adhoc

completed
2026-08-14T19:17:34.286017+00:00 inspect-robots 0.53.1git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://generativelanguage.googleapis.com/v1beta
depth
render
effort
high
image_horizon
null
images
always
max_llm_calls
100
max_output_tokens
null
max_speed_frac
0.1
model
gemini-3.6-flash
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
interactions
wire_capture
true
seed
0
max steps
1200
duration
1922 s
total steps
907
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Lift the towels with both your arms high enough to then drop it to cover the block.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 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. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Lift the towels with both your arms high enough to then drop it to cover the block.
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. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 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. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Lift the towels with both your arms high enough to then drop it to cover the block.
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 noteLifting both arms into hover poses over the left and right edges of the towel to inspect grasp targets.
move_joints
left_j11.8000left_j21.2000left_j40.0000right_j11.8000left_j3-0.6000left_gripper1.0000right_j3-0.6000right_j40.0000left_j5-0.3000right_j00.3000left_j0-0.3000right_j21.2000right_j50.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.001 left_j1=0.0071 left_j2=0.009 left_j3=-0.0334 left_j4=-0.0044 left_j5=-0.0223 left_gripper=0.9995 right_j0=-0.0002 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0078 right_j5=-0.004 right_gripper=0.9993 state[joint_eff]: [0.0342, 1.2239, 6.2427, 2.2247, 0.0513, 0.1929, -0.0659, -0.0615, 0.841, 6.4342, 2.1563, 0.0708, -0.0122, -0.0904] 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": "Lifting both arms into hover poses over the left and right edges of the towel to inspect grasp targets.", "targets": {"left_j1": 1.8, "left_j2": 1.2, "left_j4": 0, "right_j1": 1.8, "left_j3": -0.6, "left_gripper": 1, "right_j3": -0.6, "right_j4": 0, "left_j5": -0.3, "right_j0": 0.3, "left_j0": -0.3, "right_j2": 1.2, "right_j5": 0.3, "right_gripper": 1}})
tool
executing move_joints over 29 steps (2.9s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteNudging right arm slightly inward (right_j0=0.38) to center its gripper over the right edge of the towel.
move_joints
left_j3-0.5800left_j0-0.3000left_j21.1600right_gripper1.0000left_j11.7800left_gripper1.0000right_j11.7800right_j50.3800left_j5-0.2900right_j3-0.5800right_j21.1600left_j40.0000right_j40.0000right_j00.3800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2947 left_j1=1.7779 left_j2=1.1614 left_j3=-0.5835 left_j4=-0.0002 left_j5=-0.2909 left_gripper=0.9995 right_j0=0.2947 right_j1=1.7782 right_j2=1.1564 right_j3=-0.5945 right_j4=-0.0074 right_j5=0.2718 right_gripper=0.9993 state[joint_eff]: [-0.4581, -7.9658, 8.759, 0.9451, -0.0122, -0.105, -0.0659, 0.4718, -8.212, 8.6906, 1.0867, 0.0366, 0.2173, -0.0904] 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": {"left_j3": -0.58, "left_j0": -0.3, "left_j2": 1.16, "right_gripper": 1, "left_j1": 1.78, "left_gripper": 1, "right_j1": 1.78, "right_j5": 0.38, "left_j5": -0.29, "right_j3": -0.58, "right_j2": 1.16, "left_j4": 0, "right_j4": 0, "right_j0": 0.38}, "note": "Nudging right arm slightly inward (right_j0=0.38) to center its gripper over the right edge of the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteLowering both grippers toward the tabletop to touch down on the towel edges.
move_joints
left_j3-0.6500right_j40.0000right_gripper1.0000left_j5-0.3000left_j40.0000left_j12.2000right_j21.3500right_j12.2000left_j0-0.3000left_j21.3500right_j50.3400right_j3-0.6500left_gripper1.0000right_j00.3400
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2993 left_j1=1.805 left_j2=1.1683 left_j3=-0.5934 left_j4=-0.0002 left_j5=-0.2966 left_gripper=0.9995 right_j0=0.3374 right_j1=1.805 right_j2=1.1652 right_j3=-0.6003 right_j4=-0.0006 right_j5=0.3248 right_gripper=0.9993 state[joint_eff]: [-0.1983, -10.6735, 5.3812, 1.0281, -0.0708, 0.0073, -0.0659, 1.3607, -10.7556, 5.8462, 1.0916, -0.0415, 0.0806, -0.0904] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.65, "right_j4": 0, "right_gripper": 1, "left_j5": -0.3, "left_j4": 0, "left_j1": 2.2, "right_j2": 1.35, "right_j1": 2.2, "left_j0": -0.3, "left_j2": 1.35, "right_j5": 0.34, "right_j3": -0.65, "left_gripper": 1, "right_j0": 0.34}, "note": "Lowering both grippers toward the tabletop to touch down on the towel edges."})
tool
executing move_joints over 7 steps (0.7s)
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 noteClosing both grippers to pinch the left and right edges of the towel.
move_joints
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0739 left_j2=1.3853 left_j3=-0.6891 left_j4=-0.0456 left_j5=-0.3042 left_gripper=0.9994 right_j0=0.3447 right_j1=2.0754 right_j2=1.38 right_j3=-0.7078 right_j4=0.025 right_j5=0.3328 right_gripper=0.9991 state[joint_eff]: [-0.1299, -0.6359, 2.2222, 1.2821, 0.4225, 0.0317, -0.0757, -0.6359, -0.7043, 2.3726, 1.409, -0.3053, 0.0171, -0.1001] 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": "Closing both grippers to pinch the left and right edges of the towel.", "targets": {"right_gripper": 0, "left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteOpening right gripper and moving right_j0 inward to 0.38 to get a deeper grasp on the towel's right edge, while maintaining left arm grasp.
move_joints
right_gripper1.0000right_j21.3900left_j21.4000left_j12.0700left_j4-0.0300right_j00.3800right_j40.0000left_j0-0.3000left_j5-0.3100right_j3-0.7000right_j50.3800left_j3-0.6800left_gripper0.0000right_j12.0700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0693 left_j2=1.4006 left_j3=-0.6842 left_j4=-0.0284 left_j5=-0.3122 left_gripper=0.037 right_j0=0.3466 right_j1=2.0739 right_j2=1.3922 right_j3=-0.7036 right_j4=0.0002 right_j5=0.3222 right_gripper=0.0073 state[joint_eff]: [-0.0889, -10.4137, 4.465, 0.6716, -0.2125, 0.0904, 0.9548, -0.4308, -10.6325, 4.6017, 0.5739, 0.2369, 0.105, 0.5299] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening right gripper and moving right_j0 inward to 0.38 to get a deeper grasp on the towel's right edge, while maintaining left arm grasp.", "targets": {"right_gripper": 1, "right_j2": 1.39, "left_j2": 1.4, "left_j1": 2.07, "left_j4": -0.03, "right_j0": 0.38, "right_j4": 0, "left_j0": -0.3, "left_j5": -0.31, "right_j3": -0.7, "right_j5": 0.38, "left_j3": -0.68, "left_gripper": 0, "right_j1": 2.07}})
tool
executing move_joints over 10 steps (1.0s)
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 noteClosing right gripper to grasp the towel edge firmly.
move_joints
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0693 left_j2=1.4006 left_j3=-0.6842 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.3782 right_j1=2.0701 right_j2=1.393 right_j3=-0.6918 right_j4=-0.0002 right_j5=0.3523 right_gripper=0.9949 state[joint_eff]: [0.0889, -10.3726, 5.6274, 0.6911, -0.105, -0.0269, 1.033, 0.1436, -10.8103, 5.3675, 0.5348, -0.0269, 0.2222, -0.188] approver: 9 step(s) modified (delta_clamped ×9). 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({"note": "Closing right gripper to grasp the towel edge firmly.", "targets": {"left_gripper": 0, "right_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
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 noteOpening right gripper and moving further inward (right_j0=0.43) to get a secure pinch on the towel fabric.
move_joints
right_j40.0000left_gripper0.0000right_j00.4300right_gripper1.0000left_j3-0.6800right_j3-0.7000left_j5-0.3100right_j50.4300left_j21.4000left_j4-0.0300right_j12.0700left_j12.0700left_j0-0.3000right_j21.3900
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6861 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.3786 right_j1=2.0705 right_j2=1.393 right_j3=-0.7029 right_j4=-0.001 right_j5=0.3447 right_gripper=0.0071 state[joint_eff]: [-0.1299, -10.7282, 5.8051, 0.6764, -0.0513, -0.0562, 1.033, -0.0342, -10.5504, 5.6274, 0.7106, -0.022, 0.0513, 0.5153] approver: 10 step(s) modified (delta_clamped ×10). 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": "Opening right gripper and moving further inward (right_j0=0.43) to get a secure pinch on the towel fabric.", "targets": {"right_j4": 0, "left_gripper": 0, "right_j0": 0.43, "right_gripper": 1, "left_j3": -0.68, "right_j3": -0.7, "left_j5": -0.31, "right_j5": 0.43, "left_j2": 1.4, "left_j4": -0.03, "right_j1": 2.07, "left_j1": 2.07, "left_j0": -0.3, "right_j2": 1.39}})
tool
executing move_joints over 10 steps (1.0s)
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 noteClosing right gripper over the right edge of the towel.
move_joints
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6853 left_j4=-0.0273 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4263 right_j1=2.0701 right_j2=1.3933 right_j3=-0.6964 right_j4=0.0105 right_j5=0.4023 right_gripper=0.9951 state[joint_eff]: [-0.0615, -10.6598, 5.6274, 0.735, -0.1001, -0.0366, 1.033, 0.3897, -10.7692, 5.3675, 0.5641, -0.1734, 0.2027, -0.1343] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0, "left_gripper": 0}, "note": "Closing right gripper over the right edge of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteLifting both arms high up to raise the towel above the table.
move_joints
left_gripper0.0000right_j40.0100right_j11.4000left_j4-0.0300left_j5-0.3100right_j3-0.4000right_gripper0.0000right_j21.0000left_j0-0.3000left_j11.4000right_j50.4000left_j3-0.4000right_j00.4300left_j21.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6853 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4255 right_j1=2.0705 right_j2=1.393 right_j3=-0.7033 right_j4=0.0139 right_j5=0.3977 right_gripper=0.0083 state[joint_eff]: [-0.2803, -10.7829, 5.6957, 0.6422, -0.0952, -0.0415, 1.033, -0.0752, -10.7556, 5.7504, 0.7155, -0.0611, 0.0171, 0.4371] approver: 10 step(s) modified (delta_clamped ×10). 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({"targets": {"left_gripper": 0, "right_j4": 0.01, "right_j1": 1.4, "left_j4": -0.03, "left_j5": -0.31, "right_j3": -0.4, "right_gripper": 0, "right_j2": 1, "left_j0": -0.3, "left_j1": 1.4, "right_j5": 0.4, "left_j3": -0.4, "right_j0": 0.43, "left_j2": 1}, "note": "Lifting both arms high up to raise the towel above the table."})
tool
executing move_joints over 11 steps (1.1s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteOpening right gripper, shifting right_j0 inward to 0.48, and lowering to grab the right edge of the towel.
move_joints
right_j21.3800left_gripper0.0000right_j50.4800right_j00.4800left_j11.4000right_j3-0.6800right_j40.0100left_j4-0.0300right_gripper1.0000left_j3-0.4000left_j0-0.3000left_j5-0.3100right_j12.0500left_j21.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.4395 left_j2=1.01 left_j3=-0.448 left_j4=-0.0265 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4255 right_j1=1.4357 right_j2=1.0107 right_j3=-0.4473 right_j4=0.0101 right_j5=0.3935 right_gripper=0.0055 state[joint_eff]: [-0.2256, -7.241, 6.8171, 1.6972, -0.1148, -0.0024, 1.033, 0.212, -6.9812, 6.8444, 1.6581, 0.0024, 0.0611, 0.5446] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.38, "left_gripper": 0, "right_j5": 0.48, "right_j0": 0.48, "left_j1": 1.4, "right_j3": -0.68, "right_j4": 0.01, "left_j4": -0.03, "right_gripper": 1, "left_j3": -0.4, "left_j0": -0.3, "left_j5": -0.31, "right_j1": 2.05, "left_j2": 1}, "note": "Opening right gripper, shifting right_j0 inward to 0.48, and lowering to grab the right edge of the towel."})
tool
executing move_joints over 10 steps (1.0s)
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 noteLowering right gripper onto the right side of the towel.
move_joints
left_j3-0.4000left_j0-0.3000left_j4-0.0300right_j3-0.6800right_gripper1.0000left_j5-0.3100right_j00.4800right_j50.4800right_j40.0100right_j21.3800right_j12.1000left_j11.4000left_j21.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.4246 left_j2=1.0 left_j3=-0.4297 left_j4=-0.0273 left_j5=-0.3126 left_gripper=0.0375 right_j0=0.4763 right_j1=2.0266 right_j2=1.3396 right_j3=-0.6628 right_j4=0.0097 right_j5=0.4572 right_gripper=0.9951 state[joint_eff]: [-0.0615, -7.9111, 6.7487, 1.707, -0.0757, -0.0415, 1.033, 0.1573, -10.3726, 8.1709, 0.525, -0.0513, 0.1441, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_j3": -0.4, "left_j0": -0.3, "left_j4": -0.03, "right_j3": -0.68, "right_gripper": 1, "left_j5": -0.31, "right_j0": 0.48, "right_j5": 0.48, "right_j4": 0.01, "right_j2": 1.38, "right_j1": 2.1, "left_j1": 1.4, "left_j2": 1, "left_gripper": 0}, "note": "Lowering right gripper onto the right side of the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteClosing right gripper to grasp the towel edge firmly.
move_joints
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.422 left_j2=0.9993 left_j3=-0.4278 left_j4=-0.0269 left_j5=-0.3126 left_gripper=0.0375 right_j0=0.4828 right_j1=2.0525 right_j2=1.3674 right_j3=-0.693 right_j4=0.0128 right_j5=0.4652 right_gripper=0.9991 state[joint_eff]: [0.0068, -7.8427, 6.8718, 1.7265, -0.0611, -0.0464, 1.0281, -0.0615, -6.7214, 6.5026, 0.9597, -0.0855, 0.1441, -0.1001] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0, "right_gripper": 0}, "note": "Closing right gripper to grasp the towel edge firmly."})
tool
executing move_joints over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteOpening right gripper and swinging right_j0 to 0.65 to reach the shifted right edge of the towel.
move_joints
right_j50.6500left_gripper0.0000right_j21.3700left_j3-0.4300left_j4-0.0300right_j12.0500right_j3-0.7000right_j00.6500right_gripper1.0000right_j40.0100left_j0-0.3000left_j21.0000left_j11.4200left_j5-0.3100
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4324 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.4828 right_j1=2.0563 right_j2=1.3724 right_j3=-0.704 right_j4=0.0139 right_j5=0.4568 right_gripper=0.008 state[joint_eff]: [-0.1162, -5.8872, 6.7761, 1.5263, -0.0562, -0.022, 1.0281, -0.1573, -10.9197, 5.1897, 0.7253, -0.0464, 0.0122, 0.5495] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.65, "left_gripper": 0, "right_j2": 1.37, "left_j3": -0.43, "left_j4": -0.03, "right_j1": 2.05, "right_j3": -0.7, "right_j0": 0.65, "right_gripper": 1, "right_j4": 0.01, "left_j0": -0.3, "left_j2": 1, "left_j1": 1.42, "left_j5": -0.31}, "note": "Opening right gripper and swinging right_j0 to 0.65 to reach the shifted right edge of the towel."})
tool
executing move_joints over 10 steps (1.0s)
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 noteClosing right gripper over the shifted right edge of the towel.
move_joints
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4324 left_j4=-0.0273 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6407 right_j1=2.0533 right_j2=1.3727 right_j3=-0.6971 right_j4=0.028 right_j5=0.6125 right_gripper=0.9964 state[joint_eff]: [0.0479, -6.2564, 6.8444, 1.5458, -0.1099, -0.0366, 1.0281, 0.3214, -10.8103, 5.3675, 0.6422, -0.2515, 0.3004, -0.1587] approver: 9 step(s) modified (delta_clamped ×9). 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": "Closing right gripper over the shifted right edge of the towel.", "targets": {"right_gripper": 0, "left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteLifting both arms high into the air with the towel grasped on both sides.
move_joints
left_j5-0.3000right_j20.8000left_j11.2000right_j50.6400right_gripper0.0000right_j00.6400left_j20.8000left_j40.0000right_j11.2000left_j0-0.3000left_j3-0.3000right_j3-0.3000left_gripper0.0000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4328 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6403 right_j1=2.0533 right_j2=1.3727 right_j3=-0.7025 right_j4=0.0177 right_j5=0.6083 right_gripper=0.0099 state[joint_eff]: [-0.0752, -5.9009, 6.7624, 1.4237, -0.0562, -0.0659, 1.0281, -0.3214, -10.5504, 5.6957, 0.6911, 0.0855, 0.0171, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": -0.3, "right_j2": 0.8, "left_j1": 1.2, "right_j5": 0.64, "right_gripper": 0, "right_j0": 0.64, "left_j2": 0.8, "left_j4": 0, "right_j1": 1.2, "left_j0": -0.3, "left_j3": -0.3, "right_j3": -0.3, "left_gripper": 0, "right_j4": 0}, "note": "Lifting both arms high into the air with the towel grasped on both sides."})
tool
executing move_joints over 14 steps (1.4s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteMoving both arms forward to position the lifted towel directly over the block.
move_joints
left_j21.0500right_j00.6400right_j3-0.5000left_j5-0.3000left_j11.5500right_j50.6400right_gripper0.0000left_j3-0.5000left_j0-0.3000right_j40.0000left_j40.0000right_j11.5500right_j21.0500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.224 left_j2=0.8047 left_j3=-0.3302 left_j4=-0.0116 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=1.2331 right_j2=0.8104 right_j3=-0.3561 right_j4=-0.0078 right_j5=0.6292 right_gripper=0.0069 state[joint_eff]: [-0.0752, -5.9966, 6.7761, 1.8828, 0.0806, 0.0757, 1.033, -0.3487, -4.9026, 7.3094, 2.1319, 0.0464, 0.0317, 0.696] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.05, "right_j0": 0.64, "right_j3": -0.5, "left_j5": -0.3, "left_j1": 1.55, "right_j5": 0.64, "right_gripper": 0, "left_j3": -0.5, "left_j0": -0.3, "right_j4": 0, "left_j4": 0, "right_j1": 1.55, "right_j2": 1.05, "left_gripper": 0}, "note": "Moving both arms forward to position the lifted towel directly over the block."})
tool
executing move_joints over 6 steps (0.6s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteExtending both arms further forward to position the towel directly over the block.
move_joints
right_j11.8000left_j5-0.3000left_gripper0.0000right_j50.6400left_j21.2000right_j00.6400left_j40.0000left_j0-0.3000right_gripper0.0000right_j3-0.6000right_j21.2000left_j11.8000right_j40.0000left_j3-0.6000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.5303 left_j2=1.0084 left_j3=-0.4801 left_j4=-0.0078 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6399 right_j1=1.5314 right_j2=1.0065 right_j3=-0.4831 right_j4=-0.0074 right_j5=0.6289 right_gripper=0.0068 state[joint_eff]: [-0.0068, -5.9829, 8.9231, 1.3211, 0.0806, 0.0757, 1.033, -0.294, -6.1607, 9.1556, 1.2137, 0.0659, 0.0562, 0.7009] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Extending both arms further forward to position the towel directly over the block.", "targets": {"right_j1": 1.8, "left_j5": -0.3, "left_gripper": 0, "right_j5": 0.64, "left_j2": 1.2, "right_j0": 0.64, "left_j4": 0, "left_j0": -0.3, "right_gripper": 0, "right_j3": -0.6, "right_j2": 1.2, "left_j1": 1.8, "right_j4": 0, "left_j3": -0.6}})
tool
executing move_joints over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteExtending both arms directly above the block before dropping the towel.
move_joints
left_j12.0500left_j40.0000left_j21.3000right_j50.6400right_j21.3000left_j0-0.3000left_j3-0.6500right_gripper0.0000right_j00.6400right_j3-0.6500left_gripper0.0000left_j5-0.3000right_j12.0500right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.7821 left_j2=1.1572 left_j3=-0.5838 left_j4=-0.0078 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6411 right_j1=1.7832 right_j2=1.1561 right_j3=-0.5888 right_j4=-0.0078 right_j5=0.6289 right_gripper=0.0068 state[joint_eff]: [0.0752, -8.2393, 8.8821, 0.9109, 0.0757, 0.1099, 1.033, -0.1299, -8.3487, 8.5402, 0.9988, 0.0317, 0.0659, 0.696] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Extending both arms directly above the block before dropping the towel.", "targets": {"left_j1": 2.05, "left_j4": 0, "left_j2": 1.3, "right_j5": 0.64, "right_j2": 1.3, "left_j0": -0.3, "left_j3": -0.65, "right_gripper": 0, "right_j0": 0.64, "right_j3": -0.65, "left_gripper": 0, "left_j5": -0.3, "right_j1": 2.05, "right_j4": 0}})
tool
executing move_joints over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteMoving both arms further forward over the block so the towel drops directly on top of it.
move_joints
left_j5-0.3000left_j12.2000left_j3-0.6500left_j0-0.3000right_j12.2000right_j50.6400right_j00.6400left_j40.0000right_j3-0.6500right_j21.3500left_gripper0.0000right_gripper0.0000right_j40.0000left_j21.3500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=1.9953 left_j2=1.2877 left_j3=-0.6518 left_j4=-0.0086 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6399 right_j1=2.0026 right_j2=1.2831 right_j3=-0.6495 right_j4=-0.0063 right_j5=0.6289 right_gripper=0.0068 state[joint_eff]: [-0.1846, -5.7915, 6.0376, 0.735, 0.0855, 0.0806, 1.033, 0.0205, -7.3778, 5.8462, 0.7692, 0.0269, 0.0855, 0.6911] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving both arms further forward over the block so the towel drops directly on top of it.", "targets": {"left_j5": -0.3, "left_j1": 2.2, "left_j3": -0.65, "left_j0": -0.3, "right_j1": 2.2, "right_j5": 0.64, "right_j0": 0.64, "left_j4": 0, "right_j3": -0.65, "right_j2": 1.35, "left_gripper": 0, "right_gripper": 0, "right_j4": 0, "left_j2": 1.35}})
tool
executing move_joints over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteLifting both arms high above the table while holding the towel.
move_joints
right_j11.5000right_j3-0.5000left_j5-0.3000right_j50.6400left_j3-0.5000right_j21.0000left_j11.5000right_gripper0.0000right_j40.0000left_j0-0.3000left_j40.0000left_j21.0000right_j00.6400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3012 left_j1=2.0724 left_j2=1.3899 left_j3=-0.7025 left_j4=-0.0044 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=2.0773 right_j2=1.3869 right_j3=-0.6952 right_j4=-0.0078 right_j5=0.6289 right_gripper=0.0068 state[joint_eff]: [-0.2256, -0.6222, 1.7846, 1.2527, 0.0464, 0.1148, 1.0281, 0.0615, -1.1692, 1.8803, 1.0574, 0.0708, 0.0757, 0.6911] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting both arms high above the table while holding the towel.", "targets": {"right_j1": 1.5, "right_j3": -0.5, "left_j5": -0.3, "right_j5": 0.64, "left_j3": -0.5, "right_j2": 1, "left_j1": 1.5, "right_gripper": 0, "right_j4": 0, "left_j0": -0.3, "left_j4": 0, "left_j2": 1, "right_j0": 0.64, "left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteTranslating both elevated arms forward to place the towel directly over the block.
move_joints
left_j21.2500left_j3-0.6000right_j11.8500right_j3-0.6000right_j40.0000left_j0-0.3000left_j40.0000right_j50.6400right_gripper0.0000right_j00.6400left_j11.8500right_j21.2500left_j5-0.3000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3004 left_j1=1.5387 left_j2=1.0111 left_j3=-0.5354 left_j4=0.0006 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=1.5394 right_j2=1.0122 right_j3=-0.5327 right_j4=-0.0078 right_j5=0.6331 right_gripper=0.0068 state[joint_eff]: [-0.0479, -7.8564, 6.5983, 1.37, -0.0562, 0.0806, 1.0281, -0.3214, -8.0479, 6.4479, 1.5214, 0.0415, 0.0464, 0.6911] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.25, "left_j3": -0.6, "right_j1": 1.85, "right_j3": -0.6, "right_j4": 0, "left_j0": -0.3, "left_j4": 0, "right_j5": 0.64, "right_gripper": 0, "right_j0": 0.64, "left_j1": 1.85, "right_j2": 1.25, "left_j5": -0.3, "left_gripper": 0}, "note": "Translating both elevated arms forward to place the towel directly over the block."})
tool
executing move_joints over 5 steps (0.5s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteReaching both arms further forward over the block.
move_joints
right_j00.6400right_gripper0.0000left_j5-0.3000left_j40.0000right_j40.0000left_gripper0.0000left_j12.1500right_j12.1500right_j3-0.6000right_j21.3000left_j0-0.3000left_j21.3000right_j50.6400left_j3-0.6000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3004 left_j1=1.8317 left_j2=1.2018 left_j3=-0.6025 left_j4=0.0006 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6407 right_j1=1.8324 right_j2=1.2003 right_j3=-0.5983 right_j4=-0.0082 right_j5=0.6323 right_gripper=0.0068 state[joint_eff]: [-0.1983, -8.7453, 8.6906, 1.0965, 0.0171, 0.1197, 1.0281, -0.1573, -8.4991, 8.9504, 0.9841, 0.0757, 0.0806, 0.6862] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.64, "right_gripper": 0, "left_j5": -0.3, "left_j4": 0, "right_j4": 0, "left_gripper": 0, "left_j1": 2.15, "right_j1": 2.15, "right_j3": -0.6, "right_j2": 1.3, "left_j0": -0.3, "left_j2": 1.3, "right_j5": 0.64, "left_j3": -0.6}, "note": "Reaching both arms further forward over the block."})
tool
executing move_joints over 6 steps (0.6s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteOpening both grippers to drop the lifted towel onto the block to cover it.
move_joints
right_gripper1.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3004 left_j1=2.0373 left_j2=1.3296 left_j3=-0.625 left_j4=0.0013 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6407 right_j1=2.0449 right_j2=1.3273 right_j3=-0.6075 right_j4=-0.0078 right_j5=0.6319 right_gripper=0.0068 state[joint_eff]: [-0.294, -1.5932, 2.6462, 0.9206, -0.0024, 0.0708, 1.033, 0.0479, -2.3043, 2.8103, 0.7009, 0.0464, 0.022, 0.6862] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening both grippers to drop the lifted towel onto the block to cover it.", "targets": {"right_gripper": 1, "left_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteSwinging right arm inward (right_j0=0.72) to center over the right edge of the towel before regrasping.
move_joints
right_gripper1.0000right_j3-0.6000left_j40.0000right_j00.7200left_j3-0.6000left_j0-0.3000right_j40.0000right_j50.7200left_j5-0.3000left_j12.0300left_gripper1.0000right_j12.0300right_j21.3400left_j21.3400
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3042 left_j1=2.0312 left_j2=1.3437 left_j3=-0.6048 left_j4=0.004 left_j5=-0.3145 left_gripper=0.9947 right_j0=0.6415 right_j1=2.0346 right_j2=1.3399 right_j3=-0.5884 right_j4=-0.012 right_j5=0.6197 right_gripper=0.9948 state[joint_eff]: [0.0205, -9.8667, 4.6154, 0.5983, 0.022, -0.0269, -0.1538, -0.294, -9.7299, 4.9026, 0.6374, -0.0122, 0.1441, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Swinging right arm inward (right_j0=0.72) to center over the right edge of the towel before regrasping.", "targets": {"right_gripper": 1, "right_j3": -0.6, "left_j4": 0, "right_j0": 0.72, "left_j3": -0.6, "left_j0": -0.3, "right_j4": 0, "right_j5": 0.72, "left_j5": -0.3, "left_j1": 2.03, "left_gripper": 1, "right_j1": 2.03, "right_j2": 1.34, "left_j2": 1.34}})
tool
executing move_joints over 2 steps (0.2s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteClosing both grippers to regrasp the left and right sides of the towel.
move_joints
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3042 left_j1=2.0308 left_j2=1.3437 left_j3=-0.6044 left_j4=-0.0006 left_j5=-0.3119 left_gripper=0.9994 right_j0=0.675 right_j1=2.0331 right_j2=1.3399 right_j3=-0.5919 right_j4=0.0032 right_j5=0.6594 right_gripper=0.9987 state[joint_eff]: [0.1026, -10.6462, 5.559, 0.823, -0.0611, 0.1099, -0.0708, 1.935, -10.8103, 5.7368, 0.7448, -0.1001, 0.1001, -0.1441] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to regrasp the left and right sides of the towel.", "targets": {"left_gripper": 0, "right_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteLifting both arms high up and extending forward so the towel is held right above the block.
