adhoc

completed
2026-08-14T18:36:15.195655+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
12000
duration
2077 s
total steps
1043
operator
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

operator=0

Trial scores

trial 0 operator=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 noteMoving both arms out from folded state towards pre-grasp positions above the towel.
move_joints
right_j00.2500right_j11.8000left_gripper1.0000right_j40.0000left_j11.8000left_j21.2000right_j21.2000right_gripper1.0000left_j40.0000right_j3-0.6000left_j0-0.2500right_j50.2500left_j3-0.6000left_j5-0.2500
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=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.028 left_j4=-0.004 left_j5=-0.0216 left_gripper=0.9993 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0292 right_j4=-0.0044 right_j5=-0.001 right_gripper=0.9995 state[joint_eff]: [0.0479, 0.9094, 5.9419, 2.1905, -0.0317, 0.1636, -0.0904, 0.0068, 1.4291, 6.3658, 2.1221, 0.0171, -0.0269, -0.0659] 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": "Moving both arms out from folded state towards pre-grasp positions above the towel.", "targets": {"right_j0": 0.25, "right_j1": 1.8, "left_gripper": 1, "right_j4": 0, "left_j1": 1.8, "left_j2": 1.2, "right_j2": 1.2, "right_gripper": 1, "left_j4": 0, "right_j3": -0.6, "left_j0": -0.25, "right_j5": 0.25, "left_j3": -0.6, "left_j5": -0.25}})
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 noteAligning yaw/roll over towel edges and descending slightly toward the tabletop.
move_joints
left_j12.0000left_j5-0.3300right_j00.3300left_j40.0000right_gripper1.0000right_j40.0000left_j0-0.3300left_j3-0.7000right_j50.3300right_j12.0000left_gripper1.0000left_j21.3500right_j21.3500right_j3-0.7000
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=-0.2428 left_j1=1.7958 left_j2=1.1713 left_j3=-0.5957 left_j4=-0.0067 left_j5=-0.2447 left_gripper=0.9989 right_j0=0.247 right_j1=1.7916 right_j2=1.1736 right_j3=-0.5961 right_j4=-0.004 right_j5=0.2287 right_gripper=0.9995 state[joint_eff]: [-0.8137, -9.265, 7.8701, 0.8034, 0.0757, -0.0952, -0.1294, 0.3487, -9.0872, 7.706, 0.8669, 0.0317, 0.2076, -0.0659] 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_j1": 2, "left_j5": -0.33, "right_j0": 0.33, "left_j4": 0, "right_gripper": 1, "right_j4": 0, "left_j0": -0.33, "left_j3": -0.7, "right_j5": 0.33, "right_j1": 2, "left_gripper": 1, "left_j2": 1.35, "right_j2": 1.35, "right_j3": -0.7}, "note": "Aligning yaw/roll over towel edges and descending slightly toward the tabletop."})
tool
executing move_joints over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteDescending both open grippers onto the towel surface.
move_joints
left_j0-0.3200left_j12.2500left_j5-0.3200right_j00.3200right_j50.3200right_gripper1.0000left_j3-0.7500left_gripper1.0000right_j21.5000right_j40.0000right_j12.2500right_j3-0.7500left_j21.5000left_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=-0.3218 left_j1=1.9987 left_j2=1.3247 left_j3=-0.688 left_j4=-0.0067 left_j5=-0.321 left_gripper=0.9989 right_j0=0.3256 right_j1=1.993 right_j2=1.3273 right_j3=-0.6861 right_j4=-0.004 right_j5=0.3004 right_gripper=0.9995 state[joint_eff]: [-0.5538, -10.4, 7.5829, 0.4957, 0.0122, -0.0611, -0.1294, 0.2667, -9.8803, 7.4462, 0.4664, 0.0366, 0.1343, -0.0708] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Descending both open grippers onto the towel surface.", "targets": {"left_j0": -0.32, "left_j1": 2.25, "left_j5": -0.32, "right_j0": 0.32, "right_j5": 0.32, "right_gripper": 1, "left_j3": -0.75, "left_gripper": 1, "right_j2": 1.5, "right_j4": 0, "right_j1": 2.25, "right_j3": -0.75, "left_j2": 1.5, "left_j4": 0}})
tool
executing move_joints over 5 steps (0.5s)
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 grasp the left and right edges of the towel.
move_joints
right_j40.0000left_gripper0.0000left_j40.0000right_j00.3200left_j12.2500right_j50.3200right_j12.2500left_j21.5000right_gripper0.0000right_j21.5000left_j0-0.3200left_j3-0.7500left_j5-0.3200right_j3-0.7500
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=-0.3233 left_j1=2.1544 left_j2=1.5341 left_j3=-0.823 left_j4=-0.0261 left_j5=-0.3233 left_gripper=0.9988 right_j0=0.3237 right_j1=2.1582 right_j2=1.5326 right_j3=-0.8135 right_j4=0.0242 right_j5=0.3073 right_gripper=0.9994 state[joint_eff]: [0.0615, -3.4393, 2.8923, 1.2527, 0.1783, -0.0073, -0.1392, -0.6359, -4.1231, 3.1521, 1.16, -0.2515, 0.1001, -0.0708] 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 grasp the left and right edges of the towel.", "targets": {"right_j4": 0, "left_gripper": 0, "left_j4": 0, "right_j0": 0.32, "left_j1": 2.25, "right_j5": 0.32, "right_j1": 2.25, "left_j2": 1.5, "right_gripper": 0, "right_j2": 1.5, "left_j0": -0.32, "left_j3": -0.75, "left_j5": -0.32, "right_j3": -0.75}})
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 noteLifting both arms high up while holding the towel.
move_joints
left_j0-0.3200right_j00.3200right_j50.3200right_gripper0.0000left_gripper0.0000left_j5-0.3200left_j3-0.3000left_j11.2000left_j40.0000left_j21.0000right_j11.2000right_j3-0.3000right_j21.0000right_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=-0.3271 left_j1=2.1582 left_j2=1.536 left_j3=-0.7666 left_j4=0.0196 left_j5=-0.3229 left_gripper=0.035 right_j0=0.3271 right_j1=2.1609 right_j2=1.5333 right_j3=-0.7639 right_j4=-0.0269 right_j5=0.3077 right_gripper=0.0178 state[joint_eff]: [0.5812, -4.0957, 2.7966, 0.779, -0.2515, -0.0122, 1.0281, -0.6769, -4.4376, 3.0017, 0.7595, 0.2613, 0.0952, 1.033] 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({"targets": {"left_j0": -0.32, "right_j0": 0.32, "right_j5": 0.32, "right_gripper": 0, "left_gripper": 0, "left_j5": -0.32, "left_j3": -0.3, "left_j1": 1.2, "left_j4": 0, "left_j2": 1, "right_j1": 1.2, "right_j3": -0.3, "right_j2": 1, "right_j4": 0}, "note": "Lifting both arms high up while holding the towel."})
tool
executing move_joints over 16 steps (1.6s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteMoving both arms forward to position the lifted towel directly over the block.
move_joints
right_j11.8000left_j40.0000right_j50.3200left_j5-0.3200right_gripper0.0000right_j21.3000right_j3-0.6000left_j3-0.6000left_j0-0.3200left_j21.3000right_j00.3200left_gripper0.0000left_j11.8000right_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=-0.3344 left_j1=1.2354 left_j2=1.0183 left_j3=-0.3405 left_j4=0.0502 left_j5=-0.3229 left_gripper=0.0336 right_j0=0.3367 right_j1=1.2331 right_j2=1.0172 right_j3=-0.3393 right_j4=-0.0647 right_j5=0.3077 right_gripper=0.0173 state[joint_eff]: [1.347, -5.6547, 6.6803, 1.8291, -0.5543, -0.022, 1.033, -1.6479, -5.6137, 6.612, 1.917, 0.6716, 0.0855, 1.0281] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving both arms forward to position the lifted towel directly over the block.", "targets": {"right_j1": 1.8, "left_j4": 0, "right_j5": 0.32, "left_j5": -0.32, "right_gripper": 0, "right_j2": 1.3, "right_j3": -0.6, "left_j3": -0.6, "left_j0": -0.32, "left_j2": 1.3, "right_j0": 0.32, "left_gripper": 0, "left_j1": 1.8, "right_j4": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteAdvancing slightly further forward to position the towel directly over the block.
move_joints
left_j3-0.6500right_j50.3200right_j21.3500right_gripper0.0000right_j11.9500left_j40.0000right_j3-0.6500right_j00.3200right_j40.0000left_j11.9500left_j5-0.3200left_gripper0.0000left_j21.3500left_j0-0.3200
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=-0.3294 left_j1=1.7889 left_j2=1.2663 left_j3=-0.5652 left_j4=0.0307 left_j5=-0.3229 left_gripper=0.0336 right_j0=0.3298 right_j1=1.7878 right_j2=1.2694 right_j3=-0.5701 right_j4=-0.0326 right_j5=0.3073 right_gripper=0.0173 state[joint_eff]: [0.5812, -9.5248, 9.1282, 0.9841, -0.3785, -0.0269, 1.0379, -0.7179, -9.3197, 8.7453, 1.116, 0.2662, 0.1001, 1.0281] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.65, "right_j5": 0.32, "right_j2": 1.35, "right_gripper": 0, "right_j1": 1.95, "left_j4": 0, "right_j3": -0.65, "right_j0": 0.32, "right_j4": 0, "left_j1": 1.95, "left_j5": -0.32, "left_gripper": 0, "left_j2": 1.35, "left_j0": -0.32}, "note": "Advancing slightly further forward to position the towel directly over the block."})
tool
executing move_joints over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteOpening both grippers to drop the towel onto the block.
move_joints
right_gripper1.0000left_gripper1.0000right_j11.9500left_j11.9500left_j3-0.6500left_j40.0000right_j00.3200left_j21.3500right_j21.3500left_j5-0.3200right_j50.3200right_j40.0000right_j3-0.6500left_j0-0.3200
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=-0.3279 left_j1=1.9278 left_j2=1.3285 left_j3=-0.6125 left_j4=0.0315 left_j5=-0.3225 left_gripper=0.0336 right_j0=0.3294 right_j1=1.9244 right_j2=1.3308 right_j3=-0.6151 right_j4=-0.0311 right_j5=0.3073 right_gripper=0.0173 state[joint_eff]: [0.3077, -10.3863, 7.9248, 0.6227, -0.3883, -0.0269, 1.0281, -0.5402, -10.2222, 8.1162, 0.5543, 0.2857, 0.0952, 1.033] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening both grippers to drop the towel onto the block.", "targets": {"right_gripper": 1, "left_gripper": 1, "right_j1": 1.95, "left_j1": 1.95, "left_j3": -0.65, "left_j4": 0, "right_j0": 0.32, "left_j2": 1.35, "right_j2": 1.35, "left_j5": -0.32, "right_j5": 0.32, "right_j4": 0, "right_j3": -0.65, "left_j0": -0.32}})
tool
executing move_joints over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteLowering open grippers to re-grasp the towel edges.
move_joints
right_j3-0.7500left_j12.2500left_j5-0.3200right_j50.3200left_j0-0.3200right_j00.3200left_j40.0000right_j21.5000left_j21.5000left_j3-0.7500right_j40.0000right_gripper1.0000right_j12.2500left_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=-0.3267 left_j1=1.9728 left_j2=1.3315 left_j3=-0.6506 left_j4=0.0143 left_j5=-0.3225 left_gripper=0.995 right_j0=0.3233 right_j1=1.9652 right_j2=1.3304 right_j3=-0.6533 right_j4=-0.0151 right_j5=0.3077 right_gripper=0.9955 state[joint_eff]: [0.2256, -11.8632, 7.3094, 0.7888, -0.1734, -0.0171, -0.1392, -0.5402, -11.3299, 7.6239, 0.8181, 0.1099, 0.0806, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.75, "left_j1": 2.25, "left_j5": -0.32, "right_j5": 0.32, "left_j0": -0.32, "right_j0": 0.32, "left_j4": 0, "right_j2": 1.5, "left_j2": 1.5, "left_j3": -0.75, "right_j4": 0, "right_gripper": 1, "right_j1": 2.25, "left_gripper": 1}, "note": "Lowering open grippers to re-grasp the towel edges."})
tool
executing move_joints over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteClosing both grippers to firmly grasp the towel edges.
move_joints
left_j5-0.3200left_gripper0.0000right_j3-0.7500left_j0-0.3200left_j12.2500left_j40.0000right_j50.3200right_j40.0000right_gripper0.0000left_j21.5000left_j3-0.7500right_j21.5000right_j00.3200right_j12.2500
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=-0.3305 left_j1=2.1468 left_j2=1.5215 left_j3=-0.7692 left_j4=-0.0154 left_j5=-0.3279 left_gripper=0.9981 right_j0=0.3309 right_j1=2.1513 right_j2=1.52 right_j3=-0.7601 right_j4=0.0135 right_j5=0.3073 right_gripper=0.9988 state[joint_eff]: [0.5812, -3.5077, 3.0701, 1.2967, 0.1538, 0.0317, -0.2076, -0.6906, -3.8359, 2.9197, 1.2088, -0.2662, 0.0806, -0.1392] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": -0.32, "left_gripper": 0, "right_j3": -0.75, "left_j0": -0.32, "left_j1": 2.25, "left_j4": 0, "right_j5": 0.32, "right_j4": 0, "right_gripper": 0, "left_j2": 1.5, "left_j3": -0.75, "right_j2": 1.5, "right_j0": 0.32, "right_j1": 2.25}, "note": "Closing both grippers to firmly grasp the towel edges."})
tool
executing move_joints over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteLifting both arms high up with the towel.
move_joints
right_gripper0.0000right_j11.2000right_j40.0000right_j00.3200left_j40.0000right_j3-0.3000left_j11.2000left_j21.0000left_j0-0.3200left_j3-0.3000left_j5-0.3200right_j50.3200right_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=-0.3317 left_j1=2.1601 left_j2=1.5368 left_j3=-0.7368 left_j4=0.049 left_j5=-0.3313 left_gripper=0.0428 right_j0=0.3298 right_j1=2.1658 right_j2=1.5379 right_j3=-0.7399 right_j4=-0.0227 right_j5=0.3077 right_gripper=0.0168 state[joint_eff]: [0.6359, -4.2188, 3.3573, 0.6129, -0.5006, 0.0122, 1.0867, -0.8821, -4.7795, 3.0838, 0.5543, 0.2173, 0.1197, 0.696] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting both arms high up with the towel.", "targets": {"right_gripper": 0, "right_j1": 1.2, "right_j4": 0, "right_j0": 0.32, "left_j4": 0, "right_j3": -0.3, "left_j1": 1.2, "left_j2": 1, "left_j0": -0.32, "left_j3": -0.3, "left_j5": -0.32, "right_j5": 0.32, "right_j2": 1, "left_gripper": 0}})
tool
executing move_joints over 16 steps (1.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteExtending both arms forward while elevated to position the towel directly above block A.
move_joints
right_gripper0.0000left_j40.0000left_j12.1500left_j21.5000right_j00.3200right_j21.5000right_j50.3200left_j3-0.6500left_j5-0.3200left_gripper0.0000left_j0-0.3200right_j12.1500right_j3-0.6500right_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=-0.3401 left_j1=1.2407 left_j2=1.0142 left_j3=-0.3382 left_j4=0.07 left_j5=-0.3374 left_gripper=0.051 right_j0=0.3405 right_j1=1.2381 right_j2=1.0157 right_j3=-0.3359 right_j4=-0.0738 right_j5=0.3077 right_gripper=0.0207 state[joint_eff]: [1.2376, -6.2291, 6.9812, 1.7802, -0.6667, 0.1245, 1.0281, -1.853, -5.9829, 6.612, 1.9316, 0.7888, 0.1001, 1.033] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0, "left_j4": 0, "left_j1": 2.15, "left_j2": 1.5, "right_j0": 0.32, "right_j2": 1.5, "right_j5": 0.32, "left_j3": -0.65, "left_j5": -0.32, "left_gripper": 0, "left_j0": -0.32, "right_j1": 2.15, "right_j3": -0.65, "right_j4": 0}, "note": "Extending both arms forward while elevated to position the towel directly above block A."})
tool
executing move_joints over 15 steps (1.5s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteReaching further forward so the grippers and towel are directly above block A.
move_joints
right_j50.3200left_j40.0000left_gripper0.0000left_j12.4000left_j0-0.3200right_j12.4000right_j00.3200left_j21.6000right_j3-0.7500left_j5-0.3200right_gripper0.0000right_j21.6000left_j3-0.7500right_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=-0.3275 left_j1=2.1235 left_j2=1.4784 left_j3=-0.6308 left_j4=0.0311 left_j5=-0.3382 left_gripper=0.051 right_j0=0.3302 right_j1=2.1304 right_j2=1.4746 right_j3=-0.622 right_j4=-0.0307 right_j5=0.3073 right_gripper=0.0207 state[joint_eff]: [0.8274, -9.1009, 6.8444, 1.0281, -0.3639, 0.105, 1.0281, -0.6906, -11.1111, 7.5966, 0.5543, 0.2369, 0.0855, 1.0232] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.32, "left_j4": 0, "left_gripper": 0, "left_j1": 2.4, "left_j0": -0.32, "right_j1": 2.4, "right_j0": 0.32, "left_j2": 1.6, "right_j3": -0.75, "left_j5": -0.32, "right_gripper": 0, "right_j2": 1.6, "left_j3": -0.75, "right_j4": 0}, "note": "Reaching further forward so the grippers and towel are directly above block A."})
tool
executing move_joints over 5 steps (0.5s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteOpening both grippers to drop the towel over the block.
move_joints
left_j12.4000right_gripper1.0000left_j21.6000right_j00.3200right_j50.3200right_j3-0.7500left_gripper1.0000left_j40.0000left_j0-0.3200left_j3-0.7500right_j40.0000right_j21.6000right_j12.4000left_j5-0.3200
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=-0.3267 left_j1=2.2425 left_j2=1.6527 left_j3=-0.7444 left_j4=0.0372 left_j5=-0.3382 left_gripper=0.051 right_j0=0.3252 right_j1=2.2459 right_j2=1.6524 right_j3=-0.741 right_j4=-0.0364 right_j5=0.3073 right_gripper=0.0202 state[joint_eff]: [0.5128, 0.2667, 1.0188, 0.9744, -0.3492, 0.1148, 1.033, -0.3761, 0.0342, 1.0735, 0.9451, 0.2955, 0.0806, 1.033] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4, "right_gripper": 1, "left_j2": 1.6, "right_j0": 0.32, "right_j5": 0.32, "right_j3": -0.75, "left_gripper": 1, "left_j4": 0, "left_j0": -0.32, "left_j3": -0.75, "right_j4": 0, "right_j2": 1.6, "right_j1": 2.4, "left_j5": -0.32}, "note": "Opening both grippers to drop the towel over the block."})
tool
executing move_joints over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteClosing both grippers to grasp the back edge/fold of the towel.
move_joints
right_j40.0000left_j3-0.7500left_j12.3000right_j50.3200left_j5-0.3200right_j00.3200left_j40.0000right_j12.3000right_j21.6000left_j0-0.3200left_j21.6000right_gripper0.0000left_gripper0.0000right_j3-0.7500
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=-0.3435 left_j1=2.2536 left_j2=1.6756 left_j3=-0.7082 left_j4=0.0223 left_j5=-0.334 left_gripper=0.9945 right_j0=0.3435 right_j1=2.2574 right_j2=1.6718 right_j3=-0.6926 right_j4=-0.0113 right_j5=0.3035 right_gripper=0.9951 state[joint_eff]: [1.7709, -0.3214, -0.0479, 0.4322, -0.0659, 0.1099, -0.2418, -1.7436, -0.6769, 0.4308, 0.2808, -0.0855, 0.1587, -0.232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grasp the back edge/fold of the towel.", "targets": {"right_j4": 0, "left_j3": -0.75, "left_j1": 2.3, "right_j5": 0.32, "left_j5": -0.32, "right_j0": 0.32, "left_j4": 0, "right_j1": 2.3, "right_j2": 1.6, "left_j0": -0.32, "left_j2": 1.6, "right_gripper": 0, "left_gripper": 0, "right_j3": -0.75}})
tool
executing move_joints over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteLifting the top edge of the towel high up.
move_joints
right_j40.0000left_j5-0.3200left_j3-0.4000left_j21.2000right_j21.2000right_j00.3200left_j40.0000right_gripper0.0000right_j50.3200right_j11.5000left_j11.5000right_j3-0.4000left_gripper0.0000left_j0-0.3200
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=-0.3222 left_j1=2.2421 left_j2=1.6547 left_j3=-0.6853 left_j4=-0.0219 left_j5=-0.329 left_gripper=0.0409 right_j0=0.3233 right_j1=2.2425 right_j2=1.6497 right_j3=-0.6827 right_j4=0.0002 right_j5=0.308 right_gripper=0.0187 state[joint_eff]: [0.0615, -7.8154, 1.7026, 0.1832, 0.1392, 0.0171, 1.4286, -0.4718, -7.7333, 2.0718, 0.1001, -0.0171, 0.105, 0.8816] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting the top edge of the towel high up.", "targets": {"right_j4": 0, "left_j5": -0.32, "left_j3": -0.4, "left_j2": 1.2, "right_j2": 1.2, "right_j0": 0.32, "left_j4": 0, "right_gripper": 0, "right_j5": 0.32, "right_j1": 1.5, "left_j1": 1.5, "right_j3": -0.4, "left_gripper": 0, "left_j0": -0.32}})
tool
executing move_joints over 12 steps (1.2s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteMoving both arms forward so the lifted towel is right above block A.
move_joints
left_j12.2000right_j00.3200left_j40.0000left_gripper0.0000right_j3-0.6500left_j3-0.6500right_j21.5000right_j12.2000left_j21.5000left_j5-0.3200right_gripper0.0000right_j40.0000right_j50.3200left_j0-0.3200
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=-0.3294 left_j1=1.5436 left_j2=1.2148 left_j3=-0.4377 left_j4=0.0223 left_j5=-0.3302 left_gripper=0.0507 right_j0=0.3305 right_j1=1.5394 right_j2=1.2129 right_j3=-0.4404 right_j4=-0.0322 right_j5=0.3073 right_gripper=0.0201 state[joint_eff]: [0.7453, -8.7179, 6.8581, 1.7167, -0.3394, 0.0415, 1.0281, -1.1282, -8.6222, 6.8991, 1.7656, 0.232, 0.0611, 1.033] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2, "right_j0": 0.32, "left_j4": 0, "left_gripper": 0, "right_j3": -0.65, "left_j3": -0.65, "right_j2": 1.5, "right_j1": 2.2, "left_j2": 1.5, "left_j5": -0.32, "right_gripper": 0, "right_j4": 0, "right_j5": 0.32, "left_j0": -0.32}, "note": "Moving both arms forward so the lifted towel is right above block A."})
tool
executing move_joints over 11 steps (1.1s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteExtending further forward so the towel edge reaches over block A.
