_j3":0,"left_j5":0,"right_j0":0},"note":"I'll bring both arms further down and forward, closer to the clapperboard on the table."})

tool

executing move_joints over 9 steps (0.9s)

step 54

assistant

agent noteI will swing both arms inwards and raise the shoulders further forward (higher j1) to position them over the table and the clapperboard.

move_joints

left_j21.5000left_j00.2000right_j12.5000left_j12.5000right_j21.5000right_j0-0.2000right_j50.0000right_j3-0.5000left_j3-0.5000left_j50.0000right_j40.0000left_j40.0000

Raw transcript

user

Current observation. Instruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms. state[joint_pos]: left_j0=-0.0021 left_j1=0.4816 left_j2=2.5103 left_j3=0.028 left_j4=-0.0093 left_j5=-0.004 left_gripper=0.9986 right_j0=-0.0021 right_j1=0.4778 right_j2=2.5103 right_j3=0.0261 right_j4=-0.0055 right_j5=-0.0082 right_gripper=0.9994 camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_joints({"targets":{"left_j2":1.5,"left_j0":0.2,"right_j1":2.5,"left_j1":2.5,"right_j2":1.5,"right_j0":-0.2,"right_j5":0,"right_j3":-0.5,"left_j3":-0.5,"left_j5":0,"right_j4":0,"left_j4":0},"note":"I will swing both arms inwards and raise the shoulders further forward (higher j1) to position them over the table and the clapperboard."})

tool

executing move_joints over 33 steps (3.3s)

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 · 4.638 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=-0.0021 left_j1=0.0067 left_j2=0.0067 left_j3=-0.0296 left_j4=-0.0093 left_j5=-0.0216 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0013 right_j5=-0.0086 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55cd52995168ad76b1a294b1f3ddf4a6ab73dfcf5aa48d0bed521233addbba10"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9be3c9ff9f48ca5f87bfdd3aac555a210a74b848bad36e021fcc4b02cae9adf7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0e65fd18859c73c9c6f8b5f9507149f88699a93d47031ed8f59a92a40f6411f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 5.41 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'll raise both arms up and forward so they are visible and positioned to approach the clapperboard.\",\"targets\":{\"right_j1\":1.8,\"right_j4\":0,\"left_j5\":0,\"left_j0\":0,\"right_j3\":0,\"right_j2\":1.5,\"right_j0\":0,\"left_j2\":1.5,\"left_j4\":0,\"left_j1\":1.8,\"right_j5\":0,\"left_j3\":0}}",
        "name": "move_joints"
      },
      "id": "vl9ag1cn",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_joints over 29 steps (2.9s)",
  "role": "tool",
  "tool_call_id": "vl9ag1cn"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0021 left_j1=1.7847 left_j2=1.4719 left_j3=-0.0151 left_j4=-0.0093 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.7821 right_j2=1.47 right_j3=-0.0216 right_j4=-0.0051 right_j5=-0.0116 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:176fc8284f33bd4f90ee97eeff44869f1fef75e6146239c75fe0f8f7acc0edd8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60a21aa5f3562fb911f065a4b49cd8c4e42c8b1385848001a5f0b7ee4ae616a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ae04175fb5215398529bea8cbd7dd93b7c6557b8005cf1b540675d0039015ac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 2.183 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=-0.0021 left_j1=0.0067 left_j2=0.0067 left_j3=-0.0296 left_j4=-0.0093 left_j5=-0.0216 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0063 right_j3=-0.0261 right_j4=-0.0013 right_j5=-0.0086 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_j1\":1.4,\"right_j3\":0,\"left_j4\":0,\"left_j3\":0,\"right_j4\":0,\"right_j5\":0,\"left_j5\":0,\"left_j0\":0,\"left_j1\":1.4,\"right_j0\":0,\"right_j2\":2,\"left_j2\":2},\"note\":\"I will lower the arms and move them forward closer to the clapperboard to see them better in the cameras.\"}",
        "name": "move_joints"
      },
      "id": "snryv7oj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_joints over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "snryv7oj"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0021 left_j1=1.4193 left_j2=1.9739 left_j3=-0.0196 left_j4=-0.0097 left_j5=-0.0216 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.4189 right_j2=1.9774 right_j3=-0.0223 right_j4=-0.0055 right_j5=-0.0116 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8afbec4b3d7e5ac72d446ee2dda4d26386570b250612c209b8c8ef7a11b46128"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af7977e836e1c76794f76c091bbc17d5b5d768d4ba066da90efe40e794f16649"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f13ce823476a63de6d2297387726a0b11591eacb764d2441f0b8ff43cbd1d92c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 2.72 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=-0.0021 left_j1=1.7847 left_j2=1.4719 left_j3=-0.0151 left_j4=-0.0093 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0002 right_j1=1.7821 right_j2=1.47 right_j3=-0.0216 right_j4=-0.0051 right_j5=-0.0116 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": "EqoCCqcCARFNMg8yCoND7oIwGIDoEuF4wh3rSzBOeuPHmBH4RCf/0SknDxjWyxRyONB/b3qrPTBmVMEP/vRB+pj7pW42wgsg5AmABmHeb38Vo3s15T8mvBnuoGkH/YNee83fF6RSyIlAN9GXKh6BoiS7paFGHHq8hE+NP94j5iyJ0maum25jEZxGtHSTf/KEaWs3v2XarI46m8gt6EHA/gyQkgBxmIWPv64AdmF2RqPr68YbjXhB9L703s0tURwkhZBqWSnTNnOXifgXmYXCMTqABQesD7sZUTuTMJs+aLwvbeN5xce4Iobszfja8tHhZUBjgZG39uljjokxW5NPfvW62sT6izwxhRanxnfnuHER5r+ABfGsfUDyQ+Zw2usUPuYZASNBvXSEwFxMpw=="
        }
      },
      "function": {
        "arguments": "{\"note\":\"I'll continue lowering the arms and bringing them forward.\",\"targets\":{\"left_j2\":2.4,\"right_j0\":0,\"right_j5\":0,\"right_j2\":2.4,\"right_j4\":0,\"right_j1\":1,\"left_j4\":0,\"left_j3\":0,\"left_j0\":0,\"right_j3\":0,\"left_j1\":1,\"left_j5\":0}}",
        "name": "move_joints"
      },
      "id": "3666uxkg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_joints over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "3666uxkg"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0021 left_j1=1.0248 left_j2=2.3772 left_j3=-0.0143 left_j4=-0.0097 left_j5=-0.0143 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.0245 right_j2=2.3779 right_j3=-0.0185 right_j4=-0.0055 right_j5=-0.0109 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:425299c1cedce4d58998dbb15f484ee8be7929568a6a056014294cf3f640072a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec919f16246f611827cc33f556750cfa868812b7b8511d59c7e7cfbc8c7b96f0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c22d2400ab79d4f34c8eb391bc38d7b6e86459b67e9dc132aa3e968b2f1986d5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.857 s