move_joints
right_j00.6700left_j0-0.3000left_j5-0.3000left_gripper0.0000right_gripper0.0000right_j40.0000right_j21.1000right_j50.6700right_j3-0.2000left_j40.0000right_j11.8000left_j21.1000left_j11.8000left_j3-0.2000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=2.0312 left_j2=1.3437 left_j3=-0.6094 left_j4=-0.0078 left_j5=-0.3149 left_gripper=0.043 right_j0=0.6735 right_j1=2.0327 right_j2=1.3399 right_j3=-0.6018 right_j4=-0.0021 right_j5=0.654 right_gripper=0.0075 state[joint_eff]: [-0.2667, -10.4274, 5.7368, 0.8767, 0.0659, 0.0073, 0.9548, -0.1026, -10.5231, 5.9009, 0.9109, 0.0464, 0.0757, 0.5495] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.67, "left_j0": -0.3, "left_j5": -0.3, "left_gripper": 0, "right_gripper": 0, "right_j4": 0, "right_j2": 1.1, "right_j5": 0.67, "right_j3": -0.2, "left_j4": 0, "right_j1": 1.8, "left_j2": 1.1, "left_j1": 1.8, "left_j3": -0.2}, "note": "Lifting both arms high up and extending forward so the towel is held right above the block."})
tool
executing move_joints over 7 steps (0.7s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteExtending both arms forward to bring the high-held towel directly over the block.
move_joints
left_j40.0000right_j21.3000right_j12.1000left_j3-0.5000left_j5-0.3000right_j40.0000right_j50.6700left_j0-0.3000left_j21.3000right_j3-0.5000right_gripper0.0000left_gripper0.0000left_j12.1000right_j00.6700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=1.842 left_j2=1.111 left_j3=-0.2897 left_j4=-0.0078 left_j5=-0.3141 left_gripper=0.0449 right_j0=0.6727 right_j1=1.84 right_j2=1.1118 right_j3=-0.2886 right_j4=-0.0082 right_j5=0.6556 right_gripper=0.0054 state[joint_eff]: [0.212, -11.3983, 6.4205, 1.4628, 0.0122, 0.1148, 1.0281, -0.3214, -11.3709, 5.9692, 1.7558, 0.0464, 0.0952, 0.5446] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j4": 0, "right_j2": 1.3, "right_j1": 2.1, "left_j3": -0.5, "left_j5": -0.3, "right_j4": 0, "right_j5": 0.67, "left_j0": -0.3, "left_j2": 1.3, "right_j3": -0.5, "right_gripper": 0, "left_gripper": 0, "left_j1": 2.1, "right_j0": 0.67}, "note": "Extending both arms forward to bring the high-held towel directly over the block."})
tool
executing move_joints over 5 steps (0.5s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteMoving both arms forward directly over block A before releasing the towel.
move_joints
right_j40.0000left_j21.4500left_j5-0.3000right_j50.6700right_j21.4500right_j00.6700left_j12.2500left_gripper0.0000left_j3-0.6500left_j40.0000right_gripper0.0000left_j0-0.3000right_j12.2500right_j3-0.6500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=2.0327 left_j2=1.2888 left_j3=-0.4332 left_j4=-0.0086 left_j5=-0.3141 left_gripper=0.0449 right_j0=0.672 right_j1=2.0418 right_j2=1.2881 right_j3=-0.4294 right_j4=-0.0078 right_j5=0.6575 right_gripper=0.0053 state[joint_eff]: [0.0752, -5.7231, 5.4085, 0.6911, 0.0562, 0.1245, 1.0281, -0.5538, -5.9282, 5.5179, 0.8132, 0.0513, 0.1001, 0.5348] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving both arms forward directly over block A before releasing the towel.", "targets": {"right_j4": 0, "left_j2": 1.45, "left_j5": -0.3, "right_j5": 0.67, "right_j2": 1.45, "right_j0": 0.67, "left_j1": 2.25, "left_gripper": 0, "left_j3": -0.65, "left_j4": 0, "right_gripper": 0, "left_j0": -0.3, "right_j1": 2.25, "right_j3": -0.65}})
tool
executing move_joints over 4 steps (0.4s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteMoving both arms further forward over the block before dropping the towel.
move_joints
right_j3-0.6500left_gripper0.0000right_j12.3000left_j12.3000right_j00.6700left_j21.5500right_j50.6700left_j3-0.6500right_j21.5500right_j40.0000left_j40.0000left_j5-0.3000left_j0-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=2.1403 left_j2=1.4723 left_j3=-0.5713 left_j4=-0.009 left_j5=-0.3145 left_gripper=0.0449 right_j0=0.6731 right_j1=2.1468 right_j2=1.4673 right_j3=-0.5709 right_j4=-0.0109 right_j5=0.6552 right_gripper=0.0054 state[joint_eff]: [-0.0205, -3.0427, 2.8513, 0.5885, 0.0659, 0.105, 1.0281, -0.2256, -3.5761, 3.0838, 0.5885, 0.0659, 0.1294, 0.5397] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.65, "left_gripper": 0, "right_j1": 2.3, "left_j1": 2.3, "right_j0": 0.67, "left_j2": 1.55, "right_j5": 0.67, "left_j3": -0.65, "right_j2": 1.55, "right_j4": 0, "left_j4": 0, "left_j5": -0.3, "left_j0": -0.3, "right_gripper": 0}, "note": "Moving both arms further forward over the block before dropping the towel."})
tool
executing move_joints over 3 steps (0.3s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteReleasing both grippers to drop the towel so it covers the block completely.
move_joints
left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=2.1944 left_j2=1.5688 left_j3=-0.6277 left_j4=-0.009 left_j5=-0.3126 left_gripper=0.0449 right_j0=0.6727 right_j1=2.199 right_j2=1.5612 right_j3=-0.6292 right_j4=-0.0116 right_j5=0.6548 right_gripper=0.0053 state[joint_eff]: [-0.0889, -3.9043, 3.412, 0.7057, 0.0904, 0.0464, 1.033, -0.1709, -4.1368, 4.0821, 0.7009, 0.0806, 0.1441, 0.5348] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "right_gripper": 1}, "note": "Releasing both grippers to drop the towel so it covers the block completely."})
tool
executing move_joints over 10 steps (1.0s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteRetracting both arms slightly to provide a clear overhead view of the towel covering the block.
move_joints
left_j40.0000right_j3-0.5000right_j40.0000right_j21.0000left_j3-0.5000right_gripper1.0000right_j50.6700left_gripper1.0000right_j11.5000left_j5-0.3000left_j11.5000right_j00.6700left_j0-0.3000left_j21.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3077 left_j1=2.1899 left_j2=1.5829 left_j3=-0.6056 left_j4=-0.001 left_j5=-0.3145 left_gripper=0.9944 right_j0=0.6739 right_j1=2.186 right_j2=1.5764 right_j3=-0.5976 right_j4=-0.0303 right_j5=0.646 right_gripper=0.9948 state[joint_eff]: [0.0615, -11.6171, 4.8889, 0.7106, -0.1294, -0.0269, -0.149, -0.3897, -11.0427, 5.0256, 0.6374, 0.1636, 0.0464, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Retracting both arms slightly to provide a clear overhead view of the towel covering the block.", "targets": {"left_j4": 0, "right_j3": -0.5, "right_j4": 0, "right_j2": 1, "left_j3": -0.5, "right_gripper": 1, "right_j5": 0.67, "left_gripper": 1, "right_j1": 1.5, "left_j5": -0.3, "left_j1": 1.5, "right_j0": 0.67, "left_j0": -0.3, "left_j2": 1}})
tool
executing move_joints over 11 steps (1.1s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
right_cam
camera right_cam step 258
assistant
agent noteLowering both grippers to regrasp the towel edges.
move_joints
left_j21.3500right_j40.0000right_j50.6700left_j5-0.3000left_j40.0000left_j3-0.6500left_j0-0.3000right_gripper1.0000right_j3-0.6500left_gripper1.0000left_j12.0500right_j21.3500right_j12.0500right_j00.6700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=1.5421 left_j2=1.0172 left_j3=-0.5167 left_j4=0.0002 left_j5=-0.3119 left_gripper=0.9994 right_j0=0.6716 right_j1=1.5398 right_j2=1.0176 right_j3=-0.5159 right_j4=-0.0116 right_j5=0.6559 right_gripper=0.9988 state[joint_eff]: [0.2393, -7.9521, 6.7487, 1.4579, -0.0464, 0.0708, -0.0708, -0.3487, -7.8154, 6.7761, 1.4042, 0.0904, 0.1099, -0.1343] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.35, "right_j4": 0, "right_j5": 0.67, "left_j5": -0.3, "left_j4": 0, "left_j3": -0.65, "left_j0": -0.3, "right_gripper": 1, "right_j3": -0.65, "left_gripper": 1, "left_j1": 2.05, "right_j2": 1.35, "right_j1": 2.05, "right_j0": 0.67}, "note": "Lowering both grippers to regrasp the towel edges."})
tool
executing move_joints over 9 steps (0.9s)
step 267
top_cam
camera top_cam step 267
left_cam
camera left_cam step 267
right_cam
camera right_cam step 267
assistant
agent noteClosing both grippers to grab the towel edges cleanly.
move_joints
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=2.0121 left_j2=1.3251 left_j3=-0.6525 left_j4=-0.0086 left_j5=-0.3126 left_gripper=0.9994 right_j0=0.6739 right_j1=2.0171 right_j2=1.3243 right_j3=-0.6502 right_j4=-0.001 right_j5=0.6552 right_gripper=0.9992 state[joint_eff]: [0.3897, -7.4188, 6.7761, 0.8376, 0.1099, 0.0757, -0.0708, -0.2256, -7.706, 6.7214, 0.6813, 0.0269, 0.105, -0.0952] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grab the towel edges cleanly.", "targets": {"left_gripper": 0, "right_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 277
top_cam
camera top_cam step 277
left_cam
camera left_cam step 277
right_cam
camera right_cam step 277
assistant
agent noteLifting and extending both arms far forward so the towel is directly over the block.
move_joints
left_j12.3000right_gripper0.0000left_j5-0.3000right_j00.6700left_j3-0.6500right_j50.6700right_j21.5500left_j21.5500left_gripper0.0000right_j40.0000right_j3-0.6500left_j40.0000left_j0-0.3000right_j12.3000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3042 left_j1=2.022 left_j2=1.3361 left_j3=-0.6506 left_j4=-0.0181 left_j5=-0.3157 left_gripper=0.0224 right_j0=0.6727 right_j1=2.027 right_j2=1.3285 right_j3=-0.654 right_j4=-0.0082 right_j5=0.6548 right_gripper=0.0226 state[joint_eff]: [-0.294, -11.1795, 4.8479, 0.7302, 0.0904, 0.022, 0.9988, 0.0205, -11.1521, 5.3128, 0.7155, 0.0513, -0.022, 1.0574] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3, "right_gripper": 0, "left_j5": -0.3, "right_j0": 0.67, "left_j3": -0.65, "right_j5": 0.67, "right_j2": 1.55, "left_j2": 1.55, "left_gripper": 0, "right_j4": 0, "right_j3": -0.65, "left_j4": 0, "left_j0": -0.3, "right_j1": 2.3}, "note": "Lifting and extending both arms far forward so the towel is directly over the block."})
tool
executing move_joints over 5 steps (0.5s)
step 282
top_cam
camera top_cam step 282
left_cam
camera left_cam step 282
right_cam
camera right_cam step 282
assistant
agent noteReleasing both grippers to drop the high-held towel directly onto the block.
move_joints
left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3031 left_j1=2.1883 left_j2=1.5696 left_j3=-0.6731 left_j4=-0.0162 left_j5=-0.3153 left_gripper=0.0248 right_j0=0.6735 right_j1=2.1941 right_j2=1.5635 right_j3=-0.6743 right_j4=-0.0082 right_j5=0.6548 right_gripper=0.0228 state[joint_eff]: [0.1709, -3.5624, 2.8376, 0.9451, 0.1832, 0.0806, 1.033, -0.3214, -4.0, 3.3709, 0.779, 0.0708, 0.1197, 1.033] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "right_gripper": 1}, "note": "Releasing both grippers to drop the high-held towel directly onto the block."})
tool
executing move_joints over 10 steps (1.0s)
step 292
top_cam
camera top_cam step 292
left_cam
camera left_cam step 292
right_cam
camera right_cam step 292
assistant
agent noteClosing both grippers to grab the towel and pull it forward over the block.
move_joints
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3073 left_j1=2.188 left_j2=1.5856 left_j3=-0.6426 left_j4=-0.0174 left_j5=-0.3187 left_gripper=0.9951 right_j0=0.6739 right_j1=2.1834 right_j2=1.5776 right_j3=-0.6502 right_j4=-0.0151 right_j5=0.6456 right_gripper=0.9952 state[joint_eff]: [-0.0615, -12.0, 4.6974, 0.5397, -0.0171, -0.0171, -0.1538, -0.3487, -11.1248, 4.8479, 0.6374, -0.0122, 0.0904, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grab the towel and pull it forward over the block.", "targets": {"right_gripper": 0, "left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 302
top_cam
camera top_cam step 302
left_cam
camera left_cam step 302
right_cam
camera right_cam step 302
assistant
agent noteLifting and extending both arms far forward (j2=2.4) to carry the towel directly over block A.
move_joints
left_j40.0000left_j5-0.3000right_j40.0000left_j12.3000right_j00.6700left_j22.4000right_gripper0.0000left_gripper0.0000right_j3-1.1000left_j0-0.3000left_j3-1.1000right_j22.4000right_j12.3000right_j50.6700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=2.188 left_j2=1.5856 left_j3=-0.6437 left_j4=-0.0231 left_j5=-0.3229 left_gripper=0.0213 right_j0=0.6735 right_j1=2.1841 right_j2=1.5761 right_j3=-0.6552 right_j4=-0.0158 right_j5=0.643 right_gripper=0.0199 state[joint_eff]: [-0.2256, -12.0274, 5.9966, 0.9451, 0.0464, -0.0317, 0.8132, -0.1436, -11.9043, 6.106, 0.9109, -0.0269, -0.0415, 0.8376] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting and extending both arms far forward (j2=2.4) to carry the towel directly over block A.", "targets": {"left_j4": 0, "left_j5": -0.3, "right_j4": 0, "left_j1": 2.3, "right_j0": 0.67, "left_j2": 2.4, "right_gripper": 0, "left_gripper": 0, "right_j3": -1.1, "left_j0": -0.3, "left_j3": -1.1, "right_j2": 2.4, "right_j1": 2.3, "right_j5": 0.67}})
tool
executing move_joints over 14 steps (1.4s)
step 316
top_cam
camera top_cam step 316
left_cam
camera left_cam step 316
right_cam
camera right_cam step 316
assistant
agent noteDropping the high-held towel directly onto block A to cover it completely.
move_joints
left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=2.2929 left_j2=2.3482 left_j3=-1.0821 left_j4=-0.0132 left_j5=-0.3298 left_gripper=0.0247 right_j0=0.6727 right_j1=2.2807 right_j2=2.3508 right_j3=-1.0916 right_j4=-0.0124 right_j5=0.651 right_gripper=0.0228 state[joint_eff]: [0.0615, -12.0547, 8.8547, 1.1941, 0.0659, 0.2564, 1.033, -0.294, -11.0291, 8.4718, 1.3407, 0.0952, 0.149, 1.033] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Dropping the high-held towel directly onto block A to cover it completely.", "targets": {"left_gripper": 1, "right_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 326
top_cam
camera top_cam step 326
left_cam
camera left_cam step 326
right_cam
camera right_cam step 326
assistant
agent noteClosing left gripper on the towel edge to adjust its position over the block.
move_joints
left_gripper0.0000left_j5-0.3380left_j0-0.3050right_j22.3490right_j3-1.1060left_j12.2950right_j12.2920left_j4-0.0080left_j22.3500right_j4-0.0120right_j50.6500left_j3-1.0950right_gripper1.0000right_j00.6720
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=2.2951 left_j2=2.3501 left_j3=-1.0954 left_j4=-0.0086 left_j5=-0.3386 left_gripper=0.9954 right_j0=0.6727 right_j1=2.2929 right_j2=2.3493 right_j3=-1.1069 right_j4=-0.0124 right_j5=0.6502 right_gripper=0.9959 state[joint_eff]: [-0.2256, -13.1624, 6.0923, 1.37, -0.0806, 0.0513, -0.1245, -0.0615, -14.0513, 6.3521, 1.3407, -0.0415, -0.0562, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0, "left_j5": -0.338, "left_j0": -0.305, "right_j2": 2.349, "right_j3": -1.106, "left_j1": 2.295, "right_j1": 2.292, "left_j4": -0.008, "left_j2": 2.35, "right_j4": -0.012, "right_j5": 0.65, "left_j3": -1.095, "right_gripper": 1, "right_j0": 0.672}, "note": "Closing left gripper on the towel edge to adjust its position over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 336
top_cam
camera top_cam step 336
left_cam
camera left_cam step 336
right_cam
camera right_cam step 336
assistant
agent noteLifting and pulling the towel to the right with left arm to cover the block completely.
move_joints
right_j50.6700right_j3-1.1000right_j22.3500right_gripper1.0000left_j21.4000left_j3-0.5000left_j40.0000left_j12.1000right_j00.6700right_j40.0000left_j0-0.1000right_j12.2900left_gripper0.0000left_j5-0.1000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.305 left_j1=2.2951 left_j2=2.3501 left_j3=-1.0962 left_j4=-0.0086 left_j5=-0.3412 left_gripper=0.0123 right_j0=0.6727 right_j1=2.2929 right_j2=2.3493 right_j3=-1.1107 right_j4=-0.0124 right_j5=0.6506 right_gripper=0.9987 state[joint_eff]: [-0.3487, -13.012, 6.3248, 1.2088, -0.0464, 0.0171, 1.1062, -0.4034, -13.0393, 6.2017, 1.2039, -0.0317, -0.0562, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.67, "right_j3": -1.1, "right_j2": 2.35, "right_gripper": 1, "left_j2": 1.4, "left_j3": -0.5, "left_j4": 0, "left_j1": 2.1, "right_j0": 0.67, "right_j4": 0, "left_j0": -0.1, "right_j1": 2.29, "left_gripper": 0, "left_j5": -0.1}, "note": "Lifting and pulling the towel to the right with left arm to cover the block completely."})
tool
executing move_joints over 16 steps (1.6s)
step 352
top_cam
camera top_cam step 352
left_cam
camera left_cam step 352
right_cam
camera right_cam step 352
assistant
agent noteReleasing left gripper so the towel rests fully over the block.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.1116 left_j1=2.1139 left_j2=1.4342 left_j3=-0.5171 left_j4=0.0044 left_j5=-0.1265 left_gripper=0.0124 right_j0=0.6724 right_j1=2.2929 right_j2=2.3486 right_j3=-1.1103 right_j4=-0.0116 right_j5=0.6548 right_gripper=0.9987 state[joint_eff]: [0.841, -11.5761, 5.012, 0.6325, -0.0855, 0.0952, 1.0281, -0.4718, -13.3128, 6.3795, 1.3553, 0.0806, 0.0659, -0.1392] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Releasing left gripper so the towel rests fully over the block.", "targets": {"left_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 362
top_cam
camera top_cam step 362
left_cam
camera left_cam step 362
right_cam
camera right_cam step 362
assistant
agent noteClosing left gripper on the towel edge to drape it further forward over the block.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.1143 left_j1=2.1059 left_j2=1.4269 left_j3=-0.5026 left_j4=0.0059 left_j5=-0.1272 left_gripper=0.9946 right_j0=0.672 right_j1=2.2929 right_j2=2.3486 right_j3=-1.1118 right_j4=-0.0124 right_j5=0.654 right_gripper=0.9986 state[joint_eff]: [-0.1299, -10.6872, 6.5573, 0.8132, -0.0659, -0.0366, -0.1294, -0.2667, -12.8889, 6.2427, 1.2039, -0.0269, -0.0513, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Closing left gripper on the towel edge to drape it further forward over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 372
top_cam
camera top_cam step 372
left_cam
camera left_cam step 372
right_cam
camera right_cam step 372
assistant
agent noteLifting and sliding the towel forward and right to cover the last exposed corner of block A.
move_joints
left_j50.1000left_j21.5500right_j12.2900left_j3-0.6500left_j00.1000left_j40.0000right_j40.0000left_j12.3000right_j00.6700right_gripper1.0000right_j3-1.1000right_j50.6700left_gripper0.0000right_j22.3500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.1131 left_j1=2.1059 left_j2=1.4265 left_j3=-0.5041 left_j4=0.0032 left_j5=-0.1303 left_gripper=0.0222 right_j0=0.672 right_j1=2.2932 right_j2=2.3482 right_j3=-1.1183 right_j4=-0.0124 right_j5=0.6544 right_gripper=0.9986 state[joint_eff]: [-0.1709, -11.3162, 5.9556, 0.9939, 0.0269, 0.022, 0.906, -0.294, -13.0667, 6.2427, 1.2332, -0.0806, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.1, "left_j2": 1.55, "right_j1": 2.29, "left_j3": -0.65, "left_j0": 0.1, "left_j4": 0, "right_j4": 0, "left_j1": 2.3, "right_j0": 0.67, "right_gripper": 1, "right_j3": -1.1, "right_j5": 0.67, "left_gripper": 0, "right_j2": 2.35}, "note": "Lifting and sliding the towel forward and right to cover the last exposed corner of block A."})
tool
executing move_joints over 4 steps (0.4s)
step 376
top_cam
camera top_cam step 376
left_cam
camera left_cam step 376
right_cam
camera right_cam step 376
assistant
agent notePulling the towel further forward with left arm so it covers block A completely.
move_joints
right_gripper1.0000right_j40.0000left_j3-1.0000right_j3-1.1000right_j00.6700left_j22.2000left_j40.0000left_gripper0.0000right_j50.6700left_j12.3000left_j00.0600left_j50.0600right_j12.2900right_j22.3500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.0654 left_j1=2.2097 left_j2=1.5738 left_j3=-0.5545 left_j4=0.0525 left_j5=0.0189 left_gripper=0.0246 right_j0=0.672 right_j1=2.2929 right_j2=2.3482 right_j3=-1.1183 right_j4=-0.0116 right_j5=0.6556 right_gripper=0.9987 state[joint_eff]: [0.3624, -5.4085, 3.0838, -0.0024, -0.6911, 0.2418, 1.033, -0.335, -13.2991, 6.5299, 1.3016, 0.105, 0.1197, -0.1392] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j4": 0, "left_j3": -1, "right_j3": -1.1, "right_j0": 0.67, "left_j2": 2.2, "left_j4": 0, "left_gripper": 0, "right_j5": 0.67, "left_j1": 2.3, "left_j0": 0.06, "left_j5": 0.06, "right_j1": 2.29, "right_j2": 2.35}, "note": "Pulling the towel further forward with left arm so it covers block A completely."})
tool
executing move_joints over 10 steps (1.0s)
step 386
top_cam
camera top_cam step 386
left_cam
camera left_cam step 386
right_cam
camera right_cam step 386
assistant
agent notePulling the towel forward and right with left arm to cover the block completely.
move_joints
left_gripper0.0000right_j50.6700left_j3-1.0000left_j12.3000left_j00.3000right_j40.0000right_j22.3500right_j3-1.1000right_gripper1.0000right_j00.6700left_j40.0000left_j50.3000right_j12.2900left_j22.4000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.0597 left_j1=2.2932 left_j2=2.1475 left_j3=-0.9707 left_j4=0.0135 left_j5=0.0372 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988 state[joint_eff]: [-0.1436, -12.1504, 9.2786, 0.9744, -0.105, 0.1978, 1.0281, -0.5128, -13.3265, 6.7077, 1.3748, 0.0708, 0.0464, -0.1343] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Pulling the towel forward and right with left arm to cover the block completely.", "targets": {"left_gripper": 0, "right_j5": 0.67, "left_j3": -1, "left_j1": 2.3, "left_j0": 0.3, "right_j4": 0, "right_j2": 2.35, "right_j3": -1.1, "right_gripper": 1, "right_j0": 0.67, "left_j4": 0, "left_j5": 0.3, "right_j1": 2.29, "left_j2": 2.4}})
tool
executing move_joints over 5 steps (0.5s)
step 391
top_cam
camera top_cam step 391
left_cam
camera left_cam step 391
right_cam
camera right_cam step 391
assistant
agent noteSwinging left arm (holding the towel) directly over block A.
move_joints
left_j00.5800left_j50.5800left_j22.4000right_j12.2900left_gripper0.0000right_gripper1.0000left_j3-1.0000right_j22.3500right_j50.6700left_j12.3000left_j40.0000right_j3-1.1000right_j00.6700right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.2981 left_j1=2.3005 left_j2=2.3528 left_j3=-1.0183 left_j4=-0.0002 left_j5=0.2218 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1175 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988 state[joint_eff]: [-2.0171, -13.0803, 8.9094, 1.4628, 0.022, 0.2564, 1.033, -0.5128, -13.3128, 6.4752, 1.3895, 0.0757, 0.0757, -0.1343] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.58, "left_j5": 0.58, "left_j2": 2.4, "right_j1": 2.29, "left_gripper": 0, "right_gripper": 1, "left_j3": -1, "right_j2": 2.35, "right_j5": 0.67, "left_j1": 2.3, "left_j4": 0, "right_j3": -1.1, "right_j0": 0.67, "right_j4": 0}, "note": "Swinging left arm (holding the towel) directly over block A."})
tool
executing move_joints over 6 steps (0.6s)
step 397
top_cam
camera top_cam step 397
left_cam
camera left_cam step 397
right_cam
camera right_cam step 397
assistant
agent noteMoving left arm to left_j0=0.70 so the suspended towel is positioned directly over the block.
move_joints
right_j22.3500right_gripper1.0000left_j00.7000left_gripper0.0000left_j40.0000left_j12.3000right_j40.0000right_j12.2900right_j50.6700right_j3-1.1000left_j50.7000left_j22.4000right_j00.6700left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.5743 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0168 left_j4=-0.0006 left_j5=0.4999 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988 state[joint_eff]: [-0.6496, -13.2855, 9.2103, 1.4774, -0.0562, 0.1197, 1.0281, -0.5128, -13.3265, 6.6803, 1.3455, 0.0464, 0.0708, -0.1343] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving left arm to left_j0=0.70 so the suspended towel is positioned directly over the block.", "targets": {"right_j2": 2.35, "right_gripper": 1, "left_j0": 0.7, "left_gripper": 0, "left_j4": 0, "left_j1": 2.3, "right_j4": 0, "right_j1": 2.29, "right_j5": 0.67, "right_j3": -1.1, "left_j5": 0.7, "left_j2": 2.4, "right_j0": 0.67, "left_j3": -1}})
tool
executing move_joints over 4 steps (0.4s)
step 401
top_cam
camera top_cam step 401
left_cam
camera left_cam step 401
right_cam
camera right_cam step 401
assistant
agent noteSwinging left arm further right to left_j0=0.85 to center the held towel directly over block A.
move_joints
left_j12.3000left_j00.8500right_j22.3500left_j40.0000right_gripper1.0000right_j50.6700right_j00.6700right_j40.0000left_j3-1.0000left_j50.8500left_gripper0.0000right_j3-1.1000right_j12.2900left_j22.4000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.6842 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0168 left_j4=0.0017 left_j5=0.6418 left_gripper=0.0245 right_j0=0.672 right_j1=2.2929 right_j2=2.3466 right_j3=-1.1183 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988 state[joint_eff]: [0.0068, -13.1761, 8.6359, 1.4676, -0.0659, 0.0904, 1.033, -0.4718, -13.2444, 6.4889, 1.3016, 0.0562, 0.0513, -0.1343] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3, "left_j0": 0.85, "right_j2": 2.35, "left_j4": 0, "right_gripper": 1, "right_j5": 0.67, "right_j0": 0.67, "right_j4": 0, "left_j3": -1, "left_j5": 0.85, "left_gripper": 0, "right_j3": -1.1, "right_j1": 2.29, "left_j2": 2.4}, "note": "Swinging left arm further right to left_j0=0.85 to center the held towel directly over block A."})
tool
executing move_joints over 4 steps (0.4s)
step 405
top_cam
camera top_cam step 405
left_cam
camera left_cam step 405
right_cam
camera right_cam step 405
assistant
agent noteReleasing left gripper to drop the towel over the block.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8272 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0161 left_j4=0.0021 left_j5=0.7845 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988 state[joint_eff]: [0.0615, -13.0803, 8.6359, 1.5458, -0.0757, 0.1148, 1.033, -0.5128, -13.3128, 6.4615, 1.326, 0.0513, 0.0659, -0.1343] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1}, "note": "Releasing left gripper to drop the towel over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 415
top_cam
camera top_cam step 415
left_cam
camera left_cam step 415
right_cam
camera right_cam step 415
assistant
agent noteLowering left gripper onto the towel edge to prepare to carry it over the block.