move_joints
right_j3-0.7500right_j21.6500right_j50.3200left_j40.0000right_j00.3200left_j5-0.3200right_j40.0000right_j12.4500left_gripper0.0000left_j0-0.3200left_j12.4500left_j3-0.7500left_j21.6500right_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=-0.3267 left_j1=2.1418 left_j2=1.4967 left_j3=-0.6247 left_j4=0.0181 left_j5=-0.334 left_gripper=0.0507 right_j0=0.3271 right_j1=2.1494 right_j2=1.4952 right_j3=-0.6136 right_j4=-0.0277 right_j5=0.3069 right_gripper=0.0195 state[joint_eff]: [0.294, -6.4615, 5.9145, 0.823, -0.2125, 0.0659, 1.033, -0.8821, -7.7197, 5.3128, 0.7253, 0.2857, 0.0952, 1.0281] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Extending further forward so the towel edge reaches over block A.", "targets": {"right_j3": -0.75, "right_j2": 1.65, "right_j5": 0.32, "left_j4": 0, "right_j0": 0.32, "left_j5": -0.32, "right_j4": 0, "right_j1": 2.45, "left_gripper": 0, "left_j0": -0.32, "left_j1": 2.45, "left_j3": -0.75, "left_j2": 1.65, "right_gripper": 0}})
tool
executing move_joints over 5 steps (0.5s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteMoving both grippers further forward to max reach right over block A.
move_joints
left_j0-0.3200right_j40.0000left_gripper0.0000right_j21.8000right_j00.3200right_j50.3200left_j5-0.3200right_gripper0.0000left_j21.8000left_j40.0000left_j3-0.7500left_j12.6000right_j12.6000right_j3-0.7500
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=-0.326 left_j1=2.2818 left_j2=1.7046 left_j3=-0.7475 left_j4=0.0158 left_j5=-0.3378 left_gripper=0.0507 right_j0=0.3248 right_j1=2.2848 right_j2=1.705 right_j3=-0.7208 right_j4=-0.0303 right_j5=0.3069 right_gripper=0.0195 state[joint_eff]: [0.5949, 0.6906, 0.7863, 1.033, -0.188, 0.1832, 1.033, -0.2667, 0.2803, 0.6632, 0.7106, 0.2906, 0.0806, 1.033] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.32, "right_j4": 0, "left_gripper": 0, "right_j2": 1.8, "right_j0": 0.32, "right_j5": 0.32, "left_j5": -0.32, "right_gripper": 0, "left_j2": 1.8, "left_j4": 0, "left_j3": -0.75, "left_j1": 2.6, "right_j1": 2.6, "right_j3": -0.75}, "note": "Moving both grippers further forward to max reach right over block A."})
tool
executing move_joints over 6 steps (0.6s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteOpening grippers to drop the towel over block A.
move_joints
left_j40.0000left_j12.6000right_j21.8000left_j5-0.3200left_j3-0.7500left_gripper1.0000left_j0-0.3200right_j3-0.7500right_gripper1.0000right_j12.6000right_j50.3200right_j40.0000right_j00.3200left_j21.8000
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=-0.3248 left_j1=2.397 left_j2=1.8786 left_j3=-0.7845 left_j4=0.0151 left_j5=-0.3378 left_gripper=0.0507 right_j0=0.3237 right_j1=2.4027 right_j2=1.8809 right_j3=-0.7345 right_j4=-0.0303 right_j5=0.3069 right_gripper=0.0195 state[joint_eff]: [0.212, 2.6598, -0.7316, 1.0232, -0.1734, 0.1978, 1.033, -0.294, 2.0855, -0.7179, 0.5739, 0.3101, 0.1148, 1.0281] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j4": 0, "left_j1": 2.6, "right_j2": 1.8, "left_j5": -0.32, "left_j3": -0.75, "left_gripper": 1, "left_j0": -0.32, "right_j3": -0.75, "right_gripper": 1, "right_j1": 2.6, "right_j5": 0.32, "right_j4": 0, "right_j0": 0.32, "left_j2": 1.8}, "note": "Opening grippers to drop the towel over block A."})
tool
executing move_joints over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteRetracting both arms back to home pose to clearly reveal the towel covering the block.
move_joints
left_j21.2000left_j3-0.6000left_j10.6000right_j40.0000right_j00.2000left_gripper1.0000left_j0-0.2000left_j50.0000right_j21.2000right_j3-0.6000left_j40.0000right_gripper1.0000right_j50.0000right_j10.6000
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=-0.3489 left_j1=2.4165 left_j2=1.8961 left_j3=-0.6453 left_j4=0.0105 left_j5=-0.3252 left_gripper=0.9945 right_j0=0.3454 right_j1=2.4187 right_j2=1.8942 right_j3=-0.6258 right_j4=-0.0078 right_j5=0.2916 right_gripper=0.9949 state[joint_eff]: [2.0718, 1.306, -1.1419, -0.0855, -0.0171, 0.0317, -0.2418, -1.8667, 1.1282, -0.8137, -0.232, -0.1245, 0.2418, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Retracting both arms back to home pose to clearly reveal the towel covering the block.", "targets": {"left_j2": 1.2, "left_j3": -0.6, "left_j1": 0.6, "right_j4": 0, "right_j0": 0.2, "left_gripper": 1, "left_j0": -0.2, "left_j5": 0, "right_j2": 1.2, "right_j3": -0.6, "left_j4": 0, "right_gripper": 1, "right_j5": 0, "right_j1": 0.6}})
tool
executing move_joints over 29 steps (2.9s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteMoving both arms out to pre-grasp pose over the towel.
move_joints
right_j3-0.6000right_gripper1.0000right_j00.3200left_j40.0000left_j5-0.3200left_j21.2000right_j11.8000left_gripper1.0000right_j50.3200left_j11.8000left_j3-0.6000right_j40.0000left_j0-0.3200right_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=-0.2066 left_j1=0.6186 left_j2=1.2083 left_j3=-0.6216 left_j4=-0.0067 left_j5=-0.0284 left_gripper=0.9981 right_j0=0.2005 right_j1=0.6212 right_j2=1.2087 right_j3=-0.6189 right_j4=-0.0044 right_j5=0.0135 right_gripper=0.9988 state[joint_eff]: [0.6632, 2.4, 5.3949, 2.0977, 0.0415, 0.2271, -0.2076, -0.294, 2.1949, 5.4496, 2.127, -0.0024, -0.1734, -0.1441] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.6, "right_gripper": 1, "right_j0": 0.32, "left_j4": 0, "left_j5": -0.32, "left_j2": 1.2, "right_j1": 1.8, "left_gripper": 1, "right_j5": 0.32, "left_j1": 1.8, "left_j3": -0.6, "right_j4": 0, "left_j0": -0.32, "right_j2": 1.2}, "note": "Moving both arms out to pre-grasp pose over the towel."})
tool
executing move_joints over 19 steps (1.9s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteReaching forward to position grippers over the towel edges near block A.
move_joints
right_j40.0000left_j12.1000right_j21.4000right_j00.3200left_j3-0.7000right_j50.3200left_gripper1.0000left_j5-0.3200right_j12.1000right_j3-0.7000right_gripper1.0000left_j0-0.3200left_j21.4000left_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=-0.313 left_j1=1.7863 left_j2=1.1965 left_j3=-0.6033 left_j4=-0.0071 left_j5=-0.3008 left_gripper=0.9982 right_j0=0.3168 right_j1=1.7855 right_j2=1.1992 right_j3=-0.6075 right_j4=-0.004 right_j5=0.2905 right_gripper=0.9988 state[joint_eff]: [-0.7316, -9.265, 6.4615, 1.1697, 0.0415, -0.0464, -0.2076, 0.2256, -9.2103, 6.2291, 1.326, -0.0073, 0.2125, -0.1392] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward to position grippers over the towel edges near block A.", "targets": {"right_j4": 0, "left_j1": 2.1, "right_j2": 1.4, "right_j0": 0.32, "left_j3": -0.7, "right_j5": 0.32, "left_gripper": 1, "left_j5": -0.32, "right_j1": 2.1, "right_j3": -0.7, "right_gripper": 1, "left_j0": -0.32, "left_j2": 1.4, "left_j4": 0}})
tool
executing move_joints over 6 steps (0.6s)
step 256
top_cam
camera top_cam step 256
left_cam
camera left_cam step 256
right_cam
camera right_cam step 256
assistant
agent noteLowering grippers to the table surface to grasp the towel edges.
move_joints
right_gripper1.0000left_gripper1.0000right_j21.5000right_j3-0.7500right_j40.0000left_j3-0.7500left_j40.0000right_j00.3200left_j0-0.3200right_j50.3200right_j12.2500left_j12.2500left_j21.5000left_j5-0.3200
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=-0.3187 left_j1=2.0567 left_j2=1.3857 left_j3=-0.7013 left_j4=-0.0166 left_j5=-0.3229 left_gripper=0.9982 right_j0=0.3199 right_j1=2.0598 right_j2=1.3846 right_j3=-0.6975 right_j4=0.0074 right_j5=0.3069 right_gripper=0.9988 state[joint_eff]: [-0.1983, -7.4872, 5.6821, 0.9695, 0.2076, -0.0122, -0.2027, -0.0068, -7.5145, 6.2154, 0.7643, -0.149, 0.1001, -0.1343] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lowering grippers to the table surface to grasp the towel edges.", "targets": {"right_gripper": 1, "left_gripper": 1, "right_j2": 1.5, "right_j3": -0.75, "right_j4": 0, "left_j3": -0.75, "left_j4": 0, "right_j0": 0.32, "left_j0": -0.32, "right_j5": 0.32, "right_j1": 2.25, "left_j1": 2.25, "left_j2": 1.5, "left_j5": -0.32}})
tool
executing move_joints over 4 steps (0.4s)
step 260
top_cam
camera top_cam step 260
left_cam
camera left_cam step 260
right_cam
camera right_cam step 260
assistant
agent noteAligning grippers directly over the left and right sides of the towel bundle.
move_joints
left_j3-0.7500right_gripper1.0000left_j0-0.3200right_j21.5000left_gripper1.0000right_j3-0.7500left_j5-0.3200right_j50.4000right_j12.2500left_j40.0000left_j12.3000right_j40.0000right_j00.4000left_j21.5500
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=-0.3202 left_j1=2.1483 left_j2=1.5192 left_j3=-0.7906 left_j4=-0.038 left_j5=-0.3233 left_gripper=0.9982 right_j0=0.3237 right_j1=2.1517 right_j2=1.5177 right_j3=-0.7887 right_j4=0.0338 right_j5=0.3069 right_gripper=0.9989 state[joint_eff]: [0.1436, -3.4256, 3.3983, 1.1404, 0.3541, -0.0366, -0.2076, -0.5402, -3.6308, 3.3299, 1.326, -0.359, 0.0855, -0.1392] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Aligning grippers directly over the left and right sides of the towel bundle.", "targets": {"left_j3": -0.75, "right_gripper": 1, "left_j0": -0.32, "right_j2": 1.5, "left_gripper": 1, "right_j3": -0.75, "left_j5": -0.32, "right_j5": 0.4, "right_j1": 2.25, "left_j4": 0, "left_j1": 2.3, "right_j4": 0, "right_j0": 0.4, "left_j2": 1.55}})
tool
executing move_joints over 3 steps (0.3s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
right_cam
camera right_cam step 263
assistant
agent noteLowering onto table surface to prepare to grasp the towel.
move_joints
right_j40.0000right_j00.3600right_gripper1.0000left_j21.5000left_gripper1.0000right_j3-0.7500right_j21.5000left_j0-0.3200left_j5-0.3200left_j40.0000left_j12.2500left_j3-0.7500right_j12.2500right_j50.3600
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=-0.3202 left_j1=2.1864 left_j2=1.5806 left_j3=-0.8211 left_j4=-0.0364 left_j5=-0.3233 left_gripper=0.9981 right_j0=0.3664 right_j1=2.162 right_j2=1.5341 right_j3=-0.7792 right_j4=0.0448 right_j5=0.3534 right_gripper=0.9988 state[joint_eff]: [-0.1983, -2.6735, 2.6872, 1.3016, 0.2808, -0.0122, -0.2076, 1.6889, -4.5197, 3.1385, 0.735, -0.5299, 0.2222, -0.1392] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j4": 0, "right_j0": 0.36, "right_gripper": 1, "left_j2": 1.5, "left_gripper": 1, "right_j3": -0.75, "right_j2": 1.5, "left_j0": -0.32, "left_j5": -0.32, "left_j4": 0, "left_j1": 2.25, "left_j3": -0.75, "right_j1": 2.25, "right_j5": 0.36}, "note": "Lowering onto table surface to prepare to grasp the towel."})
tool
executing move_joints over 2 steps (0.2s)
step 265
top_cam
camera top_cam step 265
left_cam
camera left_cam step 265
right_cam
camera right_cam step 265
assistant
agent noteClosing grippers to grasp both sides of the towel bundle.
move_joints
left_j3-0.7500right_j00.3600left_j0-0.3200left_gripper0.0000left_j5-0.3200left_j21.5000right_j3-0.7500right_j21.5000right_j12.2500right_j40.0000right_j50.3600right_gripper0.0000left_j40.0000left_j12.2500
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=-0.3214 left_j1=2.1757 left_j2=1.5627 left_j3=-0.7963 left_j4=-0.041 left_j5=-0.3222 left_gripper=0.9982 right_j0=0.3786 right_j1=2.1635 right_j2=1.5341 right_j3=-0.7631 right_j4=0.0463 right_j5=0.3672 right_gripper=0.9989 state[joint_eff]: [-0.1846, -5.2308, 1.5658, 0.7399, 0.3687, -0.022, -0.2027, -1.5521, -4.5333, 2.9607, 0.735, -0.3394, 0.0366, -0.1392] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing grippers to grasp both sides of the towel bundle.", "targets": {"left_j3": -0.75, "right_j0": 0.36, "left_j0": -0.32, "left_gripper": 0, "left_j5": -0.32, "left_j2": 1.5, "right_j3": -0.75, "right_j2": 1.5, "right_j1": 2.25, "right_j4": 0, "right_j5": 0.36, "right_gripper": 0, "left_j4": 0, "left_j1": 2.25}})
tool
executing move_joints over 10 steps (1.0s)
step 275
top_cam
camera top_cam step 275
left_cam
camera left_cam step 275
right_cam
camera right_cam step 275
assistant
agent noteMoving grippers inward toward table center to bite deeper into the towel bundle.
move_joints
right_j3-0.7500right_j12.2500left_j40.0000left_j12.2500right_gripper1.0000right_j21.5000left_j3-0.7500left_j21.5000left_gripper1.0000left_j5-0.4000right_j00.4500right_j50.4500right_j40.0000left_j0-0.4000
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=-0.3183 left_j1=2.1674 left_j2=1.5478 left_j3=-0.7574 left_j4=-0.0437 left_j5=-0.3229 left_gripper=0.0158 right_j0=0.3569 right_j1=2.1632 right_j2=1.5341 right_j3=-0.7616 right_j4=0.0307 right_j5=0.3553 right_gripper=0.0109 state[joint_eff]: [-0.1846, -5.053, 1.894, 0.7302, 0.3443, 0.0366, 0.652, 0.0342, -4.4513, 3.2615, 0.7546, -0.1734, 0.022, 0.9695] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving grippers inward toward table center to bite deeper into the towel bundle.", "targets": {"right_j3": -0.75, "right_j1": 2.25, "left_j4": 0, "left_j1": 2.25, "right_gripper": 1, "right_j2": 1.5, "left_j3": -0.75, "left_j2": 1.5, "left_gripper": 1, "left_j5": -0.4, "right_j0": 0.45, "right_j5": 0.45, "right_j4": 0, "left_j0": -0.4}})
tool
executing move_joints over 10 steps (1.0s)
step 285
top_cam
camera top_cam step 285
left_cam
camera left_cam step 285
right_cam
camera right_cam step 285
assistant
agent noteClosing both grippers to grasp the towel firmly.
move_joints
left_j3-0.7500right_j00.4500right_j3-0.7500left_j5-0.4000right_j50.4500left_j0-0.4000left_j40.0000left_j21.5000left_gripper0.0000right_j40.0000right_j21.5000left_j12.2500right_gripper0.0000right_j12.2500
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=-0.3965 left_j1=2.1677 left_j2=1.5475 left_j3=-0.7181 left_j4=-0.0544 left_j5=-0.3882 left_gripper=0.9953 right_j0=0.4435 right_j1=2.1681 right_j2=1.5391 right_j3=-0.7284 right_j4=0.0616 right_j5=0.4122 right_gripper=0.9955 state[joint_eff]: [-0.294, -4.9846, 2.0034, 0.3443, 0.5543, -0.1099, -0.0757, 0.4308, -4.6838, 3.0974, 0.4811, -0.7253, 0.3541, -0.0317] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grasp the towel firmly.", "targets": {"left_j3": -0.75, "right_j0": 0.45, "right_j3": -0.75, "left_j5": -0.4, "right_j5": 0.45, "left_j0": -0.4, "left_j4": 0, "left_j2": 1.5, "left_gripper": 0, "right_j4": 0, "right_j2": 1.5, "left_j1": 2.25, "right_gripper": 0, "right_j1": 2.25}})
tool
executing move_joints over 10 steps (1.0s)
step 295
top_cam
camera top_cam step 295
left_cam
camera left_cam step 295
right_cam
camera right_cam step 295
assistant
agent noteLifting the towel high up with both arms.
move_joints
left_j0-0.4000left_gripper0.0000right_j00.4500left_j20.8000right_j50.4500right_j3-0.2000right_j20.8000right_j40.0000right_gripper0.0000right_j11.0000left_j11.0000left_j40.0000left_j5-0.4000left_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=-0.395 left_j1=2.1693 left_j2=1.5444 left_j3=-0.7174 left_j4=-0.0669 left_j5=-0.3969 left_gripper=0.0135 right_j0=0.4423 right_j1=2.1689 right_j2=1.5398 right_j3=-0.733 right_j4=0.0551 right_j5=0.4343 right_gripper=0.0112 state[joint_eff]: [-0.5675, -5.0803, 2.4, 0.3834, 0.6374, -0.0269, 0.8767, 0.4444, -4.9299, 2.5778, 0.5446, -0.5495, 0.0708, 0.9499] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.4, "left_gripper": 0, "right_j0": 0.45, "left_j2": 0.8, "right_j5": 0.45, "right_j3": -0.2, "right_j2": 0.8, "right_j4": 0, "right_gripper": 0, "right_j1": 1, "left_j1": 1, "left_j4": 0, "left_j5": -0.4, "left_j3": -0.2}, "note": "Lifting the towel high up with both arms."})
tool
executing move_joints over 19 steps (1.9s)
step 314
top_cam
camera top_cam step 314
left_cam
camera left_cam step 314
right_cam
camera right_cam step 314
assistant
agent notePositioning open grippers over the left and right edges of the towel.
move_joints
left_gripper1.0000left_j40.0000right_gripper1.0000left_j3-0.7000right_j3-0.7000left_j12.1000left_j0-0.3500left_j21.4000right_j40.0000right_j12.1000left_j5-0.3500right_j21.4000right_j50.3500right_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=-0.3977 left_j1=1.0294 left_j2=0.8146 left_j3=-0.2546 left_j4=-0.0097 left_j5=-0.3985 left_gripper=0.015 right_j0=0.4465 right_j1=1.0279 right_j2=0.8108 right_j3=-0.2581 right_j4=0.0025 right_j5=0.4381 right_gripper=0.0095 state[joint_eff]: [-0.1983, -3.3709, 7.0769, 2.1563, 0.0562, -0.0513, 1.0281, 0.2803, -3.3983, 7.5009, 2.1221, -0.0757, 0.0708, 0.989] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1, "left_j4": 0, "right_gripper": 1, "left_j3": -0.7, "right_j3": -0.7, "left_j1": 2.1, "left_j0": -0.35, "left_j2": 1.4, "right_j4": 0, "right_j1": 2.1, "left_j5": -0.35, "right_j2": 1.4, "right_j5": 0.35, "right_j0": 0.35}, "note": "Positioning open grippers over the left and right edges of the towel."})
tool
executing move_joints over 18 steps (1.8s)
step 332
top_cam
camera top_cam step 332
left_cam
camera left_cam step 332
right_cam
camera right_cam step 332
assistant
agent noteLowering grippers forward onto the table surface.
move_joints
right_j3-0.7500left_j21.5000left_j3-0.7500right_j12.2500right_j00.3500right_j50.3500left_j5-0.3500right_j40.0000left_j40.0000right_j21.5000left_j12.2500left_gripper1.0000right_gripper1.0000left_j0-0.3500
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=-0.3576 left_j1=2.0583 left_j2=1.388 left_j3=-0.6819 left_j4=-0.0143 left_j5=-0.3645 left_gripper=0.9972 right_j0=0.3561 right_j1=2.0617 right_j2=1.3865 right_j3=-0.6765 right_j4=0.0048 right_j5=0.3504 right_gripper=0.9976 state[joint_eff]: [0.4308, -7.5009, 5.7368, 0.9255, 0.1245, 0.1001, -0.1441, -0.8274, -7.8291, 6.065, 0.5885, -0.0904, -0.0415, -0.1001] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lowering grippers forward onto the table surface.", "targets": {"right_j3": -0.75, "left_j2": 1.5, "left_j3": -0.75, "right_j1": 2.25, "right_j0": 0.35, "right_j5": 0.35, "left_j5": -0.35, "right_j4": 0, "left_j4": 0, "right_j2": 1.5, "left_j1": 2.25, "left_gripper": 1, "right_gripper": 1, "left_j0": -0.35}})
tool
executing move_joints over 4 steps (0.4s)
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 noteClosing both grippers to grasp the towel edges.
move_joints
right_j12.2500right_j40.0000left_j5-0.3500right_j00.3500left_j3-0.7500right_j50.3500left_j12.2500left_gripper0.0000right_j21.5000right_j3-0.7500right_gripper0.0000left_j21.5000left_j0-0.3500left_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=-0.3584 left_j1=2.1502 left_j2=1.5223 left_j3=-0.7834 left_j4=-0.0448 left_j5=-0.3668 left_gripper=0.9981 right_j0=0.358 right_j1=2.154 right_j2=1.5223 right_j3=-0.7834 right_j4=0.0376 right_j5=0.3481 right_gripper=0.9988 state[joint_eff]: [0.3897, -3.5897, 3.0564, 1.2527, 0.5299, 0.1538, -0.2076, -0.4581, -4.0547, 3.0154, 1.37, -0.4029, -0.0073, -0.1392] 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({"note": "Closing both grippers to grasp the towel edges.", "targets": {"right_j1": 2.25, "right_j4": 0, "left_j5": -0.35, "right_j0": 0.35, "left_j3": -0.75, "right_j5": 0.35, "left_j1": 2.25, "left_gripper": 0, "right_j2": 1.5, "right_j3": -0.75, "right_gripper": 0, "left_j2": 1.5, "left_j0": -0.35, "left_j4": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 346
top_cam
camera top_cam step 346
left_cam
camera left_cam step 346
right_cam
camera right_cam step 346
assistant
agent noteReaching inward and forward over the towel bundle.