model: gemini-robotics-er-2-preview
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0021 left_j1=1.4193 left_j2=1.9739 left_j3=-0.0196 left_j4=-0.0097 left_j5=-0.0216 left_gripper=0.9987 right_j0=-0.0006 right_j1=1.4189 right_j2=1.9774 right_j3=-0.0223 right_j4=-0.0055 right_j5=-0.0116 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": "EqwDCqkDARFNMg+bmcy+2VeyurE8749h5GWkNvQHjWcVhJiQVCM/iMldKQU04L1j0tNRLgXB9SHZ+Snh/eGt5UhhA95VhjPFmBEtubxq59QA6bvX/EYKzeE/H547Qtp0kA7+az9xK8AhCZCBQwKjzYzMyzMc2Dq5BoXB+hQ1VBvkO9hwNtdDdyZMbYU8Ht2ewZf+SZia+yxnPzktbm7Xbg8pUtGuAVWQZb6GLwwxy2qMYrLd3MbHP+DjOFStL33xACtE3dnAg7NSx0QwqNxXgvYfMc/XQhDnkxBr24itDJOyu/6nM4TkdzIRZ10cpDlxRlSMBUHvgkwFhUC9tIyxV4mwJGw605nDTZyVWs3BHXqlbJ2M68/cnuhckDybBkZ3YKPiZc/kNguAoBM35Bwn6Ib+I4XsleGFLPptHNMEfoMWAFIvXbw11fyYVv6oa8kLPBuMFXkj4SETOfZEZl0x1kUIDOVkrAdz7BaFnM9rJnlZmnWmTy904LsbAqwgRVUb2Pi9Z4Rw3uU/MIJowJixdIXS5J8JTe6nQdoxGDCKa929C2gknqOleZm0AZ59m1Q="
        }
      },
      "function": {
        "arguments": "{\"targets\":{\"left_j0\":0,\"left_j3\":0,\"right_j4\":0,\"right_j5\":0,\"right_j2\":2.5,\"left_j2\":2.5,\"left_j4\":0,\"right_j1\":0.5,\"left_j1\":0.5,\"right_j3\":0,\"left_j5\":0,\"right_j0\":0},\"note\":\"I'll bring both arms further down and forward, closer to the clapperboard on the table.\"}",
        "name": "move_joints"
      },
      "id": "3wq3tp4w",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_joints over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "3wq3tp4w"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Lift the clapper stick, then let go so it snaps shut with a clap. Note that the context (top) cam is on the opposite sides of the arms.\nstate[joint_pos]: left_j0=-0.0021 left_j1=0.4816 left_j2=2.5103 left_j3=0.028 left_j4=-0.0093 left_j5=-0.004 left_gripper=0.9986 right_j0=-0.0021 right_j1=0.4778 right_j2=2.5103 right_j3=0.0261 right_j4=-0.0055 right_j5=-0.0082 right_gripper=0.9994",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:418c2bc5ff7157e4ee724a5c313247f9f231a159fcdaf20df376619f36f14a6c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da6f1c57e0c5a437ff6c5e9ee622807d2d865a370346cdc5f0c2ac95959570da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a6ea9399c85dc1ffc27137f4f210b7f06631680c3338d93cf942253fbedf2b6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}