move_joints
left_j50.8200right_j50.6700left_j3-0.5000right_j12.2900left_j21.4000left_gripper1.0000right_j3-1.1000right_j40.0000left_j40.0000left_j12.1000right_j22.3500right_gripper1.0000right_j00.6700left_j00.8200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8253 left_j1=2.3005 left_j2=2.3703 left_j3=-1.0233 left_j4=-0.0082 left_j5=0.783 left_gripper=0.9945 right_j0=0.672 right_j1=2.2929 right_j2=2.3466 right_j3=-1.1191 right_j4=-0.0124 right_j5=0.6548 right_gripper=0.9987 state[joint_eff]: [0.0068, -13.2171, 6.4342, 1.3993, 0.0611, 0.0659, 0.022, -0.2256, -13.0256, 6.2427, 1.1355, -0.0415, -0.0024, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.82, "right_j5": 0.67, "left_j3": -0.5, "right_j1": 2.29, "left_j2": 1.4, "left_gripper": 1, "right_j3": -1.1, "right_j4": 0, "left_j4": 0, "left_j1": 2.1, "right_j2": 2.35, "right_gripper": 1, "right_j0": 0.67, "left_j0": 0.82}, "note": "Lowering left gripper onto the towel edge to prepare to carry it over the block."})
tool
executing move_joints over 16 steps (1.6s)
step 431
top_cam
camera top_cam step 431
left_cam
camera left_cam step 431
right_cam
camera right_cam step 431
assistant
agent noteClosing left gripper to grasp the towel edge.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8242 left_j1=2.0998 left_j2=1.4384 left_j3=-0.5114 left_j4=-0.0032 left_j5=0.7967 left_gripper=0.9994 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1183 right_j4=-0.0116 right_j5=0.6552 right_gripper=0.9988 state[joint_eff]: [-0.6906, -10.5231, 4.5197, 0.6129, 0.0122, 0.1734, -0.0708, -0.4034, -13.1077, 6.4889, 1.3748, 0.0708, 0.1001, -0.1343] camera 'top_cam' (step 431): [image omitted: streamed camera frame] camera 'left_cam' (step 431): [image omitted: streamed camera frame] camera 'right_cam' (step 431): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0}, "note": "Closing left gripper to grasp the towel edge."})
tool
executing move_joints over 10 steps (1.0s)
step 441
top_cam
camera top_cam step 441
left_cam
camera left_cam step 441
right_cam
camera right_cam step 441
assistant
agent noteLifting and dragging the towel to left_j0=0.45, extending far forward directly over block A.
move_joints
right_j00.6700left_gripper0.0000right_j50.6700right_j40.0000left_j50.4500left_j12.3000left_j22.4000right_j3-1.1000right_j12.2900left_j00.4500right_gripper1.0000right_j22.3500left_j40.0000left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8246 left_j1=2.0937 left_j2=1.4246 left_j3=-0.5114 left_j4=-0.0006 left_j5=0.7952 left_gripper=0.0124 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1221 right_j4=-0.0124 right_j5=0.6544 right_gripper=0.9987 state[joint_eff]: [-0.1573, -10.7692, 7.0359, 1.0134, -0.0269, -0.022, 1.1062, -0.2256, -13.0393, 6.2291, 1.1795, -0.0464, -0.0464, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 441): [image omitted: streamed camera frame] camera 'left_cam' (step 441): [image omitted: streamed camera frame] camera 'right_cam' (step 441): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.67, "left_gripper": 0, "right_j5": 0.67, "right_j4": 0, "left_j5": 0.45, "left_j1": 2.3, "left_j2": 2.4, "right_j3": -1.1, "right_j1": 2.29, "left_j0": 0.45, "right_gripper": 1, "right_j2": 2.35, "left_j4": 0, "left_j3": -1}, "note": "Lifting and dragging the towel to left_j0=0.45, extending far forward directly over block A."})
tool
executing move_joints over 16 steps (1.6s)
step 457
top_cam
camera top_cam step 457
left_cam
camera left_cam step 457
right_cam
camera right_cam step 457
assistant
agent noteMoving left arm to left_j0=0.75 to position the towel right over block A.
move_joints
left_j12.3000right_j3-1.1000right_gripper1.0000left_j40.0000right_j50.6700left_j3-1.0000right_j40.0000left_gripper0.0000right_j12.2900left_j22.4000right_j22.3500left_j50.7500left_j00.7500right_j00.6700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.4629 left_j1=2.2902 left_j2=2.3512 left_j3=-0.9741 left_j4=-0.0048 left_j5=0.4725 left_gripper=0.0125 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6552 right_gripper=0.9988 state[joint_eff]: [-0.5128, -12.465, 8.9504, 1.2772, 0.0269, 0.0317, 1.0281, -0.2393, -13.3265, 6.653, 1.326, 0.0611, 0.1148, -0.1343] camera 'top_cam' (step 457): [image omitted: streamed camera frame] camera 'left_cam' (step 457): [image omitted: streamed camera frame] camera 'right_cam' (step 457): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving left arm to left_j0=0.75 to position the towel right over block A.", "targets": {"left_j1": 2.3, "right_j3": -1.1, "right_gripper": 1, "left_j4": 0, "right_j5": 0.67, "left_j3": -1, "right_j4": 0, "left_gripper": 0, "right_j1": 2.29, "left_j2": 2.4, "right_j2": 2.35, "left_j5": 0.75, "left_j0": 0.75, "right_j0": 0.67}})
tool
executing move_joints over 5 steps (0.5s)
step 462
top_cam
camera top_cam step 462
left_cam
camera left_cam step 462
right_cam
camera right_cam step 462
assistant
agent noteReleasing left gripper to drop the towel over the block.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7563 left_j1=2.294 left_j2=2.3695 left_j3=-1.0065 left_j4=-0.0021 left_j5=0.6754 left_gripper=0.0125 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1183 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988 state[joint_eff]: [-2.8513, -12.6154, 8.7863, 1.4676, -0.022, 0.1636, 1.0281, -0.3077, -13.2991, 6.5299, 1.3309, 0.0415, 0.0415, -0.1343] camera 'top_cam' (step 462): [image omitted: streamed camera frame] camera 'left_cam' (step 462): [image omitted: streamed camera frame] camera 'right_cam' (step 462): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1}, "note": "Releasing left gripper to drop the towel over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 472
top_cam
camera top_cam step 472
left_cam
camera left_cam step 472
right_cam
camera right_cam step 472
assistant
agent notePositioning left arm (left_j0=0.60) and right arm (right_j0=0.35) over the towel edges.
move_joints
right_j3-0.6500right_gripper1.0000right_j40.0000left_j00.6000left_j50.6000right_j21.4000right_j50.3500left_j40.0000left_gripper1.0000right_j12.1000left_j12.1000left_j3-0.6500left_j21.4000right_j00.3500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7536 left_j1=2.2955 left_j2=2.3692 left_j3=-1.0111 left_j4=-0.0082 left_j5=0.6743 left_gripper=0.9946 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1217 right_j4=-0.0124 right_j5=0.6548 right_gripper=0.9987 state[joint_eff]: [-0.0615, -13.3128, 6.3795, 1.409, 0.0122, 0.0366, -0.0952, -0.3487, -13.0393, 6.2154, 1.1551, -0.0513, -0.0317, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 472): [image omitted: streamed camera frame] camera 'left_cam' (step 472): [image omitted: streamed camera frame] camera 'right_cam' (step 472): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Positioning left arm (left_j0=0.60) and right arm (right_j0=0.35) over the towel edges.", "targets": {"right_j3": -0.65, "right_gripper": 1, "right_j4": 0, "left_j0": 0.6, "left_j5": 0.6, "right_j2": 1.4, "right_j5": 0.35, "left_j4": 0, "left_gripper": 1, "right_j1": 2.1, "left_j1": 2.1, "left_j3": -0.65, "left_j2": 1.4, "right_j0": 0.35}})
tool
executing move_joints over 16 steps (1.6s)
step 488
top_cam
camera top_cam step 488
left_cam
camera left_cam step 488
right_cam
camera right_cam step 488
assistant
agent notePositioning left gripper (left_j0=0.70) and right gripper (right_j0=0.75) over the towel.
move_joints
left_gripper1.0000right_j00.7500right_j12.1000left_j21.4000right_j3-0.6500left_j12.1000left_j00.7000right_gripper1.0000right_j21.4000left_j50.7000left_j3-0.6500left_j40.0000right_j40.0000right_j50.7500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.609 left_j1=2.0937 left_j2=1.4429 left_j3=-0.6548 left_j4=0.0036 left_j5=0.6037 left_gripper=0.9994 right_j0=0.3672 right_j1=2.0998 right_j2=1.438 right_j3=-0.6704 right_j4=-0.0078 right_j5=0.3687 right_gripper=0.9987 state[joint_eff]: [-0.7043, -9.7436, 4.0137, 0.6129, -0.0952, -0.0757, -0.0659, -0.9641, -9.9761, 4.4376, 0.6422, 0.0659, 0.0024, -0.1392] camera 'top_cam' (step 488): [image omitted: streamed camera frame] camera 'left_cam' (step 488): [image omitted: streamed camera frame] camera 'right_cam' (step 488): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "right_j0": 0.75, "right_j1": 2.1, "left_j2": 1.4, "right_j3": -0.65, "left_j1": 2.1, "left_j0": 0.7, "right_gripper": 1, "right_j2": 1.4, "left_j5": 0.7, "left_j3": -0.65, "left_j4": 0, "right_j4": 0, "right_j5": 0.75}, "note": "Positioning left gripper (left_j0=0.70) and right gripper (right_j0=0.75) over the towel."})
tool
executing move_joints over 7 steps (0.7s)
step 495
top_cam
camera top_cam step 495
left_cam
camera left_cam step 495
right_cam
camera right_cam step 495
assistant
agent noteAdjusting right arm to right_j0=0.52 to align over the right edge of the towel.
move_joints
left_j3-0.6400right_j40.0000left_j50.6900left_j12.0800right_j00.5200left_j40.0000right_j12.0800left_j00.6900right_j50.5200left_gripper1.0000right_j3-0.6400left_j21.4200right_gripper1.0000right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.6895 left_j1=2.085 left_j2=1.4273 left_j3=-0.6395 left_j4=0.0296 left_j5=0.6666 left_gripper=0.9994 right_j0=0.7166 right_j1=2.0876 right_j2=1.42 right_j3=-0.6456 right_j4=0.0437 right_j5=0.6666 right_gripper=0.9987 state[joint_eff]: [0.7316, -9.6752, 3.7675, 0.7009, -0.2808, 0.2662, -0.0708, 0.9368, -10.0308, 4.1368, 0.7497, -0.4176, 0.2418, -0.1441] camera 'top_cam' (step 495): [image omitted: streamed camera frame] camera 'left_cam' (step 495): [image omitted: streamed camera frame] camera 'right_cam' (step 495): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.64, "right_j4": 0, "left_j5": 0.69, "left_j1": 2.08, "right_j0": 0.52, "left_j4": 0, "right_j1": 2.08, "left_j0": 0.69, "right_j5": 0.52, "left_gripper": 1, "right_j3": -0.64, "left_j2": 1.42, "right_gripper": 1, "right_j2": 1.42}, "note": "Adjusting right arm to right_j0=0.52 to align over the right edge of the towel."})
tool
executing move_joints over 4 steps (0.4s)
step 499
top_cam
camera top_cam step 499
left_cam
camera left_cam step 499
right_cam
camera right_cam step 499
assistant
agent noteAdjusting right arm to right_j0=0.65 to center over the right edge of the towel.
move_joints
left_j21.4200left_j12.0800left_j40.0000right_j12.0800left_gripper1.0000left_j3-0.6400right_j3-0.6400right_j40.0000left_j50.6900right_j00.6500left_j00.6900right_j21.4200right_j50.6500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.6937 left_j1=2.0834 left_j2=1.4269 left_j3=-0.6388 left_j4=0.0257 left_j5=0.6727 left_gripper=0.9994 right_j0=0.527 right_j1=2.0838 right_j2=1.42 right_j3=-0.6468 right_j4=0.0135 right_j5=0.5697 right_gripper=0.9988 state[joint_eff]: [-0.335, -11.1795, 5.2171, 0.7595, -0.3199, 0.1245, -0.0708, 1.9897, -11.1521, 5.7641, 0.8034, -0.1832, -0.0562, -0.1343] camera 'top_cam' (step 499): [image omitted: streamed camera frame] camera 'left_cam' (step 499): [image omitted: streamed camera frame] camera 'right_cam' (step 499): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.42, "left_j1": 2.08, "left_j4": 0, "right_j1": 2.08, "left_gripper": 1, "left_j3": -0.64, "right_j3": -0.64, "right_j4": 0, "left_j5": 0.69, "right_j0": 0.65, "left_j0": 0.69, "right_j2": 1.42, "right_j5": 0.65, "right_gripper": 1}, "note": "Adjusting right arm to right_j0=0.65 to center over the right edge of the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 501
top_cam
camera top_cam step 501
left_cam
camera left_cam step 501
right_cam
camera right_cam step 501
assistant
agent noteClosing left gripper to grasp the left side of the towel.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.6937 left_j1=2.083 left_j2=1.4265 left_j3=-0.6388 left_j4=0.0257 left_j5=0.6727 left_gripper=0.9994 right_j0=0.572 right_j1=2.0838 right_j2=1.4189 right_j3=-0.6483 right_j4=0.0208 right_j5=0.577 right_gripper=0.9991 state[joint_eff]: [-0.4991, -11.2342, 5.2581, 0.7595, -0.2857, 0.1245, -0.0708, 3.3162, -11.0154, 5.8051, 0.823, -0.2125, 0.0073, -0.105] camera 'top_cam' (step 501): [image omitted: streamed camera frame] camera 'left_cam' (step 501): [image omitted: streamed camera frame] camera 'right_cam' (step 501): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper to grasp the left side of the towel.", "targets": {"left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 511
top_cam
camera top_cam step 511
left_cam
camera left_cam step 511
right_cam
camera right_cam step 511
assistant
agent noteOpening both grippers and aligning left_j0=0.75 and right_j0=0.65 over the towel edges.
move_joints
left_gripper1.0000right_j3-0.6400right_j50.6500right_gripper1.0000left_j3-0.6400left_j40.0000left_j12.0800left_j50.7500right_j00.6500right_j40.0000left_j00.7500left_j21.4200right_j12.0800right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.6937 left_j1=2.0834 left_j2=1.4265 left_j3=-0.6418 left_j4=0.0257 left_j5=0.6655 left_gripper=0.0125 right_j0=0.5701 right_j1=2.083 right_j2=1.4193 right_j3=-0.6514 right_j4=0.0185 right_j5=0.5789 right_gripper=0.9989 state[joint_eff]: [-0.1436, -10.9744, 5.7778, 0.8278, 0.0073, 0.0611, 1.0965, 0.0615, -10.8239, 5.7231, 0.7692, -0.0317, -0.0513, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 511): [image omitted: streamed camera frame] camera 'left_cam' (step 511): [image omitted: streamed camera frame] camera 'right_cam' (step 511): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening both grippers and aligning left_j0=0.75 and right_j0=0.65 over the towel edges.", "targets": {"left_gripper": 1, "right_j3": -0.64, "right_j5": 0.65, "right_gripper": 1, "left_j3": -0.64, "left_j4": 0, "left_j1": 2.08, "left_j5": 0.75, "right_j0": 0.65, "right_j4": 0, "left_j0": 0.75, "left_j2": 1.42, "right_j1": 2.08, "right_j2": 1.42}})
tool
executing move_joints over 10 steps (1.0s)
step 521
top_cam
camera top_cam step 521
left_cam
camera left_cam step 521
right_cam
camera right_cam step 521
assistant
agent noteClosing left gripper on the towel edge and moving right arm to right_j0=0.75.
move_joints
right_j50.7500right_j00.7500right_j12.0800right_j3-0.6400left_gripper0.0000right_gripper1.0000right_j40.0000right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7448 left_j1=2.0811 left_j2=1.4269 left_j3=-0.6296 left_j4=0.0071 left_j5=0.7223 left_gripper=0.9943 right_j0=0.6403 right_j1=2.083 right_j2=1.4193 right_j3=-0.6487 right_j4=0.0185 right_j5=0.6289 right_gripper=0.999 state[joint_eff]: [0.5402, -11.1248, 5.2718, 0.7204, -0.1099, 0.315, -0.0073, 0.7863, -11.1795, 5.9282, 0.906, -0.1978, 0.1099, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 521): [image omitted: streamed camera frame] camera 'left_cam' (step 521): [image omitted: streamed camera frame] camera 'right_cam' (step 521): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper on the towel edge and moving right arm to right_j0=0.75.", "targets": {"right_j5": 0.75, "right_j0": 0.75, "right_j1": 2.08, "right_j3": -0.64, "left_gripper": 0, "right_gripper": 1, "right_j4": 0, "right_j2": 1.42}})
tool
executing move_joints over 10 steps (1.0s)
step 531
top_cam
camera top_cam step 531
left_cam
camera left_cam step 531
right_cam
camera right_cam step 531
assistant
agent noteOpening both grippers and aligning over the left (left_j0=0.80) and right (right_j0=0.80) edges of the towel.
move_joints
right_j12.0800left_j00.8000left_j50.8000right_j40.0000left_gripper1.0000left_j12.0800right_j21.4200right_j00.8000right_j50.8000left_j3-0.6400left_j21.4200right_j3-0.6400left_j40.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.746 left_j1=2.0811 left_j2=1.4265 left_j3=-0.6346 left_j4=0.0029 left_j5=0.7155 left_gripper=0.0122 right_j0=0.7395 right_j1=2.083 right_j2=1.4193 right_j3=-0.6456 right_j4=0.0223 right_j5=0.717 right_gripper=0.999 state[joint_eff]: [-0.2803, -11.0154, 5.8462, 0.862, 0.022, 0.0757, 0.8571, 0.6906, -11.2479, 5.9692, 0.7888, -0.2515, 0.2613, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 531): [image omitted: streamed camera frame] camera 'left_cam' (step 531): [image omitted: streamed camera frame] camera 'right_cam' (step 531): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.08, "left_j0": 0.8, "left_j5": 0.8, "right_j4": 0, "left_gripper": 1, "left_j1": 2.08, "right_j2": 1.42, "right_j0": 0.8, "right_j5": 0.8, "left_j3": -0.64, "left_j2": 1.42, "right_j3": -0.64, "left_j4": 0, "right_gripper": 1}, "note": "Opening both grippers and aligning over the left (left_j0=0.80) and right (right_j0=0.80) edges of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 541
top_cam
camera top_cam step 541
left_cam
camera left_cam step 541
right_cam
camera right_cam step 541
assistant
agent noteClosing left gripper on the towel edge and moving right arm inward to right_j0=0.62.
move_joints
right_j21.4200right_j00.6200right_j3-0.6400right_j40.0000left_gripper0.0000right_j12.0800right_j50.6200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7959 left_j1=2.0796 left_j2=1.4269 left_j3=-0.6285 left_j4=0.004 left_j5=0.7788 left_gripper=0.9947 right_j0=0.7879 right_j1=2.0823 right_j2=1.4193 right_j3=-0.6453 right_j4=0.0288 right_j5=0.7727 right_gripper=0.999 state[joint_eff]: [0.212, -10.988, 5.4632, 0.7448, -0.1001, 0.1441, -0.0757, 0.9641, -11.0701, 5.8051, 0.8278, -0.2857, 0.2418, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 541): [image omitted: streamed camera frame] camera 'left_cam' (step 541): [image omitted: streamed camera frame] camera 'right_cam' (step 541): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper on the towel edge and moving right arm inward to right_j0=0.62.", "targets": {"right_j2": 1.42, "right_j0": 0.62, "right_j3": -0.64, "right_j4": 0, "left_gripper": 0, "right_j1": 2.08, "right_j5": 0.62, "right_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 551
top_cam
camera top_cam step 551
left_cam
camera left_cam step 551
right_cam
camera right_cam step 551
assistant
agent noteLifting and carrying the towel across to left_j0=-0.30 to position it directly above block A.
move_joints
left_gripper0.0000left_j3-0.6500right_j50.6300left_j12.1000right_j00.6300right_j40.0000right_j21.4200left_j21.4000right_gripper1.0000left_j40.0000right_j3-0.6500left_j5-0.3000left_j0-0.3000right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7986 left_j1=2.0796 left_j2=1.4265 left_j3=-0.6315 left_j4=0.0025 left_j5=0.7776 left_gripper=0.0123 right_j0=0.6323 right_j1=2.0815 right_j2=1.4197 right_j3=-0.6472 right_j4=0.0097 right_j5=0.6338 right_gripper=0.9991 state[joint_eff]: [-0.2803, -10.988, 5.8598, 0.8278, -0.0024, 0.0073, 1.0867, -0.6222, -11.1111, 5.7641, 0.8034, -0.1294, -0.0611, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 551): [image omitted: streamed camera frame] camera 'left_cam' (step 551): [image omitted: streamed camera frame] camera 'right_cam' (step 551): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting and carrying the towel across to left_j0=-0.30 to position it directly above block A.", "targets": {"left_gripper": 0, "left_j3": -0.65, "right_j5": 0.63, "left_j1": 2.1, "right_j0": 0.63, "right_j4": 0, "right_j2": 1.42, "left_j2": 1.4, "right_gripper": 1, "left_j4": 0, "right_j3": -0.65, "left_j5": -0.3, "left_j0": -0.3, "right_j1": 2.08}})
tool
executing move_joints over 18 steps (1.8s)
step 569
top_cam
camera top_cam step 569
left_cam
camera left_cam step 569
right_cam
camera right_cam step 569
assistant
agent noteReleasing left gripper and retracting slightly to check if the block is covered.
move_joints
right_j21.2000left_j40.0000right_j3-0.6000right_j00.6300right_j50.6300left_j3-0.6000right_j11.8000left_j0-0.3000left_j11.8000left_j21.2000right_j40.0000right_gripper1.0000left_j5-0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2745 left_j1=2.0796 left_j2=1.4113 left_j3=-0.6468 left_j4=-0.0101 left_j5=-0.2317 left_gripper=0.0119 right_j0=0.6281 right_j1=2.0815 right_j2=1.4193 right_j3=-0.6498 right_j4=0.0105 right_j5=0.6243 right_gripper=0.9991 state[joint_eff]: [-0.294, -9.1419, 4.8068, 0.7302, 0.022, -0.0415, 1.0281, -0.1026, -10.9333, 5.8051, 0.7106, -0.1099, 0.0269, -0.105] camera 'top_cam' (step 569): [image omitted: streamed camera frame] camera 'left_cam' (step 569): [image omitted: streamed camera frame] camera 'right_cam' (step 569): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.2, "left_j4": 0, "right_j3": -0.6, "right_j0": 0.63, "right_j5": 0.63, "left_j3": -0.6, "right_j1": 1.8, "left_j0": -0.3, "left_j1": 1.8, "left_j2": 1.2, "right_j4": 0, "right_gripper": 1, "left_j5": -0.3, "left_gripper": 1}, "note": "Releasing left gripper and retracting slightly to check if the block is covered."})
tool
executing move_joints over 10 steps (1.0s)
step 579
top_cam
camera top_cam step 579
left_cam
camera left_cam step 579
right_cam
camera right_cam step 579
assistant
agent noteLifting both arms into hover poses over the towel at the bottom-left of the table.
move_joints
left_gripper1.0000left_j21.2000left_j11.8000left_j50.0000right_j3-0.6000right_j50.2500right_gripper1.0000right_j00.2500left_j40.0000left_j00.0000left_j3-0.6000right_j11.8000right_j40.0000right_j21.2000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2947 left_j1=1.8412 left_j2=1.211 left_j3=-0.6132 left_j4=-0.0002 left_j5=-0.2962 left_gripper=0.9951 right_j0=0.6281 right_j1=1.8389 right_j2=1.2079 right_j3=-0.6144 right_j4=-0.001 right_j5=0.625 right_gripper=0.9991 state[joint_eff]: [-0.7726, -11.3983, 6.0239, 1.0427, -0.0269, 0.0757, -0.105, -0.0752, -11.2479, 5.9966, 1.0379, -0.0317, -0.0073, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 579): [image omitted: streamed camera frame] camera 'left_cam' (step 579): [image omitted: streamed camera frame] camera 'right_cam' (step 579): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j2": 1.2, "left_j1": 1.8, "left_j5": 0, "right_j3": -0.6, "right_j5": 0.25, "right_gripper": 1, "right_j0": 0.25, "left_j4": 0, "left_j0": 0, "left_j3": -0.6, "right_j1": 1.8, "right_j4": 0, "right_j2": 1.2}, "note": "Lifting both arms into hover poses over the towel at the bottom-left of the table."})
tool
executing move_joints over 7 steps (0.7s)
step 586
top_cam
camera top_cam step 586
left_cam
camera left_cam step 586
right_cam
camera right_cam step 586
assistant
agent noteSwinging left arm to left_j0=0.90 to inspect the towel at the bottom-left edge of the table.
move_joints
right_j00.2500right_gripper1.0000left_j3-0.6500right_j40.0000right_j3-0.6000left_j00.9000right_j11.8000left_gripper1.0000left_j50.9000right_j50.2500right_j21.2000left_j21.3000left_j40.0000left_j12.1000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.0181 left_j1=1.8252 left_j2=1.2037 left_j3=-0.6125 left_j4=-0.0002 left_j5=-0.057 left_gripper=0.9994 right_j0=0.2722 right_j1=1.829 right_j2=1.2018 right_j3=-0.6163 right_j4=-0.0078 right_j5=0.3088 right_gripper=0.9991 state[joint_eff]: [0.294, -11.0017, 5.6547, 0.9597, -0.0171, 0.1148, -0.0708, -0.0889, -11.1521, 5.7915, 1.033, 0.1001, -0.1148, -0.1001] camera 'top_cam' (step 586): [image omitted: streamed camera frame] camera 'left_cam' (step 586): [image omitted: streamed camera frame] camera 'right_cam' (step 586): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Swinging left arm to left_j0=0.90 to inspect the towel at the bottom-left edge of the table.", "targets": {"right_j0": 0.25, "right_gripper": 1, "left_j3": -0.65, "right_j4": 0, "right_j3": -0.6, "left_j0": 0.9, "right_j1": 1.8, "left_gripper": 1, "left_j5": 0.9, "right_j5": 0.25, "right_j2": 1.2, "left_j2": 1.3, "left_j4": 0, "left_j1": 2.1}})
tool
executing move_joints over 16 steps (1.6s)
step 602
top_cam
camera top_cam step 602
left_cam
camera left_cam step 602
right_cam
camera right_cam step 602
assistant
agent notePositioning left gripper over the left edge (left_j0=0.75) and right gripper over the right edge (right_j0=0.55) of the towel.
move_joints
right_j40.0000left_j50.7500left_j12.0800right_j00.5500left_j00.7500left_j21.4200left_gripper1.0000right_j21.4200left_j40.0000right_j50.5500left_j3-0.6400right_j3-0.6400right_j12.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8658 left_j1=2.0277 left_j2=1.3262 left_j3=-0.6247 left_j4=0.0853 left_j5=0.7967 left_gripper=0.9994 right_j0=0.255 right_j1=1.829 right_j2=1.1973 right_j3=-0.6151 right_j4=-0.0078 right_j5=0.2565 right_gripper=0.9991 state[joint_eff]: [0.9231, -4.3419, 3.6991, 0.4664, -0.9158, 0.4322, -0.0708, -0.6769, -11.2752, 6.3521, 1.0379, 0.0757, -0.1197, -0.1001] camera 'top_cam' (step 602): [image omitted: streamed camera frame] camera 'left_cam' (step 602): [image omitted: streamed camera frame] camera 'right_cam' (step 602): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Positioning left gripper over the left edge (left_j0=0.75) and right gripper over the right edge (right_j0=0.55) of the towel.", "targets": {"right_j4": 0, "left_j5": 0.75, "left_j1": 2.08, "right_j0": 0.55, "left_j0": 0.75, "left_j2": 1.42, "left_gripper": 1, "right_j2": 1.42, "left_j4": 0, "right_j5": 0.55, "left_j3": -0.64, "right_j3": -0.64, "right_j1": 2.08, "right_gripper": 1}})
tool
executing move_joints over 5 steps (0.5s)
step 607
top_cam
camera top_cam step 607
left_cam
camera left_cam step 607
right_cam
camera right_cam step 607
assistant
agent noteClosing left gripper to catch the towel hem, and shifting right arm to right_j0=0.68.
move_joints
right_j50.6800right_j12.0800left_gripper0.0000right_j21.4200right_gripper1.0000right_j40.0000right_j3-0.6400right_j00.6800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7547 left_j1=2.0563 left_j2=1.3945 left_j3=-0.6426 left_j4=0.0235 left_j5=0.7639 left_gripper=0.9994 right_j0=0.5396 right_j1=2.0594 right_j2=1.3808 right_j3=-0.6437 right_j4=0.0029 right_j5=0.4709 right_gripper=0.9991 state[joint_eff]: [-0.1709, -8.6906, 7.8017, 0.7937, -0.105, 0.0171, -0.0708, -0.7453, -9.6479, 7.4735, 0.9011, -0.2906, 0.1685, -0.1001] camera 'top_cam' (step 607): [image omitted: streamed camera frame] camera 'left_cam' (step 607): [image omitted: streamed camera frame] camera 'right_cam' (step 607): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.68, "right_j1": 2.08, "left_gripper": 0, "right_j2": 1.42, "right_gripper": 1, "right_j4": 0, "right_j3": -0.64, "right_j0": 0.68}, "note": "Closing left gripper to catch the towel hem, and shifting right arm to right_j0=0.68."})
tool
executing move_joints over 10 steps (1.0s)
step 617
top_cam
camera top_cam step 617
left_cam
camera left_cam step 617
right_cam
camera right_cam step 617
assistant
agent noteShifting right arm to right_j0=0.55 to position over the towel's right edge while holding left grasp.