move_joints
left_j3-0.7500right_j21.5500left_gripper1.0000left_j21.5500right_j40.0000right_gripper1.0000left_j5-0.4200right_j00.4200right_j3-0.7500left_j12.3000left_j0-0.4200right_j50.4200right_j12.3000left_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=-0.3508 left_j1=2.1586 left_j2=1.5337 left_j3=-0.7635 left_j4=-0.0391 left_j5=-0.363 left_gripper=0.0142 right_j0=0.3466 right_j1=2.162 right_j2=1.5341 right_j3=-0.7792 right_j4=0.0296 right_j5=0.3473 right_gripper=0.0111 state[joint_eff]: [0.212, -4.1094, 3.0017, 0.7546, 0.2857, 0.149, 0.6667, 0.0205, -4.3692, 3.4256, 0.8816, -0.3101, 0.0366, 0.9695] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.75, "right_j2": 1.55, "left_gripper": 1, "left_j2": 1.55, "right_j4": 0, "right_gripper": 1, "left_j5": -0.42, "right_j0": 0.42, "right_j3": -0.75, "left_j1": 2.3, "left_j0": -0.42, "right_j5": 0.42, "right_j1": 2.3, "left_j4": 0}, "note": "Reaching inward and forward over the towel bundle."})
tool
executing move_joints over 10 steps (1.0s)
step 356
top_cam
camera top_cam step 356
left_cam
camera left_cam step 356
right_cam
camera right_cam step 356
assistant
agent noteClosing both grippers to grasp the towel on both sides.
move_joints
left_j3-0.7500right_j21.5500left_gripper0.0000right_j12.3000left_j40.0000left_j21.5500right_j50.4200right_j00.4200left_j12.3000left_j0-0.4200right_j3-0.7500left_j5-0.4200right_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=-0.4248 left_j1=2.196 left_j2=1.5944 left_j3=-0.7586 left_j4=-0.0471 left_j5=-0.4198 left_gripper=0.9953 right_j0=0.4164 right_j1=2.2009 right_j2=1.5917 right_j3=-0.7662 right_j4=0.0605 right_j5=0.3931 right_gripper=0.9956 state[joint_eff]: [0.4991, -3.1521, 2.5368, 0.8327, 0.4957, 0.0024, -0.1245, 0.4444, -3.6308, 2.7419, 0.7839, -0.5739, 0.1441, -0.149] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.75, "right_j2": 1.55, "left_gripper": 0, "right_j1": 2.3, "left_j4": 0, "left_j2": 1.55, "right_j5": 0.42, "right_j0": 0.42, "left_j1": 2.3, "left_j0": -0.42, "right_j3": -0.75, "left_j5": -0.42, "right_gripper": 0, "right_j4": 0}, "note": "Closing both grippers to grasp the towel on both sides."})
tool
executing move_joints over 10 steps (1.0s)
step 366
top_cam
camera top_cam step 366
left_cam
camera left_cam step 366
right_cam
camera right_cam step 366
assistant
agent noteLifting the towel high off the tabletop with both arms.
move_joints
right_gripper0.0000right_j40.0000left_j3-0.3000left_j40.0000right_j21.0000left_j11.2000right_j00.4200left_j0-0.4200right_j3-0.3000right_j50.4200right_j11.2000left_j21.0000left_gripper0.0000left_j5-0.4200
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=-0.4137 left_j1=2.2013 left_j2=1.597 left_j3=-0.7486 left_j4=-0.0677 left_j5=-0.4198 left_gripper=0.0158 right_j0=0.4133 right_j1=2.2021 right_j2=1.5932 right_j3=-0.7547 right_j4=0.0517 right_j5=0.4046 right_gripper=0.011 state[joint_eff]: [-0.7043, -4.0957, 2.2085, 0.6667, 0.5885, 0.0024, 0.7106, 0.4991, -3.8906, 2.7145, 0.7253, -0.5104, 0.1245, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting the towel high off the tabletop with both arms.", "targets": {"right_gripper": 0, "right_j4": 0, "left_j3": -0.3, "left_j4": 0, "right_j2": 1, "left_j1": 1.2, "right_j0": 0.42, "left_j0": -0.42, "right_j3": -0.3, "right_j5": 0.42, "right_j1": 1.2, "left_j2": 1, "left_gripper": 0, "left_j5": -0.42}})
tool
executing move_joints over 16 steps (1.6s)
step 382
top_cam
camera top_cam step 382
left_cam
camera left_cam step 382
right_cam
camera right_cam step 382
assistant
agent noteMoving open grippers down over the left and right sides of the towel.
move_joints
left_j21.4500right_j50.4000right_j12.1500left_gripper1.0000right_j3-0.7000right_gripper1.0000left_j12.1500right_j40.0000right_j21.4500left_j40.0000left_j5-0.4000left_j3-0.7000left_j0-0.4000right_j00.4000
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=-0.4175 left_j1=1.2358 left_j2=1.0138 left_j3=-0.3534 left_j4=-0.0124 left_j5=-0.4202 left_gripper=0.015 right_j0=0.4164 right_j1=1.2331 right_j2=1.0138 right_j3=-0.3595 right_j4=0.0017 right_j5=0.4049 right_gripper=0.0095 state[joint_eff]: [-0.4034, -5.5863, 7.1863, 2.0293, 0.0366, -0.0269, 1.033, 0.1709, -5.4085, 6.7897, 2.1807, -0.0122, 0.1392, 0.989] camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving open grippers down over the left and right sides of the towel.", "targets": {"left_j2": 1.45, "right_j5": 0.4, "right_j1": 2.15, "left_gripper": 1, "right_j3": -0.7, "right_gripper": 1, "left_j1": 2.15, "right_j4": 0, "right_j2": 1.45, "left_j4": 0, "left_j5": -0.4, "left_j3": -0.7, "left_j0": -0.4, "right_j0": 0.4}})
tool
executing move_joints over 15 steps (1.5s)
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 noteDescending onto table surface over the towel.
move_joints
left_j21.5000right_j00.4000left_j40.0000left_j12.2500left_j3-0.7500right_j40.0000left_j0-0.4000left_j5-0.4000right_j3-0.7500right_j50.4000right_j21.5000right_j12.2500right_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=-0.4084 left_j1=2.0941 left_j2=1.4433 left_j3=-0.6838 left_j4=-0.0154 left_j5=-0.4126 left_gripper=0.9966 right_j0=0.4049 right_j1=2.1017 right_j2=1.4467 right_j3=-0.6785 right_j4=0.0067 right_j5=0.3935 right_gripper=0.9971 state[joint_eff]: [0.3761, -6.8171, 5.2991, 1.0134, 0.1734, 0.0855, -0.1245, -0.3624, -7.3641, 5.1077, 0.9402, -0.1636, 0.0366, -0.1197] 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({"targets": {"left_j2": 1.5, "right_j0": 0.4, "left_j4": 0, "left_j1": 2.25, "left_j3": -0.75, "right_j4": 0, "left_j0": -0.4, "left_j5": -0.4, "right_j3": -0.75, "right_j5": 0.4, "right_j2": 1.5, "right_j1": 2.25, "right_gripper": 1, "left_gripper": 1}, "note": "Descending onto table surface over the towel."})
tool
executing move_joints over 3 steps (0.3s)
step 400
top_cam
camera top_cam step 400
left_cam
camera left_cam step 400
right_cam
camera right_cam step 400
assistant
agent noteClosing both grippers to grasp the towel edges firmly.
move_joints
right_j21.5000left_j3-0.7500right_j40.0000right_j00.4000left_j40.0000left_j0-0.4000left_j5-0.4000left_gripper0.0000right_gripper0.0000right_j50.4000right_j3-0.7500left_j12.2500right_j12.2500left_j21.5000
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=-0.4091 left_j1=2.1509 left_j2=1.5261 left_j3=-0.7555 left_j4=-0.036 left_j5=-0.4137 left_gripper=0.9981 right_j0=0.408 right_j1=2.1532 right_j2=1.5242 right_j3=-0.7536 right_j4=0.0219 right_j5=0.3935 right_gripper=0.9988 state[joint_eff]: [0.4034, -3.6308, 2.9333, 1.1013, 0.3883, 0.0855, -0.2076, -0.5538, -3.8085, 2.9197, 1.0916, -0.3541, 0.0464, -0.1392] camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.5, "left_j3": -0.75, "right_j4": 0, "right_j0": 0.4, "left_j4": 0, "left_j0": -0.4, "left_j5": -0.4, "left_gripper": 0, "right_gripper": 0, "right_j5": 0.4, "right_j3": -0.75, "left_j1": 2.25, "right_j1": 2.25, "left_j2": 1.5}, "note": "Closing both grippers to grasp the towel edges firmly."})
tool
executing move_joints over 10 steps (1.0s)
step 410
top_cam
camera top_cam step 410
left_cam
camera left_cam step 410
right_cam
camera right_cam step 410
assistant
agent noteReaching left arm forward over the towel tag while right arm holds its side.
move_joints
right_j00.4000left_j21.5500right_j50.4000right_j12.2500left_j0-0.4000left_j3-0.7500right_j40.0000left_j12.3000right_j21.5000right_gripper0.0000left_j40.0000left_gripper1.0000left_j5-0.4000right_j3-0.7500
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=-0.3969 left_j1=2.1612 left_j2=1.5372 left_j3=-0.7544 left_j4=-0.0525 left_j5=-0.4114 left_gripper=0.0151 right_j0=0.4091 right_j1=2.1632 right_j2=1.5341 right_j3=-0.7303 right_j4=-0.0315 right_j5=0.3935 right_gripper=0.0109 state[joint_eff]: [-0.6085, -4.1915, 2.9744, 0.7253, 0.4371, 0.0659, 0.6325, -0.4855, -4.4376, 3.0564, 0.4469, 0.315, 0.0317, 0.7692] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4, "left_j2": 1.55, "right_j5": 0.4, "right_j1": 2.25, "left_j0": -0.4, "left_j3": -0.75, "right_j4": 0, "left_j1": 2.3, "right_j2": 1.5, "right_gripper": 0, "left_j4": 0, "left_gripper": 1, "left_j5": -0.4, "right_j3": -0.75}, "note": "Reaching left arm forward over the towel tag while right arm holds its side."})
tool
executing move_joints over 10 steps (1.0s)
step 420
top_cam
camera top_cam step 420
left_cam
camera left_cam step 420
right_cam
camera right_cam step 420
assistant
agent noteClosing left gripper to grasp the left edge of the towel while right arm holds its side.
move_joints
left_j3-0.7500right_j12.2500right_j00.4000right_j21.5000left_j5-0.4000right_j40.0000right_j50.4000left_gripper0.0000left_j40.0000left_j0-0.4000right_gripper0.0000right_j3-0.7500left_j21.5500left_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=-0.4122 left_j1=2.196 left_j2=1.5967 left_j3=-0.7471 left_j4=-0.0303 left_j5=-0.4141 left_gripper=0.9949 right_j0=0.408 right_j1=2.1639 right_j2=1.5349 right_j3=-0.7307 right_j4=-0.0307 right_j5=0.3931 right_gripper=0.0081 state[joint_eff]: [0.7453, -3.0974, 2.4547, 0.6716, 0.2564, 0.1001, -0.1441, -0.4581, -4.5744, 2.9197, 0.525, 0.2515, 0.0317, 0.8474] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.75, "right_j1": 2.25, "right_j0": 0.4, "right_j2": 1.5, "left_j5": -0.4, "right_j4": 0, "right_j5": 0.4, "left_gripper": 0, "left_j4": 0, "left_j0": -0.4, "right_gripper": 0, "right_j3": -0.75, "left_j2": 1.55, "left_j1": 2.3}, "note": "Closing left gripper to grasp the left edge of the towel while right arm holds its side."})
tool
executing move_joints over 10 steps (1.0s)
step 430
top_cam
camera top_cam step 430
left_cam
camera left_cam step 430
right_cam
camera right_cam step 430
assistant
agent noteLifting the towel high up with both arms.
move_joints
left_j40.0000left_j5-0.4000left_j0-0.4000right_j21.4000right_j40.0000left_gripper0.0000right_j50.4000left_j21.4000right_j00.4000right_gripper0.0000left_j3-0.5000right_j11.8000left_j11.8000right_j3-0.5000
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=-0.3939 left_j1=2.2028 left_j2=1.599 left_j3=-0.7452 left_j4=-0.0528 left_j5=-0.408 left_gripper=0.0158 right_j0=0.4076 right_j1=2.1639 right_j2=1.536 right_j3=-0.7319 right_j4=-0.0315 right_j5=0.3931 right_gripper=0.0081 state[joint_eff]: [-0.3077, -4.041, 2.0308, 0.6764, 0.4811, 0.0464, 0.696, -0.6906, -4.7521, 2.9197, 0.5006, 0.2759, 0.0366, 0.8425] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 430): [image omitted: streamed camera frame] camera 'left_cam' (step 430): [image omitted: streamed camera frame] camera 'right_cam' (step 430): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j4": 0, "left_j5": -0.4, "left_j0": -0.4, "right_j2": 1.4, "right_j4": 0, "left_gripper": 0, "right_j5": 0.4, "left_j2": 1.4, "right_j0": 0.4, "right_gripper": 0, "left_j3": -0.5, "right_j1": 1.8, "left_j1": 1.8, "right_j3": -0.5}, "note": "Lifting the towel high up with both arms."})
tool
executing move_joints over 7 steps (0.7s)
step 437
top_cam
camera top_cam step 437
left_cam
camera left_cam step 437
right_cam
camera right_cam step 437
assistant
agent noteMoving both arms forward while holding the towel high over block A.
move_joints
right_j12.3000left_j40.0000left_j0-0.4000left_gripper0.0000left_j3-0.7000left_j21.6000left_j5-0.4000right_j00.4000right_j21.6000left_j12.3000right_j40.0000right_gripper0.0000right_j3-0.7000right_j50.4000
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=-0.3969 left_j1=1.8454 left_j2=1.4155 left_j3=-0.5652 left_j4=-0.0135 left_j5=-0.4126 left_gripper=0.015 right_j0=0.403 right_j1=1.8404 right_j2=1.4109 right_j3=-0.5667 right_j4=-0.0158 right_j5=0.3931 right_gripper=0.0081 state[joint_eff]: [-0.4308, -11.5761, 6.0239, 1.5897, 0.0757, 0.0855, 1.033, -0.4034, -11.3026, 5.9829, 1.7411, 0.0562, 0.0464, 0.8425] camera 'top_cam' (step 437): [image omitted: streamed camera frame] camera 'left_cam' (step 437): [image omitted: streamed camera frame] camera 'right_cam' (step 437): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.3, "left_j4": 0, "left_j0": -0.4, "left_gripper": 0, "left_j3": -0.7, "left_j2": 1.6, "left_j5": -0.4, "right_j0": 0.4, "right_j2": 1.6, "left_j1": 2.3, "right_j4": 0, "right_gripper": 0, "right_j3": -0.7, "right_j5": 0.4}, "note": "Moving both arms forward while holding the towel high over block A."})
tool
executing move_joints over 8 steps (0.8s)
step 445
top_cam
camera top_cam step 445
left_cam
camera left_cam step 445
right_cam
camera right_cam step 445
assistant
agent noteExtending both arms forward so the suspended towel is positioned over block A.
move_joints
right_j12.6000right_j3-0.7500right_j40.0000left_gripper0.0000left_j12.6000left_j5-0.4000right_j00.4000right_j21.8000left_j21.8000right_gripper0.0000left_j3-0.7500right_j50.4000left_j0-0.4000left_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=-0.3973 left_j1=2.2139 left_j2=1.6127 left_j3=-0.691 left_j4=-0.0074 left_j5=-0.4164 left_gripper=0.015 right_j0=0.4019 right_j1=2.2154 right_j2=1.6127 right_j3=-0.6979 right_j4=-0.0151 right_j5=0.3931 right_gripper=0.0081 state[joint_eff]: [-0.3624, -5.559, 3.9726, 0.9255, 0.0464, 0.1197, 1.033, -0.3487, -5.3949, 4.2872, 0.9499, 0.1294, 0.0122, 0.8425] camera 'top_cam' (step 445): [image omitted: streamed camera frame] camera 'left_cam' (step 445): [image omitted: streamed camera frame] camera 'right_cam' (step 445): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Extending both arms forward so the suspended towel is positioned over block A.", "targets": {"right_j1": 2.6, "right_j3": -0.75, "right_j4": 0, "left_gripper": 0, "left_j1": 2.6, "left_j5": -0.4, "right_j0": 0.4, "right_j2": 1.8, "left_j2": 1.8, "right_gripper": 0, "left_j3": -0.75, "right_j5": 0.4, "left_j0": -0.4, "left_j4": 0}})
tool
executing move_joints over 7 steps (0.7s)
step 452
top_cam
camera top_cam step 452
left_cam
camera left_cam step 452
right_cam
camera right_cam step 452
assistant
agent noteOpening both grippers to drop the towel over block A.
move_joints
right_j12.4000left_j3-0.7500left_j5-0.4000left_j21.8000right_j21.8000left_j40.0000left_j0-0.4000left_j12.4000right_gripper1.0000right_j3-0.7500right_j50.4000left_gripper1.0000right_j00.4000right_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=-0.3973 left_j1=2.4004 left_j2=1.8748 left_j3=-0.7372 left_j4=-0.0074 left_j5=-0.4187 left_gripper=0.015 right_j0=0.4019 right_j1=2.3962 right_j2=1.8763 right_j3=-0.7574 right_j4=-0.0265 right_j5=0.3927 right_gripper=0.0081 state[joint_eff]: [-0.4444, 2.2085, -0.5812, 0.652, 0.0757, 0.1587, 1.0281, -0.1983, 2.5504, -0.6496, 0.8181, 0.2076, 0.0366, 0.8474] camera 'top_cam' (step 452): [image omitted: streamed camera frame] camera 'left_cam' (step 452): [image omitted: streamed camera frame] camera 'right_cam' (step 452): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening both grippers to drop the towel over block A.", "targets": {"right_j1": 2.4, "left_j3": -0.75, "left_j5": -0.4, "left_j2": 1.8, "right_j2": 1.8, "left_j4": 0, "left_j0": -0.4, "left_j1": 2.4, "right_gripper": 1, "right_j3": -0.75, "right_j5": 0.4, "left_gripper": 1, "right_j0": 0.4, "right_j4": 0}})
tool
executing move_joints over 10 steps (1.0s)
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 noteRetracting both arms back to home pose to clearly show the towel covering the block.
move_joints
right_j3-0.6000left_j0-0.2000right_j50.0000right_j10.6000left_j10.6000left_gripper1.0000right_j40.0000left_j50.0000left_j40.0000right_j21.2000left_j21.2000right_j00.2000right_gripper1.0000left_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=-0.4088 left_j1=2.3562 left_j2=1.8523 left_j3=-0.6643 left_j4=-0.0051 left_j5=-0.4046 left_gripper=0.9945 right_j0=0.4088 right_j1=2.3596 right_j2=1.8496 right_j3=-0.6548 right_j4=-0.0074 right_j5=0.3817 right_gripper=0.9953 state[joint_eff]: [0.7726, -9.812, 2.4274, 0.1587, 0.0317, 0.0171, -0.2466, -0.8274, -10.2769, 2.4821, 0.0708, 0.0269, 0.1197, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_j3": -0.6, "left_j0": -0.2, "right_j5": 0, "right_j1": 0.6, "left_j1": 0.6, "left_gripper": 1, "right_j4": 0, "left_j5": 0, "left_j4": 0, "right_j2": 1.2, "left_j2": 1.2, "right_j0": 0.2, "right_gripper": 1, "left_j3": -0.6}, "note": "Retracting both arms back to home pose to clearly show the towel covering the block."})
tool
executing move_joints over 29 steps (2.9s)
step 491
top_cam
camera top_cam step 491
left_cam
camera left_cam step 491
right_cam
camera right_cam step 491
assistant
agent notePositioning grippers over the front edges of the towel.
move_joints
right_j12.1000left_j0-0.3000right_j3-0.7000left_j5-0.3000left_j40.0000left_gripper1.0000left_j21.4000right_gripper1.0000right_j21.4000right_j40.0000right_j00.3000left_j12.1000right_j50.3000left_j3-0.7000
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=-0.2066 left_j1=0.6182 left_j2=1.2072 left_j3=-0.622 left_j4=-0.0067 left_j5=-0.0303 left_gripper=0.9981 right_j0=0.205 right_j1=0.6205 right_j2=1.2064 right_j3=-0.6228 right_j4=-0.0044 right_j5=0.0158 right_gripper=0.9988 state[joint_eff]: [0.6769, 2.3316, 5.3402, 2.1172, 0.0855, 0.1343, -0.2076, -0.759, 2.0581, 5.5043, 2.0977, 0.0122, -0.1343, -0.1392] camera 'top_cam' (step 491): [image omitted: streamed camera frame] camera 'left_cam' (step 491): [image omitted: streamed camera frame] camera 'right_cam' (step 491): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.1, "left_j0": -0.3, "right_j3": -0.7, "left_j5": -0.3, "left_j4": 0, "left_gripper": 1, "left_j2": 1.4, "right_gripper": 1, "right_j2": 1.4, "right_j4": 0, "right_j0": 0.3, "left_j1": 2.1, "right_j5": 0.3, "left_j3": -0.7}, "note": "Positioning grippers over the front edges of the towel."})
tool
executing move_joints over 24 steps (2.4s)
step 515
top_cam
camera top_cam step 515
left_cam
camera left_cam step 515
right_cam
camera right_cam step 515
assistant
agent noteReaching forward over the towel edges near the block.
move_joints
left_j40.0000right_j21.5500left_j5-0.3800right_j00.3800right_gripper1.0000right_j3-0.7500right_j50.3800left_gripper1.0000left_j0-0.3800left_j12.3000left_j3-0.7500left_j21.5500right_j12.3000right_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=-0.2974 left_j1=2.0632 left_j2=1.3941 left_j3=-0.7029 left_j4=-0.0231 left_j5=-0.2859 left_gripper=0.9981 right_j0=0.2985 right_j1=2.0678 right_j2=1.3941 right_j3=-0.6987 right_j4=0.0093 right_j5=0.2737 right_gripper=0.9989 state[joint_eff]: [-0.1846, -7.4188, 5.8735, 0.7448, 0.398, -0.0611, -0.2027, -0.0205, -7.9932, 5.641, 0.8962, -0.2418, 0.1245, -0.1294] camera 'top_cam' (step 515): [image omitted: streamed camera frame] camera 'left_cam' (step 515): [image omitted: streamed camera frame] camera 'right_cam' (step 515): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward over the towel edges near the block.", "targets": {"left_j4": 0, "right_j2": 1.55, "left_j5": -0.38, "right_j0": 0.38, "right_gripper": 1, "right_j3": -0.75, "right_j5": 0.38, "left_gripper": 1, "left_j0": -0.38, "left_j1": 2.3, "left_j3": -0.75, "left_j2": 1.55, "right_j1": 2.3, "right_j4": 0}})
tool
executing move_joints over 4 steps (0.4s)
step 519
top_cam
camera top_cam step 519
left_cam
camera left_cam step 519
right_cam
camera right_cam step 519
assistant
agent noteReaching forward and inward onto the table over the towel cloth.
move_joints
right_j21.6000right_j12.3500left_j40.0000right_gripper1.0000left_j0-0.4000left_j3-0.7500right_j40.0000left_gripper1.0000right_j00.4000left_j12.3500left_j5-0.4000right_j50.4000left_j21.6000right_j3-0.7500
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=-0.3527 left_j1=2.1849 left_j2=1.5726 left_j3=-0.7708 left_j4=-0.0563 left_j5=-0.358 left_gripper=0.9981 right_j0=0.3607 right_j1=2.1902 right_j2=1.5745 right_j3=-0.7628 right_j4=0.0521 right_j5=0.334 right_gripper=0.9988 state[joint_eff]: [-1.7709, -2.947, 2.7009, 0.9304, 0.5592, -0.0171, -0.2076, 0.9915, -3.2479, 2.6462, 0.7985, -0.6081, 0.2564, -0.1392] camera 'top_cam' (step 519): [image omitted: streamed camera frame] camera 'left_cam' (step 519): [image omitted: streamed camera frame] camera 'right_cam' (step 519): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward and inward onto the table over the towel cloth.", "targets": {"right_j2": 1.6, "right_j1": 2.35, "left_j4": 0, "right_gripper": 1, "left_j0": -0.4, "left_j3": -0.75, "right_j4": 0, "left_gripper": 1, "right_j0": 0.4, "left_j1": 2.35, "left_j5": -0.4, "right_j5": 0.4, "left_j2": 1.6, "right_j3": -0.75}})
tool
executing move_joints over 3 steps (0.3s)
step 522
top_cam
camera top_cam step 522
left_cam
camera left_cam step 522
right_cam
camera right_cam step 522
assistant
agent noteReaching forward onto the table over the towel bundle.
move_joints
left_j21.6500right_j3-0.7500left_j40.0000left_j12.4500left_gripper1.0000right_j21.6500left_j5-0.3700left_j0-0.3700left_j3-0.7500right_j40.0000right_j12.4500right_gripper1.0000right_j00.3700right_j50.3700
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=-0.3706 left_j1=2.225 left_j2=1.6367 left_j3=-0.7898 left_j4=-0.0639 left_j5=-0.3908 left_gripper=0.9981 right_j0=0.3767 right_j1=2.2276 right_j2=1.6341 right_j3=-0.7864 right_j4=0.0544 right_j5=0.3618 right_gripper=0.9988 state[joint_eff]: [-2.2906, -2.1675, 2.4274, 1.0379, 0.569, -0.0464, -0.2076, 1.7983, -2.4137, 2.5641, 1.0818, -0.5592, 0.3004, -0.1441] camera 'top_cam' (step 522): [image omitted: streamed camera frame] camera 'left_cam' (step 522): [image omitted: streamed camera frame] camera 'right_cam' (step 522): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward onto the table over the towel bundle.", "targets": {"left_j2": 1.65, "right_j3": -0.75, "left_j4": 0, "left_j1": 2.45, "left_gripper": 1, "right_j2": 1.65, "left_j5": -0.37, "left_j0": -0.37, "left_j3": -0.75, "right_j4": 0, "right_j1": 2.45, "right_gripper": 1, "right_j0": 0.37, "right_j5": 0.37}})
tool
executing move_joints over 4 steps (0.4s)
step 526
top_cam
camera top_cam step 526
left_cam
camera left_cam step 526
right_cam
camera right_cam step 526
assistant
agent noteSwinging grippers inward toward table center to align with the towel edges.
move_joints
left_j21.5500right_j00.4800left_gripper1.0000left_j5-0.4800left_j0-0.4800right_j3-0.7500right_j40.0000right_j50.4800left_j40.0000right_j21.5500left_j3-0.7500right_j12.3000right_gripper1.0000left_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=-0.3744 left_j1=2.2818 left_j2=1.7123 left_j3=-0.8268 left_j4=-0.062 left_j5=-0.392 left_gripper=0.9981 right_j0=0.3748 right_j1=2.2822 right_j2=1.7119 right_j3=-0.831 right_j4=0.0513 right_j5=0.3668 right_gripper=0.9988 state[joint_eff]: [0.335, 1.1009, 0.6906, 1.4725, 0.569, 0.1929, -0.2125, -0.6769, 1.0325, 0.7726, 1.5507, -0.5299, -0.0269, -0.1392] camera 'top_cam' (step 526): [image omitted: streamed camera frame] camera 'left_cam' (step 526): [image omitted: streamed camera frame] camera 'right_cam' (step 526): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.55, "right_j0": 0.48, "left_gripper": 1, "left_j5": -0.48, "left_j0": -0.48, "right_j3": -0.75, "right_j4": 0, "right_j5": 0.48, "left_j4": 0, "right_j2": 1.55, "left_j3": -0.75, "right_j1": 2.3, "right_gripper": 1, "left_j1": 2.3}, "note": "Swinging grippers inward toward table center to align with the towel edges."})
tool
executing move_joints over 3 steps (0.3s)
step 529
top_cam
camera top_cam step 529
left_cam
camera left_cam step 529
right_cam
camera right_cam step 529
assistant
agent noteReaching forward and inward to align the grippers over the towel.
move_joints
right_j40.0000left_j40.0000left_j12.4500right_gripper1.0000left_gripper1.0000left_j3-0.7500right_j50.4500right_j3-0.7500right_j21.6500right_j00.4500left_j0-0.4500left_j21.6500left_j5-0.4500right_j12.4500
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=-0.4274 left_j1=2.2234 left_j2=1.626 left_j3=-0.741 left_j4=-0.094 left_j5=-0.4423 left_gripper=0.9981 right_j0=0.4328 right_j1=2.2246 right_j2=1.6238 right_j3=-0.7441 right_j4=0.0803 right_j5=0.4248 right_gripper=0.9989 state[joint_eff]: [-3.2479, -5.3949, 1.0598, 0.0464, 1.072, -0.1245, -0.2125, 2.4684, -5.5316, 1.1419, 0.0757, -0.8962, 0.2173, -0.1343] camera 'top_cam' (step 529): [image omitted: streamed camera frame] camera 'left_cam' (step 529): [image omitted: streamed camera frame] camera 'right_cam' (step 529): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward and inward to align the grippers over the towel.", "targets": {"right_j4": 0, "left_j4": 0, "left_j1": 2.45, "right_gripper": 1, "left_gripper": 1, "left_j3": -0.75, "right_j5": 0.45, "right_j3": -0.75, "right_j2": 1.65, "right_j0": 0.45, "left_j0": -0.45, "left_j2": 1.65, "left_j5": -0.45, "right_j1": 2.45}})
tool
executing move_joints over 4 steps (0.4s)
step 533
top_cam
camera top_cam step 533
left_cam
camera left_cam step 533
right_cam
camera right_cam step 533
assistant
agent noteClosing both grippers to grasp the towel firmly.
move_joints
left_j40.0000left_j12.4500left_j5-0.4500right_j3-0.7500right_j21.6500left_j21.6500right_j12.4500right_j50.4500left_j0-0.4500left_j3-0.7500left_gripper0.0000right_gripper0.0000right_j40.0000right_j00.4500
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=-0.4515 left_j1=2.2848 left_j2=1.71 left_j3=-0.786 left_j4=-0.0929 left_j5=-0.4644 left_gripper=0.9981 right_j0=0.4522 right_j1=2.286 right_j2=1.7115 right_j3=-0.7807 right_j4=0.0818 right_j5=0.4377 right_gripper=0.9988 state[joint_eff]: [-0.212, 0.7453, 0.8, 1.1893, 0.8327, 0.0855, -0.2125, -0.4308, 0.6359, 0.6769, 1.2234, -0.8083, 0.0757, -0.1392] camera 'top_cam' (step 533): [image omitted: streamed camera frame] camera 'left_cam' (step 533): [image omitted: streamed camera frame] camera 'right_cam' (step 533): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j4": 0, "left_j1": 2.45, "left_j5": -0.45, "right_j3": -0.75, "right_j2": 1.65, "left_j2": 1.65, "right_j1": 2.45, "right_j5": 0.45, "left_j0": -0.45, "left_j3": -0.75, "left_gripper": 0, "right_gripper": 0, "right_j4": 0, "right_j0": 0.45}, "note": "Closing both grippers to grasp the towel firmly."})
tool
executing move_joints over 10 steps (1.0s)
step 543
top_cam
camera top_cam step 543
left_cam
camera left_cam step 543
right_cam
camera right_cam step 543
assistant
agent noteAdjusting left arm position to grasp the slanted left edge of the towel.
move_joints
right_j3-0.7500left_j0-0.5200right_gripper0.0000right_j00.4500right_j40.0000left_j21.6500left_j12.4500left_gripper1.0000left_j5-0.5200right_j12.3000left_j40.0000right_j21.5500right_j50.4500left_j3-0.7500
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=-0.4446 left_j1=2.2921 left_j2=1.7237 left_j3=-0.7483 left_j4=-0.0998 left_j5=-0.4606 left_gripper=0.014 right_j0=0.4454 right_j1=2.2936 right_j2=1.7241 right_j3=-0.7563 right_j4=0.0673 right_j5=0.4374 right_gripper=0.0115 state[joint_eff]: [-0.2667, 0.1026, 0.4991, 0.7448, 0.8816, 0.0806, 0.6716, 0.3077, 0.2667, 0.5128, 0.7985, -0.6422, 0.0952, 0.9744] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 543): [image omitted: streamed camera frame] camera 'left_cam' (step 543): [image omitted: streamed camera frame] camera 'right_cam' (step 543): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Adjusting left arm position to grasp the slanted left edge of the towel.", "targets": {"right_j3": -0.75, "left_j0": -0.52, "right_gripper": 0, "right_j0": 0.45, "right_j4": 0, "left_j2": 1.65, "left_j1": 2.45, "left_gripper": 1, "left_j5": -0.52, "right_j1": 2.3, "left_j4": 0, "right_j2": 1.55, "right_j5": 0.45, "left_j3": -0.75}})
tool
executing move_joints over 10 steps (1.0s)
step 553
top_cam
camera top_cam step 553
left_cam
camera left_cam step 553
right_cam
camera right_cam step 553
assistant
agent noteClosing left gripper to complete the dual-arm grasp on the towel.
move_joints
right_gripper0.0000right_j12.3000left_j40.0000left_j3-0.7500left_j21.6500left_j12.4500right_j00.4500right_j40.0000left_gripper0.0000left_j0-0.5200right_j50.4500right_j3-0.7500right_j21.5500left_j5-0.5200
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=-0.5236 left_j1=2.3024 left_j2=1.7317 left_j3=-0.6834 left_j4=-0.1104 left_j5=-0.503 left_gripper=0.9951 right_j0=0.4412 right_j1=2.2292 right_j2=1.615 right_j3=-0.6445 right_j4=0.0505 right_j5=0.4377 right_gripper=0.0094 state[joint_eff]: [0.4581, -0.7726, -0.4034, 0.2125, 1.1502, -0.1538, -0.0806, 0.3897, -6.4205, 0.8821, -0.2711, -0.5153, 0.1001, 0.9841] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 553): [image omitted: streamed camera frame] camera 'left_cam' (step 553): [image omitted: streamed camera frame] camera 'right_cam' (step 553): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing left gripper to complete the dual-arm grasp on the towel.", "targets": {"right_gripper": 0, "right_j1": 2.3, "left_j4": 0, "left_j3": -0.75, "left_j2": 1.65, "left_j1": 2.45, "right_j0": 0.45, "right_j4": 0, "left_gripper": 0, "left_j0": -0.52, "right_j5": 0.45, "right_j3": -0.75, "right_j2": 1.55, "left_j5": -0.52}})
tool
executing move_joints over 10 steps (1.0s)
step 563
top_cam
camera top_cam step 563
left_cam
camera left_cam step 563
right_cam
camera right_cam step 563
assistant
agent noteLifting the towel off the table with both arms.
move_joints
right_j11.8000right_j00.4500right_j50.4500right_j21.4000left_j11.8000left_gripper0.0000left_j3-0.5000left_j5-0.5000right_j40.0000left_j40.0000left_j21.4000right_j3-0.5000left_j0-0.5000right_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=-0.5114 left_j1=2.3032 left_j2=1.7279 left_j3=-0.6674 left_j4=-0.1158 left_j5=-0.5179 left_gripper=0.0232 right_j0=0.4412 right_j1=2.2234 right_j2=1.6058 right_j3=-0.635 right_j4=0.0479 right_j5=0.4377 right_gripper=0.0088 state[joint_eff]: [-0.7043, -1.0735, 0.0479, 0.0806, 0.9499, -0.0464, 0.9744, 0.4991, -6.1744, 1.4701, -0.2857, -0.486, 0.0659, 0.9206] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 563): [image omitted: streamed camera frame] camera 'left_cam' (step 563): [image omitted: streamed camera frame] camera 'right_cam' (step 563): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.8, "right_j0": 0.45, "right_j5": 0.45, "right_j2": 1.4, "left_j1": 1.8, "left_gripper": 0, "left_j3": -0.5, "left_j5": -0.5, "right_j4": 0, "left_j4": 0, "left_j2": 1.4, "right_j3": -0.5, "left_j0": -0.5, "right_gripper": 0}, "note": "Lifting the towel off the table with both arms."})
tool
executing move_joints over 9 steps (0.9s)
step 572
top_cam
camera top_cam step 572
left_cam
camera left_cam step 572
right_cam
camera right_cam step 572
assistant
agent noteMoving both arms forward so the lifted towel is held over block A.
move_joints
left_j21.7000left_j0-0.5000right_gripper0.0000right_j50.4500right_j3-0.7500right_j00.4500left_j3-0.7500right_j40.0000left_gripper0.0000left_j5-0.5000left_j12.4000left_j40.0000right_j21.7000right_j12.4000
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=-0.5041 left_j1=1.8488 left_j2=1.4155 left_j3=-0.54 left_j4=-0.0193 left_j5=-0.5171 left_gripper=0.0272 right_j0=0.4488 right_j1=1.8397 right_j2=1.4094 right_j3=-0.54 right_j4=0.0044 right_j5=0.4377 right_gripper=0.0087 state[joint_eff]: [-0.0342, -12.0957, 6.3385, 1.6777, 0.0415, 0.1197, 1.0281, -0.0205, -11.3983, 6.2564, 1.6142, -0.0122, 0.0904, 0.9158] camera 'top_cam' (step 572): [image omitted: streamed camera frame] camera 'left_cam' (step 572): [image omitted: streamed camera frame] camera 'right_cam' (step 572): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving both arms forward so the lifted towel is held over block A.", "targets": {"left_j2": 1.7, "left_j0": -0.5, "right_gripper": 0, "right_j5": 0.45, "right_j3": -0.75, "right_j0": 0.45, "left_j3": -0.75, "right_j4": 0, "left_gripper": 0, "left_j5": -0.5, "left_j1": 2.4, "left_j4": 0, "right_j2": 1.7, "right_j1": 2.4}})
tool
executing move_joints over 9 steps (0.9s)
step 581
top_cam
camera top_cam step 581
left_cam
camera left_cam step 581
right_cam
camera right_cam step 581
assistant
agent noteOpening grippers to drop the towel over block A.
move_joints
left_j40.0000left_gripper1.0000right_j21.7000left_j12.4000left_j0-0.5000right_gripper1.0000right_j50.4500left_j21.7000right_j00.4500right_j40.0000right_j12.4000left_j3-0.7500left_j5-0.5000right_j3-0.7500
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=-0.5014 left_j1=2.2871 left_j2=1.7294 left_j3=-0.7212 left_j4=-0.0063 left_j5=-0.5213 left_gripper=0.0272 right_j0=0.4488 right_j1=2.2856 right_j2=1.7279 right_j3=-0.7357 right_j4=-0.0048 right_j5=0.4377 right_gripper=0.0087 state[joint_eff]: [0.1846, -3.9863, 2.5915, 0.6276, 0.0317, 0.1734, 1.0281, -0.1846, -3.8632, 2.6598, 0.8474, 0.0122, 0.0952, 0.9158] camera 'top_cam' (step 581): [image omitted: streamed camera frame] camera 'left_cam' (step 581): [image omitted: streamed camera frame] camera 'right_cam' (step 581): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Opening grippers to drop the towel over block A.", "targets": {"left_j4": 0, "left_gripper": 1, "right_j2": 1.7, "left_j1": 2.4, "left_j0": -0.5, "right_gripper": 1, "right_j5": 0.45, "left_j2": 1.7, "right_j0": 0.45, "right_j4": 0, "right_j1": 2.4, "left_j3": -0.75, "left_j5": -0.5, "right_j3": -0.75}})
tool
executing move_joints over 10 steps (1.0s)
step 591
top_cam
camera top_cam step 591
left_cam
camera left_cam step 591
right_cam
camera right_cam step 591
assistant
agent noteRetracting both arms to home pose to clearly reveal the towel covering the block.
move_joints
left_j21.2000right_j50.0000right_j00.2000right_j21.2000right_gripper1.0000left_j50.0000right_j40.0000left_gripper1.0000left_j3-0.6000left_j40.0000left_j10.6000right_j10.6000left_j0-0.2000right_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=-0.5125 left_j1=2.2932 left_j2=1.7535 left_j3=-0.6807 left_j4=0.0074 left_j5=-0.5125 left_gripper=0.9939 right_j0=0.4644 right_j1=2.2932 right_j2=1.7485 right_j3=-0.6823 right_j4=-0.0082 right_j5=0.4309 right_gripper=0.9949 state[joint_eff]: [1.2239, -4.3966, 2.0308, 0.2222, -0.0708, 0.1001, -0.2613, -1.4838, -3.9316, 2.6188, 0.2418, 0.0366, 0.1734, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 591): [image omitted: streamed camera frame] camera 'left_cam' (step 591): [image omitted: streamed camera frame] camera 'right_cam' (step 591): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.2, "right_j5": 0, "right_j0": 0.2, "right_j2": 1.2, "right_gripper": 1, "left_j5": 0, "right_j4": 0, "left_gripper": 1, "left_j3": -0.6, "left_j4": 0, "left_j1": 0.6, "right_j1": 0.6, "left_j0": -0.2, "right_j3": -0.6}, "note": "Retracting both arms to home pose to clearly reveal the towel covering the block."})
tool
executing move_joints over 27 steps (2.7s)
step 618
top_cam
camera top_cam step 618
left_cam
camera left_cam step 618
right_cam
camera right_cam step 618
assistant
agent noteMoving open grippers down over the back fold of the towel right in front of the block.
move_joints
left_j0-0.4200left_gripper1.0000right_j21.5000left_j5-0.4200left_j3-0.7500right_j40.0000left_j40.0000right_j50.4200right_j12.2500right_j00.4200right_gripper1.0000left_j21.5000right_j3-0.7500left_j12.2500
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=-0.207 left_j1=0.6189 left_j2=1.2057 left_j3=-0.625 left_j4=-0.0063 left_j5=-0.0395 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6205 right_j2=1.206 right_j3=-0.6266 right_j4=-0.0048 right_j5=0.0177 right_gripper=0.9988 state[joint_eff]: [0.5812, 2.2906, 5.3812, 2.1807, 0.0611, 0.2808, -0.2076, -0.4171, 2.2085, 5.3675, 2.1172, 0.0122, -0.0317, -0.1392] camera 'top_cam' (step 618): [image omitted: streamed camera frame] camera 'left_cam' (step 618): [image omitted: streamed camera frame] camera 'right_cam' (step 618): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving open grippers down over the back fold of the towel right in front of the block.", "targets": {"left_j0": -0.42, "left_gripper": 1, "right_j2": 1.5, "left_j5": -0.42, "left_j3": -0.75, "right_j4": 0, "left_j4": 0, "right_j5": 0.42, "right_j1": 2.25, "right_j0": 0.42, "right_gripper": 1, "left_j2": 1.5, "right_j3": -0.75, "left_j1": 2.25}})
tool
executing move_joints over 26 steps (2.6s)
step 644
top_cam
camera top_cam step 644
left_cam
camera left_cam step 644
right_cam
camera right_cam step 644
assistant
agent noteReaching left gripper forward to align over the towel fold.
move_joints
right_j21.5000right_j3-0.7500left_gripper1.0000right_j12.2500left_j12.3000left_j5-0.4200left_j21.5500right_j40.0000right_j00.4200left_j0-0.4200right_gripper1.0000right_j50.4200left_j3-0.7500left_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=-0.4149 left_j1=2.1529 left_j2=1.5253 left_j3=-0.7757 left_j4=-0.0513 left_j5=-0.4061 left_gripper=0.9982 right_j0=0.4171 right_j1=2.1548 right_j2=1.5242 right_j3=-0.7708 right_j4=0.0311 right_j5=0.3866 right_gripper=0.9988 state[joint_eff]: [-0.335, -3.5487, 3.3709, 1.0623, 0.7643, -0.0464, -0.2027, 0.3897, -3.5077, 3.4393, 0.8767, -0.2955, 0.3101, -0.1392] camera 'top_cam' (step 644): [image omitted: streamed camera frame] camera 'left_cam' (step 644): [image omitted: streamed camera frame] camera 'right_cam' (step 644): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.5, "right_j3": -0.75, "left_gripper": 1, "right_j1": 2.25, "left_j1": 2.3, "left_j5": -0.42, "left_j2": 1.55, "right_j4": 0, "right_j0": 0.42, "left_j0": -0.42, "right_gripper": 1, "right_j5": 0.42, "left_j3": -0.75, "left_j4": 0}, "note": "Reaching left gripper forward to align over the towel fold."})
tool
executing move_joints over 3 steps (0.3s)
step 647
top_cam
camera top_cam step 647
left_cam
camera left_cam step 647
right_cam
camera right_cam step 647
assistant
agent noteReaching left gripper further forward to align over the towel fold.