move_joints
right_j12.0800right_j50.5500right_gripper1.0000right_j40.0000right_j00.5500left_gripper0.0000right_j3-0.6400right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0071 left_j5=0.7605 left_gripper=0.0125 right_j0=0.6701 right_j1=2.0674 right_j2=1.3991 right_j3=-0.646 right_j4=0.0025 right_j5=0.6453 right_gripper=0.9991 state[joint_eff]: [0.3077, -11.2342, 5.2991, 0.7741, 0.1148, -0.022, 1.1062, 0.4308, -9.8256, 7.4872, 0.8816, -0.0757, 0.0952, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 617): [image omitted: streamed camera frame] camera 'left_cam' (step 617): [image omitted: streamed camera frame] camera 'right_cam' (step 617): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Shifting right arm to right_j0=0.55 to position over the towel's right edge while holding left grasp.", "targets": {"right_j1": 2.08, "right_j5": 0.55, "right_gripper": 1, "right_j4": 0, "right_j0": 0.55, "left_gripper": 0, "right_j3": -0.64, "right_j2": 1.42}})
tool
executing move_joints over 2 steps (0.2s)
step 619
top_cam
camera top_cam step 619
left_cam
camera left_cam step 619
right_cam
camera right_cam step 619
assistant
agent noteMoving right arm to right_j0=0.72 to position over the right edge of the towel.
move_joints
right_j3-0.6400left_gripper0.0000right_j40.0000right_j21.4200right_j00.7200right_gripper1.0000right_j50.7200right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0063 left_j5=0.7589 left_gripper=0.0125 right_j0=0.6262 right_j1=2.0674 right_j2=1.4002 right_j3=-0.6487 right_j4=-0.0128 right_j5=0.6071 right_gripper=0.9991 state[joint_eff]: [-0.1709, -10.4684, 5.9419, 0.7302, 0.022, -0.0073, 1.033, -2.6325, -9.8393, 7.241, 0.8474, 0.0904, 0.0562, -0.105] camera 'top_cam' (step 619): [image omitted: streamed camera frame] camera 'left_cam' (step 619): [image omitted: streamed camera frame] camera 'right_cam' (step 619): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.64, "left_gripper": 0, "right_j4": 0, "right_j2": 1.42, "right_j0": 0.72, "right_gripper": 1, "right_j5": 0.72, "right_j1": 2.08}, "note": "Moving right arm to right_j0=0.72 to position over the right edge of the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 621
top_cam
camera top_cam step 621
left_cam
camera left_cam step 621
right_cam
camera right_cam step 621
assistant
agent noteLifting and extending left arm to left_j0=0.35, j1=2.30, j2=2.40 to suspend the towel directly over block A.
move_joints
left_j22.4000left_j12.3000left_j40.0000right_j21.4000right_j50.6200right_j3-0.6500right_j00.6200left_gripper0.0000right_j40.0000right_gripper1.0000left_j50.3500left_j3-1.0000left_j00.3500right_j12.0700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0025 left_j5=0.7586 left_gripper=0.0119 right_j0=0.6178 right_j1=2.0689 right_j2=1.4006 right_j3=-0.6483 right_j4=0.0139 right_j5=0.6224 right_gripper=0.9991 state[joint_eff]: [-0.1709, -10.7966, 5.8735, 0.7399, 0.022, -0.0562, 1.0281, 4.1094, -9.6752, 7.2547, 0.7009, -0.2564, 0.1001, -0.1001] camera 'top_cam' (step 621): [image omitted: streamed camera frame] camera 'left_cam' (step 621): [image omitted: streamed camera frame] camera 'right_cam' (step 621): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting and extending left arm to left_j0=0.35, j1=2.30, j2=2.40 to suspend the towel directly over block A.", "targets": {"left_j2": 2.4, "left_j1": 2.3, "left_j4": 0, "right_j2": 1.4, "right_j5": 0.62, "right_j3": -0.65, "right_j0": 0.62, "left_gripper": 0, "right_j4": 0, "right_gripper": 1, "left_j5": 0.35, "left_j3": -1, "left_j0": 0.35, "right_j1": 2.07}})
tool
executing move_joints over 16 steps (1.6s)
step 637
top_cam
camera top_cam step 637
left_cam
camera left_cam step 637
right_cam
camera right_cam step 637
assistant
agent noteExtending left arm further forward (j2=2.40) over block A.
move_joints
left_j40.0000left_j22.4000left_gripper0.0000left_j50.3500right_j40.0000right_j21.4000right_j3-0.6500right_j50.6200right_j00.6200right_j12.0700left_j00.3500left_j3-1.0000left_j12.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.3618 left_j1=2.2856 left_j2=2.3531 left_j3=-0.9855 left_j4=-0.0006 left_j5=0.3756 left_gripper=0.0119 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.654 right_j4=-0.0006 right_j5=0.6243 right_gripper=0.9991 state[joint_eff]: [-0.3214, -11.6855, 8.9915, 1.1893, 0.0073, -0.0806, 1.0281, -0.0889, -10.7692, 5.5453, 0.7595, -0.0122, -0.0757, -0.105] camera 'top_cam' (step 637): [image omitted: streamed camera frame] camera 'left_cam' (step 637): [image omitted: streamed camera frame] camera 'right_cam' (step 637): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Extending left arm further forward (j2=2.40) over block A.", "targets": {"left_j4": 0, "left_j2": 2.4, "left_gripper": 0, "left_j5": 0.35, "right_j4": 0, "right_j2": 1.4, "right_j3": -0.65, "right_j5": 0.62, "right_j0": 0.62, "right_j1": 2.07, "left_j0": 0.35, "left_j3": -1, "left_j1": 2.3, "right_gripper": 1}})
tool
executing move_joints over 1 steps (0.1s)
step 638
top_cam
camera top_cam step 638
left_cam
camera left_cam step 638
right_cam
camera right_cam step 638
assistant
agent noteReleasing left gripper to drop the towel onto block A.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.3496 left_j1=2.2959 left_j2=2.3703 left_j3=-1.0096 left_j4=-0.0006 left_j5=0.3504 left_gripper=0.0119 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6537 right_j4=-0.0006 right_j5=0.6239 right_gripper=0.9991 state[joint_eff]: [0.0342, -12.9026, 8.9368, 1.4579, -0.022, -0.0464, 1.033, -0.0889, -10.7966, 5.5316, 0.7497, -0.0611, -0.1099, -0.105] camera 'top_cam' (step 638): [image omitted: streamed camera frame] camera 'left_cam' (step 638): [image omitted: streamed camera frame] camera 'right_cam' (step 638): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1}, "note": "Releasing left gripper to drop the towel onto block A."})
tool
executing move_joints over 10 steps (1.0s)
step 648
top_cam
camera top_cam step 648
left_cam
camera left_cam step 648
right_cam
camera right_cam step 648
assistant
agent notePositioning left arm over the towel at left_j0=0.80.
move_joints
left_j3-0.6500left_j21.4000left_j00.8000right_j00.6200right_j40.0000left_j12.1000right_j12.0700left_j40.0000right_j50.6200left_j50.8000left_gripper1.0000right_gripper1.0000right_j21.4000right_j3-0.6500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.3496 left_j1=2.2959 left_j2=2.3699 left_j3=-1.0176 left_j4=-0.0006 left_j5=0.347 left_gripper=0.9949 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6537 right_j4=-0.0006 right_j5=0.6243 right_gripper=0.999 state[joint_eff]: [-0.1436, -13.1077, 6.5573, 1.3846, -0.0562, -0.0122, -0.0806, -0.1846, -10.865, 5.7368, 0.7204, -0.0562, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 648): [image omitted: streamed camera frame] camera 'left_cam' (step 648): [image omitted: streamed camera frame] camera 'right_cam' (step 648): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Positioning left arm over the towel at left_j0=0.80.", "targets": {"left_j3": -0.65, "left_j2": 1.4, "left_j0": 0.8, "right_j0": 0.62, "right_j4": 0, "left_j1": 2.1, "right_j1": 2.07, "left_j4": 0, "right_j5": 0.62, "left_j5": 0.8, "left_gripper": 1, "right_gripper": 1, "right_j2": 1.4, "right_j3": -0.65}})
tool
executing move_joints over 16 steps (1.6s)
step 664
top_cam
camera top_cam step 664
left_cam
camera left_cam step 664
right_cam
camera right_cam step 664
assistant
agent noteClosing left gripper to grasp the left edge of the towel.
move_joints
right_gripper1.0000left_gripper0.0000right_j00.6500right_j12.0800right_j21.4200right_j40.0000right_j3-0.6500right_j50.6500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7826 left_j1=2.0937 left_j2=1.4437 left_j3=-0.6617 left_j4=0.0269 left_j5=0.7467 left_gripper=0.9994 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6529 right_j4=-0.001 right_j5=0.6243 right_gripper=0.9991 state[joint_eff]: [0.5675, -9.7709, 4.041, 0.7595, -0.2955, 0.3297, -0.0757, -0.335, -10.7966, 5.5316, 0.8181, -0.0513, -0.1148, -0.1001] camera 'top_cam' (step 664): [image omitted: streamed camera frame] camera 'left_cam' (step 664): [image omitted: streamed camera frame] camera 'right_cam' (step 664): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper to grasp the left edge of the towel.", "targets": {"right_gripper": 1, "left_gripper": 0, "right_j0": 0.65, "right_j1": 2.08, "right_j2": 1.42, "right_j4": 0, "right_j3": -0.65, "right_j5": 0.65}})
tool
executing move_joints over 10 steps (1.0s)
step 674
top_cam
camera top_cam step 674
left_cam
camera left_cam step 674
right_cam
camera right_cam step 674
assistant
agent noteShifting right arm to right_j0=0.72 to position over the right edge of the towel.
move_joints
right_gripper1.0000right_j3-0.6400right_j40.0000right_j21.4200right_j00.7200right_j50.7200left_gripper0.0000right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7853 left_j1=2.0834 left_j2=1.4296 left_j3=-0.6674 left_j4=0.0261 left_j5=0.7403 left_gripper=0.0125 right_j0=0.6464 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6533 right_j4=-0.0006 right_j5=0.6334 right_gripper=0.9991 state[joint_eff]: [-0.5538, -10.0444, 6.8991, 0.8181, 0.0024, 0.0171, 1.1111, 0.4308, -9.7846, 7.6239, 0.735, -0.0171, 0.1441, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 674): [image omitted: streamed camera frame] camera 'left_cam' (step 674): [image omitted: streamed camera frame] camera 'right_cam' (step 674): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "right_j3": -0.64, "right_j4": 0, "right_j2": 1.42, "right_j0": 0.72, "right_j5": 0.72, "left_gripper": 0, "right_j1": 2.08}, "note": "Shifting right arm to right_j0=0.72 to position over the right edge of the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 676
top_cam
camera top_cam step 676
left_cam
camera left_cam step 676
right_cam
camera right_cam step 676
assistant
agent noteMoving right arm to right_j0=0.50 to position over the towel's right edge while left arm holds its grasp.
move_joints
right_j50.5000right_j00.5000right_gripper1.0000right_j40.0000right_j3-0.6400left_gripper0.0000right_j21.4200right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7853 left_j1=2.0838 left_j2=1.4292 left_j3=-0.6674 left_j4=0.0257 left_j5=0.7399 left_gripper=0.0125 right_j0=0.675 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6506 right_j4=0.0071 right_j5=0.6697 right_gripper=0.9991 state[joint_eff]: [-0.335, -11.0154, 5.8051, 0.7253, -0.0024, -0.0611, 1.033, 2.0581, -9.9624, 7.0906, 0.8327, -0.0757, 0.1148, -0.1001] camera 'top_cam' (step 676): [image omitted: streamed camera frame] camera 'left_cam' (step 676): [image omitted: streamed camera frame] camera 'right_cam' (step 676): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving right arm to right_j0=0.50 to position over the towel's right edge while left arm holds its grasp.", "targets": {"right_j5": 0.5, "right_j0": 0.5, "right_gripper": 1, "right_j4": 0, "right_j3": -0.64, "left_gripper": 0, "right_j2": 1.42, "right_j1": 2.08}})
tool
executing move_joints over 3 steps (0.3s)
step 679
top_cam
camera top_cam step 679
left_cam
camera left_cam step 679
right_cam
camera right_cam step 679
assistant
agent noteLifting towel with left arm and carrying it to left_j0=-0.30 over block A while right arm moves to right_j0=0.30.
move_joints
right_j21.4000right_j3-0.6500left_j0-0.3000right_j50.3000left_gripper0.0000left_j5-0.3000left_j22.4000left_j40.0000left_j3-1.0000right_j40.0000left_j12.3000right_j00.3000right_gripper1.0000right_j12.1000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.7853 left_j1=2.0838 left_j2=1.4284 left_j3=-0.6685 left_j4=0.0257 left_j5=0.7399 left_gripper=0.0119 right_j0=0.5392 right_j1=2.0705 right_j2=1.404 right_j3=-0.6472 right_j4=-0.012 right_j5=0.5694 right_gripper=0.9991 state[joint_eff]: [-0.335, -10.9744, 5.8188, 0.6862, -0.0562, -0.022, 1.033, 1.7162, -9.5932, 7.3641, 0.7546, 0.0513, -0.0757, -0.1001] camera 'top_cam' (step 679): [image omitted: streamed camera frame] camera 'left_cam' (step 679): [image omitted: streamed camera frame] camera 'right_cam' (step 679): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.4, "right_j3": -0.65, "left_j0": -0.3, "right_j5": 0.3, "left_gripper": 0, "left_j5": -0.3, "left_j2": 2.4, "left_j4": 0, "left_j3": -1, "right_j4": 0, "left_j1": 2.3, "right_j0": 0.3, "right_gripper": 1, "right_j1": 2.1}, "note": "Lifting towel with left arm and carrying it to left_j0=-0.30 over block A while right arm moves to right_j0=0.30."})
tool
executing move_joints over 18 steps (1.8s)
step 697
top_cam
camera top_cam step 697
left_cam
camera left_cam step 697
right_cam
camera right_cam step 697
assistant
agent noteShifting left_j0 to -0.40 to position the held towel directly over block A.
move_joints
left_j0-0.4000right_gripper1.0000right_j50.3100left_gripper0.0000left_j3-1.0000right_j00.3100right_j40.0000right_j21.4000right_j12.0700left_j22.4000left_j12.3000left_j5-0.4000right_j3-0.6500left_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2779 left_j1=2.2925 left_j2=2.3501 left_j3=-0.9901 left_j4=-0.0006 left_j5=-0.2356 left_gripper=0.0119 right_j0=0.3126 right_j1=2.0762 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0078 right_j5=0.3122 right_gripper=0.9991 state[joint_eff]: [-0.212, -12.4923, 9.1419, 1.37, 0.0171, -0.1001, 1.0281, -0.9094, -8.9915, 5.5179, 0.7399, 0.0513, -0.0562, -0.105] camera 'top_cam' (step 697): [image omitted: streamed camera frame] camera 'left_cam' (step 697): [image omitted: streamed camera frame] camera 'right_cam' (step 697): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4, "right_gripper": 1, "right_j5": 0.31, "left_gripper": 0, "left_j3": -1, "right_j0": 0.31, "right_j4": 0, "right_j2": 1.4, "right_j1": 2.07, "left_j2": 2.4, "left_j1": 2.3, "left_j5": -0.4, "right_j3": -0.65, "left_j4": 0}, "note": "Shifting left_j0 to -0.40 to position the held towel directly over block A."})
tool
executing move_joints over 3 steps (0.3s)
step 700
top_cam
camera top_cam step 700
left_cam
camera left_cam step 700
right_cam
camera right_cam step 700
assistant
agent noteAdvancing left arm forward directly above block A before dropping the towel.
move_joints
right_j50.3100right_j00.3100left_j0-0.3600left_j5-0.3600right_j21.4000left_j22.4500left_gripper0.0000left_j40.0000left_j3-1.0000right_gripper1.0000left_j12.3000right_j3-0.6500right_j40.0000right_j12.0700
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3603 left_j1=2.2951 left_j2=2.3695 left_j3=-1.0103 left_j4=-0.0082 left_j5=-0.3588 left_gripper=0.0119 right_j0=0.3077 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0044 right_j5=0.2943 right_gripper=0.9991 state[joint_eff]: [-1.0325, -12.6838, 8.8, 1.4188, 0.0562, 0.0464, 1.0281, 0.1299, -11.2752, 5.4906, 0.7643, -0.0122, 0.0806, -0.1001] camera 'top_cam' (step 700): [image omitted: streamed camera frame] camera 'left_cam' (step 700): [image omitted: streamed camera frame] camera 'right_cam' (step 700): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.31, "right_j0": 0.31, "left_j0": -0.36, "left_j5": -0.36, "right_j2": 1.4, "left_j2": 2.45, "left_gripper": 0, "left_j4": 0, "left_j3": -1, "right_gripper": 1, "left_j1": 2.3, "right_j3": -0.65, "right_j4": 0, "right_j1": 2.07}, "note": "Advancing left arm forward directly above block A before dropping the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 702
top_cam
camera top_cam step 702
left_cam
camera left_cam step 702
right_cam
camera right_cam step 702
assistant
agent noteReleasing left gripper to drop the towel over block A.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3832 left_j1=2.3009 left_j2=2.3989 left_j3=-1.0176 left_j4=0.0032 left_j5=-0.3859 left_gripper=0.0119 right_j0=0.3077 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6559 right_j4=-0.0044 right_j5=0.2947 right_gripper=0.9991 state[joint_eff]: [1.4564, -12.7248, 9.6889, 1.5507, -0.0904, 0.1685, 1.033, 0.1026, -11.453, 5.4906, 0.7595, -0.0269, 0.105, -0.1001] camera 'top_cam' (step 702): [image omitted: streamed camera frame] camera 'left_cam' (step 702): [image omitted: streamed camera frame] camera 'right_cam' (step 702): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Releasing left gripper to drop the towel over block A.", "targets": {"left_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 712
top_cam
camera top_cam step 712
left_cam
camera left_cam step 712
right_cam
camera right_cam step 712
assistant
agent noteLowering left gripper (left_j0=0.85) and right gripper (right_j0=0.55) onto the towel edges.
move_joints
right_j3-0.6500right_j40.0000left_j21.4000left_gripper1.0000left_j3-0.6500right_j12.1000left_j40.0000left_j12.1000right_gripper1.0000left_j50.8500right_j21.4000right_j50.5500right_j00.5500left_j00.8500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3843 left_j1=2.3009 left_j2=2.3978 left_j3=-1.0321 left_j4=0.0029 left_j5=-0.3901 left_gripper=0.9954 right_j0=0.3073 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0048 right_j5=0.2935 right_gripper=0.999 state[joint_eff]: [0.0068, -13.1897, 6.4068, 1.5018, -0.0562, -0.022, -0.1294, -0.294, -10.6872, 5.6957, 0.7106, -0.0464, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 712): [image omitted: streamed camera frame] camera 'left_cam' (step 712): [image omitted: streamed camera frame] camera 'right_cam' (step 712): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lowering left gripper (left_j0=0.85) and right gripper (right_j0=0.55) onto the towel edges.", "targets": {"right_j3": -0.65, "right_j4": 0, "left_j2": 1.4, "left_gripper": 1, "left_j3": -0.65, "right_j1": 2.1, "left_j4": 0, "left_j1": 2.1, "right_gripper": 1, "left_j5": 0.85, "right_j2": 1.4, "right_j5": 0.55, "right_j0": 0.55, "left_j0": 0.85}})
tool
executing move_joints over 20 steps (2.0s)
step 732
top_cam
camera top_cam step 732
left_cam
camera left_cam step 732
right_cam
camera right_cam step 732
assistant
agent noteClosing left gripper on the towel edge and moving right arm to right_j0=0.72.
move_joints
right_j12.0800right_j50.7200left_gripper0.0000right_j00.7200right_j40.0000right_gripper1.0000right_j21.4200right_j3-0.6500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8219 left_j1=2.0922 left_j2=1.4403 left_j3=-0.6571 left_j4=0.0303 left_j5=0.7574 left_gripper=0.9994 right_j0=0.5373 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6495 right_j4=0.0227 right_j5=0.5186 right_gripper=0.9991 state[joint_eff]: [0.3214, -9.6889, 4.0, 0.7643, -0.2711, 0.2515, -0.0757, 0.9778, -8.841, 5.5453, 0.7497, -0.188, 0.1734, -0.105] camera 'top_cam' (step 732): [image omitted: streamed camera frame] camera 'left_cam' (step 732): [image omitted: streamed camera frame] camera 'right_cam' (step 732): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.08, "right_j5": 0.72, "left_gripper": 0, "right_j0": 0.72, "right_j4": 0, "right_gripper": 1, "right_j2": 1.42, "right_j3": -0.65}, "note": "Closing left gripper on the towel edge and moving right arm to right_j0=0.72."})
tool
executing move_joints over 10 steps (1.0s)
step 742
top_cam
camera top_cam step 742
left_cam
camera left_cam step 742
right_cam
camera right_cam step 742
assistant
agent noteShifting right arm to right_j0=0.50 to position over the towel's right edge while left arm holds its grasp.
move_joints
right_j21.4200left_gripper0.0000right_j00.5000right_j40.0000right_gripper1.0000right_j50.5000right_j3-0.6500right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4288 left_j3=-0.6613 left_j4=0.0261 left_j5=0.7586 left_gripper=0.0126 right_j0=0.7078 right_j1=2.0762 right_j2=1.4063 right_j3=-0.6495 right_j4=0.0368 right_j5=0.6815 right_gripper=0.9991 state[joint_eff]: [0.1709, -10.2906, 6.694, 0.8083, 0.0171, -0.0269, 1.0916, 0.6085, -10.5915, 6.7897, 0.7741, -0.3736, 0.1734, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 742): [image omitted: streamed camera frame] camera 'left_cam' (step 742): [image omitted: streamed camera frame] camera 'right_cam' (step 742): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.42, "left_gripper": 0, "right_j0": 0.5, "right_j4": 0, "right_gripper": 1, "right_j5": 0.5, "right_j3": -0.65, "right_j1": 2.08}, "note": "Shifting right arm to right_j0=0.50 to position over the towel's right edge while left arm holds its grasp."})
tool
executing move_joints over 4 steps (0.4s)
step 746
top_cam
camera top_cam step 746
left_cam
camera left_cam step 746
right_cam
camera right_cam step 746
assistant
agent noteMoving right arm to right_j0=0.72 to reach the towel's right edge while left arm holds the left corner.
move_joints
right_j40.0000right_j3-0.6500right_gripper1.0000right_j12.0800right_j50.7200left_gripper0.0000right_j00.7200right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4284 left_j3=-0.6662 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5144 right_j1=2.0758 right_j2=1.4082 right_j3=-0.6518 right_j4=0.0101 right_j5=0.5507 right_gripper=0.9991 state[joint_eff]: [-0.0889, -10.7966, 5.8325, 0.7497, -0.0562, -0.0317, 1.033, 1.388, -10.2359, 6.8171, 0.7253, -0.1294, -0.0659, -0.1001] camera 'top_cam' (step 746): [image omitted: streamed camera frame] camera 'left_cam' (step 746): [image omitted: streamed camera frame] camera 'right_cam' (step 746): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving right arm to right_j0=0.72 to reach the towel's right edge while left arm holds the left corner.", "targets": {"right_j4": 0, "right_j3": -0.65, "right_gripper": 1, "right_j1": 2.08, "right_j5": 0.72, "left_gripper": 0, "right_j0": 0.72, "right_j2": 1.42}})
tool
executing move_joints over 4 steps (0.4s)
step 750
top_cam
camera top_cam step 750
left_cam
camera left_cam step 750
right_cam
camera right_cam step 750
assistant
agent noteLifting towel with left arm and carrying it to left_j0=-0.35 directly over block A.
move_joints
right_gripper1.0000left_j12.3000left_j40.0000left_j22.4000right_j50.3000right_j21.4000left_j3-1.0000left_j0-0.3500right_j00.3000right_j3-0.6500left_j5-0.3500left_gripper0.0000right_j12.1000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4284 left_j3=-0.6674 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.7136 right_j1=2.0758 right_j2=1.4082 right_j3=-0.6491 right_j4=0.0177 right_j5=0.654 right_gripper=0.9991 state[joint_eff]: [-0.1162, -10.865, 5.7778, 0.7448, -0.0317, -0.0317, 1.0281, -2.0444, -10.5778, 6.6393, 0.7399, -0.2076, 0.149, -0.105] camera 'top_cam' (step 750): [image omitted: streamed camera frame] camera 'left_cam' (step 750): [image omitted: streamed camera frame] camera 'right_cam' (step 750): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "left_j1": 2.3, "left_j4": 0, "left_j2": 2.4, "right_j5": 0.3, "right_j2": 1.4, "left_j3": -1, "left_j0": -0.35, "right_j0": 0.3, "right_j3": -0.65, "left_j5": -0.35, "left_gripper": 0, "right_j1": 2.1, "right_j4": 0}, "note": "Lifting towel with left arm and carrying it to left_j0=-0.35 directly over block A."})
tool
executing move_joints over 19 steps (1.9s)
step 769
top_cam
camera top_cam step 769
left_cam
camera left_cam step 769
right_cam
camera right_cam step 769
assistant
agent noteReleasing left gripper to drop the towel directly onto block A.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3286 left_j1=2.2944 left_j2=2.3528 left_j3=-0.9909 left_j4=-0.0006 left_j5=-0.2882 left_gripper=0.0119 right_j0=0.3115 right_j1=2.0785 right_j2=1.4059 right_j3=-0.6567 right_j4=-0.001 right_j5=0.3157 right_gripper=0.9991 state[joint_eff]: [-0.2393, -12.6017, 9.4291, 1.2674, 0.0073, -0.0708, 1.0281, -0.4718, -8.8957, 5.3402, 0.779, -0.022, 0.0415, -0.1001] camera 'top_cam' (step 769): [image omitted: streamed camera frame] camera 'left_cam' (step 769): [image omitted: streamed camera frame] camera 'right_cam' (step 769): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1}, "note": "Releasing left gripper to drop the towel directly onto block A."})
tool
executing move_joints over 10 steps (1.0s)
step 779
top_cam
camera top_cam step 779
left_cam
camera left_cam step 779
right_cam
camera right_cam step 779
assistant
agent notePositioning left gripper (left_j0=0.85) and right gripper (right_j0=0.55) over opposite edges of the towel.
move_joints
left_j12.1000right_j21.4000left_j3-0.6500right_j50.5500left_j50.8500right_j12.1000right_j3-0.6500left_gripper1.0000right_j00.5500left_j21.4000left_j40.0000right_j40.0000left_j00.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.329 left_j1=2.2967 left_j2=2.3539 left_j3=-1.0077 left_j4=-0.0006 left_j5=-0.3031 left_gripper=0.9948 right_j0=0.3058 right_j1=2.08 right_j2=1.4063 right_j3=-0.6567 right_j4=-0.0002 right_j5=0.2955 right_gripper=0.999 state[joint_eff]: [0.0205, -13.3949, 6.2701, 1.4432, -0.0366, 0.1148, -0.0366, 0.1846, -11.0427, 5.6821, 0.7399, -0.0415, 0.1587, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 779): [image omitted: streamed camera frame] camera 'left_cam' (step 779): [image omitted: streamed camera frame] camera 'right_cam' (step 779): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1, "right_j2": 1.4, "left_j3": -0.65, "right_j5": 0.55, "left_j5": 0.85, "right_j1": 2.1, "right_j3": -0.65, "left_gripper": 1, "right_j0": 0.55, "left_j2": 1.4, "left_j4": 0, "right_j4": 0, "left_j0": 0.85, "right_gripper": 1}, "note": "Positioning left gripper (left_j0=0.85) and right gripper (right_j0=0.55) over opposite edges of the towel."})
tool
executing move_joints over 19 steps (1.9s)
step 798
top_cam
camera top_cam step 798
left_cam
camera left_cam step 798
right_cam
camera right_cam step 798
assistant
agent noteClosing left gripper to grasp the left edge of the towel, while swinging right arm to right_j0=0.72.