move_joints
right_j12.2500right_j3-0.7500left_j5-0.4200left_j40.0000left_gripper1.0000left_j21.6500left_j0-0.4200right_j40.0000left_j3-0.7500right_j00.4200right_j21.5000left_j12.4500right_j50.4200right_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=-0.4168 left_j1=2.188 left_j2=1.5818 left_j3=-0.8078 left_j4=-0.0532 left_j5=-0.4198 left_gripper=0.9981 right_j0=0.4171 right_j1=2.1612 right_j2=1.5352 right_j3=-0.7799 right_j4=0.0307 right_j5=0.3981 right_gripper=0.9988 state[joint_eff]: [-0.5812, -2.7556, 2.7145, 1.2039, 0.4664, -0.0513, -0.2076, 0.1299, -4.4239, 2.8376, 0.9011, -0.3346, 0.1832, -0.1392] camera 'top_cam' (step 647): [image omitted: streamed camera frame] camera 'left_cam' (step 647): [image omitted: streamed camera frame] camera 'right_cam' (step 647): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching left gripper further forward to align over the towel fold.", "targets": {"right_j1": 2.25, "right_j3": -0.75, "left_j5": -0.42, "left_j4": 0, "left_gripper": 1, "left_j2": 1.65, "left_j0": -0.42, "right_j4": 0, "left_j3": -0.75, "right_j0": 0.42, "right_j2": 1.5, "left_j1": 2.45, "right_j5": 0.42, "right_gripper": 1}})
tool
executing move_joints over 5 steps (0.5s)
step 652
top_cam
camera top_cam step 652
left_cam
camera left_cam step 652
right_cam
camera right_cam step 652
assistant
agent noteClosing both grippers to grasp the back fold of the towel.
move_joints
right_j21.5000left_j12.4500right_j12.2500left_j0-0.4200right_j40.0000left_j40.0000left_j5-0.4200left_j3-0.7500right_j50.4200right_gripper0.0000right_j00.4200right_j3-0.7500left_gripper0.0000left_j21.6500
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=-0.4171 left_j1=2.2791 left_j2=1.7096 left_j3=-0.8543 left_j4=-0.054 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4171 right_j1=2.162 right_j2=1.536 right_j3=-0.7795 right_j4=0.0315 right_j5=0.3988 right_gripper=0.9988 state[joint_eff]: [-0.4034, 1.3333, 0.6769, 1.6435, 0.4518, -0.0464, -0.2076, 0.1983, -4.2598, 2.7829, 0.8962, -0.3443, 0.1636, -0.1392] camera 'top_cam' (step 652): [image omitted: streamed camera frame] camera 'left_cam' (step 652): [image omitted: streamed camera frame] camera 'right_cam' (step 652): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.5, "left_j1": 2.45, "right_j1": 2.25, "left_j0": -0.42, "right_j4": 0, "left_j4": 0, "left_j5": -0.42, "left_j3": -0.75, "right_j5": 0.42, "right_gripper": 0, "right_j0": 0.42, "right_j3": -0.75, "left_gripper": 0, "left_j2": 1.65}, "note": "Closing both grippers to grasp the back fold of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 662
top_cam
camera top_cam step 662
left_cam
camera left_cam step 662
right_cam
camera right_cam step 662
assistant
agent noteLifting the back edge of the towel off the table with both arms.
move_joints
left_j40.0000left_j0-0.4200right_j3-0.6000right_j21.5000left_j12.0000right_gripper0.0000right_j12.0000left_j5-0.4200right_j50.4200left_j3-0.6000left_j21.5000right_j00.4200right_j40.0000left_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=-0.4137 left_j1=2.2913 left_j2=1.7233 left_j3=-0.7807 left_j4=-0.0742 left_j5=-0.4202 left_gripper=0.0149 right_j0=0.4236 right_j1=2.1647 right_j2=1.5391 right_j3=-0.7464 right_j4=-0.0235 right_j5=0.4091 right_gripper=0.0111 state[joint_eff]: [-0.4034, 0.3761, 0.1983, 1.0379, 0.6276, -0.022, 0.6422, -0.2803, -4.5744, 2.8923, 0.6471, 0.1929, 0.0708, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 662): [image omitted: streamed camera frame] camera 'left_cam' (step 662): [image omitted: streamed camera frame] camera 'right_cam' (step 662): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Lifting the back edge of the towel off the table with both arms.", "targets": {"left_j4": 0, "left_j0": -0.42, "right_j3": -0.6, "right_j2": 1.5, "left_j1": 2, "right_gripper": 0, "right_j1": 2, "left_j5": -0.42, "right_j5": 0.42, "left_j3": -0.6, "left_j2": 1.5, "right_j0": 0.42, "right_j4": 0, "left_gripper": 0}})
tool
executing move_joints over 5 steps (0.5s)
step 667
top_cam
camera top_cam step 667
left_cam
camera left_cam step 667
right_cam
camera right_cam step 667
assistant
agent noteMoving both arms forward over block A with the towel held high.
move_joints
right_j21.7500right_gripper0.0000right_j40.0000left_j0-0.4200right_j12.5000left_j40.0000left_j12.5000right_j50.4200left_j3-0.7500left_gripper0.0000right_j3-0.7500left_j21.7500right_j00.4200left_j5-0.4200
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=-0.4156 left_j1=2.0602 left_j2=1.515 left_j3=-0.6582 left_j4=-0.0216 left_j5=-0.4202 left_gripper=0.0142 right_j0=0.4225 right_j1=2.0464 right_j2=1.5051 right_j3=-0.6617 right_j4=-0.0158 right_j5=0.4088 right_gripper=0.0081 state[joint_eff]: [-0.6906, -13.6274, 5.9829, 1.2869, 0.0464, -0.0415, 1.033, -0.3487, -13.1897, 5.6821, 1.0281, 0.1001, 0.0708, 0.8425] camera 'top_cam' (step 667): [image omitted: streamed camera frame] camera 'left_cam' (step 667): [image omitted: streamed camera frame] camera 'right_cam' (step 667): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving both arms forward over block A with the towel held high.", "targets": {"right_j2": 1.75, "right_gripper": 0, "right_j4": 0, "left_j0": -0.42, "right_j1": 2.5, "left_j4": 0, "left_j1": 2.5, "right_j5": 0.42, "left_j3": -0.75, "left_gripper": 0, "right_j3": -0.75, "left_j2": 1.75, "right_j0": 0.42, "left_j5": -0.42}})
tool
executing move_joints over 8 steps (0.8s)
step 675
top_cam
camera top_cam step 675
left_cam
camera left_cam step 675
right_cam
camera right_cam step 675
assistant
agent noteOpening both grippers to drop the towel onto the block.
move_joints
right_j00.4200left_j5-0.4200right_j50.4200right_gripper1.0000left_j3-0.7500left_j40.0000right_j21.7500right_j12.4000right_j3-0.7500left_j12.4000left_gripper1.0000left_j0-0.4200right_j40.0000left_j21.7500
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=-0.4168 left_j1=2.3386 left_j2=1.8069 left_j3=-0.73 left_j4=-0.0071 left_j5=-0.4278 left_gripper=0.0135 right_j0=0.4191 right_j1=2.3398 right_j2=1.8057 right_j3=-0.7448 right_j4=-0.0166 right_j5=0.4084 right_gripper=0.0076 state[joint_eff]: [-0.4171, -0.3624, 0.8547, 0.5934, 0.0122, 0.0024, 1.033, -0.0068, -0.4444, 0.7863, 0.7009, 0.0855, 0.0513, 0.7985] camera 'top_cam' (step 675): [image omitted: streamed camera frame] camera 'left_cam' (step 675): [image omitted: streamed camera frame] camera 'right_cam' (step 675): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.42, "left_j5": -0.42, "right_j5": 0.42, "right_gripper": 1, "left_j3": -0.75, "left_j4": 0, "right_j2": 1.75, "right_j1": 2.4, "right_j3": -0.75, "left_j1": 2.4, "left_gripper": 1, "left_j0": -0.42, "right_j4": 0, "left_j2": 1.75}, "note": "Opening both grippers to drop the towel onto the block."})
tool
executing move_joints over 10 steps (1.0s)
step 685
top_cam
camera top_cam step 685
left_cam
camera left_cam step 685
right_cam
camera right_cam step 685
assistant
agent noteRetracting both arms to home pose to clearly reveal the towel covering the block.
move_joints
left_j10.6000left_j0-0.2000right_gripper1.0000right_j21.2000left_j40.0000right_j40.0000right_j00.2000left_gripper1.0000right_j50.0000left_j50.0000left_j3-0.6000left_j21.2000right_j3-0.6000right_j10.6000
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=-0.4309 left_j1=2.3299 left_j2=1.8095 left_j3=-0.6708 left_j4=-0.0044 left_j5=-0.4194 left_gripper=0.9945 right_j0=0.4313 right_j1=2.3314 right_j2=1.8069 right_j3=-0.6704 right_j4=-0.0128 right_j5=0.3981 right_gripper=0.9951 state[joint_eff]: [0.6496, -7.706, 1.5111, 0.149, -0.0122, -0.0562, -0.2466, -1.1556, -7.6239, 1.6342, 0.1734, 0.0464, 0.1832, -0.232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 685): [image omitted: streamed camera frame] camera 'left_cam' (step 685): [image omitted: streamed camera frame] camera 'right_cam' (step 685): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Retracting both arms to home pose to clearly reveal the towel covering the block.", "targets": {"left_j1": 0.6, "left_j0": -0.2, "right_gripper": 1, "right_j2": 1.2, "left_j4": 0, "right_j4": 0, "right_j0": 0.2, "left_gripper": 1, "right_j5": 0, "left_j5": 0, "left_j3": -0.6, "left_j2": 1.2, "right_j3": -0.6, "right_j1": 0.6}})
tool
executing move_joints over 28 steps (2.8s)
step 713
top_cam
camera top_cam step 713
left_cam
camera left_cam step 713
right_cam
camera right_cam step 713
assistant
agent notePositioning open grippers over the left and right edges of the towel.
move_joints
right_j21.5000left_j40.0000right_j40.0000right_j50.4500right_j00.4500left_j21.5000left_j3-0.7500left_j12.2500right_j3-0.7500right_j12.2500left_j0-0.4500left_j5-0.4500left_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=-0.2085 left_j1=0.6212 left_j2=1.2079 left_j3=-0.6239 left_j4=-0.0063 left_j5=-0.0341 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6209 right_j2=1.2068 right_j3=-0.6243 right_j4=-0.0051 right_j5=0.0166 right_gripper=0.9988 state[joint_eff]: [0.6906, 2.1128, 5.3812, 2.1709, 0.0562, 0.1392, -0.2076, -0.4581, 2.0581, 5.4632, 2.1563, 0.0562, -0.0269, -0.1441] camera 'top_cam' (step 713): [image omitted: streamed camera frame] camera 'left_cam' (step 713): [image omitted: streamed camera frame] camera 'right_cam' (step 713): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Positioning open grippers over the left and right edges of the towel.", "targets": {"right_j2": 1.5, "left_j4": 0, "right_j4": 0, "right_j5": 0.45, "right_j0": 0.45, "left_j2": 1.5, "left_j3": -0.75, "left_j1": 2.25, "right_j3": -0.75, "right_j1": 2.25, "left_j0": -0.45, "left_j5": -0.45, "left_gripper": 1, "right_gripper": 1}})
tool
executing move_joints over 26 steps (2.6s)
step 739
top_cam
camera top_cam step 739
left_cam
camera left_cam step 739
right_cam
camera right_cam step 739
assistant
agent noteReaching forward and inward to align grippers around the towel.
move_joints
left_j21.6500left_j5-0.4500left_j3-0.7500right_j40.0000left_gripper1.0000right_j21.6500right_j12.4500left_j0-0.4500left_j12.4500left_j40.0000right_gripper1.0000right_j00.4500right_j50.4500right_j3-0.7500
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=-0.4427 left_j1=2.1525 left_j2=1.5249 left_j3=-0.7742 left_j4=-0.0532 left_j5=-0.432 left_gripper=0.9982 right_j0=0.4492 right_j1=2.1551 right_j2=1.5234 right_j3=-0.7727 right_j4=0.0441 right_j5=0.4156 right_gripper=0.9989 state[joint_eff]: [-0.4581, -3.6171, 3.4803, 1.1111, 0.8425, -0.0611, -0.2027, -0.1162, -3.6991, 3.494, 1.0427, -0.8816, 0.1929, -0.1392] camera 'top_cam' (step 739): [image omitted: streamed camera frame] camera 'left_cam' (step 739): [image omitted: streamed camera frame] camera 'right_cam' (step 739): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.65, "left_j5": -0.45, "left_j3": -0.75, "right_j4": 0, "left_gripper": 1, "right_j2": 1.65, "right_j1": 2.45, "left_j0": -0.45, "left_j1": 2.45, "left_j4": 0, "right_gripper": 1, "right_j0": 0.45, "right_j5": 0.45, "right_j3": -0.75}, "note": "Reaching forward and inward to align grippers around the towel."})
tool
executing move_joints over 5 steps (0.5s)
step 744
top_cam
camera top_cam step 744
left_cam
camera left_cam step 744
right_cam
camera right_cam step 744
assistant
agent noteClosing both grippers to grasp the towel edges.
move_joints
left_j5-0.4500left_j3-0.7500right_j21.6500right_j40.0000left_j0-0.4500right_j00.4500right_j3-0.7500right_j50.4500left_gripper0.0000left_j40.0000right_gripper0.0000right_j12.4500left_j12.4500left_j21.6500
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=-0.4465 left_j1=2.2791 left_j2=1.7073 left_j3=-0.836 left_j4=-0.0654 left_j5=-0.4503 left_gripper=0.9981 right_j0=0.4526 right_j1=2.2795 right_j2=1.7077 right_j3=-0.8318 right_j4=0.0597 right_j5=0.4305 right_gripper=0.9988 state[joint_eff]: [-0.4855, 0.9504, 0.3761, 1.4237, 0.6569, -0.0122, -0.2076, -0.3487, 0.9504, 0.5265, 1.3748, -0.5836, 0.1929, -0.1392] camera 'top_cam' (step 744): [image omitted: streamed camera frame] camera 'left_cam' (step 744): [image omitted: streamed camera frame] camera 'right_cam' (step 744): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": -0.45, "left_j3": -0.75, "right_j2": 1.65, "right_j4": 0, "left_j0": -0.45, "right_j0": 0.45, "right_j3": -0.75, "right_j5": 0.45, "left_gripper": 0, "left_j4": 0, "right_gripper": 0, "right_j1": 2.45, "left_j1": 2.45, "left_j2": 1.65}, "note": "Closing both grippers to grasp the towel edges."})
tool
executing move_joints over 10 steps (1.0s)
step 754
top_cam
camera top_cam step 754
left_cam
camera left_cam step 754
right_cam
camera right_cam step 754
assistant
agent noteLifting the towel high up with both arms.
move_joints
left_j3-0.4000left_j40.0000left_j21.2000left_gripper0.0000right_j11.6000left_j11.6000left_j5-0.4500right_j3-0.4000right_j00.4500left_j0-0.4500right_j40.0000right_j21.2000right_gripper0.0000right_j50.4500
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=-0.445 left_j1=2.2921 left_j2=1.7233 left_j3=-0.7765 left_j4=-0.086 left_j5=-0.4538 left_gripper=0.0139 right_j0=0.4458 right_j1=2.2929 right_j2=1.7233 right_j3=-0.7822 right_j4=0.0593 right_j5=0.4374 right_gripper=0.0113 state[joint_eff]: [-0.759, 0.3487, 0.0342, 0.9646, 0.7546, 0.0122, 0.9304, 0.3077, 0.3077, 0.294, 0.9939, -0.5641, 0.0806, 0.9695] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 754): [image omitted: streamed camera frame] camera 'left_cam' (step 754): [image omitted: streamed camera frame] camera 'right_cam' (step 754): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j3": -0.4, "left_j4": 0, "left_j2": 1.2, "left_gripper": 0, "right_j1": 1.6, "left_j1": 1.6, "left_j5": -0.45, "right_j3": -0.4, "right_j0": 0.45, "left_j0": -0.45, "right_j4": 0, "right_j2": 1.2, "right_gripper": 0, "right_j5": 0.45}, "note": "Lifting the towel high up with both arms."})
tool
executing move_joints over 12 steps (1.2s)
step 766
top_cam
camera top_cam step 766
left_cam
camera left_cam step 766
right_cam
camera right_cam step 766
assistant
agent noteMoving open grippers down over the towel edges near the block.
move_joints
left_j12.2500right_gripper1.0000left_j3-0.7500right_j21.5000left_j5-0.4500right_j00.4500left_j40.0000left_j21.5000right_j12.2500right_j40.0000left_j0-0.4500right_j50.4500right_j3-0.7500left_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=-0.4477 left_j1=1.6455 left_j2=1.2156 left_j3=-0.4561 left_j4=-0.0128 left_j5=-0.4538 left_gripper=0.0142 right_j0=0.4484 right_j1=1.6379 right_j2=1.2144 right_j3=-0.4572 right_j4=0.0048 right_j5=0.4381 right_gripper=0.0088 state[joint_eff]: [-0.2803, -9.6752, 6.8171, 1.746, 0.0122, -0.0024, 1.033, 0.3214, -9.3607, 6.9675, 1.8046, -0.0366, 0.1001, 0.9206] camera 'top_cam' (step 766): [image omitted: streamed camera frame] camera 'left_cam' (step 766): [image omitted: streamed camera frame] camera 'right_cam' (step 766): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving open grippers down over the towel edges near the block.", "targets": {"left_j1": 2.25, "right_gripper": 1, "left_j3": -0.75, "right_j2": 1.5, "left_j5": -0.45, "right_j0": 0.45, "left_j4": 0, "left_j2": 1.5, "right_j1": 2.25, "right_j4": 0, "left_j0": -0.45, "right_j5": 0.45, "right_j3": -0.75, "left_gripper": 1}})
tool
executing move_joints over 10 steps (1.0s)
step 776
top_cam
camera top_cam step 776
left_cam
camera left_cam step 776
right_cam
camera right_cam step 776
assistant
agent noteReaching forward to position both grippers directly over the towel fold.
move_joints
left_j5-0.4500right_j21.6500right_j00.4500left_j21.6500left_j3-0.7500right_j40.0000left_j40.0000left_gripper1.0000right_j3-0.7500left_j12.4500left_j0-0.4500right_j50.4500right_gripper1.0000right_j12.4500
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=-0.4572 left_j1=2.1506 left_j2=1.528 left_j3=-0.717 left_j4=-0.0154 left_j5=-0.4599 left_gripper=0.995 right_j0=0.4587 right_j1=2.1555 right_j2=1.5257 right_j3=-0.7151 right_j4=0.0204 right_j5=0.4377 right_gripper=0.9955 state[joint_eff]: [0.3761, -3.8906, 2.4957, 0.8425, 0.2271, 0.0513, -0.1783, -0.5402, -4.3282, 2.7556, 0.7888, -0.4567, 0.0855, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 776): [image omitted: streamed camera frame] camera 'left_cam' (step 776): [image omitted: streamed camera frame] camera 'right_cam' (step 776): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward to position both grippers directly over the towel fold.", "targets": {"left_j5": -0.45, "right_j2": 1.65, "right_j0": 0.45, "left_j2": 1.65, "left_j3": -0.75, "right_j4": 0, "left_j4": 0, "left_gripper": 1, "right_j3": -0.75, "left_j1": 2.45, "left_j0": -0.45, "right_j5": 0.45, "right_gripper": 1, "right_j1": 2.45}})
tool
executing move_joints over 5 steps (0.5s)
step 781
top_cam
camera top_cam step 781
left_cam
camera left_cam step 781
right_cam
camera right_cam step 781
assistant
agent noteClosing both grippers to grasp the back fold of the towel.
move_joints
right_j40.0000left_gripper0.0000right_gripper0.0000right_j50.4500left_j0-0.4500right_j00.4500left_j3-0.7500left_j40.0000left_j12.4500right_j21.6500right_j3-0.7500left_j5-0.4500left_j21.6500right_j12.4500
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=-0.4595 left_j1=2.2807 left_j2=1.7084 left_j3=-0.8093 left_j4=-0.0818 left_j5=-0.4648 left_gripper=0.9981 right_j0=0.4587 right_j1=2.2822 right_j2=1.7084 right_j3=-0.7994 right_j4=0.0742 right_j5=0.4377 right_gripper=0.9988 state[joint_eff]: [0.4444, 1.0735, 0.7043, 1.4188, 0.6667, 0.1197, -0.2076, -1.0325, 0.9094, 0.5402, 1.2625, -0.7399, 0.0562, -0.1441] camera 'top_cam' (step 781): [image omitted: streamed camera frame] camera 'left_cam' (step 781): [image omitted: streamed camera frame] camera 'right_cam' (step 781): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grasp the back fold of the towel.", "targets": {"right_j4": 0, "left_gripper": 0, "right_gripper": 0, "right_j5": 0.45, "left_j0": -0.45, "right_j0": 0.45, "left_j3": -0.75, "left_j4": 0, "left_j1": 2.45, "right_j2": 1.65, "right_j3": -0.75, "left_j5": -0.45, "left_j2": 1.65, "right_j1": 2.45}})
tool
executing move_joints over 10 steps (1.0s)
step 791
top_cam
camera top_cam step 791
left_cam
camera left_cam step 791
right_cam
camera right_cam step 791
assistant
agent notePulling the back fold of the towel forward directly over block A.
move_joints
right_j21.8000left_j3-0.7500left_j21.8000right_j00.4500left_j40.0000right_j3-0.7500left_j12.6000left_j0-0.4500right_j40.0000right_j50.4500left_gripper0.0000right_gripper0.0000right_j12.6000left_j5-0.4500
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=-0.4454 left_j1=2.2921 left_j2=1.7241 left_j3=-0.7723 left_j4=-0.086 left_j5=-0.461 left_gripper=0.0158 right_j0=0.4469 right_j1=2.2929 right_j2=1.7241 right_j3=-0.7696 right_j4=0.0669 right_j5=0.4377 right_gripper=0.011 state[joint_eff]: [-0.294, 0.3897, 0.1983, 0.9353, 0.7546, 0.0952, 0.7204, 0.1983, 0.3487, 0.4171, 0.8767, -0.6618, 0.0855, 0.779] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 791): [image omitted: streamed camera frame] camera 'left_cam' (step 791): [image omitted: streamed camera frame] camera 'right_cam' (step 791): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.8, "left_j3": -0.75, "left_j2": 1.8, "right_j0": 0.45, "left_j4": 0, "right_j3": -0.75, "left_j1": 2.6, "left_j0": -0.45, "right_j4": 0, "right_j5": 0.45, "left_gripper": 0, "right_gripper": 0, "right_j1": 2.6, "left_j5": -0.45}, "note": "Pulling the back fold of the towel forward directly over block A."})
tool
executing move_joints over 5 steps (0.5s)
step 796
top_cam
camera top_cam step 796
left_cam
camera left_cam step 796
right_cam
camera right_cam step 796
assistant
agent noteOpening grippers to drop the towel over block A.
move_joints
right_j00.4200right_j50.4200right_j12.4000left_j12.4000left_j0-0.4200left_j21.8000right_gripper1.0000right_j21.8000left_j3-0.7500left_gripper1.0000right_j3-0.7500right_j40.0000left_j5-0.4200left_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=-0.4458 left_j1=2.4035 left_j2=1.8805 left_j3=-0.7437 left_j4=-0.0662 left_j5=-0.4644 left_gripper=0.015 right_j0=0.4431 right_j1=2.4008 right_j2=1.8816 right_j3=-0.7544 right_j4=0.0406 right_j5=0.4377 right_gripper=0.0108 state[joint_eff]: [-0.6632, 2.1538, -0.6222, 0.6422, 0.5739, 0.1392, 1.0281, 0.335, 2.2085, -0.7316, 0.6422, -0.3394, 0.0952, 1.0232] camera 'top_cam' (step 796): [image omitted: streamed camera frame] camera 'left_cam' (step 796): [image omitted: streamed camera frame] camera 'right_cam' (step 796): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.42, "right_j5": 0.42, "right_j1": 2.4, "left_j1": 2.4, "left_j0": -0.42, "left_j2": 1.8, "right_gripper": 1, "right_j2": 1.8, "left_j3": -0.75, "left_gripper": 1, "right_j3": -0.75, "right_j4": 0, "left_j5": -0.42, "left_j4": 0}, "note": "Opening grippers to drop the towel over block A."})
tool
executing move_joints over 10 steps (1.0s)
step 806
top_cam
camera top_cam step 806
left_cam
camera left_cam step 806
right_cam
camera right_cam step 806
assistant
agent noteRetracting both arms back to home pose to clearly reveal the towel covering the block.
move_joints
right_j3-0.6000right_j50.0000left_j40.0000left_j10.6000left_j50.0000right_j00.2000left_j3-0.6000right_j40.0000right_j10.6000right_j21.2000right_gripper1.0000left_gripper1.0000left_j0-0.2000left_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=-0.4389 left_j1=2.3558 left_j2=1.8507 left_j3=-0.6682 left_j4=-0.0177 left_j5=-0.4263 left_gripper=0.9945 right_j0=0.4377 right_j1=2.3581 right_j2=1.8503 right_j3=-0.6735 right_j4=0.0029 right_j5=0.4034 right_gripper=0.9951 state[joint_eff]: [1.6479, -9.8803, 2.5231, 0.1734, 0.1099, 0.0513, -0.2515, -1.6342, -10.1265, 2.2496, 0.2515, -0.0562, 0.1197, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 806): [image omitted: streamed camera frame] camera 'left_cam' (step 806): [image omitted: streamed camera frame] camera 'right_cam' (step 806): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.6, "right_j5": 0, "left_j4": 0, "left_j1": 0.6, "left_j5": 0, "right_j0": 0.2, "left_j3": -0.6, "right_j4": 0, "right_j1": 0.6, "right_j2": 1.2, "right_gripper": 1, "left_gripper": 1, "left_j0": -0.2, "left_j2": 1.2}, "note": "Retracting both arms back to home pose to clearly reveal the towel covering the block."})
tool
executing move_joints over 28 steps (2.8s)
step 834
top_cam
camera top_cam step 834
left_cam
camera left_cam step 834
right_cam
camera right_cam step 834
assistant
agent notePositioning open grippers down over the towel fold right in front of the block.
move_joints
right_j50.4200left_j0-0.4200left_j21.5000left_gripper1.0000left_j3-0.7500left_j40.0000right_j3-0.7500right_gripper1.0000right_j12.2500right_j21.5000left_j5-0.4200right_j00.4200right_j40.0000left_j12.2500
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=-0.2081 left_j1=0.6209 left_j2=1.2079 left_j3=-0.6243 left_j4=-0.0063 left_j5=-0.033 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6212 right_j2=1.2076 right_j3=-0.6258 right_j4=-0.0013 right_j5=0.0166 right_gripper=0.9988 state[joint_eff]: [0.7179, 2.2496, 5.3675, 2.1123, 0.0806, 0.1099, -0.2125, -0.4308, 2.2496, 5.641, 2.1172, 0.0024, 0.0073, -0.1392] camera 'top_cam' (step 834): [image omitted: streamed camera frame] camera 'left_cam' (step 834): [image omitted: streamed camera frame] camera 'right_cam' (step 834): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.42, "left_j0": -0.42, "left_j2": 1.5, "left_gripper": 1, "left_j3": -0.75, "left_j4": 0, "right_j3": -0.75, "right_gripper": 1, "right_j1": 2.25, "right_j2": 1.5, "left_j5": -0.42, "right_j0": 0.42, "right_j4": 0, "left_j1": 2.25}, "note": "Positioning open grippers down over the towel fold right in front of the block."})
tool
executing move_joints over 26 steps (2.6s)
step 860
top_cam
camera top_cam step 860
left_cam
camera left_cam step 860
right_cam
camera right_cam step 860
assistant
agent noteReaching forward onto the table over the towel fold.
move_joints
right_j40.0000right_j12.4500left_j40.0000left_j3-0.7500right_j50.4200right_j3-0.7500left_j21.6500left_j5-0.4200right_j21.6500left_j0-0.4200left_gripper1.0000right_gripper1.0000left_j12.4500right_j00.4200
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=-0.4152 left_j1=2.1529 left_j2=1.5253 left_j3=-0.775 left_j4=-0.0505 left_j5=-0.4061 left_gripper=0.9982 right_j0=0.4202 right_j1=2.1563 right_j2=1.5242 right_j3=-0.7704 right_j4=0.0452 right_j5=0.387 right_gripper=0.9988 state[joint_eff]: [-0.335, -3.5761, 3.453, 1.1062, 0.7204, 0.0171, -0.2027, -0.1846, -3.6991, 3.6034, 1.0037, -0.8034, 0.3101, -0.1392] camera 'top_cam' (step 860): [image omitted: streamed camera frame] camera 'left_cam' (step 860): [image omitted: streamed camera frame] camera 'right_cam' (step 860): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward onto the table over the towel fold.", "targets": {"right_j4": 0, "right_j1": 2.45, "left_j4": 0, "left_j3": -0.75, "right_j5": 0.42, "right_j3": -0.75, "left_j2": 1.65, "left_j5": -0.42, "right_j2": 1.65, "left_j0": -0.42, "left_gripper": 1, "right_gripper": 1, "left_j1": 2.45, "right_j0": 0.42}})
tool
executing move_joints over 5 steps (0.5s)
step 865
top_cam
camera top_cam step 865
left_cam
camera left_cam step 865
right_cam
camera right_cam step 865
assistant
agent noteReaching further forward to place the open jaws over the towel fold.
move_joints
left_j40.0000right_j12.5500left_j0-0.4200right_j3-0.7500right_j50.4200left_j5-0.4200right_j21.7500right_j00.4200left_j3-0.7500left_j12.5500left_j21.7500left_gripper1.0000right_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=-0.4175 left_j1=2.2787 left_j2=1.7077 left_j3=-0.8436 left_j4=-0.0574 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4217 right_j1=2.2795 right_j2=1.7084 right_j3=-0.8417 right_j4=0.0521 right_j5=0.4015 right_gripper=0.9988 state[joint_eff]: [-0.5265, 1.1829, 0.5949, 1.5067, 0.525, -0.0171, -0.2076, -0.2667, 1.0735, 0.5402, 1.536, -0.486, 0.1734, -0.1441] camera 'top_cam' (step 865): [image omitted: streamed camera frame] camera 'left_cam' (step 865): [image omitted: streamed camera frame] camera 'right_cam' (step 865): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching further forward to place the open jaws over the towel fold.", "targets": {"left_j4": 0, "right_j1": 2.55, "left_j0": -0.42, "right_j3": -0.75, "right_j5": 0.42, "left_j5": -0.42, "right_j2": 1.75, "right_j0": 0.42, "left_j3": -0.75, "left_j1": 2.55, "left_j2": 1.75, "left_gripper": 1, "right_gripper": 1, "right_j4": 0}})
tool
executing move_joints over 5 steps (0.5s)
step 870
top_cam
camera top_cam step 870
left_cam
camera left_cam step 870
right_cam
camera right_cam step 870
assistant
agent noteClosing both grippers to grasp the back fold of the towel.
move_joints
right_j3-0.7500left_j0-0.4200left_j3-0.7500left_j5-0.4200right_j21.6500left_j12.4500left_j40.0000right_j00.4200left_j21.6500right_j40.0000left_gripper0.0000right_j50.4200right_gripper0.0000right_j12.4500
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=-0.4175 left_j1=2.3558 left_j2=1.821 left_j3=-0.8532 left_j4=-0.0734 left_j5=-0.4206 left_gripper=0.9981 right_j0=0.4221 right_j1=2.3554 right_j2=1.8256 right_j3=-0.8604 right_j4=0.0635 right_j5=0.4011 right_gripper=0.9988 state[joint_eff]: [-0.5402, 2.5641, 0.1436, 1.5946, 0.7057, -0.0611, -0.2076, -0.0615, 2.4821, -0.5128, 1.6142, -0.7009, 0.1245, -0.1392] camera 'top_cam' (step 870): [image omitted: streamed camera frame] camera 'left_cam' (step 870): [image omitted: streamed camera frame] camera 'right_cam' (step 870): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j3": -0.75, "left_j0": -0.42, "left_j3": -0.75, "left_j5": -0.42, "right_j2": 1.65, "left_j1": 2.45, "left_j4": 0, "right_j0": 0.42, "left_j2": 1.65, "right_j4": 0, "left_gripper": 0, "right_j5": 0.42, "right_gripper": 0, "right_j1": 2.45}, "note": "Closing both grippers to grasp the back fold of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 880
top_cam
camera top_cam step 880
left_cam
camera left_cam step 880
right_cam
camera right_cam step 880
assistant
agent notePulling the back fold of the towel forward over block A while keeping grippers closed.
move_joints
right_j50.4200left_j12.6000left_j21.8000right_j21.8000right_j3-0.7500left_j3-0.7500left_j5-0.4200right_j40.0000right_j12.6000left_j40.0000left_j0-0.4200left_gripper0.0000right_gripper0.0000right_j00.4200
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=-0.4088 left_j1=2.3051 left_j2=1.7329 left_j3=-0.6971 left_j4=-0.1127 left_j5=-0.4187 left_gripper=0.0146 right_j0=0.4126 right_j1=2.3035 right_j2=1.7348 right_j3=-0.7288 right_j4=0.0696 right_j5=0.4046 right_gripper=0.0113 state[joint_eff]: [-0.7453, -1.265, -0.3487, 0.2955, 0.9695, -0.0171, 0.7009, 0.8547, -0.9231, -0.8274, 0.5495, -0.6813, 0.1294, 0.9597] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 880): [image omitted: streamed camera frame] camera 'left_cam' (step 880): [image omitted: streamed camera frame] camera 'right_cam' (step 880): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Pulling the back fold of the towel forward over block A while keeping grippers closed.", "targets": {"right_j5": 0.42, "left_j1": 2.6, "left_j2": 1.8, "right_j2": 1.8, "right_j3": -0.75, "left_j3": -0.75, "left_j5": -0.42, "right_j4": 0, "right_j1": 2.6, "left_j4": 0, "left_j0": -0.42, "left_gripper": 0, "right_gripper": 0, "right_j0": 0.42}})
tool
executing move_joints over 5 steps (0.5s)
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 noteOpening grippers to drop the back fold of the towel over block A.
move_joints
right_gripper1.0000right_j50.4200right_j12.4000left_j0-0.4200left_j40.0000right_j3-0.7500left_j12.4000left_gripper1.0000right_j00.4200left_j5-0.4200left_j3-0.7500right_j21.8000right_j40.0000left_j21.8000
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=-0.4103 left_j1=2.4065 left_j2=1.8782 left_j3=-0.7094 left_j4=-0.0898 left_j5=-0.4202 left_gripper=0.015 right_j0=0.4129 right_j1=2.4031 right_j2=1.8801 right_j3=-0.7307 right_j4=0.0483 right_j5=0.4046 right_gripper=0.0095 state[joint_eff]: [-1.0462, 1.7162, -0.6085, 0.4957, 0.8083, -0.0513, 1.033, 0.4718, 2.0581, -0.7453, 0.5446, -0.4567, 0.1245, 0.9939] 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": "Opening grippers to drop the back fold of the towel over block A.", "targets": {"right_gripper": 1, "right_j5": 0.42, "right_j1": 2.4, "left_j0": -0.42, "left_j4": 0, "right_j3": -0.75, "left_j1": 2.4, "left_gripper": 1, "right_j0": 0.42, "left_j5": -0.42, "left_j3": -0.75, "right_j2": 1.8, "right_j4": 0, "left_j2": 1.8}})
tool
executing move_joints over 10 steps (1.0s)
step 895
top_cam
camera top_cam step 895
left_cam
camera left_cam step 895
right_cam
camera right_cam step 895
assistant
agent noteRetracting both arms to home pose to clearly reveal the towel covering the block.
move_joints
left_j21.2000right_j50.0000left_gripper1.0000left_j40.0000right_gripper1.0000right_j3-0.6000right_j00.2000left_j50.0000right_j10.6000right_j40.0000right_j21.2000left_j0-0.2000left_j10.6000left_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=-0.4244 left_j1=2.3604 left_j2=1.8515 left_j3=-0.6491 left_j4=-0.0322 left_j5=-0.416 left_gripper=0.9945 right_j0=0.4274 right_j1=2.3619 right_j2=1.8507 right_j3=-0.6552 right_j4=0.0181 right_j5=0.4004 right_gripper=0.9956 state[joint_eff]: [0.0752, -10.2085, 2.4547, 0.0366, 0.2759, -0.0366, -0.232, -0.841, -10.4274, 2.2769, 0.0611, -0.2271, 0.1636, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 895): [image omitted: streamed camera frame] camera 'left_cam' (step 895): [image omitted: streamed camera frame] camera 'right_cam' (step 895): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Retracting both arms to home pose to clearly reveal the towel covering the block.", "targets": {"left_j2": 1.2, "right_j5": 0, "left_gripper": 1, "left_j4": 0, "right_gripper": 1, "right_j3": -0.6, "right_j0": 0.2, "left_j5": 0, "right_j1": 0.6, "right_j4": 0, "right_j2": 1.2, "left_j0": -0.2, "left_j1": 0.6, "left_j3": -0.6}})
tool
executing move_joints over 29 steps (2.9s)
step 924
top_cam
camera top_cam step 924
left_cam
camera left_cam step 924
right_cam
camera right_cam step 924
assistant
agent noteReaching forward with open grippers to position over the towel near block A.
move_joints
right_j40.0000right_j50.3800left_j40.0000right_j12.4000left_gripper1.0000left_j5-0.3800left_j21.6000right_j00.3800right_gripper1.0000right_j21.6000right_j3-0.7500left_j0-0.3800left_j3-0.7500left_j12.4000
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=-0.2073 left_j1=0.6193 left_j2=1.2076 left_j3=-0.6216 left_j4=-0.0067 left_j5=-0.0319 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6193 right_j2=1.2064 right_j3=-0.622 right_j4=0.0025 right_j5=0.0166 right_gripper=0.9988 state[joint_eff]: [0.6769, 2.1949, 5.4359, 2.1123, 0.0513, 0.1294, -0.2076, -0.4581, 2.1812, 5.4769, 2.0781, -0.0611, -0.105, -0.1392] camera 'top_cam' (step 924): [image omitted: streamed camera frame] camera 'left_cam' (step 924): [image omitted: streamed camera frame] camera 'right_cam' (step 924): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j4": 0, "right_j5": 0.38, "left_j4": 0, "right_j1": 2.4, "left_gripper": 1, "left_j5": -0.38, "left_j2": 1.6, "right_j0": 0.38, "right_gripper": 1, "right_j2": 1.6, "right_j3": -0.75, "left_j0": -0.38, "left_j3": -0.75, "left_j1": 2.4}, "note": "Reaching forward with open grippers to position over the towel near block A."})
tool
executing move_joints over 29 steps (2.9s)
step 953
top_cam
camera top_cam step 953
left_cam
camera left_cam step 953
right_cam
camera right_cam step 953
assistant
agent noteReaching further forward onto the table over the towel fold.
move_joints
left_j5-0.4200right_j3-0.7500right_j40.0000left_j3-0.7500right_gripper1.0000left_j12.5000right_j50.4200right_j12.5000left_gripper1.0000left_j0-0.4200right_j21.7000right_j00.4200left_j21.7000left_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=-0.3729 left_j1=2.2436 left_j2=1.6543 left_j3=-0.807 left_j4=-0.0559 left_j5=-0.3695 left_gripper=0.9981 right_j0=0.3767 right_j1=2.244 right_j2=1.6547 right_j3=-0.8108 right_j4=0.0475 right_j5=0.3527 right_gripper=0.9988 state[joint_eff]: [-0.8547, 0.2256, 1.0462, 1.2967, 0.4518, -0.1245, -0.2076, -0.1026, 0.294, 0.9094, 1.3455, -0.4567, 0.232, -0.1441] camera 'top_cam' (step 953): [image omitted: streamed camera frame] camera 'left_cam' (step 953): [image omitted: streamed camera frame] camera 'right_cam' (step 953): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching further forward onto the table over the towel fold.", "targets": {"left_j5": -0.42, "right_j3": -0.75, "right_j4": 0, "left_j3": -0.75, "right_gripper": 1, "left_j1": 2.5, "right_j5": 0.42, "right_j1": 2.5, "left_gripper": 1, "left_j0": -0.42, "right_j2": 1.7, "right_j0": 0.42, "left_j2": 1.7, "left_j4": 0}})
tool
executing move_joints over 5 steps (0.5s)
step 958
top_cam
camera top_cam step 958
left_cam
camera left_cam step 958
right_cam
camera right_cam step 958
assistant
agent noteRe-issuing move to converge grippers directly over the towel fold.
move_joints
right_j40.0000left_j3-0.7500left_j40.0000right_gripper1.0000left_j21.7000right_j00.4200left_j5-0.4200left_j12.5000right_j3-0.7500right_j50.4200left_j0-0.4200left_gripper1.0000right_j12.5000right_j21.7000
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=-0.395 left_j1=2.3192 left_j2=1.7683 left_j3=-0.8333 left_j4=-0.0711 left_j5=-0.4133 left_gripper=0.9981 right_j0=0.4053 right_j1=2.3211 right_j2=1.7702 right_j3=-0.8295 right_j4=0.0631 right_j5=0.3862 right_gripper=0.9988 state[joint_eff]: [-1.935, 1.7846, 0.2667, 1.4969, 0.7106, 0.022, -0.2076, 1.0872, 1.5111, 0.1573, 1.4139, -0.7155, 0.2662, -0.1441] camera 'top_cam' (step 958): [image omitted: streamed camera frame] camera 'left_cam' (step 958): [image omitted: streamed camera frame] camera 'right_cam' (step 958): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Re-issuing move to converge grippers directly over the towel fold.", "targets": {"right_j4": 0, "left_j3": -0.75, "left_j4": 0, "right_gripper": 1, "left_j2": 1.7, "right_j0": 0.42, "left_j5": -0.42, "left_j1": 2.5, "right_j3": -0.75, "right_j5": 0.42, "left_j0": -0.42, "left_gripper": 1, "right_j1": 2.5, "right_j2": 1.7}})
tool
executing move_joints over 3 steps (0.3s)
step 961
top_cam
camera top_cam step 961
left_cam
camera left_cam step 961
right_cam
camera right_cam step 961
assistant
agent noteClosing both grippers to grasp the towel fold.
move_joints
right_j12.4500left_j3-0.7500left_j40.0000right_gripper0.0000left_j5-0.4200left_j0-0.4200left_j21.6500right_j3-0.7500left_gripper0.0000left_j12.4500right_j50.4200right_j00.4200right_j21.6500right_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=-0.4007 left_j1=2.3257 left_j2=1.7775 left_j3=-0.8246 left_j4=-0.078 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4122 right_j1=2.3283 right_j2=1.7802 right_j3=-0.8093 right_j4=0.0727 right_j5=0.3939 right_gripper=0.9988 state[joint_eff]: [-1.8803, 1.4427, -0.3487, 1.3944, 0.7057, -0.0415, -0.2125, 0.8274, 1.1692, -0.2803, 1.2283, -0.7253, 0.2076, -0.1441] camera 'top_cam' (step 961): [image omitted: streamed camera frame] camera 'left_cam' (step 961): [image omitted: streamed camera frame] camera 'right_cam' (step 961): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Closing both grippers to grasp the towel fold.", "targets": {"right_j1": 2.45, "left_j3": -0.75, "left_j4": 0, "right_gripper": 0, "left_j5": -0.42, "left_j0": -0.42, "left_j2": 1.65, "right_j3": -0.75, "left_gripper": 0, "left_j1": 2.45, "right_j5": 0.42, "right_j0": 0.42, "right_j2": 1.65, "right_j4": 0}})
tool
executing move_joints over 10 steps (1.0s)
step 971
top_cam
camera top_cam step 971
left_cam
camera left_cam step 971
right_cam
camera right_cam step 971
assistant
agent noteMoving open grippers back over the main towel body.
move_joints
right_j12.2000right_j3-0.7000right_j21.4500left_gripper1.0000left_j5-0.3500right_j50.3500left_j12.2000right_gripper1.0000right_j00.3500left_j3-0.7000right_j40.0000left_j21.4500left_j40.0000left_j0-0.3500
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=-0.4034 left_j1=2.299 left_j2=1.7313 left_j3=-0.7212 left_j4=-0.1047 left_j5=-0.4194 left_gripper=0.0154 right_j0=0.4095 right_j1=2.302 right_j2=1.734 right_j3=-0.7223 right_j4=0.0719 right_j5=0.4042 right_gripper=0.011 state[joint_eff]: [-1.6615, -0.6359, -0.4171, 0.5055, 0.9304, -0.0415, 0.6422, 0.7863, -0.8684, -0.4855, 0.4908, -0.696, 0.1148, 0.9744] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 971): [image omitted: streamed camera frame] camera 'left_cam' (step 971): [image omitted: streamed camera frame] camera 'right_cam' (step 971): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Moving open grippers back over the main towel body.", "targets": {"right_j1": 2.2, "right_j3": -0.7, "right_j2": 1.45, "left_gripper": 1, "left_j5": -0.35, "right_j5": 0.35, "left_j1": 2.2, "right_gripper": 1, "right_j0": 0.35, "left_j3": -0.7, "right_j4": 0, "left_j2": 1.45, "left_j4": 0, "left_j0": -0.35}})
tool
executing move_joints over 10 steps (1.0s)
step 981
top_cam
camera top_cam step 981
left_cam
camera left_cam step 981
right_cam
camera right_cam step 981
assistant
agent noteReaching forward over the towel edges.