move_joints
right_j21.4200right_j3-0.6500right_j00.7200right_j40.0000left_gripper0.0000right_gripper1.0000right_j50.7200right_j12.0800
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8234 left_j1=2.0937 left_j2=1.4425 left_j3=-0.6567 left_j4=0.0311 left_j5=0.7574 left_gripper=0.9994 right_j0=0.5373 right_j1=2.0804 right_j2=1.4063 right_j3=-0.6491 right_j4=0.0288 right_j5=0.5186 right_gripper=0.9991 state[joint_eff]: [0.3077, -9.7846, 3.9316, 0.7399, -0.3004, 0.2466, -0.0708, 0.8957, -9.3607, 5.2171, 0.7497, -0.2711, 0.1685, -0.105] camera 'top_cam' (step 798): [image omitted: streamed camera frame] camera 'left_cam' (step 798): [image omitted: streamed camera frame] camera 'right_cam' (step 798): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.42, "right_j3": -0.65, "right_j0": 0.72, "right_j4": 0, "left_gripper": 0, "right_gripper": 1, "right_j5": 0.72, "right_j1": 2.08}, "note": "Closing left gripper to grasp the left edge of the towel, while swinging right arm to right_j0=0.72."})
tool
executing move_joints over 10 steps (1.0s)
step 808
top_cam
camera top_cam step 808
left_cam
camera left_cam step 808
right_cam
camera right_cam step 808
assistant
agent noteShifting right arm to right_j0=0.52 to align over the right edge of the towel while holding left grasp.
move_joints
left_gripper0.0000right_j50.5200right_j00.5200right_j3-0.6500right_j12.0800right_gripper1.0000right_j40.0000right_j21.4200
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8207 left_j1=2.0842 left_j2=1.43 left_j3=-0.654 left_j4=0.0265 left_j5=0.7586 left_gripper=0.0123 right_j0=0.7067 right_j1=2.0796 right_j2=1.4101 right_j3=-0.6491 right_j4=0.0433 right_j5=0.68 right_gripper=0.9991 state[joint_eff]: [0.0068, -10.2496, 6.8034, 0.7643, 0.0708, -0.0073, 1.1062, 0.5675, -10.9197, 6.8718, 0.7888, -0.4274, 0.1538, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 808): [image omitted: streamed camera frame] camera 'left_cam' (step 808): [image omitted: streamed camera frame] camera 'right_cam' (step 808): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Shifting right arm to right_j0=0.52 to align over the right edge of the towel while holding left grasp.", "targets": {"left_gripper": 0, "right_j5": 0.52, "right_j0": 0.52, "right_j3": -0.65, "right_j1": 2.08, "right_gripper": 1, "right_j4": 0, "right_j2": 1.42}})
tool
executing move_joints over 3 steps (0.3s)
step 811
top_cam
camera top_cam step 811
left_cam
camera left_cam step 811
right_cam
camera right_cam step 811
assistant
agent noteClosing right gripper to grasp the right edge of the towel.
move_joints
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8207 left_j1=2.085 left_j2=1.4284 left_j3=-0.6575 left_j4=0.0261 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5632 right_j1=2.0792 right_j2=1.4139 right_j3=-0.6498 right_j4=0.0067 right_j5=0.5816 right_gripper=0.9991 state[joint_eff]: [-0.1573, -10.9333, 5.9009, 0.7253, -0.0122, -0.0366, 1.033, 0.0205, -10.6872, 6.2017, 0.7106, -0.0806, 0.0171, -0.1001] camera 'top_cam' (step 811): [image omitted: streamed camera frame] camera 'left_cam' (step 811): [image omitted: streamed camera frame] camera 'right_cam' (step 811): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0, "left_gripper": 0}, "note": "Closing right gripper to grasp the right edge of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 821
top_cam
camera top_cam step 821
left_cam
camera left_cam step 821
right_cam
camera right_cam step 821
assistant
agent noteLifting the towel with left arm and carrying it to left_j0=-0.30 above block A.
move_joints
left_j0-0.3000left_j5-0.3000right_gripper1.0000right_j3-0.6500right_j50.5600right_j21.4100right_j12.0800left_j40.0000left_j22.4000right_j40.0000left_j12.3000left_j3-0.9000left_gripper0.0000right_j00.5600
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8207 left_j1=2.085 left_j2=1.4284 left_j3=-0.6579 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.4136 right_j3=-0.654 right_j4=0.0063 right_j5=0.5751 right_gripper=0.0075 state[joint_eff]: [-0.0752, -11.0154, 5.7641, 0.7839, -0.0073, -0.0269, 1.033, -0.6769, -10.9744, 5.7504, 0.7595, -0.0122, 0.0513, 0.5788] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 821): [image omitted: streamed camera frame] camera 'left_cam' (step 821): [image omitted: streamed camera frame] camera 'right_cam' (step 821): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.3, "left_j5": -0.3, "right_gripper": 1, "right_j3": -0.65, "right_j5": 0.56, "right_j2": 1.41, "right_j1": 2.08, "left_j4": 0, "left_j2": 2.4, "right_j4": 0, "left_j1": 2.3, "left_j3": -0.9, "left_gripper": 0, "right_j0": 0.56}, "note": "Lifting the towel with left arm and carrying it to left_j0=-0.30 above block A."})
tool
executing move_joints over 18 steps (1.8s)
step 839
top_cam
camera top_cam step 839
left_cam
camera left_cam step 839
right_cam
camera right_cam step 839
assistant
agent noteMoving left_j0 to -0.42 to center the held towel directly over block A.
move_joints
right_j12.0800right_j21.4100left_j22.4000right_j40.0000left_j12.3000right_j50.5600left_gripper0.0000right_j3-0.6500left_j40.0000left_j5-0.4200left_j3-1.0000right_j00.5600left_j0-0.4200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2787 left_j1=2.2944 left_j2=2.3508 left_j3=-0.9024 left_j4=-0.0006 left_j5=-0.2371 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.4117 right_j3=-0.6483 right_j4=0.0067 right_j5=0.5537 right_gripper=0.9973 state[joint_eff]: [-0.1983, -12.7521, 9.4974, 1.4579, -0.0366, -0.1099, 1.0281, -0.7316, -10.9197, 5.7641, 0.7643, -0.1148, 0.0464, -0.0757] camera 'top_cam' (step 839): [image omitted: streamed camera frame] camera 'left_cam' (step 839): [image omitted: streamed camera frame] camera 'right_cam' (step 839): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving left_j0 to -0.42 to center the held towel directly over block A.", "targets": {"right_j1": 2.08, "right_j2": 1.41, "left_j2": 2.4, "right_j4": 0, "left_j1": 2.3, "right_j5": 0.56, "left_gripper": 0, "right_j3": -0.65, "left_j4": 0, "left_j5": -0.42, "left_j3": -1, "right_j0": 0.56, "left_j0": -0.42, "right_gripper": 1}})
tool
executing move_joints over 3 steps (0.3s)
step 842
top_cam
camera top_cam step 842
left_cam
camera left_cam step 842
right_cam
camera right_cam step 842
assistant
agent noteReleasing left gripper to drop the towel directly onto block A.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3763 left_j1=2.2967 left_j2=2.3692 left_j3=-0.9672 left_j4=-0.0082 left_j5=-0.3721 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.412 right_j3=-0.6487 right_j4=0.0067 right_j5=0.5529 right_gripper=0.9988 state[joint_eff]: [-0.9094, -12.8068, 8.9778, 1.4628, 0.0171, -0.0904, 1.0281, -0.8137, -10.6051, 5.7778, 0.7448, -0.0855, 0.0415, -0.1392] camera 'top_cam' (step 842): [image omitted: streamed camera frame] camera 'left_cam' (step 842): [image omitted: streamed camera frame] camera 'right_cam' (step 842): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Releasing left gripper to drop the towel directly onto block A.", "targets": {"left_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 852
top_cam
camera top_cam step 852
left_cam
camera left_cam step 852
right_cam
camera right_cam step 852
assistant
agent notePositioning left arm over left edge (left_j0=0.85) and right arm over right edge (right_j0=0.55) at table level.
move_joints
right_gripper1.0000left_gripper1.0000left_j40.0000left_j50.8500left_j00.8500right_j21.4000right_j40.0000right_j00.5500right_j50.5500left_j12.1000right_j3-0.6500left_j21.4000right_j12.1000left_j3-0.6500
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.374 left_j1=2.2967 left_j2=2.3692 left_j3=-0.9874 left_j4=-0.0006 left_j5=-0.3855 left_gripper=0.9951 right_j0=0.5674 right_j1=2.0796 right_j2=1.412 right_j3=-0.6491 right_j4=0.0071 right_j5=0.5491 right_gripper=0.9987 state[joint_eff]: [-0.2667, -13.2308, 6.3932, 1.5995, -0.1343, 0.0855, -0.1294, -0.3487, -10.8103, 5.7504, 0.7057, -0.0611, 0.0317, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 852): [image omitted: streamed camera frame] camera 'left_cam' (step 852): [image omitted: streamed camera frame] camera 'right_cam' (step 852): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "left_gripper": 1, "left_j4": 0, "left_j5": 0.85, "left_j0": 0.85, "right_j2": 1.4, "right_j4": 0, "right_j0": 0.55, "right_j5": 0.55, "left_j1": 2.1, "right_j3": -0.65, "left_j2": 1.4, "right_j1": 2.1, "left_j3": -0.65}, "note": "Positioning left arm over left edge (left_j0=0.85) and right arm over right edge (right_j0=0.55) at table level."})
tool
executing move_joints over 20 steps (2.0s)
step 872
top_cam
camera top_cam step 872
left_cam
camera left_cam step 872
right_cam
camera right_cam step 872
assistant
agent noteClosing left gripper on the towel edge and swinging right arm to right_j0=0.72.
move_joints
right_gripper1.0000right_j50.7200right_j00.7200right_j3-0.6500right_j40.0000right_j12.0800right_j21.4200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8249 left_j1=2.0926 left_j2=1.4406 left_j3=-0.6525 left_j4=0.0303 left_j5=0.757 left_gripper=0.9994 right_j0=0.5571 right_j1=2.0796 right_j2=1.4117 right_j3=-0.6502 right_j4=0.0101 right_j5=0.5484 right_gripper=0.9989 state[joint_eff]: [0.2803, -9.7983, 3.9453, 0.7009, -0.2662, 0.2466, -0.0708, -0.8274, -9.3197, 4.7795, 0.735, -0.1636, -0.0317, -0.1197] camera 'top_cam' (step 872): [image omitted: streamed camera frame] camera 'left_cam' (step 872): [image omitted: streamed camera frame] camera 'right_cam' (step 872): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper on the towel edge and swinging right arm to right_j0=0.72.", "targets": {"right_gripper": 1, "right_j5": 0.72, "right_j0": 0.72, "right_j3": -0.65, "right_j4": 0, "right_j1": 2.08, "right_j2": 1.42, "left_gripper": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 882
top_cam
camera top_cam step 882
left_cam
camera left_cam step 882
right_cam
camera right_cam step 882
assistant
agent noteMoving right arm to right_j0=0.55 over the right edge of the towel.
move_joints
right_j3-0.6500right_j40.0000right_j21.4200right_j12.0800left_gripper0.0000right_j50.5500right_j00.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8227 left_j1=2.0834 left_j2=1.4296 left_j3=-0.6495 left_j4=0.0261 left_j5=0.7582 left_gripper=0.0124 right_j0=0.7063 right_j1=2.0796 right_j2=1.4139 right_j3=-0.6495 right_j4=0.0219 right_j5=0.6827 right_gripper=0.999 state[joint_eff]: [0.0068, -10.2359, 6.8171, 0.7595, 0.022, -0.0317, 1.0769, 0.6222, -10.9197, 6.5846, 0.7839, -0.2808, 0.232, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 882): [image omitted: streamed camera frame] camera 'left_cam' (step 882): [image omitted: streamed camera frame] camera 'right_cam' (step 882): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving right arm to right_j0=0.55 over the right edge of the towel.", "targets": {"right_j3": -0.65, "right_j4": 0, "right_j2": 1.42, "right_j1": 2.08, "left_gripper": 0, "right_j5": 0.55, "right_j0": 0.55, "right_gripper": 1}})
tool
executing move_joints over 3 steps (0.3s)
step 885
top_cam
camera top_cam step 885
left_cam
camera left_cam step 885
right_cam
camera right_cam step 885
assistant
agent noteLifting towel with left arm and carrying it to left_j0=-0.30 over block A.
move_joints
left_j40.0000left_j0-0.3000right_j50.5900right_j21.4100left_gripper0.0000right_j00.5900left_j3-0.9000right_j12.0800left_j22.4000left_j12.3000right_j3-0.6500left_j5-0.3000right_gripper1.0000right_j40.0000
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=0.8227 left_j1=2.0838 left_j2=1.4284 left_j3=-0.6495 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5907 right_j1=2.0796 right_j2=1.4158 right_j3=-0.6502 right_j4=-0.0006 right_j5=0.6041 right_gripper=0.999 state[joint_eff]: [-0.1983, -11.0427, 5.9009, 0.7741, -0.0317, -0.0659, 1.0281, -0.2256, -10.8923, 6.1607, 0.7302, 0.0171, -0.1197, -0.1099] camera 'top_cam' (step 885): [image omitted: streamed camera frame] camera 'left_cam' (step 885): [image omitted: streamed camera frame] camera 'right_cam' (step 885): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting towel with left arm and carrying it to left_j0=-0.30 over block A.", "targets": {"left_j4": 0, "left_j0": -0.3, "right_j5": 0.59, "right_j2": 1.41, "left_gripper": 0, "right_j0": 0.59, "left_j3": -0.9, "right_j1": 2.08, "left_j2": 2.4, "left_j1": 2.3, "right_j3": -0.65, "left_j5": -0.3, "right_gripper": 1, "right_j4": 0}})
tool
executing move_joints over 18 steps (1.8s)
step 903
top_cam
camera top_cam step 903
left_cam
camera left_cam step 903
right_cam
camera right_cam step 903
assistant
agent noteShifting left_j0 to -0.42 to center the held towel directly over block A.
move_joints
left_j0-0.4200left_j5-0.4200right_j12.0800right_j40.0000right_j50.5900right_gripper1.0000left_j40.0000left_j3-1.0000left_j22.4000left_gripper0.0000right_j21.4200left_j12.3000right_j3-0.6500right_j00.5900
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.2783 left_j1=2.294 left_j2=2.3508 left_j3=-0.902 left_j4=-0.0006 left_j5=-0.2367 left_gripper=0.0118 right_j0=0.5938 right_j1=2.0796 right_j2=1.4158 right_j3=-0.6506 right_j4=-0.0006 right_j5=0.5831 right_gripper=0.9991 state[joint_eff]: [-0.1983, -12.6427, 9.4291, 1.5018, -0.0269, -0.0904, 1.0379, -0.6359, -10.8786, 5.3128, 0.7741, -0.0415, 0.0317, -0.105] camera 'top_cam' (step 903): [image omitted: streamed camera frame] camera 'left_cam' (step 903): [image omitted: streamed camera frame] camera 'right_cam' (step 903): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.42, "left_j5": -0.42, "right_j1": 2.08, "right_j4": 0, "right_j5": 0.59, "right_gripper": 1, "left_j4": 0, "left_j3": -1, "left_j2": 2.4, "left_gripper": 0, "right_j2": 1.42, "left_j1": 2.3, "right_j3": -0.65, "right_j0": 0.59}, "note": "Shifting left_j0 to -0.42 to center the held towel directly over block A."})
tool
executing move_joints over 3 steps (0.3s)
step 906
top_cam
camera top_cam step 906
left_cam
camera left_cam step 906
right_cam
camera right_cam step 906
Raw transcript
user
Current observation. Instruction: Lift the towels with both your arms high enough to then drop it to cover the block. state[joint_pos]: left_j0=-0.3752 left_j1=2.2967 left_j2=2.3692 left_j3=-0.9665 left_j4=-0.0082 left_j5=-0.3683 left_gripper=0.0118 right_j0=0.5938 right_j1=2.0796 right_j2=1.4158 right_j3=-0.6506 right_j4=-0.0006 right_j5=0.5831 right_gripper=0.9991 state[joint_eff]: [-0.9094, -12.7932, 8.8547, 1.4628, 0.0366, -0.1538, 1.033, -0.4991, -10.7966, 6.2564, 0.7204, -0.022, 0.0611, -0.105] camera 'top_cam' (step 906): [image omitted: streamed camera frame] camera 'left_cam' (step 906): [image omitted: streamed camera frame] camera 'right_cam' (step 906): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "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"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "type": "function"
  }
]
call 0 attempt 0 · /interactions · status 200 · 16.24 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3
{
  "text": "Goal: Lift the towels with both your arms high enough to then drop it to cover the block.",
  "type": "text"
}
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.001 left_j1=0.0071 left_j2=0.009 left_j3=-0.0334 left_j4=-0.0044 left_j5=-0.0223 left_gripper=0.9995 right_j0=-0.0002 right_j1=0.0105 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0078 right_j5=-0.004 right_gripper=0.9993\nstate[joint_eff]: [0.0342, 1.2239, 6.2427, 2.2247, 0.0513, 0.1929, -0.0659, -0.0615, 0.841, 6.4342, 2.1563, 0.0708, -0.0122, -0.0904]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:612d9a48d09de639e8ab9acd776578a4353f26de7b453454a17f5bfd247fd322",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 612d9a48d09d
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:aabdd8c0d0b5c9065bf4787a6da4e8ff06823647ddb0382e3f210997b9f8aa4d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aabdd8c0d0b5
{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:93839b5116735afe9d34595345b5e2ae2897b26061266cac4b34082741ca3e1e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 93839b511673
call 1 attempt 0 · /interactions · status 200 · 7.744 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5362",
  "name": "move_joints",
  "result": "executing move_joints over 29 steps (2.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2947 left_j1=1.7779 left_j2=1.1614 left_j3=-0.5835 left_j4=-0.0002 left_j5=-0.2909 left_gripper=0.9995 right_j0=0.2947 right_j1=1.7782 right_j2=1.1564 right_j3=-0.5945 right_j4=-0.0074 right_j5=0.2718 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.9658, 8.759, 0.9451, -0.0122, -0.105, -0.0659, 0.4718, -8.212, 8.6906, 1.0867, 0.0366, 0.2173, -0.0904]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 29):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7a002b924ec9b93d89f29c9e3442009e4b481528d4d21550f9ab04d310f1e039",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7a002b924ec9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 29):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:73e120158f9b9b9fb4d43d5201491c8cfc7d87a7f2a5997f9debd0e2691d3317",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 73e120158f9b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 29):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7177d0320b78664b38ca5995ca00bbb933f25c4505efa097bf8d64ec7ed6a6a3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7177d0320b78
call 2 attempt 0 · /interactions · status 200 · 6.442 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_565573",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2993 left_j1=1.805 left_j2=1.1683 left_j3=-0.5934 left_j4=-0.0002 left_j5=-0.2966 left_gripper=0.9995 right_j0=0.3374 right_j1=1.805 right_j2=1.1652 right_j3=-0.6003 right_j4=-0.0006 right_j5=0.3248 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.6735, 5.3812, 1.0281, -0.0708, 0.0073, -0.0659, 1.3607, -10.7556, 5.8462, 1.0916, -0.0415, 0.0806, -0.0904]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 31):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a22371ebe7ef017f972d42f9b5134d4c01c0450828daa183011ee31d381a476e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a22371ebe7ef
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 31):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8a6aa310bc7ac774d53cc310a132bcde94f470222754d6d51228c04826f0077a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8a6aa310bc7a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 31):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:26dd33f68b5df51e4af3f939beedbe6d438438e30f06cb704e52d2d5f2e61d62",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 26dd33f68b5d
call 3 attempt 0 · /interactions · status 200 · 3.828 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_518147",
  "name": "move_joints",
  "result": "executing move_joints over 7 steps (0.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0739 left_j2=1.3853 left_j3=-0.6891 left_j4=-0.0456 left_j5=-0.3042 left_gripper=0.9994 right_j0=0.3447 right_j1=2.0754 right_j2=1.38 right_j3=-0.7078 right_j4=0.025 right_j5=0.3328 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -0.6359, 2.2222, 1.2821, 0.4225, 0.0317, -0.0757, -0.6359, -0.7043, 2.3726, 1.409, -0.3053, 0.0171, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 38):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3fbca76040929be9a3f1f6703f4650ef9fb942c62f6171be58b830ea9760d9f0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3fbca7604092
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 38):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dff726d4c456bebf92db2d46d8870d929fe794abd74f82b4bc44eddbeaae9fdc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dff726d4c456
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 38):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:949005c9ed6d6ad8cbb0e9a8f9d0648f2cee3174892f2be33826e38cdb22dd64",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 949005c9ed6d
call 4 attempt 0 · /interactions · status 200 · 5.48 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_581801",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0693 left_j2=1.4006 left_j3=-0.6842 left_j4=-0.0284 left_j5=-0.3122 left_gripper=0.037 right_j0=0.3466 right_j1=2.0739 right_j2=1.3922 right_j3=-0.7036 right_j4=0.0002 right_j5=0.3222 right_gripper=0.0073\nstate[joint_eff]: [-0.0889, -10.4137, 4.465, 0.6716, -0.2125, 0.0904, 0.9548, -0.4308, -10.6325, 4.6017, 0.5739, 0.2369, 0.105, 0.5299]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 48):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:de7de1f7c5c30a37d2e705609ce9f5f1cb84e0b7a5c759458315803adefe03fe",
  "mime_type": "image/png",
  "type": "image"
}
wire blob de7de1f7c5c3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 48):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:18f2c2df1538757460ca92c072ecc153643b7e2a68f87f6d48980d36812c9fce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 18f2c2df1538
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 48):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bbb8140231853fd27afa6503e51a26ff3e4651a139bd6b2849372ff6e386c695",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bbb814023185
call 5 attempt 0 · /interactions · status 200 · 3.041 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4899",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0693 left_j2=1.4006 left_j3=-0.6842 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.3782 right_j1=2.0701 right_j2=1.393 right_j3=-0.6918 right_j4=-0.0002 right_j5=0.3523 right_gripper=0.9949\nstate[joint_eff]: [0.0889, -10.3726, 5.6274, 0.6911, -0.105, -0.0269, 1.033, 0.1436, -10.8103, 5.3675, 0.5348, -0.0269, 0.2222, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 58):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ea549a3cd5907ddb1ce234cb1bf40c124e559651fd9a00989b750e6642f09717",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ea549a3cd590
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 58):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:cc285a05b4b50fcddb05039c43a4b92c30577e105023aa6d97f9c9d8038e3747",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cc285a05b4b5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 58):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8897e9891a3c0094789d951b962819d3de2f8eaf0a4b07f5d92920ebf09f237a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8897e9891a3c
call 6 attempt 0 · /interactions · status 200 · 8.115 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14395",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6861 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.3786 right_j1=2.0705 right_j2=1.393 right_j3=-0.7029 right_j4=-0.001 right_j5=0.3447 right_gripper=0.0071\nstate[joint_eff]: [-0.1299, -10.7282, 5.8051, 0.6764, -0.0513, -0.0562, 1.033, -0.0342, -10.5504, 5.6274, 0.7106, -0.022, 0.0513, 0.5153]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 68):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7155e1acae66ba6182f454bb03359249db7db040db67d0b79220126d817bb8bf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7155e1acae66
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 68):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:4312ad01d4b0567421fb773496f93d9743d76edfbf8c1ed2b4893b46cccd565a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4312ad01d4b0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 68):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c306241286a72b943f459c8e28a8faf2b8daa48e06bc814d22f4e7725fc266b4",
  "mime_type": "image/png",
  "type": "image"
}
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call 7 attempt 0 · /interactions · status 200 · 2.81 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5799",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6853 left_j4=-0.0273 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4263 right_j1=2.0701 right_j2=1.3933 right_j3=-0.6964 right_j4=0.0105 right_j5=0.4023 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -10.6598, 5.6274, 0.735, -0.1001, -0.0366, 1.033, 0.3897, -10.7692, 5.3675, 0.5641, -0.1734, 0.2027, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 78):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c683708840728494d72a6b170f95103fd921d174a15e804f537b698383ae5968",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c68370884072
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 78):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:de6e6e64436100a12011abef587e8ba68d3458dfb27f49e7a0bb2de0ace64cd0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob de6e6e644361
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 78):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f97777006e3c71281f2f20a0d4f87c766585b0df2c2fa8ff154abdc68cf574f8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f97777006e3c
call 8 attempt 0 · /interactions · status 200 · 8.105 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3099",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0686 left_j2=1.4006 left_j3=-0.6853 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4255 right_j1=2.0705 right_j2=1.393 right_j3=-0.7033 right_j4=0.0139 right_j5=0.3977 right_gripper=0.0083\nstate[joint_eff]: [-0.2803, -10.7829, 5.6957, 0.6422, -0.0952, -0.0415, 1.033, -0.0752, -10.7556, 5.7504, 0.7155, -0.0611, 0.0171, 0.4371]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 88):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b3386976b17daf9438a13f793e2e933b288000dbe95a921099c71e5810ad2a4d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b3386976b17d
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 88):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6a0d46ecb2358fe0765c4ca6de7a1504eac0f70f6464565f995673b3fa3f9dbf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6a0d46ecb235
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 88):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7ad884d4c49575d44b6fcf872779e36f43afdfd3e8b247f0b8d67ec37435e707",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7ad884d4c495
call 9 attempt 0 · /interactions · status 200 · 4.983 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_17272",
  "name": "move_joints",
  "result": "executing move_joints over 11 steps (1.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.4395 left_j2=1.01 left_j3=-0.448 left_j4=-0.0265 left_j5=-0.3122 left_gripper=0.0376 right_j0=0.4255 right_j1=1.4357 right_j2=1.0107 right_j3=-0.4473 right_j4=0.0101 right_j5=0.3935 right_gripper=0.0055\nstate[joint_eff]: [-0.2256, -7.241, 6.8171, 1.6972, -0.1148, -0.0024, 1.033, 0.212, -6.9812, 6.8444, 1.6581, 0.0024, 0.0611, 0.5446]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 99):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d42c975d0a6148d5dcf36325ccaeb23627c7ae27dc812652eb7f81089de789ce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d42c975d0a61
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 99):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0bbe5bb68996cf2cf8b3d8133be1ddf45805aad10ffe08beb423900082eeed24",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0bbe5bb68996
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 99):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2ed674eba68b406f00e14c524fb94eccf5e369338b4ee1d94d653c5f969ecff9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2ed674eba68b
call 10 attempt 0 · /interactions · status 200 · 4.034 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_16906",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.4246 left_j2=1.0 left_j3=-0.4297 left_j4=-0.0273 left_j5=-0.3126 left_gripper=0.0375 right_j0=0.4763 right_j1=2.0266 right_j2=1.3396 right_j3=-0.6628 right_j4=0.0097 right_j5=0.4572 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -7.9111, 6.7487, 1.707, -0.0757, -0.0415, 1.033, 0.1573, -10.3726, 8.1709, 0.525, -0.0513, 0.1441, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 109):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:0647b5bfd0245557f8a384561324d77cef5d9a1a117087719c901559975de47b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0647b5bfd024
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 109):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:4765d10e0821170a088332a61d227503a79f54797ab6585ab80f64647553dde3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4765d10e0821
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 109):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:92cc6c9ed365591900ebbad43b6827a4efc6d366508ea40760930556643f9333",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 92cc6c9ed365
call 11 attempt 0 · /interactions · status 200 · 3.401 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_1525",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.422 left_j2=0.9993 left_j3=-0.4278 left_j4=-0.0269 left_j5=-0.3126 left_gripper=0.0375 right_j0=0.4828 right_j1=2.0525 right_j2=1.3674 right_j3=-0.693 right_j4=0.0128 right_j5=0.4652 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -7.8427, 6.8718, 1.7265, -0.0611, -0.0464, 1.0281, -0.0615, -6.7214, 6.5026, 0.9597, -0.0855, 0.1441, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 111):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1b700657f7247d966ef8225f71626cb4b9a678170dd50db98ccd8013582f10e6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1b700657f724
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 111):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b4e04479ce0c445e8018e5848aeb2915fc3bf50c4934040b1b0949a2fb3adde2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b4e04479ce0c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 111):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:38f1438479622dce99e3ff14aafba4620e8930b711f6fdc315168535d1debab2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 38f143847962
call 12 attempt 0 · /interactions · status 200 · 5.085 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4574",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4324 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.4828 right_j1=2.0563 right_j2=1.3724 right_j3=-0.704 right_j4=0.0139 right_j5=0.4568 right_gripper=0.008\nstate[joint_eff]: [-0.1162, -5.8872, 6.7761, 1.5263, -0.0562, -0.022, 1.0281, -0.1573, -10.9197, 5.1897, 0.7253, -0.0464, 0.0122, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 121):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:309fbd389cdb177e5795fca17d55d4e6e6409db05a8983e7daabe4e8c532d4c9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 309fbd389cdb
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 121):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:99b241cf1094b95c93be780591d4dfacd4bea444e9e1d3a95f23504862382d1d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 99b241cf1094
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 121):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1bd821aaee83a755c488aa5be78ce4a2ea0dab324a5a4a1620c701fb0a62b151",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1bd821aaee83
call 13 attempt 0 · /interactions · status 200 · 3.552 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2980",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4324 left_j4=-0.0273 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6407 right_j1=2.0533 right_j2=1.3727 right_j3=-0.6971 right_j4=0.028 right_j5=0.6125 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -6.2564, 6.8444, 1.5458, -0.1099, -0.0366, 1.0281, 0.3214, -10.8103, 5.3675, 0.6422, -0.2515, 0.3004, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 131):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8c4c73a903af6bc58c70431217f72fea9053528e223d3e6029f4dc3393ae313e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8c4c73a903af
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 131):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:00102c5c4731efab7bd90c40c4ccb24e4bccbf8b93cb3164a15f9f8ff69961f9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 00102c5c4731
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 131):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:386607403a389a0f452f61775c7fb3f61002e2467e3122acf48111a8c7a2a5c8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 386607403a38
call 14 attempt 0 · /interactions · status 200 · 5.913 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5873",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.4223 left_j2=0.9993 left_j3=-0.4328 left_j4=-0.0269 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6403 right_j1=2.0533 right_j2=1.3727 right_j3=-0.7025 right_j4=0.0177 right_j5=0.6083 right_gripper=0.0099\nstate[joint_eff]: [-0.0752, -5.9009, 6.7624, 1.4237, -0.0562, -0.0659, 1.0281, -0.3214, -10.5504, 5.6957, 0.6911, 0.0855, 0.0171, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 141):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:9dc773998070aa2fb702176c766710e133906f7aff2fe2f3bd6e6d1ab41348ea",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9dc773998070
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 141):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b2234724bd0d57e9d50b704c5a18fb6fb45c9d26e0006dfbab2d847254eedfe3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b2234724bd0d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 141):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:357aad8e71a664117e8e65a459bd2b87401a09a0c598740b2a437fe5ae37f925",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 357aad8e71a6
call 15 attempt 0 · /interactions · status 200 · 5.45 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_25772",
  "name": "move_joints",
  "result": "executing move_joints over 14 steps (1.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.224 left_j2=0.8047 left_j3=-0.3302 left_j4=-0.0116 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=1.2331 right_j2=0.8104 right_j3=-0.3561 right_j4=-0.0078 right_j5=0.6292 right_gripper=0.0069\nstate[joint_eff]: [-0.0752, -5.9966, 6.7761, 1.8828, 0.0806, 0.0757, 1.033, -0.3487, -4.9026, 7.3094, 2.1319, 0.0464, 0.0317, 0.696]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 155):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1b58bfa14ad3d0ac6f455501c16a16200ab40d30342124e33d76eb0fedd90c1a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1b58bfa14ad3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 155):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:54a7a7f8c907f75aa09807c95c144023213fa04e3e1af1605271c6f23829233d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 54a7a7f8c907
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 155):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4c577c87b07d46c7f5f9373914b142392d5e8f2f11979254531ed1361cdce606",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4c577c87b07d
call 16 attempt 0 · /interactions · status 200 · 5.159 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4846",
  "name": "move_joints",
  "result": "executing move_joints over 6 steps (0.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.5303 left_j2=1.0084 left_j3=-0.4801 left_j4=-0.0078 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6399 right_j1=1.5314 right_j2=1.0065 right_j3=-0.4831 right_j4=-0.0074 right_j5=0.6289 right_gripper=0.0068\nstate[joint_eff]: [-0.0068, -5.9829, 8.9231, 1.3211, 0.0806, 0.0757, 1.033, -0.294, -6.1607, 9.1556, 1.2137, 0.0659, 0.0562, 0.7009]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 161):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b718d016e3eb9f029d66cf6c09875b6cd43895f4a1bf499151cc65527081b149",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b718d016e3eb