move_joints
right_j21.6000right_j00.3800right_j50.3800right_j3-0.7500right_j12.3500left_j0-0.3800left_j21.6000right_gripper1.0000left_j5-0.3800right_j40.0000left_j3-0.7500left_j12.3500left_gripper1.0000left_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=-0.3683 left_j1=2.1559 left_j2=1.5124 left_j3=-0.5915 left_j4=-0.0311 left_j5=-0.3485 left_gripper=0.9941 right_j0=0.3637 right_j1=2.1555 right_j2=1.507 right_j3=-0.606 right_j4=0.0238 right_j5=0.3397 right_gripper=0.9952 state[joint_eff]: [1.5932, -7.6923, 1.7573, -0.2271, 0.1832, -0.1978, -0.2222, -1.2513, -7.8427, 2.0718, -0.1685, -0.2125, 0.0611, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 981): [image omitted: streamed camera frame] camera 'left_cam' (step 981): [image omitted: streamed camera frame] camera 'right_cam' (step 981): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j2": 1.6, "right_j0": 0.38, "right_j5": 0.38, "right_j3": -0.75, "right_j1": 2.35, "left_j0": -0.38, "left_j2": 1.6, "right_gripper": 1, "left_j5": -0.38, "right_j4": 0, "left_j3": -0.75, "left_j1": 2.35, "left_gripper": 1, "left_j4": 0}, "note": "Reaching forward over the towel edges."})
tool
executing move_joints over 4 steps (0.4s)
step 985
top_cam
camera top_cam step 985
left_cam
camera left_cam step 985
right_cam
camera right_cam step 985
assistant
agent noteReaching forward to position open grippers directly over the towel fold.
move_joints
right_j50.4200left_j12.4500left_j21.6500right_j00.4200right_j21.6500left_gripper1.0000left_j5-0.4200right_j3-0.7500right_j40.0000left_j0-0.4200right_gripper1.0000left_j3-0.7500right_j12.4500left_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=-0.3809 left_j1=2.2292 left_j2=1.6352 left_j3=-0.7105 left_j4=-0.07 left_j5=-0.3676 left_gripper=0.9981 right_j0=0.382 right_j1=2.2314 right_j2=1.6321 right_j3=-0.7288 right_j4=0.07 right_j5=0.3523 right_gripper=0.9988 state[joint_eff]: [0.0342, -2.6051, 2.5504, 0.779, 0.8181, -0.1392, -0.2076, -0.212, -2.7419, 2.5094, 0.9158, -0.8474, 0.2125, -0.1441] camera 'top_cam' (step 985): [image omitted: streamed camera frame] camera 'left_cam' (step 985): [image omitted: streamed camera frame] camera 'right_cam' (step 985): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.42, "left_j1": 2.45, "left_j2": 1.65, "right_j0": 0.42, "right_j2": 1.65, "left_gripper": 1, "left_j5": -0.42, "right_j3": -0.75, "right_j4": 0, "left_j0": -0.42, "right_gripper": 1, "left_j3": -0.75, "right_j1": 2.45, "left_j4": 0}, "note": "Reaching forward to position open grippers directly over the towel fold."})
tool
executing move_joints over 4 steps (0.4s)
step 989
top_cam
camera top_cam step 989
left_cam
camera left_cam step 989
right_cam
camera right_cam step 989
assistant
agent noteReaching further forward to place the open jaws over the towel fold.
move_joints
right_j00.4200left_j12.5000left_j40.0000left_j21.7000left_j3-0.7500right_j21.7000left_gripper1.0000left_j0-0.4200right_j40.0000right_gripper1.0000left_j5-0.4200right_j12.5000right_j3-0.7500right_j50.4200
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=-0.3969 left_j1=2.2868 left_j2=1.7123 left_j3=-0.7654 left_j4=-0.0868 left_j5=-0.4049 left_gripper=0.9981 right_j0=0.4 right_j1=2.2871 right_j2=1.7123 right_j3=-0.7731 right_j4=0.0731 right_j5=0.3836 right_gripper=0.9988 state[joint_eff]: [-1.8803, 0.5949, 0.6906, 0.8474, 0.779, -0.0464, -0.2125, 1.5795, 0.4855, 0.6906, 0.9548, -0.735, 0.2369, -0.1441] camera 'top_cam' (step 989): [image omitted: streamed camera frame] camera 'left_cam' (step 989): [image omitted: streamed camera frame] camera 'right_cam' (step 989): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching further forward to place the open jaws over the towel fold.", "targets": {"right_j0": 0.42, "left_j1": 2.5, "left_j4": 0, "left_j2": 1.7, "left_j3": -0.75, "right_j2": 1.7, "left_gripper": 1, "left_j0": -0.42, "right_j4": 0, "right_gripper": 1, "left_j5": -0.42, "right_j1": 2.5, "right_j3": -0.75, "right_j5": 0.42}})
tool
executing move_joints over 4 steps (0.4s)
step 993
top_cam
camera top_cam step 993
left_cam
camera left_cam step 993
right_cam
camera right_cam step 993
assistant
agent noteReaching forward over the towel fold.
move_joints
right_j00.4000left_gripper1.0000left_j12.5500right_j12.5500left_j21.7500left_j5-0.4000right_j50.4000right_j3-0.7500right_gripper1.0000left_j0-0.4000right_j40.0000left_j3-0.7500left_j40.0000right_j21.7500
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=-0.4038 left_j1=2.3238 left_j2=1.7699 left_j3=-0.7876 left_j4=-0.0921 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4061 right_j1=2.323 right_j2=1.7702 right_j3=-0.7956 right_j4=0.0753 right_j5=0.3943 right_gripper=0.9988 state[joint_eff]: [-1.5932, 1.4838, 0.3624, 1.1355, 0.8034, -0.0611, -0.2125, 1.2513, 1.4974, 0.6632, 1.1258, -0.7057, 0.2564, -0.1441] camera 'top_cam' (step 993): [image omitted: streamed camera frame] camera 'left_cam' (step 993): [image omitted: streamed camera frame] camera 'right_cam' (step 993): [image omitted: streamed camera frame]
assistant
move_joints({"note": "Reaching forward over the towel fold.", "targets": {"right_j0": 0.4, "left_gripper": 1, "left_j1": 2.55, "right_j1": 2.55, "left_j2": 1.75, "left_j5": -0.4, "right_j5": 0.4, "right_j3": -0.75, "right_gripper": 1, "left_j0": -0.4, "right_j4": 0, "left_j3": -0.75, "left_j4": 0, "right_j2": 1.75}})
tool
executing move_joints over 4 steps (0.4s)
step 997
top_cam
camera top_cam step 997
left_cam
camera left_cam step 997
right_cam
camera right_cam step 997
assistant
agent noteClosing both grippers to grasp the back fold of the towel.
move_joints
left_j0-0.4200right_j21.6500left_j21.6500left_j5-0.4200left_j40.0000right_j00.4200right_j3-0.7500left_j3-0.7500right_j50.4200left_gripper0.0000right_j40.0000right_j12.4500right_gripper0.0000left_j12.4500
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=-0.4019 left_j1=2.3604 left_j2=1.8244 left_j3=-0.804 left_j4=-0.0937 left_j5=-0.4164 left_gripper=0.9981 right_j0=0.4023 right_j1=2.3589 right_j2=1.8256 right_j3=-0.8177 right_j4=0.0757 right_j5=0.3931 right_gripper=0.9988 state[joint_eff]: [0.335, 2.1812, 0.1299, 1.3651, 0.862, 0.1636, -0.2076, -0.3761, 2.2906, -0.1026, 1.3602, -0.7399, 0.0366, -0.1392] camera 'top_cam' (step 997): [image omitted: streamed camera frame] camera 'left_cam' (step 997): [image omitted: streamed camera frame] camera 'right_cam' (step 997): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.42, "right_j2": 1.65, "left_j2": 1.65, "left_j5": -0.42, "left_j4": 0, "right_j0": 0.42, "right_j3": -0.75, "left_j3": -0.75, "right_j5": 0.42, "left_gripper": 0, "right_j4": 0, "right_j1": 2.45, "right_gripper": 0, "left_j1": 2.45}, "note": "Closing both grippers to grasp the back fold of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 1007
top_cam
camera top_cam step 1007
left_cam
camera left_cam step 1007
right_cam
camera right_cam step 1007
assistant
agent noteOpening grippers and positioning over the main body of the towel.
move_joints
right_j12.2500left_j40.0000left_j21.5000left_j12.2500right_j3-0.7500left_gripper1.0000right_j00.3800left_j0-0.3800left_j3-0.7500right_j50.3800right_j40.0000left_j5-0.3800right_gripper1.0000right_j21.5000
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=-0.4019 left_j1=2.3089 left_j2=1.7332 left_j3=-0.6758 left_j4=-0.123 left_j5=-0.4183 left_gripper=0.0152 right_j0=0.4042 right_j1=2.3085 right_j2=1.7348 right_j3=-0.6907 right_j4=0.078 right_j5=0.4038 right_gripper=0.011 state[joint_eff]: [-1.812, -1.6615, -0.3897, 0.0171, 1.1013, -0.0464, 0.6129, 1.1009, -1.5248, -0.6632, 0.2173, -0.6813, 0.1294, 0.9646] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 1007): [image omitted: streamed camera frame] camera 'left_cam' (step 1007): [image omitted: streamed camera frame] camera 'right_cam' (step 1007): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.25, "left_j4": 0, "left_j2": 1.5, "left_j1": 2.25, "right_j3": -0.75, "left_gripper": 1, "right_j0": 0.38, "left_j0": -0.38, "left_j3": -0.75, "right_j5": 0.38, "right_j4": 0, "left_j5": -0.38, "right_gripper": 1, "right_j2": 1.5}, "note": "Opening grippers and positioning over the main body of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 1017
top_cam
camera top_cam step 1017
left_cam
camera left_cam step 1017
right_cam
camera right_cam step 1017
assistant
agent noteReaching forward to position open grippers over the towel body.
move_joints
right_gripper1.0000left_j12.3000left_j21.5500left_j3-0.7500left_gripper1.0000right_j00.3800left_j40.0000left_j0-0.3800right_j3-0.7500right_j40.0000right_j21.5500right_j50.3800left_j5-0.3800right_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=-0.395 left_j1=2.1929 left_j2=1.5669 left_j3=-0.6041 left_j4=-0.0494 left_j5=-0.3683 left_gripper=0.9948 right_j0=0.3943 right_j1=2.1914 right_j2=1.5631 right_j3=-0.6212 right_j4=0.0364 right_j5=0.3576 right_gripper=0.9956 state[joint_eff]: [1.306, -7.3094, 1.1966, -0.5055, 0.3736, -0.1978, -0.1929, -1.4291, -7.0496, 1.5111, -0.3932, -0.4078, 0.2173, -0.188] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 1017): [image omitted: streamed camera frame] camera 'left_cam' (step 1017): [image omitted: streamed camera frame] camera 'right_cam' (step 1017): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1, "left_j1": 2.3, "left_j2": 1.55, "left_j3": -0.75, "left_gripper": 1, "right_j0": 0.38, "left_j4": 0, "left_j0": -0.38, "right_j3": -0.75, "right_j4": 0, "right_j2": 1.55, "right_j5": 0.38, "left_j5": -0.38, "right_j1": 2.3}, "note": "Reaching forward to position open grippers over the towel body."})
tool
executing move_joints over 3 steps (0.3s)
step 1020
top_cam
camera top_cam step 1020
left_cam
camera left_cam step 1020
right_cam
camera right_cam step 1020
assistant
agent noteReaching forward to position grippers over the towel edges.
move_joints
right_j12.4000left_j3-0.7500right_j40.0000left_j40.0000left_gripper1.0000right_gripper1.0000right_j00.3800right_j50.3800right_j21.6000right_j3-0.7500left_j21.6000left_j12.4000left_j0-0.3800left_j5-0.3800
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=-0.3943 left_j1=2.2047 left_j2=1.5909 left_j3=-0.6411 left_j4=-0.0559 left_j5=-0.3664 left_gripper=0.9981 right_j0=0.392 right_j1=2.2047 right_j2=1.5894 right_j3=-0.6529 right_j4=0.0368 right_j5=0.3557 right_gripper=0.9988 state[joint_eff]: [0.9231, -4.2872, 2.4957, 0.0171, 0.4957, -0.1538, -0.2076, -0.7179, -4.0684, 2.7829, -0.0122, -0.3492, 0.1783, -0.1441] camera 'top_cam' (step 1020): [image omitted: streamed camera frame] camera 'left_cam' (step 1020): [image omitted: streamed camera frame] camera 'right_cam' (step 1020): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.4, "left_j3": -0.75, "right_j4": 0, "left_j4": 0, "left_gripper": 1, "right_gripper": 1, "right_j0": 0.38, "right_j5": 0.38, "right_j2": 1.6, "right_j3": -0.75, "left_j2": 1.6, "left_j1": 2.4, "left_j0": -0.38, "left_j5": -0.38}, "note": "Reaching forward to position grippers over the towel edges."})
tool
executing move_joints over 4 steps (0.4s)
step 1024
top_cam
camera top_cam step 1024
left_cam
camera left_cam step 1024
right_cam
camera right_cam step 1024
assistant
agent noteReaching forward to position grippers over the towel edges.
move_joints
left_j21.6500right_j3-0.7500left_j5-0.3800left_j40.0000right_j12.4500right_gripper1.0000left_gripper1.0000right_j00.3800right_j40.0000right_j50.3800left_j0-0.3800left_j3-0.7500left_j12.4500right_j21.6500
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=-0.3965 left_j1=2.2513 left_j2=1.6627 left_j3=-0.7124 left_j4=-0.0669 left_j5=-0.3717 left_gripper=0.9981 right_j0=0.3985 right_j1=2.2517 right_j2=1.6611 right_j3=-0.7269 right_j4=0.0563 right_j5=0.3592 right_gripper=0.9988 state[joint_eff]: [1.1009, -0.335, 0.5949, 0.6667, 0.6032, -0.1294, -0.2076, -1.4564, -0.4034, 0.6085, 0.7937, -0.7497, 0.1587, -0.1441] camera 'top_cam' (step 1024): [image omitted: streamed camera frame] camera 'left_cam' (step 1024): [image omitted: streamed camera frame] camera 'right_cam' (step 1024): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.65, "right_j3": -0.75, "left_j5": -0.38, "left_j4": 0, "right_j1": 2.45, "right_gripper": 1, "left_gripper": 1, "right_j0": 0.38, "right_j4": 0, "right_j5": 0.38, "left_j0": -0.38, "left_j3": -0.75, "left_j1": 2.45, "right_j2": 1.65}, "note": "Reaching forward to position grippers over the towel edges."})
tool
executing move_joints over 4 steps (0.4s)
step 1028
top_cam
camera top_cam step 1028
left_cam
camera left_cam step 1028
right_cam
camera right_cam step 1028
assistant
agent noteReaching forward and inward to align the grippers over the towel.
move_joints
right_j50.4500right_j21.7000right_j3-0.7500left_j12.5000left_j40.0000left_j21.7000left_j3-0.7500left_gripper1.0000right_j00.4500left_j5-0.4500right_j40.0000right_gripper1.0000right_j12.5000left_j0-0.4500
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=-0.3981 left_j1=2.2887 left_j2=1.7176 left_j3=-0.7643 left_j4=-0.0757 left_j5=-0.3752 left_gripper=0.9981 right_j0=0.4023 right_j1=2.2875 right_j2=1.7153 right_j3=-0.7807 right_j4=0.0662 right_j5=0.3599 right_gripper=0.9988 state[joint_eff]: [1.0872, 0.3761, 0.5128, 0.9744, 0.6569, -0.0513, -0.2125, -2.1128, 0.5949, 0.4444, 1.16, -0.6374, 0.1734, -0.1441] camera 'top_cam' (step 1028): [image omitted: streamed camera frame] camera 'left_cam' (step 1028): [image omitted: streamed camera frame] camera 'right_cam' (step 1028): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j5": 0.45, "right_j2": 1.7, "right_j3": -0.75, "left_j1": 2.5, "left_j4": 0, "left_j2": 1.7, "left_j3": -0.75, "left_gripper": 1, "right_j0": 0.45, "left_j5": -0.45, "right_j4": 0, "right_gripper": 1, "right_j1": 2.5, "left_j0": -0.45}, "note": "Reaching forward and inward to align the grippers over the towel."})
tool
executing move_joints over 4 steps (0.4s)
step 1032
top_cam
camera top_cam step 1032
left_cam
camera left_cam step 1032
right_cam
camera right_cam step 1032
assistant
agent noteClosing both grippers to grasp the back fold of the towel.