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 161):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:da103e2238a7c55d49486b663721f686352f47be7ddb65d77af14b739ce146e3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob da103e2238a7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 161):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7e8db893ff575081cb7f9953b3a075510338f22b8208a2c83626a981d4633a36",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7e8db893ff57
call 17 attempt 0 · /interactions · status 200 · 6.553 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14375",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.7821 left_j2=1.1572 left_j3=-0.5838 left_j4=-0.0078 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6411 right_j1=1.7832 right_j2=1.1561 right_j3=-0.5888 right_j4=-0.0078 right_j5=0.6289 right_gripper=0.0068\nstate[joint_eff]: [0.0752, -8.2393, 8.8821, 0.9109, 0.0757, 0.1099, 1.033, -0.1299, -8.3487, 8.5402, 0.9988, 0.0317, 0.0659, 0.696]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 166):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:aca3db5bf70906de2e72526f02cb8ba301fd5445775cd07ba80c3c912d84318b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aca3db5bf709
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 166):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:299a26cdcb226496d485b760e0098a5b4d2236c97b23000563996d189a39ab2e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 299a26cdcb22
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 166):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2511b3e33c728a931928182435ffd958b42de98c85011f9d63076c6e8d597dac",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2511b3e33c72
call 18 attempt 0 · /interactions · status 200 · 4.373 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2111",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=1.9953 left_j2=1.2877 left_j3=-0.6518 left_j4=-0.0086 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6399 right_j1=2.0026 right_j2=1.2831 right_j3=-0.6495 right_j4=-0.0063 right_j5=0.6289 right_gripper=0.0068\nstate[joint_eff]: [-0.1846, -5.7915, 6.0376, 0.735, 0.0855, 0.0806, 1.033, 0.0205, -7.3778, 5.8462, 0.7692, 0.0269, 0.0855, 0.6911]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 171):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f5298ba07a97ab3ce0f29f6b06846b4be82aef31a6121508815c9ac5d35d6100",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f5298ba07a97
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 171):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c118eb74d20ba762206abaf296b9e8e8d383f0769d135d14714543f73792ed45",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c118eb74d20b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 171):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:a5df018b1fccfd8957c52f611c6827d6fbd10a56cf9e1ddbc442a0781a3aa312",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a5df018b1fcc
call 19 attempt 0 · /interactions · status 504 · 1.653 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2203",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3012 left_j1=2.0724 left_j2=1.3899 left_j3=-0.7025 left_j4=-0.0044 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=2.0773 right_j2=1.3869 right_j3=-0.6952 right_j4=-0.0078 right_j5=0.6289 right_gripper=0.0068\nstate[joint_eff]: [-0.2256, -0.6222, 1.7846, 1.2527, 0.0464, 0.1148, 1.0281, 0.0615, -1.1692, 1.8803, 1.0574, 0.0708, 0.0757, 0.6911]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 175):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:9fc9683b814b7ad6beea2010029c46e2aee61696fd05530290d2017a02619ef2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9fc9683b814b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 175):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:7b839c86e397df7823146101c08d4de3cbe4d1d90e8a6235e9c5adbba0d70558",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7b839c86e397
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 175):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7fcc312461297553056e1a1a27c5f4f618bca32099cdf4e5d1b969492583cc58",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7fcc31246129
call 19 attempt 1 · /interactions · status 200 · 7.807 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 20 attempt 0 · /interactions · status 200 · 5.163 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14216",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3004 left_j1=1.5387 left_j2=1.0111 left_j3=-0.5354 left_j4=0.0006 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6403 right_j1=1.5394 right_j2=1.0122 right_j3=-0.5327 right_j4=-0.0078 right_j5=0.6331 right_gripper=0.0068\nstate[joint_eff]: [-0.0479, -7.8564, 6.5983, 1.37, -0.0562, 0.0806, 1.0281, -0.3214, -8.0479, 6.4479, 1.5214, 0.0415, 0.0464, 0.6911]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 185):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6c91bc6d3daaa353b6ae71206fe3a74abc036f605d31b576342d0e90c0fdeb0c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6c91bc6d3daa
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 185):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:71f78a619f2564f05e957df2847c7ed8b831c86a8ad074be450a8737a1d447df",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 71f78a619f25
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 185):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:a136e520e345e10d013dffd82f56876476d2f5997e02f44dea0ecbe802210db7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a136e520e345
call 21 attempt 0 · /interactions · status 200 · 5.19 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_11968",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3004 left_j1=1.8317 left_j2=1.2018 left_j3=-0.6025 left_j4=0.0006 left_j5=-0.3119 left_gripper=0.0375 right_j0=0.6407 right_j1=1.8324 right_j2=1.2003 right_j3=-0.5983 right_j4=-0.0082 right_j5=0.6323 right_gripper=0.0068\nstate[joint_eff]: [-0.1983, -8.7453, 8.6906, 1.0965, 0.0171, 0.1197, 1.0281, -0.1573, -8.4991, 8.9504, 0.9841, 0.0757, 0.0806, 0.6862]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 190):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b76047be4bd70a46d91e3b34495db374bb2d1a11ec72e9a3719746872091887c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b76047be4bd7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 190):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6a6dedd21b9f83d19b0cd2440d7829c11aaf3d49b256914e7696b536b354e377",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6a6dedd21b9f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 190):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5dcc635b26b9b5f3371aa12b6710817e190e59fe3f9333f052e060c8a5c5d8ff",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5dcc635b26b9
call 22 attempt 0 · /interactions · status 200 · 6.144 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_6476",
  "name": "move_joints",
  "result": "executing move_joints over 6 steps (0.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3004 left_j1=2.0373 left_j2=1.3296 left_j3=-0.625 left_j4=0.0013 left_j5=-0.3122 left_gripper=0.0375 right_j0=0.6407 right_j1=2.0449 right_j2=1.3273 right_j3=-0.6075 right_j4=-0.0078 right_j5=0.6319 right_gripper=0.0068\nstate[joint_eff]: [-0.294, -1.5932, 2.6462, 0.9206, -0.0024, 0.0708, 1.033, 0.0479, -2.3043, 2.8103, 0.7009, 0.0464, 0.022, 0.6862]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 196):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:161dfb3e80650cb88030a2adaaa491a5b182c2ff8882312503686a1d2f833448",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 161dfb3e8065
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 196):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5ac155541423e0af52829d65343e30b06e7ae2d68a0d6f2f10526cf4cb71c7e0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5ac155541423
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 196):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7f5cb971b620513ecdc3dbd51063ad332ca45e13d4c2e6bcc717c46b197af8d3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7f5cb971b620
call 23 attempt 0 · /interactions · status 200 · 7.536 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4886",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3042 left_j1=2.0312 left_j2=1.3437 left_j3=-0.6048 left_j4=0.004 left_j5=-0.3145 left_gripper=0.9947 right_j0=0.6415 right_j1=2.0346 right_j2=1.3399 right_j3=-0.5884 right_j4=-0.012 right_j5=0.6197 right_gripper=0.9948\nstate[joint_eff]: [0.0205, -9.8667, 4.6154, 0.5983, 0.022, -0.0269, -0.1538, -0.294, -9.7299, 4.9026, 0.6374, -0.0122, 0.1441, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 206):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8cacebcf0dcf4de24800ca472108c09c534951385d94a9d96cb2da5934e45490",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8cacebcf0dcf
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 206):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3517db354fbd34e9d6f0406f819213831101d605e9e9daaf5ef171fd9c27d901",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3517db354fbd
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 206):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ce18f425b64db3dd74d1ebe2d03a80b51e9aef646e019168a63814cc22e55225",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ce18f425b64d
call 24 attempt 0 · /interactions · status 200 · 4.459 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5052",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3042 left_j1=2.0308 left_j2=1.3437 left_j3=-0.6044 left_j4=-0.0006 left_j5=-0.3119 left_gripper=0.9994 right_j0=0.675 right_j1=2.0331 right_j2=1.3399 right_j3=-0.5919 right_j4=0.0032 right_j5=0.6594 right_gripper=0.9987\nstate[joint_eff]: [0.1026, -10.6462, 5.559, 0.823, -0.0611, 0.1099, -0.0708, 1.935, -10.8103, 5.7368, 0.7448, -0.1001, 0.1001, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 208):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:efd3cefa5a36bc9f0b09cbbcb3e166c0b99fe464812bda6f48e6f416e37af1c4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob efd3cefa5a36
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 208):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b5d8c49a0a94ebc2ba8c123ed59c70ca530d0fcb1ac007ab62e8f1e457590ebb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b5d8c49a0a94
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 208):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:447b1872b558af94d4fd12b065fec3787de6f671c8b83097a1faaf90bec2815a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 447b1872b558
call 25 attempt 0 · /interactions · status 200 · 8.479 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_42127",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=2.0312 left_j2=1.3437 left_j3=-0.6094 left_j4=-0.0078 left_j5=-0.3149 left_gripper=0.043 right_j0=0.6735 right_j1=2.0327 right_j2=1.3399 right_j3=-0.6018 right_j4=-0.0021 right_j5=0.654 right_gripper=0.0075\nstate[joint_eff]: [-0.2667, -10.4274, 5.7368, 0.8767, 0.0659, 0.0073, 0.9548, -0.1026, -10.5231, 5.9009, 0.9109, 0.0464, 0.0757, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 218):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6533130dfcc77674e04da8dc3fed900f7445cac994448388fd233c07abf2dd33",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6533130dfcc7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 218):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6f7b664d2bf5c288d36c04151b31e7b90f6c9c644f486e2a861e5df5fc7b4d9c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6f7b664d2bf5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 218):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9e79531f78c9baaffa59f8f7a5d925c3348aa47d284f1f10bbad9db708f16db1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9e79531f78c9
call 26 attempt 0 · /interactions · status 200 · 5.785 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_26677",
  "name": "move_joints",
  "result": "executing move_joints over 7 steps (0.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=1.842 left_j2=1.111 left_j3=-0.2897 left_j4=-0.0078 left_j5=-0.3141 left_gripper=0.0449 right_j0=0.6727 right_j1=1.84 right_j2=1.1118 right_j3=-0.2886 right_j4=-0.0082 right_j5=0.6556 right_gripper=0.0054\nstate[joint_eff]: [0.212, -11.3983, 6.4205, 1.4628, 0.0122, 0.1148, 1.0281, -0.3214, -11.3709, 5.9692, 1.7558, 0.0464, 0.0952, 0.5446]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 225):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:bb5e3c9388fad1e76751021d43d275622feb0465620d41fc05d692d96cc04993",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bb5e3c9388fa
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 225):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a36d68c54039c51bb2cf4eeda23fdd32542e877759efc22206b9f0f5eab914bb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a36d68c54039
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 225):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9e1b8d3305e4c817e298250a2d295e01b019cdc3707868bf7e8bd731753ce196",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9e1b8d3305e4
call 27 attempt 0 · /interactions · status 200 · 5.779 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_38721",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=2.0327 left_j2=1.2888 left_j3=-0.4332 left_j4=-0.0086 left_j5=-0.3141 left_gripper=0.0449 right_j0=0.672 right_j1=2.0418 right_j2=1.2881 right_j3=-0.4294 right_j4=-0.0078 right_j5=0.6575 right_gripper=0.0053\nstate[joint_eff]: [0.0752, -5.7231, 5.4085, 0.6911, 0.0562, 0.1245, 1.0281, -0.5538, -5.9282, 5.5179, 0.8132, 0.0513, 0.1001, 0.5348]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 230):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:20a2e109a5cee3df8e690455d594fa3027c6c3d9e790e177fc58e5103f6b5ce6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 20a2e109a5ce
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 230):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:839c7163f48c4e8b37ca18d975cf56ca0308d033d16c33682cb340e695dd2dbb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 839c7163f48c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 230):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:df7d65ee46d43d67edbcb3cf60a3f88b9d911f05bcbee5731ee98131d310d24e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob df7d65ee46d4
call 28 attempt 0 · /interactions · status 200 · 7.134 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_28236",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=2.1403 left_j2=1.4723 left_j3=-0.5713 left_j4=-0.009 left_j5=-0.3145 left_gripper=0.0449 right_j0=0.6731 right_j1=2.1468 right_j2=1.4673 right_j3=-0.5709 right_j4=-0.0109 right_j5=0.6552 right_gripper=0.0054\nstate[joint_eff]: [-0.0205, -3.0427, 2.8513, 0.5885, 0.0659, 0.105, 1.0281, -0.2256, -3.5761, 3.0838, 0.5885, 0.0659, 0.1294, 0.5397]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 234):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:87d2fb39683cb37a619916ae7bc7fa45a5ade3a8a5321036fb54db5b3414cfde",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 87d2fb39683c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 234):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d580f1d7e17cc21e54a2aabc680c1d701fbac9832fe7b88ec7ee953b247ba769",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d580f1d7e17c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 234):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bdd89818345ad4ca9fc87cc1c4c26b699745b85b5ef6d4fea0484582ef532c0d",
  "mime_type": "image/png",
  "type": "image"
}
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call 29 attempt 0 · /interactions · status 200 · 4.631 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_11519",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=2.1944 left_j2=1.5688 left_j3=-0.6277 left_j4=-0.009 left_j5=-0.3126 left_gripper=0.0449 right_j0=0.6727 right_j1=2.199 right_j2=1.5612 right_j3=-0.6292 right_j4=-0.0116 right_j5=0.6548 right_gripper=0.0053\nstate[joint_eff]: [-0.0889, -3.9043, 3.412, 0.7057, 0.0904, 0.0464, 1.033, -0.1709, -4.1368, 4.0821, 0.7009, 0.0806, 0.1441, 0.5348]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 237):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:508c986520b42e712743332324d48f427ab7d9449b81f775727b8fe978bbb1d8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 508c986520b4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 237):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:349c132b15f9bd71c9c4f2561e2cd8ea9c1fdc1b0f7c89b3bbf0d49d0a3d1c70",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 349c132b15f9
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 237):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e39a6f06b55d4bd8991264abf20eb23ba8128dbd91a50c2296495c10155fb132",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e39a6f06b55d
call 30 attempt 0 · /interactions · status 200 · 12.67 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_11199",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3077 left_j1=2.1899 left_j2=1.5829 left_j3=-0.6056 left_j4=-0.001 left_j5=-0.3145 left_gripper=0.9944 right_j0=0.6739 right_j1=2.186 right_j2=1.5764 right_j3=-0.5976 right_j4=-0.0303 right_j5=0.646 right_gripper=0.9948\nstate[joint_eff]: [0.0615, -11.6171, 4.8889, 0.7106, -0.1294, -0.0269, -0.149, -0.3897, -11.0427, 5.0256, 0.6374, 0.1636, 0.0464, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 247):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:9c8797de437afb01cfde579a3e973ecd40cdc6ad2ad5df4b4fc7f44ca472515b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9c8797de437a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 247):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f42f825f67a49f2031b9e835c0d176b9b5580840542bcfcb4e50e118cf0e3813",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f42f825f67a4
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 247):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d1ff449e6694a3137c8683abbbcd58631ca2a1c57a45a323d87da9f6eb61fa38",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d1ff449e6694
call 31 attempt 0 · /interactions · status 200 · 13.21 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_30655",
  "name": "move_joints",
  "result": "executing move_joints over 11 steps (1.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=1.5421 left_j2=1.0172 left_j3=-0.5167 left_j4=0.0002 left_j5=-0.3119 left_gripper=0.9994 right_j0=0.6716 right_j1=1.5398 right_j2=1.0176 right_j3=-0.5159 right_j4=-0.0116 right_j5=0.6559 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -7.9521, 6.7487, 1.4579, -0.0464, 0.0708, -0.0708, -0.3487, -7.8154, 6.7761, 1.4042, 0.0904, 0.1099, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 258):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4b2ee271dd480f7653eec5aba7c7923b79e1ec05fcc964cbd2eacc841a590501",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4b2ee271dd48
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 258):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dd1f1a27d5226ea67c4c82f5eb16ed6e13f5cd7bd5c51c4f07d83f1c468bf190",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dd1f1a27d522
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 258):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:58abcd2e15eaff0cd6129cd8c9019e0152ec55b4e3ed2bc3b6cac4961865d957",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 58abcd2e15ea
call 32 attempt 0 · /interactions · status 200 · 10.33 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_20638",
  "name": "move_joints",
  "result": "executing move_joints over 9 steps (0.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=2.0121 left_j2=1.3251 left_j3=-0.6525 left_j4=-0.0086 left_j5=-0.3126 left_gripper=0.9994 right_j0=0.6739 right_j1=2.0171 right_j2=1.3243 right_j3=-0.6502 right_j4=-0.001 right_j5=0.6552 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -7.4188, 6.7761, 0.8376, 0.1099, 0.0757, -0.0708, -0.2256, -7.706, 6.7214, 0.6813, 0.0269, 0.105, -0.0952]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 267):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ef1a6906a9a827fcc53264bffdfaf9a39d2cbfc4441240b7ef60ee4568f885cf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ef1a6906a9a8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 267):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:07ba5903fd4389498f358169f5201d12a3b95ebf498fd4e90f33e658bc47eaf6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 07ba5903fd43
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 267):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c27040da3e8a19610469c9b65f59941a4988ebeb3109b55bc510ee52bf4bdab8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c27040da3e8a
call 33 attempt 0 · /interactions · status 200 · 11.76 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_8754",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3042 left_j1=2.022 left_j2=1.3361 left_j3=-0.6506 left_j4=-0.0181 left_j5=-0.3157 left_gripper=0.0224 right_j0=0.6727 right_j1=2.027 right_j2=1.3285 right_j3=-0.654 right_j4=-0.0082 right_j5=0.6548 right_gripper=0.0226\nstate[joint_eff]: [-0.294, -11.1795, 4.8479, 0.7302, 0.0904, 0.022, 0.9988, 0.0205, -11.1521, 5.3128, 0.7155, 0.0513, -0.022, 1.0574]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 277):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c9552506f95fd9d244df3a11afbe48042b1ba4cab82fc1ccbd7c79b39d7da195",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c9552506f95f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 277):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b04c44e850e1e2bd6ce2ac2b8afb77bb888b6092b6f23acb45a79fc704667522",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b04c44e850e1
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 277):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:299588cba4c6ab54b78b4211c86a3ca856bdd524031e6ad574ceedd01be7f928",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 299588cba4c6
call 34 attempt 0 · /interactions · status 200 · 11.55 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3404",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3031 left_j1=2.1883 left_j2=1.5696 left_j3=-0.6731 left_j4=-0.0162 left_j5=-0.3153 left_gripper=0.0248 right_j0=0.6735 right_j1=2.1941 right_j2=1.5635 right_j3=-0.6743 right_j4=-0.0082 right_j5=0.6548 right_gripper=0.0228\nstate[joint_eff]: [0.1709, -3.5624, 2.8376, 0.9451, 0.1832, 0.0806, 1.033, -0.3214, -4.0, 3.3709, 0.779, 0.0708, 0.1197, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 282):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5ecf34611e05f4a450f20e8894d106d803af16aa025773f6054492dfeeff05e0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5ecf34611e05
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 282):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:ac4b974ab81bf0b56c2bc78c14b762623d582abce77c4eec64586a413197356b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ac4b974ab81b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 282):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:55a1c1971e1dec32855201a9e7fa5895ba41d0a239244175bb6f4c50a0a2f7c4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 55a1c1971e1d
call 35 attempt 0 · /interactions · status 200 · 78.71 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5442",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3073 left_j1=2.188 left_j2=1.5856 left_j3=-0.6426 left_j4=-0.0174 left_j5=-0.3187 left_gripper=0.9951 right_j0=0.6739 right_j1=2.1834 right_j2=1.5776 right_j3=-0.6502 right_j4=-0.0151 right_j5=0.6456 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -12.0, 4.6974, 0.5397, -0.0171, -0.0171, -0.1538, -0.3487, -11.1248, 4.8479, 0.6374, -0.0122, 0.0904, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 292):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1520fac6efe1faea7cb90fd13346e88e696982a520af4d4dc95c587afe6fa7df",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1520fac6efe1
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 292):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e7b14a46a6df52e4e267887540cc2233c6bce83ae89709e46909481a8a8a820c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e7b14a46a6df
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 292):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:41498e04051cc2a66a786aa04162a87ede737812500c0e89f076a0163e20253a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 41498e04051c
call 36 attempt 0 · /interactions · status 200 · 23.3 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_77",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=2.188 left_j2=1.5856 left_j3=-0.6437 left_j4=-0.0231 left_j5=-0.3229 left_gripper=0.0213 right_j0=0.6735 right_j1=2.1841 right_j2=1.5761 right_j3=-0.6552 right_j4=-0.0158 right_j5=0.643 right_gripper=0.0199\nstate[joint_eff]: [-0.2256, -12.0274, 5.9966, 0.9451, 0.0464, -0.0317, 0.8132, -0.1436, -11.9043, 6.106, 0.9109, -0.0269, -0.0415, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 302):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5b330461b8fbb02b60f2b28a28776848f777c6f2e4fa7760b082c31f2ab3b34f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5b330461b8fb
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 302):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c8983d772a9135f3b85399e543bbfedded71c844c44a371920fc90be842e1683",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c8983d772a91
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 302):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:86a193d3a7b239b4abb1429ad663b7e669b960dc20fc4055d79ae3f6a029436e",
  "mime_type": "image/png",
  "type": "image"
}
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call 37 attempt 0 · /interactions · status 200 · 12.18 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14601",
  "name": "move_joints",
  "result": "executing move_joints over 14 steps (1.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=2.2929 left_j2=2.3482 left_j3=-1.0821 left_j4=-0.0132 left_j5=-0.3298 left_gripper=0.0247 right_j0=0.6727 right_j1=2.2807 right_j2=2.3508 right_j3=-1.0916 right_j4=-0.0124 right_j5=0.651 right_gripper=0.0228\nstate[joint_eff]: [0.0615, -12.0547, 8.8547, 1.1941, 0.0659, 0.2564, 1.033, -0.294, -11.0291, 8.4718, 1.3407, 0.0952, 0.149, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 316):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b734952637e094c3e61fc92b6993c90061350a9f131a7f84a0eaa04845428564",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b734952637e0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 316):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:22d74887ea65296cc4afdd9ec603ab04854e556c3945be7a1c4b8f1dd14f99bb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 22d74887ea65
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 316):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:945c0e39780e7fe05a5c1792fb2cd191665cf6ab790ec2508509896846e581a0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 945c0e39780e
call 38 attempt 0 · /interactions · status 200 · 19.14 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4915",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=2.2951 left_j2=2.3501 left_j3=-1.0954 left_j4=-0.0086 left_j5=-0.3386 left_gripper=0.9954 right_j0=0.6727 right_j1=2.2929 right_j2=2.3493 right_j3=-1.1069 right_j4=-0.0124 right_j5=0.6502 right_gripper=0.9959\nstate[joint_eff]: [-0.2256, -13.1624, 6.0923, 1.37, -0.0806, 0.0513, -0.1245, -0.0615, -14.0513, 6.3521, 1.3407, -0.0415, -0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 326):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b51322fe0f82cdfb3a1486278fe85b7cc4db8a57fe0d8070a130fb0e9e280958",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b51322fe0f82
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 326):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d29e16f64749267dce1472e607926bfa6377544636be75b1c4bbb4f1a13dba25",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d29e16f64749
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 326):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5db2322a60cb7110a4f16b1e252ef8c0b250e72d54b409231b6fc0fd123309a9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5db2322a60cb
call 39 attempt 0 · /interactions · status 200 · 14.99 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3358",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.305 left_j1=2.2951 left_j2=2.3501 left_j3=-1.0962 left_j4=-0.0086 left_j5=-0.3412 left_gripper=0.0123 right_j0=0.6727 right_j1=2.2929 right_j2=2.3493 right_j3=-1.1107 right_j4=-0.0124 right_j5=0.6506 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -13.012, 6.3248, 1.2088, -0.0464, 0.0171, 1.1062, -0.4034, -13.0393, 6.2017, 1.2039, -0.0317, -0.0562, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 336):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e240390b24e87e555f0871e32c61eae8bb6d4843f7b35acb960fffb1c2ac8c3e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e240390b24e8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 336):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3de9fc10d443ef46ea41391ed34329538cec4277368e0de5d8ac7d22873b82d2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3de9fc10d443
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 336):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:32143cb0d6c2ddf332073fd4186e4e4799e870c91c8869e6600e44252a2a6c14",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 32143cb0d6c2
call 40 attempt 0 · /interactions · status 200 · 17.05 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_17130",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.1116 left_j1=2.1139 left_j2=1.4342 left_j3=-0.5171 left_j4=0.0044 left_j5=-0.1265 left_gripper=0.0124 right_j0=0.6724 right_j1=2.2929 right_j2=2.3486 right_j3=-1.1103 right_j4=-0.0116 right_j5=0.6548 right_gripper=0.9987\nstate[joint_eff]: [0.841, -11.5761, 5.012, 0.6325, -0.0855, 0.0952, 1.0281, -0.4718, -13.3128, 6.3795, 1.3553, 0.0806, 0.0659, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 352):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e7b314a6e90cf9209869a1ffdc31364c12201a3891cacc12f896ef5d3910b837",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e7b314a6e90c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 352):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a3e04fa317021bf37926d7240e8a31dab70bbdec934227ac0632513c05d6f666",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a3e04fa31702
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 352):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2b0bee268e2b7f37e99a638d89458cda3dd2a17275940deb766c95750cb3ef7d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2b0bee268e2b
call 41 attempt 0 · /interactions · status 200 · 14.54 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_71897",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.1143 left_j1=2.1059 left_j2=1.4269 left_j3=-0.5026 left_j4=0.0059 left_j5=-0.1272 left_gripper=0.9946 right_j0=0.672 right_j1=2.2929 right_j2=2.3486 right_j3=-1.1118 right_j4=-0.0124 right_j5=0.654 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -10.6872, 6.5573, 0.8132, -0.0659, -0.0366, -0.1294, -0.2667, -12.8889, 6.2427, 1.2039, -0.0269, -0.0513, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 362):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:beaeb175dc8824c1eb3e07f3b47016f99bd450322ded63bb3b37843588d0a50d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob beaeb175dc88
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 362):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6715caae9122b433241c7c0a81b85fc0c7fdc7d722a47fca4ed7ab9634d58309",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6715caae9122
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 362):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:441125a19d32f88ef24baf51cc7f5826b0ef31814befb7ffa48fef51dbb33026",
  "mime_type": "image/png",
  "type": "image"
}
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call 42 attempt 0 · /interactions · status 200 · 16.87 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_7584",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.1131 left_j1=2.1059 left_j2=1.4265 left_j3=-0.5041 left_j4=0.0032 left_j5=-0.1303 left_gripper=0.0222 right_j0=0.672 right_j1=2.2932 right_j2=2.3482 right_j3=-1.1183 right_j4=-0.0124 right_j5=0.6544 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -11.3162, 5.9556, 0.9939, 0.0269, 0.022, 0.906, -0.294, -13.0667, 6.2427, 1.2332, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 372):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d8e0ee51a522574ae21a3f3342e9ec94587bc61f8451cbb80e2d4892efab0c84",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d8e0ee51a522
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 372):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8f23ceb74e7008acd6c8a7e0694cbbddbc5c2ada7b7fb823ba212ea30922ed4f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8f23ceb74e70
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 372):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b5a9cd050a6db4a4b3766b80bed0bc15376df54fb877224977e99716d68acc46",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b5a9cd050a6d
call 43 attempt 0 · /interactions · status 200 · 19.59 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_377623",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.0654 left_j1=2.2097 left_j2=1.5738 left_j3=-0.5545 left_j4=0.0525 left_j5=0.0189 left_gripper=0.0246 right_j0=0.672 right_j1=2.2929 right_j2=2.3482 right_j3=-1.1183 right_j4=-0.0116 right_j5=0.6556 right_gripper=0.9987\nstate[joint_eff]: [0.3624, -5.4085, 3.0838, -0.0024, -0.6911, 0.2418, 1.033, -0.335, -13.2991, 6.5299, 1.3016, 0.105, 0.1197, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 376):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4e7cd9d0ee798adfe3336e702c52ab4b4ea567bad646c5810cf2f9feb6a16594",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4e7cd9d0ee79
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 376):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:94f7d801b89d475595619d7c55141508f375f89f2fb33872de0b2d723dacf70c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 94f7d801b89d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 376):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1d25abea83627653db911553e0410ca5b2aec0530d0efb5ef0b905ca36cb831b",
  "mime_type": "image/png",
  "type": "image"
}
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call 44 attempt 0 · /interactions · status 200 · 14.53 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_21375",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.0597 left_j1=2.2932 left_j2=2.1475 left_j3=-0.9707 left_j4=0.0135 left_j5=0.0372 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -12.1504, 9.2786, 0.9744, -0.105, 0.1978, 1.0281, -0.5128, -13.3265, 6.7077, 1.3748, 0.0708, 0.0464, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 386):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3cce623fad2ac0ed56d2f697b1056dbe8fdb34afa82d2937e83f7fef3b95aa2d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3cce623fad2a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 386):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9fad5476588752ff10b96e40f41b246dd68e4b59997c9fc069578a280ceb9b79",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9fad54765887
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 386):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4a57111ae765a7afcceede2d41068facf3711280a0dee9884d91aa2f17ac2149",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4a57111ae765
call 45 attempt 0 · /interactions · status 200 · 17.6 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_7631",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.2981 left_j1=2.3005 left_j2=2.3528 left_j3=-1.0183 left_j4=-0.0002 left_j5=0.2218 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1175 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988\nstate[joint_eff]: [-2.0171, -13.0803, 8.9094, 1.4628, 0.022, 0.2564, 1.033, -0.5128, -13.3128, 6.4752, 1.3895, 0.0757, 0.0757, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 391):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:56785e5a12314b006987d17edfcf6642483219895ba5fd0fbc06e00fa36ce293",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 56785e5a1231
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 391):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fbfb72e08b4f0887b37ad04ffb6d5aa79fb7cff974474632c280526e25316a91",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fbfb72e08b4f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 391):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8423f0ec447b6bd8bf4e7aa0bcb3508aa276ab8619d91969309fff89dd815f18",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8423f0ec447b
call 46 attempt 0 · /interactions · status 200 · 15.09 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2795",
  "name": "move_joints",
  "result": "executing move_joints over 6 steps (0.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.5743 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0168 left_j4=-0.0006 left_j5=0.4999 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988\nstate[joint_eff]: [-0.6496, -13.2855, 9.2103, 1.4774, -0.0562, 0.1197, 1.0281, -0.5128, -13.3265, 6.6803, 1.3455, 0.0464, 0.0708, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 397):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7c81fac668b3020a170ad4f359e759a256bab7df8c3a29fc1f932d8d85221456",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7c81fac668b3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 397):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:06ab139eff9a3c946891817344e8826edf5b568f7434dd0d3fcbc653e34dd307",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 06ab139eff9a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 397):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:60b68d485c4f2562fc8a37c488d689c51d88d0248c5ac9e30ebee117320018c5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 60b68d485c4f
call 47 attempt 0 · /interactions · status 200 · 17.64 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_17794",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.6842 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0168 left_j4=0.0017 left_j5=0.6418 left_gripper=0.0245 right_j0=0.672 right_j1=2.2929 right_j2=2.3466 right_j3=-1.1183 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -13.1761, 8.6359, 1.4676, -0.0659, 0.0904, 1.033, -0.4718, -13.2444, 6.4889, 1.3016, 0.0562, 0.0513, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 401):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2d39428b8b467b3194ec953287c50084ab82e601d678bae98b18cd41b009198c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2d39428b8b46
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 401):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6854ca9bbcc5802c3559f52a8f9c72023f381c771015b6b2ee3ebbd01f52fd3b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6854ca9bbcc5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 401):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7b36765c521cfbcba01fc757df1263f984f5eb3d3e64de4212bfa49245acb962",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7b36765c521c
call 48 attempt 0 · /interactions · status 200 · 14.82 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_10616",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8272 left_j1=2.3005 left_j2=2.3711 left_j3=-1.0161 left_j4=0.0021 left_j5=0.7845 left_gripper=0.0245 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6582 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -13.0803, 8.6359, 1.5458, -0.0757, 0.1148, 1.033, -0.5128, -13.3128, 6.4615, 1.326, 0.0513, 0.0659, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 405):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:92145bab540228b1bf439e3c7d0271a1b240db9622c65c232fb4247ecb64120e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 92145bab5402
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 405):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:03e55e2de553d19aebbebb96cc9fc094e3208ec7d500e777e49fa21c70bcf4ef",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 03e55e2de553
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 405):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5e7611d2361fbbf1ac0de4e1082b5d49543a637023c84f7cfc4d5746ac3421e2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5e7611d2361f
call 49 attempt 0 · /interactions · status 200 · 21.24 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_24027",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8253 left_j1=2.3005 left_j2=2.3703 left_j3=-1.0233 left_j4=-0.0082 left_j5=0.783 left_gripper=0.9945 right_j0=0.672 right_j1=2.2929 right_j2=2.3466 right_j3=-1.1191 right_j4=-0.0124 right_j5=0.6548 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -13.2171, 6.4342, 1.3993, 0.0611, 0.0659, 0.022, -0.2256, -13.0256, 6.2427, 1.1355, -0.0415, -0.0024, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 415):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:46265ce92055c9089292467ad27653d3a0ed8c60f552a9760620c70dfd47f309",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 46265ce92055
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 415):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a581b76806663d6d3d748659a029a3c4a33e8531af937b126a79ced1343a34b5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a581b7680666
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 415):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e8a05f134803781d531e3fcc4f9a4c268900fce855bb893c771a7400f2c002af",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e8a05f134803
call 50 attempt 0 · /interactions · status 504 · 4.327 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_5884",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8242 left_j1=2.0998 left_j2=1.4384 left_j3=-0.5114 left_j4=-0.0032 left_j5=0.7967 left_gripper=0.9994 right_j0=0.672 right_j1=2.2932 right_j2=2.3466 right_j3=-1.1183 right_j4=-0.0116 right_j5=0.6552 right_gripper=0.9988\nstate[joint_eff]: [-0.6906, -10.5231, 4.5197, 0.6129, 0.0122, 0.1734, -0.0708, -0.4034, -13.1077, 6.4889, 1.3748, 0.0708, 0.1001, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 431):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d4826ef4206c79b1c329a7dff517a8a9f3ff530f107924751f2f2ea405ac3dc5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d4826ef4206c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 431):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b852031ee369d4ec20f0a3703ac27ced0bfa0f9ac76f481fe3a1bf7eaea8d77a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b852031ee369
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 431):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c0f84d4cc49cc55305d8f3f6367e99a98dbcb0ab75168e509e3c464bedb0b103",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c0f84d4cc49c
call 50 attempt 1 · /interactions · status 200 · 14.74 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 51 attempt 0 · /interactions · status 200 · 17.57 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_498779",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8246 left_j1=2.0937 left_j2=1.4246 left_j3=-0.5114 left_j4=-0.0006 left_j5=0.7952 left_gripper=0.0124 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1221 right_j4=-0.0124 right_j5=0.6544 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -10.7692, 7.0359, 1.0134, -0.0269, -0.022, 1.1062, -0.2256, -13.0393, 6.2291, 1.1795, -0.0464, -0.0464, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 441):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:0505242d515f6cb7a91dedc3e0dc768757c9db90732ecfae4267109159a931ec",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0505242d515f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 441):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f4a143ed1c27c9c4113f55ed2d62dbd8f0ffc84fbb9e054845d16ddfadc43281",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f4a143ed1c27
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 441):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0c63278c10920b6a50e8971d14916c117cdb5d6856d684f3f16062fea8f17dc2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0c63278c1092
call 52 attempt 0 · /interactions · status 200 · 18.65 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_1571",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.4629 left_j1=2.2902 left_j2=2.3512 left_j3=-0.9741 left_j4=-0.0048 left_j5=0.4725 left_gripper=0.0125 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1179 right_j4=-0.012 right_j5=0.6552 right_gripper=0.9988\nstate[joint_eff]: [-0.5128, -12.465, 8.9504, 1.2772, 0.0269, 0.0317, 1.0281, -0.2393, -13.3265, 6.653, 1.326, 0.0611, 0.1148, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 457):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3baa4a561b217b807d19cc533e763f50f1de4a6dedd2975f2c209eba9f7c1977",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3baa4a561b21
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 457):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:27eefd415554816407037cd546f92fe2d3f2dc83021baeed8e9a1694b2d3d7ad",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 27eefd415554
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 457):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2e3689228b28aee7216dacffacbe2f657127aa795b01be932b5d7d86a4819de4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2e3689228b28
call 53 attempt 0 · /interactions · status 200 · 16.6 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3484",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7563 left_j1=2.294 left_j2=2.3695 left_j3=-1.0065 left_j4=-0.0021 left_j5=0.6754 left_gripper=0.0125 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1183 right_j4=-0.012 right_j5=0.6579 right_gripper=0.9988\nstate[joint_eff]: [-2.8513, -12.6154, 8.7863, 1.4676, -0.022, 0.1636, 1.0281, -0.3077, -13.2991, 6.5299, 1.3309, 0.0415, 0.0415, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 462):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ae76896f427c4d777de1710f44cd91f5aa12e190381dfd951a9554462923f7fb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ae76896f427c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 462):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:66adac4a4cbc3726bbdbe3ddd103e709adc0367439287ebe7eaf6e92fcdffcaf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 66adac4a4cbc
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 462):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0af769f031516c84ca8e45e18b31aab8429366fd50dea6b9c233c1ab10b09310",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0af769f03151
call 54 attempt 0 · /interactions · status 200 · 24.59 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_1373",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7536 left_j1=2.2955 left_j2=2.3692 left_j3=-1.0111 left_j4=-0.0082 left_j5=0.6743 left_gripper=0.9946 right_j0=0.672 right_j1=2.2932 right_j2=2.3463 right_j3=-1.1217 right_j4=-0.0124 right_j5=0.6548 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -13.3128, 6.3795, 1.409, 0.0122, 0.0366, -0.0952, -0.3487, -13.0393, 6.2154, 1.1551, -0.0513, -0.0317, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 472):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:42e89ea74dafec0d473840b90ea52f86d977941d45bce4d7686c20e2ff93626b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 42e89ea74daf
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 472):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fd28ac01547af77572bc9f07634d1403802b89809f3e1d3096c643dfaaf58ae1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fd28ac01547a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 472):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ac23240729e7d04ea14d1a857f155e10d39d469906fc55a3b7a2959451f3dcf9",
  "mime_type": "image/png",
  "type": "image"
}
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call 55 attempt 0 · /interactions · status 200 · 21.25 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2864",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.609 left_j1=2.0937 left_j2=1.4429 left_j3=-0.6548 left_j4=0.0036 left_j5=0.6037 left_gripper=0.9994 right_j0=0.3672 right_j1=2.0998 right_j2=1.438 right_j3=-0.6704 right_j4=-0.0078 right_j5=0.3687 right_gripper=0.9987\nstate[joint_eff]: [-0.7043, -9.7436, 4.0137, 0.6129, -0.0952, -0.0757, -0.0659, -0.9641, -9.9761, 4.4376, 0.6422, 0.0659, 0.0024, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 488):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1f01ef2c332b5cb4759845d560bd5c6ce6894dd30519dc0345ee057875db06b8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1f01ef2c332b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 488):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c1881207dc77f80ad6faa26f363e35dd8495fcafbd65245d674a2b9adef06630",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c1881207dc77
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 488):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:66f44c703031b8df1e74688c14b7e43a4e36df344a72065111aac557e29b0c88",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 66f44c703031
call 56 attempt 0 · /interactions · status 200 · 17.98 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_26498",
  "name": "move_joints",
  "result": "executing move_joints over 7 steps (0.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.6895 left_j1=2.085 left_j2=1.4273 left_j3=-0.6395 left_j4=0.0296 left_j5=0.6666 left_gripper=0.9994 right_j0=0.7166 right_j1=2.0876 right_j2=1.42 right_j3=-0.6456 right_j4=0.0437 right_j5=0.6666 right_gripper=0.9987\nstate[joint_eff]: [0.7316, -9.6752, 3.7675, 0.7009, -0.2808, 0.2662, -0.0708, 0.9368, -10.0308, 4.1368, 0.7497, -0.4176, 0.2418, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 495):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d6c1a3151c3ba1c35d9ad933028bd8f2e774106e6392c49829d32138c681e547",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d6c1a3151c3b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 495):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:72baf3eeea8ba94a92e3e8ab8fffb2145a895caf89fbb8f7baf32fa20df48e63",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 72baf3eeea8b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 495):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:685b8cbc0add4b2e04c4022f30f2ffbca1d2ae67972f21ecc15fc5c9620a99cf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 685b8cbc0add
call 57 attempt 0 · /interactions · status 200 · 18.2 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_6294",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.6937 left_j1=2.0834 left_j2=1.4269 left_j3=-0.6388 left_j4=0.0257 left_j5=0.6727 left_gripper=0.9994 right_j0=0.527 right_j1=2.0838 right_j2=1.42 right_j3=-0.6468 right_j4=0.0135 right_j5=0.5697 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -11.1795, 5.2171, 0.7595, -0.3199, 0.1245, -0.0708, 1.9897, -11.1521, 5.7641, 0.8034, -0.1832, -0.0562, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 499):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:caba1ee1f8672dadf5e3677713d30b98660c9b17f745ba9731f41c5ec8733407",
  "mime_type": "image/png",
  "type": "image"
}
wire blob caba1ee1f867
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 499):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3180d2be62caf7590c22007a389f222d4aff46141acd2876a6b961ed4cce7482",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3180d2be62ca
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 499):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8aa1793a4a6e5048f3c89bf1d3981ed751cb53d620ed4826b17e8a8a86081611",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8aa1793a4a6e
call 58 attempt 0 · /interactions · status 200 · 17.53 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4682",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.6937 left_j1=2.083 left_j2=1.4265 left_j3=-0.6388 left_j4=0.0257 left_j5=0.6727 left_gripper=0.9994 right_j0=0.572 right_j1=2.0838 right_j2=1.4189 right_j3=-0.6483 right_j4=0.0208 right_j5=0.577 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -11.2342, 5.2581, 0.7595, -0.2857, 0.1245, -0.0708, 3.3162, -11.0154, 5.8051, 0.823, -0.2125, 0.0073, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 501):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b5f3a4af60d00ff02d734b8b9cc02b3d026da84bba66a94fefe22a63ce4677ab",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b5f3a4af60d0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 501):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:405556c20b2f7f7f402d77cce9ec64f1c921437b61019b833e7f01ce873f6bde",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 405556c20b2f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 501):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:64803ccc3655f4ca322c5e718230778636ce0464c486fbfce57e3037e6c78e00",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 64803ccc3655
call 59 attempt 0 · /interactions · status 200 · 19.73 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_11909",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.6937 left_j1=2.0834 left_j2=1.4265 left_j3=-0.6418 left_j4=0.0257 left_j5=0.6655 left_gripper=0.0125 right_j0=0.5701 right_j1=2.083 right_j2=1.4193 right_j3=-0.6514 right_j4=0.0185 right_j5=0.5789 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -10.9744, 5.7778, 0.8278, 0.0073, 0.0611, 1.0965, 0.0615, -10.8239, 5.7231, 0.7692, -0.0317, -0.0513, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 511):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a16bcd365aaf7fe9ea35e7b876ebc981279e1b3526984173524751f6899c018c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a16bcd365aaf
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 511):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:20d935177158ccd5c2acd63dffb4dab4fa3615e79cd45674ddeaf9f53ad98d93",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 20d935177158
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 511):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bc0fe429237b024f1cbe1085a708b378512e8ecce2819bedde6d9662e9d30478",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bc0fe429237b
call 60 attempt 0 · /interactions · status 200 · 20.07 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_23548",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7448 left_j1=2.0811 left_j2=1.4269 left_j3=-0.6296 left_j4=0.0071 left_j5=0.7223 left_gripper=0.9943 right_j0=0.6403 right_j1=2.083 right_j2=1.4193 right_j3=-0.6487 right_j4=0.0185 right_j5=0.6289 right_gripper=0.999\nstate[joint_eff]: [0.5402, -11.1248, 5.2718, 0.7204, -0.1099, 0.315, -0.0073, 0.7863, -11.1795, 5.9282, 0.906, -0.1978, 0.1099, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 521):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:64f008830d6c82330b5498ef72af38aea110c2fd1e05f154256ea8aac29f0171",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 64f008830d6c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 521):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c608684d9718c516b0efc331c4013296394e53f4354762d423270063ba7c73d8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c608684d9718
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 521):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8ac3e10f8dd35b0c71761d82fc5523d24eae220e395988f0404584b9b7184c77",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8ac3e10f8dd3
call 61 attempt 0 · /interactions · status 200 · 18.37 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_105292",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.746 left_j1=2.0811 left_j2=1.4265 left_j3=-0.6346 left_j4=0.0029 left_j5=0.7155 left_gripper=0.0122 right_j0=0.7395 right_j1=2.083 right_j2=1.4193 right_j3=-0.6456 right_j4=0.0223 right_j5=0.717 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -11.0154, 5.8462, 0.862, 0.022, 0.0757, 0.8571, 0.6906, -11.2479, 5.9692, 0.7888, -0.2515, 0.2613, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 531):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:48cabaaaf02b10efb05d2e9a027ed16797079584e8035c0301c89aea8f28f178",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48cabaaaf02b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 531):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8a41def45cbacefb789cc780359a517438d9463e6aec871638449dc8446f613f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8a41def45cba
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 531):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bad431bb5952d540ff5580b06bea4eef039cea2efce536cac795cc6a57b31959",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bad431bb5952
call 62 attempt 0 · /interactions · status 200 · 20.4 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_21768",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7959 left_j1=2.0796 left_j2=1.4269 left_j3=-0.6285 left_j4=0.004 left_j5=0.7788 left_gripper=0.9947 right_j0=0.7879 right_j1=2.0823 right_j2=1.4193 right_j3=-0.6453 right_j4=0.0288 right_j5=0.7727 right_gripper=0.999\nstate[joint_eff]: [0.212, -10.988, 5.4632, 0.7448, -0.1001, 0.1441, -0.0757, 0.9641, -11.0701, 5.8051, 0.8278, -0.2857, 0.2418, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 541):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e0b1ae182b33b05653f4e6ca3535e806f65492b43b1ae50874d2cf67129c8d5b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e0b1ae182b33
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 541):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:ce47bc9bb7fcb530ed8ba5cf214916f979dcc5efdd1c49677d55ad0206524f3a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ce47bc9bb7fc
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 541):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:630404bcc30b4b6e1fdee43bc60bbb0861ea08b343b4a743f58d0b6265f2f20b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 630404bcc30b
call 63 attempt 0 · /interactions · status 200 · 21.98 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_530",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7986 left_j1=2.0796 left_j2=1.4265 left_j3=-0.6315 left_j4=0.0025 left_j5=0.7776 left_gripper=0.0123 right_j0=0.6323 right_j1=2.0815 right_j2=1.4197 right_j3=-0.6472 right_j4=0.0097 right_j5=0.6338 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -10.988, 5.8598, 0.8278, -0.0024, 0.0073, 1.0867, -0.6222, -11.1111, 5.7641, 0.8034, -0.1294, -0.0611, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 551):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c75c69e3ceaa5578a499fb190c13a47be788e0d9efe471cf4925203fbdcdd6c0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c75c69e3ceaa
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 551):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c6c3516e9777a4fc0635e0826872fd5c069198bf470bb4e3337cdd6c80781a2b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c6c3516e9777
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 551):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fcc1baf971c723ede28c24784ad14f1e96038653a4d093752c0703091c501f25",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fcc1baf971c7
call 64 attempt 0 · /interactions · status 200 · 21.82 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_6403",
  "name": "move_joints",
  "result": "executing move_joints over 18 steps (1.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2745 left_j1=2.0796 left_j2=1.4113 left_j3=-0.6468 left_j4=-0.0101 left_j5=-0.2317 left_gripper=0.0119 right_j0=0.6281 right_j1=2.0815 right_j2=1.4193 right_j3=-0.6498 right_j4=0.0105 right_j5=0.6243 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -9.1419, 4.8068, 0.7302, 0.022, -0.0415, 1.0281, -0.1026, -10.9333, 5.8051, 0.7106, -0.1099, 0.0269, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 569):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:927ae4dfd4aadd6412c237f017d5f4faf70f335efd7d1846522353a27b4a0d3f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 927ae4dfd4aa
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 569):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3bb95cfdc9e7ad8410c74a1d03d5a0bb66ca59a3ae5c08a8afd1762704aa00f3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3bb95cfdc9e7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 569):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c4ec89e38da50d742333673acc9d3b464e4dc82ecd55f79ac2d131dddcf4a6ac",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c4ec89e38da5
call 65 attempt 0 · /interactions · status 200 · 25.06 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_1845",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2947 left_j1=1.8412 left_j2=1.211 left_j3=-0.6132 left_j4=-0.0002 left_j5=-0.2962 left_gripper=0.9951 right_j0=0.6281 right_j1=1.8389 right_j2=1.2079 right_j3=-0.6144 right_j4=-0.001 right_j5=0.625 right_gripper=0.9991\nstate[joint_eff]: [-0.7726, -11.3983, 6.0239, 1.0427, -0.0269, 0.0757, -0.105, -0.0752, -11.2479, 5.9966, 1.0379, -0.0317, -0.0073, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 579):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:0159a262c578ec4d5e1d621c02271de81bdd2a902fc5a1692bd84cbeb7bcba80",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0159a262c578
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 579):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:24e00050b90f1b36ba7080df3544531644b690a6a4b64c0792034ca1010389c5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 24e00050b90f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 579):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f032cc15f678929c3a80d4331d4277a7bb8192581a362f5c2b2a332691473da2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f032cc15f678
call 66 attempt 0 · /interactions · status 200 · 21.08 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_16786",
  "name": "move_joints",
  "result": "executing move_joints over 7 steps (0.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.0181 left_j1=1.8252 left_j2=1.2037 left_j3=-0.6125 left_j4=-0.0002 left_j5=-0.057 left_gripper=0.9994 right_j0=0.2722 right_j1=1.829 right_j2=1.2018 right_j3=-0.6163 right_j4=-0.0078 right_j5=0.3088 right_gripper=0.9991\nstate[joint_eff]: [0.294, -11.0017, 5.6547, 0.9597, -0.0171, 0.1148, -0.0708, -0.0889, -11.1521, 5.7915, 1.033, 0.1001, -0.1148, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 586):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4720492e575e140aa91cf1b988bc3064d31ee75db9fc0f76bdd02feb5d3aecdc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4720492e575e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 586):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a1f310f9d03f7f537f5edb361b3db07a4ea108897d0f46eb44befc7387d874e8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a1f310f9d03f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 586):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fc5c0fe7086e9b908b6bd9d68ec8d75f1fb44193f83ab0a1473811f5e35be3da",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fc5c0fe7086e
call 67 attempt 0 · /interactions · status 200 · 19.45 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3500",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8658 left_j1=2.0277 left_j2=1.3262 left_j3=-0.6247 left_j4=0.0853 left_j5=0.7967 left_gripper=0.9994 right_j0=0.255 right_j1=1.829 right_j2=1.1973 right_j3=-0.6151 right_j4=-0.0078 right_j5=0.2565 right_gripper=0.9991\nstate[joint_eff]: [0.9231, -4.3419, 3.6991, 0.4664, -0.9158, 0.4322, -0.0708, -0.6769, -11.2752, 6.3521, 1.0379, 0.0757, -0.1197, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 602):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ba723283530155905dbb556a5c13cb5acefface87b1f618bd3339b407818d3bb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ba7232835301
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 602):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c35f5558e451d9c2ec2d20df7b5e38c29238d4b9db5554d5c6fe0a56ad0f337a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c35f5558e451
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 602):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:72b704d23b4729315f2a5f952d66df8aca0785fa2e151e3a43ffb70f0ca5b34e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 72b704d23b47
call 68 attempt 0 · /interactions · status 200 · 20.55 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_21445",
  "name": "move_joints",
  "result": "executing move_joints over 5 steps (0.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7547 left_j1=2.0563 left_j2=1.3945 left_j3=-0.6426 left_j4=0.0235 left_j5=0.7639 left_gripper=0.9994 right_j0=0.5396 right_j1=2.0594 right_j2=1.3808 right_j3=-0.6437 right_j4=0.0029 right_j5=0.4709 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.6906, 7.8017, 0.7937, -0.105, 0.0171, -0.0708, -0.7453, -9.6479, 7.4735, 0.9011, -0.2906, 0.1685, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 607):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ab8ae29b65d60fa730df60dcc6638fb65d776f4adc2e5a9635e79842645a8ac5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ab8ae29b65d6
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 607):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:aa34827d6a4d961e8dfb751a03b8b29dc4cdbcfe2582c1e50a8895ad2587edcb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aa34827d6a4d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 607):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:624f0ccf5fdad682ad98390b4a25dc2936cb0d818328ba88faab2aa153591a25",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 624f0ccf5fda
call 69 attempt 0 · /interactions · status 200 · 23.51 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14485",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0071 left_j5=0.7605 left_gripper=0.0125 right_j0=0.6701 right_j1=2.0674 right_j2=1.3991 right_j3=-0.646 right_j4=0.0025 right_j5=0.6453 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -11.2342, 5.2991, 0.7741, 0.1148, -0.022, 1.1062, 0.4308, -9.8256, 7.4872, 0.8816, -0.0757, 0.0952, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 617):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b824807bdc5799c652675bbc3f468bdfc34538602a9cd8050e8335140f622aa3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b824807bdc57
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 617):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:69ef84efd2dae362bea1085368979df4c050f18b66fd317a872b4de68f0db788",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 69ef84efd2da
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 617):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c958cd5bc42e601eda38359241f92159ad67695ef19a8daaff334442cd30729a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c958cd5bc42e
call 70 attempt 0 · /interactions · status 200 · 24.09 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_34254",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0063 left_j5=0.7589 left_gripper=0.0125 right_j0=0.6262 right_j1=2.0674 right_j2=1.4002 right_j3=-0.6487 right_j4=-0.0128 right_j5=0.6071 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -10.4684, 5.9419, 0.7302, 0.022, -0.0073, 1.033, -2.6325, -9.8393, 7.241, 0.8474, 0.0904, 0.0562, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 619):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d3083b8f2ca41014ef4b7a55ebedecb9e1ea5df424443f3ac5457d56ca784d81",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d3083b8f2ca4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 619):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:de039b5f4c3b8c5ae0dc59b4296462b6c9bb23918132f796cd9def6547b00457",
  "mime_type": "image/png",
  "type": "image"
}
wire blob de039b5f4c3b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 619):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c871c9915f49479058d22b2d00f29ad2867898082fd025fa279ebfe7087db632",
  "mime_type": "image/png",
  "type": "image"
}
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call 71 attempt 0 · /interactions · status 200 · 24.71 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_8463",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7506 left_j1=2.0621 left_j2=1.4002 left_j3=-0.6426 left_j4=0.0025 left_j5=0.7586 left_gripper=0.0119 right_j0=0.6178 right_j1=2.0689 right_j2=1.4006 right_j3=-0.6483 right_j4=0.0139 right_j5=0.6224 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -10.7966, 5.8735, 0.7399, 0.022, -0.0562, 1.0281, 4.1094, -9.6752, 7.2547, 0.7009, -0.2564, 0.1001, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 621):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2de7b484438f1ab55367dcb179b689670ae10d814597e2fca51e12b45a40aefc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2de7b484438f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 621):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5af87f2bdaa379455305db04e292b4748fedf3011d8a3508608360f7e62d500f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5af87f2bdaa3
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 621):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:525843e2b50a29583af90fa9c533b99a33d4cd483ec1df1ee8e90924cec49213",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 525843e2b50a
call 72 attempt 0 · /interactions · status 200 · 25.15 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3012",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.3618 left_j1=2.2856 left_j2=2.3531 left_j3=-0.9855 left_j4=-0.0006 left_j5=0.3756 left_gripper=0.0119 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.654 right_j4=-0.0006 right_j5=0.6243 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -11.6855, 8.9915, 1.1893, 0.0073, -0.0806, 1.0281, -0.0889, -10.7692, 5.5453, 0.7595, -0.0122, -0.0757, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 637):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:adffb5a97f91496abbea86ff801752c0489a46ca3358ef10cd3555dcf741f402",
  "mime_type": "image/png",
  "type": "image"
}
wire blob adffb5a97f91
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 637):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:225a5bda682069a784281ccc0758b86581963a29c1d462c6e01bac593888d2cd",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 225a5bda6820
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 637):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:66d19fc619abc049eb0e36872e55d8e4648de2072c5a63a012facae78eb0a1c7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 66d19fc619ab
call 73 attempt 0 · /interactions · status 200 · 22.59 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_33267",
  "name": "move_joints",
  "result": "executing move_joints over 1 steps (0.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.3496 left_j1=2.2959 left_j2=2.3703 left_j3=-1.0096 left_j4=-0.0006 left_j5=0.3504 left_gripper=0.0119 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6537 right_j4=-0.0006 right_j5=0.6239 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -12.9026, 8.9368, 1.4579, -0.022, -0.0464, 1.033, -0.0889, -10.7966, 5.5316, 0.7497, -0.0611, -0.1099, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 638):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e3eb0ca05779faf9f5dab935bf58efa8527fd4a435ded3c3ce47affb157fa586",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e3eb0ca05779
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 638):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6a88d7b4db99ccf4aeb3edcdb1fb1de9c8afc6a68c6a3fcfa0350f8558d8e158",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6a88d7b4db99
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 638):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b59df3ff344e38f80e9a03431cc789f4e46c8eeea7b273bf6ba8b26a955e616c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b59df3ff344e
call 74 attempt 0 · /interactions · status 200 · 28.39 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_44322",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.3496 left_j1=2.2959 left_j2=2.3699 left_j3=-1.0176 left_j4=-0.0006 left_j5=0.347 left_gripper=0.9949 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6537 right_j4=-0.0006 right_j5=0.6243 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -13.1077, 6.5573, 1.3846, -0.0562, -0.0122, -0.0806, -0.1846, -10.865, 5.7368, 0.7204, -0.0562, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 648):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:52bf7c86bc3b80ed69b6716959bbcf43c9530196d81d5aa3e6b101467075f013",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 52bf7c86bc3b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 648):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0e8e57215feb2e44bd8134caa9871c82ad95d6531edabeb278058dfba9851c30",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0e8e57215feb
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 648):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:684105d0b6e1d50dd04e64a574609e2fd47bfe398bcee0ca3b92d21acfe4e985",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 684105d0b6e1
call 75 attempt 0 · /interactions · status 200 · 23.65 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3097",
  "name": "move_joints",
  "result": "executing move_joints over 16 steps (1.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7826 left_j1=2.0937 left_j2=1.4437 left_j3=-0.6617 left_j4=0.0269 left_j5=0.7467 left_gripper=0.9994 right_j0=0.6197 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6529 right_j4=-0.001 right_j5=0.6243 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -9.7709, 4.041, 0.7595, -0.2955, 0.3297, -0.0757, -0.335, -10.7966, 5.5316, 0.8181, -0.0513, -0.1148, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 664):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:294238d67793d38f35311376a76a1dc0bd7aa411536c47010c5d702503519ad3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 294238d67793
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 664):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1229baa66a21698bd70f6488931e25a133d4ce61bd7c2c32c29c4686a27b8df1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1229baa66a21
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 664):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:96c71c8b0110c1ac633540f0724478b624f987742f0d4c9266b8c8d027ac8ac1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 96c71c8b0110
call 76 attempt 0 · /interactions · status 200 · 26.91 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3276",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7853 left_j1=2.0834 left_j2=1.4296 left_j3=-0.6674 left_j4=0.0261 left_j5=0.7403 left_gripper=0.0125 right_j0=0.6464 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6533 right_j4=-0.0006 right_j5=0.6334 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -10.0444, 6.8991, 0.8181, 0.0024, 0.0171, 1.1111, 0.4308, -9.7846, 7.6239, 0.735, -0.0171, 0.1441, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 674):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e6199d11a0a86a3fcfec7f265c242f76444834b406874fd244dc1e6d3e56c081",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e6199d11a0a8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 674):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d7cb793cf8b5591200477f1bd3fae633ad3b8b4eb02b24f015b9763a685332de",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d7cb793cf8b5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 674):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f2730107288b6100ec252cba341456c27990f297b8d250b2cf02925876bec353",
  "mime_type": "image/png",
  "type": "image"
}
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call 77 attempt 0 · /interactions · status 200 · 24.46 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_520",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7853 left_j1=2.0838 left_j2=1.4292 left_j3=-0.6674 left_j4=0.0257 left_j5=0.7399 left_gripper=0.0125 right_j0=0.675 right_j1=2.0689 right_j2=1.4025 right_j3=-0.6506 right_j4=0.0071 right_j5=0.6697 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -11.0154, 5.8051, 0.7253, -0.0024, -0.0611, 1.033, 2.0581, -9.9624, 7.0906, 0.8327, -0.0757, 0.1148, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 676):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e1946b0665d9d8774d5f5a607b0a0778586c35e2f58b08df9802ce0d4484fad1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e1946b0665d9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 676):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9ffee9293a754b37b9a20bfe9290e336c82d4eff9802f47caaf3d485d0aa2ab8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9ffee9293a75
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 676):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:93c51f434389ec7cf2ca0b9fd65edb25c2edcf7d9b33fc4efbd66a50f4624c9c",
  "mime_type": "image/png",
  "type": "image"
}
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call 78 attempt 0 · /interactions · status 200 · 27.87 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_6173",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.7853 left_j1=2.0838 left_j2=1.4284 left_j3=-0.6685 left_j4=0.0257 left_j5=0.7399 left_gripper=0.0119 right_j0=0.5392 right_j1=2.0705 right_j2=1.404 right_j3=-0.6472 right_j4=-0.012 right_j5=0.5694 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -10.9744, 5.8188, 0.6862, -0.0562, -0.022, 1.033, 1.7162, -9.5932, 7.3641, 0.7546, 0.0513, -0.0757, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 679):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3562d3990e65da30bf5955b8a0f79e5fbc7a106294b9c1524ff3a497d8144c9a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3562d3990e65
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 679):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:097adc5268f04cd2f698b5e819c88d93d4e1977d461990bc0e8fb8f3d83ae85f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 097adc5268f0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 679):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:6ce61ac6fd63e032046a960d5110c33cf37f05797dc2b6b05beea800a27b987c",
  "mime_type": "image/png",
  "type": "image"
}
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call 79 attempt 0 · /interactions · status 200 · 25.18 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_713038",
  "name": "move_joints",
  "result": "executing move_joints over 18 steps (1.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2779 left_j1=2.2925 left_j2=2.3501 left_j3=-0.9901 left_j4=-0.0006 left_j5=-0.2356 left_gripper=0.0119 right_j0=0.3126 right_j1=2.0762 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0078 right_j5=0.3122 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -12.4923, 9.1419, 1.37, 0.0171, -0.1001, 1.0281, -0.9094, -8.9915, 5.5179, 0.7399, 0.0513, -0.0562, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 697):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:19d334699cdf4b74d1c3bf19307922f33fc9119e68ae90bd8447156575c17760",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 19d334699cdf
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 697):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:578726455569766fcd1b888027ee7686869434cb944ad5d254f625d11234d73b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 578726455569
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 697):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2c5fabd1ccbd16635873b11c4e950eb68af968c05697e4f7dfe45620dd26356d",
  "mime_type": "image/png",
  "type": "image"
}
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call 80 attempt 0 · /interactions · status 200 · 25.67 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_13253",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3603 left_j1=2.2951 left_j2=2.3695 left_j3=-1.0103 left_j4=-0.0082 left_j5=-0.3588 left_gripper=0.0119 right_j0=0.3077 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0044 right_j5=0.2943 right_gripper=0.9991\nstate[joint_eff]: [-1.0325, -12.6838, 8.8, 1.4188, 0.0562, 0.0464, 1.0281, 0.1299, -11.2752, 5.4906, 0.7643, -0.0122, 0.0806, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 700):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:715978716645958c42223a0848a4b394d00dc10046838a5c4df3c94e3c6617c2",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 700):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0ed0b42252297a59574135f8dc29d5f2bd7fd4b7a45065c3302a24fb9b841310",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0ed0b4225229
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 700):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f410528c49ad533a36f24b7039f64808133eea508263dd1b454dd0793a68a041",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f410528c49ad
call 81 attempt 0 · /interactions · status 200 · 99.62 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_192",
  "name": "move_joints",
  "result": "executing move_joints over 2 steps (0.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3832 left_j1=2.3009 left_j2=2.3989 left_j3=-1.0176 left_j4=0.0032 left_j5=-0.3859 left_gripper=0.0119 right_j0=0.3077 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6559 right_j4=-0.0044 right_j5=0.2947 right_gripper=0.9991\nstate[joint_eff]: [1.4564, -12.7248, 9.6889, 1.5507, -0.0904, 0.1685, 1.033, 0.1026, -11.453, 5.4906, 0.7595, -0.0269, 0.105, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 702):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7503c411cfb6b650cb34fac9ed09b0f75a5122de3180507fa73ac4c5e6a7a056",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 702):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:97a0458f2a5cc90a4f388d03e5bba283f8aa7f370863990b8701012e1d1ed64d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 97a0458f2a5c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 702):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:af772d3ee04384933f23a8f7ce53b0889b9638339e3ad0ae0f92841218261e08",
  "mime_type": "image/png",
  "type": "image"
}
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call 82 attempt 0 · /interactions · status 200 · 26.39 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_171",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3843 left_j1=2.3009 left_j2=2.3978 left_j3=-1.0321 left_j4=0.0029 left_j5=-0.3901 left_gripper=0.9954 right_j0=0.3073 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6563 right_j4=-0.0048 right_j5=0.2935 right_gripper=0.999\nstate[joint_eff]: [0.0068, -13.1897, 6.4068, 1.5018, -0.0562, -0.022, -0.1294, -0.294, -10.6872, 5.6957, 0.7106, -0.0464, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 712):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:48cf7f61a1bd0251a1ba9a7d1da33d33e70cb666e7a3364f856965ebb975f42e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48cf7f61a1bd
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 712):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:bda6b0023c4b85d055fedd314a1473a5025e87e68411fb2ca3193be131ead6cb",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 712):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b41e697adeef71996bd7b3e0ac5c3414e04841d83accf7a9d9a357abe4a3e071",
  "mime_type": "image/png",
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}
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call 83 attempt 0 · /interactions · status 200 · 31.37 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_177548",
  "name": "move_joints",
  "result": "executing move_joints over 20 steps (2.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8219 left_j1=2.0922 left_j2=1.4403 left_j3=-0.6571 left_j4=0.0303 left_j5=0.7574 left_gripper=0.9994 right_j0=0.5373 right_j1=2.0769 right_j2=1.4025 right_j3=-0.6495 right_j4=0.0227 right_j5=0.5186 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -9.6889, 4.0, 0.7643, -0.2711, 0.2515, -0.0757, 0.9778, -8.841, 5.5453, 0.7497, -0.188, 0.1734, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 732):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8cbc28e9cc73a5c800bae056cb615daf30a4a07ef6043bdd185298a9732b8dde",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8cbc28e9cc73
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 732):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:10bcf5fb5bae3585618410823c31d9af3c6bc02fefe5f5019ff204ec0166d52b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 10bcf5fb5bae
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 732):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:85281e76b2a19043179e89d88d8217215d6433865e5a48659bc2cd138b7b8430",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 85281e76b2a1
call 84 attempt 0 · /interactions · status 200 · 24.72 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_7369",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4288 left_j3=-0.6613 left_j4=0.0261 left_j5=0.7586 left_gripper=0.0126 right_j0=0.7078 right_j1=2.0762 right_j2=1.4063 right_j3=-0.6495 right_j4=0.0368 right_j5=0.6815 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -10.2906, 6.694, 0.8083, 0.0171, -0.0269, 1.0916, 0.6085, -10.5915, 6.7897, 0.7741, -0.3736, 0.1734, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 742):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:93edd30272885a8f73a5c5a078a5c216bdf91caae3bdcb3fbdb70667bb4845f6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 93edd3027288
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 742):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:ad6641cccc405f6f45089988ae45105ce6cbc91c5002fb55b9292c903ec4fee8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ad6641cccc40
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 742):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7cffd239292355ef4411fb6302fdd8cbea4f09c3ba5ea75f4a6e45308457264f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7cffd2392923
call 85 attempt 0 · /interactions · status 200 · 23.12 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_19793",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4284 left_j3=-0.6662 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5144 right_j1=2.0758 right_j2=1.4082 right_j3=-0.6518 right_j4=0.0101 right_j5=0.5507 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -10.7966, 5.8325, 0.7497, -0.0562, -0.0317, 1.033, 1.388, -10.2359, 6.8171, 0.7253, -0.1294, -0.0659, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 746):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ef38bb54f7ef52904f32f8ee62b929c33d9bab49cc40c7bc72466a72c244f88a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ef38bb54f7ef
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 746):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9f42db1cb90e27e9d903214e926a77ff40c904b7ee8cd406d54a78f65270708d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9f42db1cb90e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 746):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ea52bb9e6ea3ca2be451040a69c4b806b9302596c66dcf5114a2f60a8357f1b4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ea52bb9e6ea3
call 86 attempt 0 · /interactions · status 200 · 26.15 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_3032",
  "name": "move_joints",
  "result": "executing move_joints over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8188 left_j1=2.0834 left_j2=1.4284 left_j3=-0.6674 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.7136 right_j1=2.0758 right_j2=1.4082 right_j3=-0.6491 right_j4=0.0177 right_j5=0.654 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -10.865, 5.7778, 0.7448, -0.0317, -0.0317, 1.0281, -2.0444, -10.5778, 6.6393, 0.7399, -0.2076, 0.149, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 750):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2dac437b032150ae7a0f10636aa52869726ab3c13b0b4c62bb6d44b2ba400d21",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2dac437b0321
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 750):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f729e9bdc0b2c5ec9144f91db38eb0979cea3ea419e2d6d66bf12968f068f32e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f729e9bdc0b2
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 750):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ed799b712f917e6fe2bb5d2e26670a3c86058b7f5c80ff1520c92c367f4c6bbd",
  "mime_type": "image/png",
  "type": "image"
}
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call 87 attempt 0 · /interactions · status 200 · 26.3 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_538722",
  "name": "move_joints",
  "result": "executing move_joints over 19 steps (1.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3286 left_j1=2.2944 left_j2=2.3528 left_j3=-0.9909 left_j4=-0.0006 left_j5=-0.2882 left_gripper=0.0119 right_j0=0.3115 right_j1=2.0785 right_j2=1.4059 right_j3=-0.6567 right_j4=-0.001 right_j5=0.3157 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -12.6017, 9.4291, 1.2674, 0.0073, -0.0708, 1.0281, -0.4718, -8.8957, 5.3402, 0.779, -0.022, 0.0415, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 769):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4db4283efe1427047f68eb911b3268e3a55f355389dce6f0fbd0f1a0992112d7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4db4283efe14
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 769):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fa6a6ab85dfc318d2dcac25e7fca85a0323452d3d4b13025a8188d6c4765ed25",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fa6a6ab85dfc
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 769):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4587a737b2a3859692f9a69a94f9c68cc98af38aed3d4337dbedd3ad13230f18",
  "mime_type": "image/png",
  "type": "image"
}
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call 88 attempt 0 · /interactions · status 200 · 29.32 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_9433",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.329 left_j1=2.2967 left_j2=2.3539 left_j3=-1.0077 left_j4=-0.0006 left_j5=-0.3031 left_gripper=0.9948 right_j0=0.3058 right_j1=2.08 right_j2=1.4063 right_j3=-0.6567 right_j4=-0.0002 right_j5=0.2955 right_gripper=0.999\nstate[joint_eff]: [0.0205, -13.3949, 6.2701, 1.4432, -0.0366, 0.1148, -0.0366, 0.1846, -11.0427, 5.6821, 0.7399, -0.0415, 0.1587, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 779):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f7245d7e4ef270c9873a45a39472f2ea38d4b0b4c53cbc66ab440dbdc7164e99",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f7245d7e4ef2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 779):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:509133def77f776aa99a3f641ffc3421aa5e4a716b004e1fa4d1706d4aa08b64",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 509133def77f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 779):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7e027af0091eacc0fde71d8bc2f7f1331e25f7de87843492c6e5a74c39b37e09",
  "mime_type": "image/png",
  "type": "image"
}
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call 89 attempt 0 · /interactions · status 200 · 24.71 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_14854",
  "name": "move_joints",
  "result": "executing move_joints over 19 steps (1.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8234 left_j1=2.0937 left_j2=1.4425 left_j3=-0.6567 left_j4=0.0311 left_j5=0.7574 left_gripper=0.9994 right_j0=0.5373 right_j1=2.0804 right_j2=1.4063 right_j3=-0.6491 right_j4=0.0288 right_j5=0.5186 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -9.7846, 3.9316, 0.7399, -0.3004, 0.2466, -0.0708, 0.8957, -9.3607, 5.2171, 0.7497, -0.2711, 0.1685, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 798):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:41737a969fb8dae36bbca71482563c08e4f497f795f66813caaefac34f0a2294",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 41737a969fb8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 798):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5bd32d0b94063594b55f5d451042acf6123001248b6e335b5c61157968c49dc6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5bd32d0b9406
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 798):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1e8dda86643b6abc7de959b85825218e3d0974c5ccebee8e1f4837e98d9815fd",
  "mime_type": "image/png",
  "type": "image"
}
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call 90 attempt 0 · /interactions · status 200 · 27.02 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_2692",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8207 left_j1=2.0842 left_j2=1.43 left_j3=-0.654 left_j4=0.0265 left_j5=0.7586 left_gripper=0.0123 right_j0=0.7067 right_j1=2.0796 right_j2=1.4101 right_j3=-0.6491 right_j4=0.0433 right_j5=0.68 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -10.2496, 6.8034, 0.7643, 0.0708, -0.0073, 1.1062, 0.5675, -10.9197, 6.8718, 0.7888, -0.4274, 0.1538, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 808):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a77be26819ecf119c5fd7da7cecc80597592bad290cb3517d077508334296eef",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a77be26819ec
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 808):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:662e036fb68ebb11a0c0e7ec0051a04b135b136f2a531c8e6557ac8022b3a82b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 662e036fb68e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 808):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f993196c1d2fc91af9e02e9c9aa1336718830aac932332b3b28912d38022af83",
  "mime_type": "image/png",
  "type": "image"
}
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call 91 attempt 0 · /interactions · status 200 · 24.97 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_8679",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8207 left_j1=2.085 left_j2=1.4284 left_j3=-0.6575 left_j4=0.0261 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5632 right_j1=2.0792 right_j2=1.4139 right_j3=-0.6498 right_j4=0.0067 right_j5=0.5816 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -10.9333, 5.9009, 0.7253, -0.0122, -0.0366, 1.033, 0.0205, -10.6872, 6.2017, 0.7106, -0.0806, 0.0171, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 811):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d0478569bbe849f4a43f61b472f0bf716319d6e3b4179db26f9d77eb77a9b8a6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d0478569bbe8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 811):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1ea8b8ce6b0d5eda1768de7d2774f5d2b7189c43f69f2701e159b1f852d1cbe9",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 811):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:06134e31f88b974cfe37d0991baab23a6601d1f93b1577f39ea4c43779f5713c",
  "mime_type": "image/png",
  "type": "image"
}
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call 92 attempt 0 · /interactions · status 200 · 26.77 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_15573",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8207 left_j1=2.085 left_j2=1.4284 left_j3=-0.6579 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.4136 right_j3=-0.654 right_j4=0.0063 right_j5=0.5751 right_gripper=0.0075\nstate[joint_eff]: [-0.0752, -11.0154, 5.7641, 0.7839, -0.0073, -0.0269, 1.033, -0.6769, -10.9744, 5.7504, 0.7595, -0.0122, 0.0513, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 821):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:bba5aafda3541e835dfb996bee26295aab5a210371bd32e37f1b225ac3aeb4c3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bba5aafda354
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 821):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f808be3e86d5935724fd70c29f00bdb63e9c1dfc04d00f23255b4ed3c680eef6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f808be3e86d5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 821):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4c3fdc6b4a40cac0fa331093d2155548a95e3239c583f2e6bb630badc303807f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4c3fdc6b4a40
call 93 attempt 0 · /interactions · status 200 · 26.35 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_22272",
  "name": "move_joints",
  "result": "executing move_joints over 18 steps (1.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2787 left_j1=2.2944 left_j2=2.3508 left_j3=-0.9024 left_j4=-0.0006 left_j5=-0.2371 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.4117 right_j3=-0.6483 right_j4=0.0067 right_j5=0.5537 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -12.7521, 9.4974, 1.4579, -0.0366, -0.1099, 1.0281, -0.7316, -10.9197, 5.7641, 0.7643, -0.1148, 0.0464, -0.0757]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 839):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e0cc099c1a1bb06320b88babdc68885acfa49fbfa02ef853317d5dbf86dfc563",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e0cc099c1a1b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 839):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d8446649c257f273f96f7f11d59e50797f63b18b72150a9fd929d31e42cfbd69",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d8446649c257
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 839):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:51c5f6739becd1a67587d4284c28ddb2eb1502d61eac6b87e4acfef3b7835010",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 51c5f6739bec
call 94 attempt 0 · /interactions · status 200 · 26.9 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_32130",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.3763 left_j1=2.2967 left_j2=2.3692 left_j3=-0.9672 left_j4=-0.0082 left_j5=-0.3721 left_gripper=0.0119 right_j0=0.5674 right_j1=2.0796 right_j2=1.412 right_j3=-0.6487 right_j4=0.0067 right_j5=0.5529 right_gripper=0.9988\nstate[joint_eff]: [-0.9094, -12.8068, 8.9778, 1.4628, 0.0171, -0.0904, 1.0281, -0.8137, -10.6051, 5.7778, 0.7448, -0.0855, 0.0415, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 842):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6dd47c5bc064d94c62f07e96670777f72c18c859e0cfb0f0f2d3b5cdaa82a308",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6dd47c5bc064
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 842):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:18abe33a1f33b3bc5d2a4e50e02d9f3e13c415dceba1e4b00e96161cb4bf9a83",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 18abe33a1f33
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 842):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e45ab40029e6bee8ac5a02f15bdde13a9942d0e400401176c692d88abbcc9654",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e45ab40029e6
call 95 attempt 0 · /interactions · status 200 · 29.45 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_6046",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.374 left_j1=2.2967 left_j2=2.3692 left_j3=-0.9874 left_j4=-0.0006 left_j5=-0.3855 left_gripper=0.9951 right_j0=0.5674 right_j1=2.0796 right_j2=1.412 right_j3=-0.6491 right_j4=0.0071 right_j5=0.5491 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -13.2308, 6.3932, 1.5995, -0.1343, 0.0855, -0.1294, -0.3487, -10.8103, 5.7504, 0.7057, -0.0611, 0.0317, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 852):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:56263259a8b9b6225b942df064ef69a6ca00271d5882e3a5126224d5639e7618",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 56263259a8b9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 852):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d132f75e368fb3e980ea51d82fc7d65db2660713de8b0a97cc60f928590b3055",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d132f75e368f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 852):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:707bcd5a76feef69128801eae3148260818150263442265d62b1849831a019dc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 707bcd5a76fe
call 96 attempt 0 · /interactions · status 200 · 28.18 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_17784",
  "name": "move_joints",
  "result": "executing move_joints over 20 steps (2.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8249 left_j1=2.0926 left_j2=1.4406 left_j3=-0.6525 left_j4=0.0303 left_j5=0.757 left_gripper=0.9994 right_j0=0.5571 right_j1=2.0796 right_j2=1.4117 right_j3=-0.6502 right_j4=0.0101 right_j5=0.5484 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -9.7983, 3.9453, 0.7009, -0.2662, 0.2466, -0.0708, -0.8274, -9.3197, 4.7795, 0.735, -0.1636, -0.0317, -0.1197]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 872):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:dbb97193aae98e730cbe68b88eaeec6227bb62fb6334e5327bca2ade3e874c92",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dbb97193aae9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 872):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1630e4083174cf2d2646fa69f71700c25c61ad14a0fc5d40fe328cbe49696514",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1630e4083174
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 872):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:db4230d8fe93a12cabdbe798428714ae0a46ec34cbd4644aeafba4b7afbc85f3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob db4230d8fe93
call 97 attempt 0 · /interactions · status 200 · 25.53 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_8246",
  "name": "move_joints",
  "result": "executing move_joints over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8227 left_j1=2.0834 left_j2=1.4296 left_j3=-0.6495 left_j4=0.0261 left_j5=0.7582 left_gripper=0.0124 right_j0=0.7063 right_j1=2.0796 right_j2=1.4139 right_j3=-0.6495 right_j4=0.0219 right_j5=0.6827 right_gripper=0.999\nstate[joint_eff]: [0.0068, -10.2359, 6.8171, 0.7595, 0.022, -0.0317, 1.0769, 0.6222, -10.9197, 6.5846, 0.7839, -0.2808, 0.232, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 882):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7bef0a55c69e8a011588c573ccbfed345a119bbb4c39b10ed97289971d74fbbd",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7bef0a55c69e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 882):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:73a57e420f6953653c3f6b42912044720ea6c42d6b1c42fad49e31a42007c559",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 73a57e420f69
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 882):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9531884e68c8dc17d05bbabbf85488045b748c0d31fc8f7275d1ea81127ac1da",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9531884e68c8
call 98 attempt 0 · /interactions · status 200 · 29.11 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_26745",
  "name": "move_joints",
  "result": "executing move_joints over 3 steps (0.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=0.8227 left_j1=2.0838 left_j2=1.4284 left_j3=-0.6495 left_j4=0.0257 left_j5=0.7586 left_gripper=0.0119 right_j0=0.5907 right_j1=2.0796 right_j2=1.4158 right_j3=-0.6502 right_j4=-0.0006 right_j5=0.6041 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -11.0427, 5.9009, 0.7741, -0.0317, -0.0659, 1.0281, -0.2256, -10.8923, 6.1607, 0.7302, 0.0171, -0.1197, -0.1099]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 885):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5411886b99b5e8b1928ecbbd365079dabd6fcf74b30bec0506333c2fe295ffbb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5411886b99b5
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 885):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6e7694c8abb5a5654b62eaef66131207f5de06c3742485a5823461564d243551",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6e7694c8abb5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 885):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:554655985e987a67cd3274a19539e2f1de4b38470dd86df2ed0557be214c10c3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 554655985e98
call 99 attempt 0 · /interactions · status 200 · 27.3 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_4280",
  "name": "move_joints",
  "result": "executing move_joints over 18 steps (1.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Lift the towels with both your arms high enough to then drop it to cover the block.\nstate[joint_pos]: left_j0=-0.2783 left_j1=2.294 left_j2=2.3508 left_j3=-0.902 left_j4=-0.0006 left_j5=-0.2367 left_gripper=0.0118 right_j0=0.5938 right_j1=2.0796 right_j2=1.4158 right_j3=-0.6506 right_j4=-0.0006 right_j5=0.5831 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -12.6427, 9.4291, 1.5018, -0.0269, -0.0904, 1.0379, -0.6359, -10.8786, 5.3128, 0.7741, -0.0415, 0.0317, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 903):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c79baf429f13c8247b2ee90b1373f861b64821c51779b34d189347f2c43929ce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c79baf429f13
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 903):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:75908b67d13fe9c956d9ffd3a1b8b33e98f6a2472a15c8e89e333e44effa23de",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 75908b67d13f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 903):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0d87645774d695de03496a63dcdf949d4bf4c9f33448f859af430a044ac53c9f",
  "mime_type": "image/png",
  "type": "image"
}
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