move_joints
left_j21.6500left_j0-0.4200left_j3-0.7500right_j00.4200right_j40.0000left_j12.4500left_j40.0000left_gripper0.0000right_j12.4500right_gripper0.0000right_j50.4200left_j5-0.4200right_j21.6500right_j3-0.7500
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=-0.421 left_j1=2.3253 left_j2=1.7718 left_j3=-0.7826 left_j4=-0.0963 left_j5=-0.429 left_gripper=0.9981 right_j0=0.4282 right_j1=2.3257 right_j2=1.771 right_j3=-0.7925 right_j4=0.0799 right_j5=0.4053 right_gripper=0.9988 state[joint_eff]: [-2.3043, 1.265, 0.2256, 1.0476, 0.9841, -0.0757, -0.2076, 1.6615, 1.1829, 0.6906, 1.1404, -0.8278, 0.2906, -0.1441] camera 'top_cam' (step 1032): [image omitted: streamed camera frame] camera 'left_cam' (step 1032): [image omitted: streamed camera frame] camera 'right_cam' (step 1032): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j2": 1.65, "left_j0": -0.42, "left_j3": -0.75, "right_j0": 0.42, "right_j4": 0, "left_j1": 2.45, "left_j4": 0, "left_gripper": 0, "right_j1": 2.45, "right_gripper": 0, "right_j5": 0.42, "left_j5": -0.42, "right_j2": 1.65, "right_j3": -0.75}, "note": "Closing both grippers to grasp the back fold of the towel."})
tool
executing move_joints over 10 steps (1.0s)
step 1042
top_cam
camera top_cam step 1042
left_cam
camera left_cam step 1042
right_cam
camera right_cam step 1042
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=-0.4118 left_j1=2.3024 left_j2=1.7313 left_j3=-0.7048 left_j4=-0.1158 left_j5=-0.4232 left_gripper=0.0145 right_j0=0.4133 right_j1=2.3024 right_j2=1.7321 right_j3=-0.717 right_j4=0.0696 right_j5=0.4049 right_gripper=0.0113 state[joint_eff]: [-0.9915, -1.0872, -0.3897, 0.3443, 1.0427, -0.0073, 0.6911, 0.4034, -0.9231, -0.4308, 0.4567, -0.652, 0.149, 0.9744] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 1042): [image omitted: streamed camera frame] camera 'left_cam' (step 1042): [image omitted: streamed camera frame] camera 'right_cam' (step 1042): [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 · 21.74 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=-0.004 left_j1=0.0093 left_j2=0.0147 left_j3=-0.028 left_j4=-0.004 left_j5=-0.0216 left_gripper=0.9993 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0292 right_j4=-0.0044 right_j5=-0.001 right_gripper=0.9995\nstate[joint_eff]: [0.0479, 0.9094, 5.9419, 2.1905, -0.0317, 0.1636, -0.0904, 0.0068, 1.4291, 6.3658, 2.1221, 0.0171, -0.0269, -0.0659]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:dcb3a15537181c1d996041fd577d3820411268140fdfc45065ac311509743c10",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dcb3a1553718
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:b719b5086192cc01773c1044c5c279b4f0cd6c022063ae47777230915ec52f6f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b719b5086192
{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:143dd947b32bd1c61348c8d2054bf40804fa77009da4e69f7aba369b8c7b4713",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 143dd947b32b
call 1 attempt 0 · /interactions · status 200 · 9.176 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_8284",
  "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=-0.2428 left_j1=1.7958 left_j2=1.1713 left_j3=-0.5957 left_j4=-0.0067 left_j5=-0.2447 left_gripper=0.9989 right_j0=0.247 right_j1=1.7916 right_j2=1.1736 right_j3=-0.5961 right_j4=-0.004 right_j5=0.2287 right_gripper=0.9995\nstate[joint_eff]: [-0.8137, -9.265, 7.8701, 0.8034, 0.0757, -0.0952, -0.1294, 0.3487, -9.0872, 7.706, 0.8669, 0.0317, 0.2076, -0.0659]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 29):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a1ae025d50469d5c1c391485889950c48bdc85d2d261614a91d05cb9d4130fc0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a1ae025d5046
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 29):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:93450d9ff9d508e89549ae2e6c6ff8de466cf136361ac1967eef4fb9a2227408",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 93450d9ff9d5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 29):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ca1d4aec45d928343b8296ab37d30737a4f7801a50eb95e96440b525129c7b63",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ca1d4aec45d9
call 2 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_21860",
  "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=-0.3218 left_j1=1.9987 left_j2=1.3247 left_j3=-0.688 left_j4=-0.0067 left_j5=-0.321 left_gripper=0.9989 right_j0=0.3256 right_j1=1.993 right_j2=1.3273 right_j3=-0.6861 right_j4=-0.004 right_j5=0.3004 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -10.4, 7.5829, 0.4957, 0.0122, -0.0611, -0.1294, 0.2667, -9.8803, 7.4462, 0.4664, 0.0366, 0.1343, -0.0708]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 33):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3d0ca196c2eda3329381728116250c270af7fb0a281fa7a9d34ae3c0e68a1ec1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3d0ca196c2ed
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 33):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c81aa4dc5b14a92c96c33318b6b4b8a5791d069d2338b97257e858e81eb9a222",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c81aa4dc5b14
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 33):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ddb86c5a3921d58e0f09e142ae6b41a049446a78f6e073664b74411d42fdac41",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ddb86c5a3921
call 3 attempt 0 · /interactions · status 200 · 4.019 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_10318",
  "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=-0.3233 left_j1=2.1544 left_j2=1.5341 left_j3=-0.823 left_j4=-0.0261 left_j5=-0.3233 left_gripper=0.9988 right_j0=0.3237 right_j1=2.1582 right_j2=1.5326 right_j3=-0.8135 right_j4=0.0242 right_j5=0.3073 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -3.4393, 2.8923, 1.2527, 0.1783, -0.0073, -0.1392, -0.6359, -4.1231, 3.1521, 1.16, -0.2515, 0.1001, -0.0708]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 38):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f4c4c18b2de3247605eca2d65a944a27fdc4392f258a107902c3a9ace6b8538d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f4c4c18b2de3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 38):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1042370a2c02c1b9f18d6f57e591a585a7f63c6b2b120f6216e4fabeac09adfb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1042370a2c02
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 38):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:df5b20b41466c5d4b030a02bb9afdeed4f23a9b78617905f13587e58eb11377b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob df5b20b41466
call 4 attempt 0 · /interactions · status 200 · 6.821 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_737050",
  "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=-0.3271 left_j1=2.1582 left_j2=1.536 left_j3=-0.7666 left_j4=0.0196 left_j5=-0.3229 left_gripper=0.035 right_j0=0.3271 right_j1=2.1609 right_j2=1.5333 right_j3=-0.7639 right_j4=-0.0269 right_j5=0.3077 right_gripper=0.0178\nstate[joint_eff]: [0.5812, -4.0957, 2.7966, 0.779, -0.2515, -0.0122, 1.0281, -0.6769, -4.4376, 3.0017, 0.7595, 0.2613, 0.0952, 1.033]\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": "$blob:94cdd41ad261fe628f787aa748879fff9b9f8e7a4af5f7eb6c7115567c395215",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 94cdd41ad261
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 48):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8f3782ec33886622e29cc755a44f6eb03dbbd59565ce2b46d5f6974369b9bf24",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8f3782ec3388
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 48):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9b7854938a8b4044bb86a5f7a2f4513572846e20f2a62ea4c9100f8e4a7bb5b4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9b7854938a8b
call 5 attempt 0 · /interactions · status 200 · 6.037 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_336503",
  "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=-0.3344 left_j1=1.2354 left_j2=1.0183 left_j3=-0.3405 left_j4=0.0502 left_j5=-0.3229 left_gripper=0.0336 right_j0=0.3367 right_j1=1.2331 right_j2=1.0172 right_j3=-0.3393 right_j4=-0.0647 right_j5=0.3077 right_gripper=0.0173\nstate[joint_eff]: [1.347, -5.6547, 6.6803, 1.8291, -0.5543, -0.022, 1.033, -1.6479, -5.6137, 6.612, 1.917, 0.6716, 0.0855, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 64):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f82118f089a826e50bf7f5f058d47aed9c51a6964a103962177ddc85aac2bafc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f82118f089a8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 64):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:15840b5db29dde77fb86ac658d1bf7ab6bd449a3ab7a810f7c336e50b25c9e49",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 15840b5db29d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 64):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:a5791ae98e9b181062f803b066cfde7ee3deb1513580017eb962f7a1f081bc53",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a5791ae98e9b
call 6 attempt 0 · /interactions · status 200 · 4.461 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_338288",
  "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=-0.3294 left_j1=1.7889 left_j2=1.2663 left_j3=-0.5652 left_j4=0.0307 left_j5=-0.3229 left_gripper=0.0336 right_j0=0.3298 right_j1=1.7878 right_j2=1.2694 right_j3=-0.5701 right_j4=-0.0326 right_j5=0.3073 right_gripper=0.0173\nstate[joint_eff]: [0.5812, -9.5248, 9.1282, 0.9841, -0.3785, -0.0269, 1.0379, -0.7179, -9.3197, 8.7453, 1.116, 0.2662, 0.1001, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 74):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:14c17021dff96707e5323b06330d68cf02ccae5029f8b9ed7444dc5b8ae2096b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 14c17021dff9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 74):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:99d156069b54a30ab72e0183591ff413c8c896515212dc342a1867b80b2d69fa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 99d156069b54
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 74):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1083d7c4fc8665adb63deddffe55ba5cf2e850ee0b76ca179f771ec178f0cf07",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1083d7c4fc86
call 7 attempt 0 · /interactions · status 200 · 3.8 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_2477",
  "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=-0.3279 left_j1=1.9278 left_j2=1.3285 left_j3=-0.6125 left_j4=0.0315 left_j5=-0.3225 left_gripper=0.0336 right_j0=0.3294 right_j1=1.9244 right_j2=1.3308 right_j3=-0.6151 right_j4=-0.0311 right_j5=0.3073 right_gripper=0.0173\nstate[joint_eff]: [0.3077, -10.3863, 7.9248, 0.6227, -0.3883, -0.0269, 1.0281, -0.5402, -10.2222, 8.1162, 0.5543, 0.2857, 0.0952, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 77):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:bf78abf2b52a45779634b24a649061d1494ed05d5cc16f60a8588c66dcf73cd1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bf78abf2b52a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 77):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:bfc359df259ab3cb70f25847cec73cd940d34d027cd05943e7d0e30d2aa18c10",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bfc359df259a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 77):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5b2d9734f59a1d6a2396f74f6748895152572b49d8bddef73c0938905fcc52ba",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5b2d9734f59a
call 8 attempt 0 · /interactions · status 200 · 6.246 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_285183",
  "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=-0.3267 left_j1=1.9728 left_j2=1.3315 left_j3=-0.6506 left_j4=0.0143 left_j5=-0.3225 left_gripper=0.995 right_j0=0.3233 right_j1=1.9652 right_j2=1.3304 right_j3=-0.6533 right_j4=-0.0151 right_j5=0.3077 right_gripper=0.9955\nstate[joint_eff]: [0.2256, -11.8632, 7.3094, 0.7888, -0.1734, -0.0171, -0.1392, -0.5402, -11.3299, 7.6239, 0.8181, 0.1099, 0.0806, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 87):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6879352729ef3b4b38c316ecd62539c405fe4bf0e83c3106f60fa0e377f2b101",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6879352729ef
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 87):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:858956a95fafecebb983e25ee237676a7e7b64a9e3e24f8505f8987aa361f1c7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 858956a95faf
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 87):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:63e05c2bd4bed94bd611703a6e584a0d3a5bce3f343bc90c3b3e4e229c4057b4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 63e05c2bd4be
call 9 attempt 0 · /interactions · status 200 · 4.25 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_3934",
  "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=-0.3305 left_j1=2.1468 left_j2=1.5215 left_j3=-0.7692 left_j4=-0.0154 left_j5=-0.3279 left_gripper=0.9981 right_j0=0.3309 right_j1=2.1513 right_j2=1.52 right_j3=-0.7601 right_j4=0.0135 right_j5=0.3073 right_gripper=0.9988\nstate[joint_eff]: [0.5812, -3.5077, 3.0701, 1.2967, 0.1538, 0.0317, -0.2076, -0.6906, -3.8359, 2.9197, 1.2088, -0.2662, 0.0806, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 92):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:efef71a5c72e79165bfb438f8f22bf05eb94a6ad56fdf5839d11eb455e9fa3ee",
  "mime_type": "image/png",
  "type": "image"
}
wire blob efef71a5c72e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 92):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:635ab7d1d9bc239a2527e4030dd5c8de03ea755987bf955a9b914fde669ac09d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 635ab7d1d9bc
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 92):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c997c818f7023204874ca46ba3b08945c37d5e46088e3fe8b877e63e3cad64fe",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c997c818f702
call 10 attempt 0 · /interactions · status 200 · 6.5 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_228",
  "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=-0.3317 left_j1=2.1601 left_j2=1.5368 left_j3=-0.7368 left_j4=0.049 left_j5=-0.3313 left_gripper=0.0428 right_j0=0.3298 right_j1=2.1658 right_j2=1.5379 right_j3=-0.7399 right_j4=-0.0227 right_j5=0.3077 right_gripper=0.0168\nstate[joint_eff]: [0.6359, -4.2188, 3.3573, 0.6129, -0.5006, 0.0122, 1.0867, -0.8821, -4.7795, 3.0838, 0.5543, 0.2173, 0.1197, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 102):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e07a18d4e781576aadddd1eade2ae8ae3b6f90a9472deda41bd72e95bd314e6d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e07a18d4e781
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 102):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1c28d34cd2a13c53a686d590030e9313ef09f090eb9ad85c8db40d2b79637ba3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1c28d34cd2a1
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 102):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9f3b4572285dfc0e16f8530655663b826cff788a678a955b2e48d0b8c9e5d949",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9f3b4572285d
call 11 attempt 0 · /interactions · status 200 · 4.871 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_6303",
  "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=-0.3401 left_j1=1.2407 left_j2=1.0142 left_j3=-0.3382 left_j4=0.07 left_j5=-0.3374 left_gripper=0.051 right_j0=0.3405 right_j1=1.2381 right_j2=1.0157 right_j3=-0.3359 right_j4=-0.0738 right_j5=0.3077 right_gripper=0.0207\nstate[joint_eff]: [1.2376, -6.2291, 6.9812, 1.7802, -0.6667, 0.1245, 1.0281, -1.853, -5.9829, 6.612, 1.9316, 0.7888, 0.1001, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 118):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:483acface0a3ac931910e7f86e164ad5fecd1b059cd32bd7bc3c496119c19e23",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 483acface0a3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 118):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:73a3d9ac771c008b1ae036028ba88c653985d9690c5e2dfd60ac47d3ee70845a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 73a3d9ac771c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 118):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2f61002fb5839ec03a1df7cd0e4e052f17a8b83746aec27ecdab7081f6f74369",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2f61002fb583
call 12 attempt 0 · /interactions · status 200 · 5.189 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_3895",
  "name": "move_joints",
  "result": "executing move_joints over 15 steps (1.5s)",
  "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=-0.3275 left_j1=2.1235 left_j2=1.4784 left_j3=-0.6308 left_j4=0.0311 left_j5=-0.3382 left_gripper=0.051 right_j0=0.3302 right_j1=2.1304 right_j2=1.4746 right_j3=-0.622 right_j4=-0.0307 right_j5=0.3073 right_gripper=0.0207\nstate[joint_eff]: [0.8274, -9.1009, 6.8444, 1.0281, -0.3639, 0.105, 1.0281, -0.6906, -11.1111, 7.5966, 0.5543, 0.2369, 0.0855, 1.0232]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 133):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5a0f5aff6e3a0211018958dc836f4a2ed19bf509ff6f44440df79fe404d8f267",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5a0f5aff6e3a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 133):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:538f208a6d490a78d9874cae2a505390fb564890027558bfb5f0956f9c288937",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 538f208a6d49
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 133):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4b244ccba45cd8ab6bd7ddea4ac2028d28e531bcfef1da666f9a6fa59c98462e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4b244ccba45c
call 13 attempt 0 · /interactions · status 200 · 4.223 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_601410",
  "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=-0.3267 left_j1=2.2425 left_j2=1.6527 left_j3=-0.7444 left_j4=0.0372 left_j5=-0.3382 left_gripper=0.051 right_j0=0.3252 right_j1=2.2459 right_j2=1.6524 right_j3=-0.741 right_j4=-0.0364 right_j5=0.3073 right_gripper=0.0202\nstate[joint_eff]: [0.5128, 0.2667, 1.0188, 0.9744, -0.3492, 0.1148, 1.033, -0.3761, 0.0342, 1.0735, 0.9451, 0.2955, 0.0806, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 138):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e4c82fa07a386802441722e1d41c0c20f8f5e6c1e83411a44ff5725e12158dc1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e4c82fa07a38
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 138):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:681cd256d4c5ded5f0dfb41c12ccf102c694b0fda9fed7254b2056614d4f6d44",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 681cd256d4c5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 138):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:adec95f6170481ace0a898ad79fac77a511387c8ec97eadf6445eb91491c0320",
  "mime_type": "image/png",
  "type": "image"
}
wire blob adec95f61704
call 14 attempt 0 · /interactions · status 200 · 5.949 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_659141",
  "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=-0.3435 left_j1=2.2536 left_j2=1.6756 left_j3=-0.7082 left_j4=0.0223 left_j5=-0.334 left_gripper=0.9945 right_j0=0.3435 right_j1=2.2574 right_j2=1.6718 right_j3=-0.6926 right_j4=-0.0113 right_j5=0.3035 right_gripper=0.9951\nstate[joint_eff]: [1.7709, -0.3214, -0.0479, 0.4322, -0.0659, 0.1099, -0.2418, -1.7436, -0.6769, 0.4308, 0.2808, -0.0855, 0.1587, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 148):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:af509759908dfa55cc3bc86a8989c31666c4e32b177fe53389d11d3b5fd1103f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob af509759908d
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 148):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:315762f2f2c22783742896c1ac6fe602346d32ac5e7754dcfb479fe09d56c25a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 315762f2f2c2
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 148):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9e029f966bc438a7eb2d6b6de90ebe2d79bf94ed5da6a3271cc07a5f89473ed0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9e029f966bc4
call 15 attempt 0 · /interactions · status 200 · 5.685 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_102858",
  "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=-0.3222 left_j1=2.2421 left_j2=1.6547 left_j3=-0.6853 left_j4=-0.0219 left_j5=-0.329 left_gripper=0.0409 right_j0=0.3233 right_j1=2.2425 right_j2=1.6497 right_j3=-0.6827 right_j4=0.0002 right_j5=0.308 right_gripper=0.0187\nstate[joint_eff]: [0.0615, -7.8154, 1.7026, 0.1832, 0.1392, 0.0171, 1.4286, -0.4718, -7.7333, 2.0718, 0.1001, -0.0171, 0.105, 0.8816]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 158):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7bc7442a499d3f060bb69a12a2e68cb9453a74a44449cfc000a477ea708ad031",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7bc7442a499d
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 158):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:40724c6b0ac7d1ec36ad83c35cedb9cb13686eb2e8a45f48e09bbe950ba76d6e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 40724c6b0ac7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 158):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9afd28872046af059e415b2935ca4f0569857d84473dc4ac7f1cb818147a9516",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9afd28872046
call 16 attempt 0 · /interactions · status 200 · 5.146 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_8240",
  "name": "move_joints",
  "result": "executing move_joints over 12 steps (1.2s)",
  "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=-0.3294 left_j1=1.5436 left_j2=1.2148 left_j3=-0.4377 left_j4=0.0223 left_j5=-0.3302 left_gripper=0.0507 right_j0=0.3305 right_j1=1.5394 right_j2=1.2129 right_j3=-0.4404 right_j4=-0.0322 right_j5=0.3073 right_gripper=0.0201\nstate[joint_eff]: [0.7453, -8.7179, 6.8581, 1.7167, -0.3394, 0.0415, 1.0281, -1.1282, -8.6222, 6.8991, 1.7656, 0.232, 0.0611, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 170):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ff7184dbb8da4f7c1826be6cb225acc891d4d10bd22831bb99613a83e5844dc7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ff7184dbb8da
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 170):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:267eab1d6728194cbb710b95e783518e8c3fc3cf5ad353ce64f406eea4f3ca15",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 267eab1d6728
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 170):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0f0a46dc01e4f37f693fbe5ec900dc7235e9ed86e21fd0d5e0ab6c2b3c18b97c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0f0a46dc01e4
call 17 attempt 0 · /interactions · status 200 · 4.886 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_2241",
  "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=-0.3267 left_j1=2.1418 left_j2=1.4967 left_j3=-0.6247 left_j4=0.0181 left_j5=-0.334 left_gripper=0.0507 right_j0=0.3271 right_j1=2.1494 right_j2=1.4952 right_j3=-0.6136 right_j4=-0.0277 right_j5=0.3069 right_gripper=0.0195\nstate[joint_eff]: [0.294, -6.4615, 5.9145, 0.823, -0.2125, 0.0659, 1.033, -0.8821, -7.7197, 5.3128, 0.7253, 0.2857, 0.0952, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 181):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:21e76a7636f1202230a34963754ad0da6ed83197eaf6ab23d6b34689a8bc1d68",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 21e76a7636f1
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 181):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:355eb7a6bca023c49ee81566545fa895164743410593b4cc453ceb220f7f5c2d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 355eb7a6bca0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 181):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:00e26f2f915f97747ee39fc4a76c3c2b9050b457a9ffebfd24fbf40dc3c6f4e8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 00e26f2f915f
call 18 attempt 0 · /interactions · status 200 · 6.372 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_6512",
  "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=-0.326 left_j1=2.2818 left_j2=1.7046 left_j3=-0.7475 left_j4=0.0158 left_j5=-0.3378 left_gripper=0.0507 right_j0=0.3248 right_j1=2.2848 right_j2=1.705 right_j3=-0.7208 right_j4=-0.0303 right_j5=0.3069 right_gripper=0.0195\nstate[joint_eff]: [0.5949, 0.6906, 0.7863, 1.033, -0.188, 0.1832, 1.033, -0.2667, 0.2803, 0.6632, 0.7106, 0.2906, 0.0806, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 186):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d3a98372061c0dde69d0f4251cf114f0e2e0fa9e1a3471ce8ab91e0b519a8556",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d3a98372061c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 186):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:4f865ff94e844cb9350c89725b634a177cdcff3a21a717267727cf242a1e2d3c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4f865ff94e84
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 186):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:915028338ef4b184f4b659a96f1765b9d068a1d265004ee218f7aa9c7fa94d32",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 915028338ef4
call 19 attempt 0 · /interactions · status 200 · 4.801 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_223088",
  "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=-0.3248 left_j1=2.397 left_j2=1.8786 left_j3=-0.7845 left_j4=0.0151 left_j5=-0.3378 left_gripper=0.0507 right_j0=0.3237 right_j1=2.4027 right_j2=1.8809 right_j3=-0.7345 right_j4=-0.0303 right_j5=0.3069 right_gripper=0.0195\nstate[joint_eff]: [0.212, 2.6598, -0.7316, 1.0232, -0.1734, 0.1978, 1.033, -0.294, 2.0855, -0.7179, 0.5739, 0.3101, 0.1148, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 192):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:318f6cf417b8e935df7b72b3603fb0e256868ddbd1221477c89dc55c5b9ae1e2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 318f6cf417b8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 192):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:53c3f21d1f177fa0fdb3fd37ad681e7f1c284632502e763b69b90ce034c56ab9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 53c3f21d1f17
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 192):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0f901bf35bc3b0dc391f29971785ea390ee629748e8bb05d244f7cf8e87b672b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0f901bf35bc3
call 20 attempt 0 · /interactions · status 200 · 6.768 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_291860",
  "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=-0.3489 left_j1=2.4165 left_j2=1.8961 left_j3=-0.6453 left_j4=0.0105 left_j5=-0.3252 left_gripper=0.9945 right_j0=0.3454 right_j1=2.4187 right_j2=1.8942 right_j3=-0.6258 right_j4=-0.0078 right_j5=0.2916 right_gripper=0.9949\nstate[joint_eff]: [2.0718, 1.306, -1.1419, -0.0855, -0.0171, 0.0317, -0.2418, -1.8667, 1.1282, -0.8137, -0.232, -0.1245, 0.2418, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 202):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:fc80452ebbe865853ec2f20a76497db1d692076c741665e27ab4cec8cfb81d91",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fc80452ebbe8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 202):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:154aa66c456b91810af927bffe35eee28746754796bbc436e941fc03b8e7a3d1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 154aa66c456b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 202):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d4bd56c895e6356b53755bf7193815132aa97ef8e5ca2afc8f265c6732bf9f36",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d4bd56c895e6
call 21 attempt 0 · /interactions · status 200 · 7.974 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_12038",
  "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=-0.2066 left_j1=0.6186 left_j2=1.2083 left_j3=-0.6216 left_j4=-0.0067 left_j5=-0.0284 left_gripper=0.9981 right_j0=0.2005 right_j1=0.6212 right_j2=1.2087 right_j3=-0.6189 right_j4=-0.0044 right_j5=0.0135 right_gripper=0.9988\nstate[joint_eff]: [0.6632, 2.4, 5.3949, 2.0977, 0.0415, 0.2271, -0.2076, -0.294, 2.1949, 5.4496, 2.127, -0.0024, -0.1734, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 231):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4406c5c80e3ef634d95f659298856646842ffb8cb4db681f430830346c88aa4b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4406c5c80e3e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 231):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a2d7dd1c346fc06c16fed309bb48d29f8416d140c4596ecde7c53eb6c2eee69b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a2d7dd1c346f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 231):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:513691379a06995ffcf0527e392d9da9c43ef94d0fbe13201968c80d75c70cc8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 513691379a06
call 22 attempt 0 · /interactions · status 200 · 5.158 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_8778",
  "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=-0.313 left_j1=1.7863 left_j2=1.1965 left_j3=-0.6033 left_j4=-0.0071 left_j5=-0.3008 left_gripper=0.9982 right_j0=0.3168 right_j1=1.7855 right_j2=1.1992 right_j3=-0.6075 right_j4=-0.004 right_j5=0.2905 right_gripper=0.9988\nstate[joint_eff]: [-0.7316, -9.265, 6.4615, 1.1697, 0.0415, -0.0464, -0.2076, 0.2256, -9.2103, 6.2291, 1.326, -0.0073, 0.2125, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 250):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a8e1928bcdd05f3f2fd51873ef77e1ae873dfa9a0fd9965d59aee469c355e147",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a8e1928bcdd0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 250):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2c449db39ac019e79e21166d104de13ff9cbb93689a92991bd1e2575942bdcca",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2c449db39ac0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 250):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e56d11a01ec8dbd7891653bf0dcd0fd60571e0821fcb76e36eced1c86c5a2de4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e56d11a01ec8
call 23 attempt 0 · /interactions · status 200 · 5.892 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_2835",
  "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=-0.3187 left_j1=2.0567 left_j2=1.3857 left_j3=-0.7013 left_j4=-0.0166 left_j5=-0.3229 left_gripper=0.9982 right_j0=0.3199 right_j1=2.0598 right_j2=1.3846 right_j3=-0.6975 right_j4=0.0074 right_j5=0.3069 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.4872, 5.6821, 0.9695, 0.2076, -0.0122, -0.2027, -0.0068, -7.5145, 6.2154, 0.7643, -0.149, 0.1001, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 256):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a11d945f1c3e82b244cc41515ac8f7313035e639be6f4254fe12ad094d190e32",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a11d945f1c3e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 256):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2d3f5c6fcdeee8c7efcd226a80aa140eab15b2b656bb97694b0e5ee4fa631c2e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2d3f5c6fcdee
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 256):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:54a3ed367ef07cfcc565898d1154f69290788a1d0798203476a901f12bbc4f4c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 54a3ed367ef0
call 24 attempt 0 · /interactions · status 200 · 5.505 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_677763",
  "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=-0.3202 left_j1=2.1483 left_j2=1.5192 left_j3=-0.7906 left_j4=-0.038 left_j5=-0.3233 left_gripper=0.9982 right_j0=0.3237 right_j1=2.1517 right_j2=1.5177 right_j3=-0.7887 right_j4=0.0338 right_j5=0.3069 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -3.4256, 3.3983, 1.1404, 0.3541, -0.0366, -0.2076, -0.5402, -3.6308, 3.3299, 1.326, -0.359, 0.0855, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 260):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1bba5941234f1c4d946f30fc138f3653ada616e8dd18bb4ce417f95402b2b303",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1bba5941234f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 260):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:7630c924541f78998d456ec9274affda10181b7072b580e0c7358898f77379a5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7630c924541f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 260):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:dea31f1e3ad07d181d5d103645a50b0bdca468196ac53332609d6951962d96ce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dea31f1e3ad0
call 25 attempt 0 · /interactions · status 200 · 97.01 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_11119",
  "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=-0.3202 left_j1=2.1864 left_j2=1.5806 left_j3=-0.8211 left_j4=-0.0364 left_j5=-0.3233 left_gripper=0.9981 right_j0=0.3664 right_j1=2.162 right_j2=1.5341 right_j3=-0.7792 right_j4=0.0448 right_j5=0.3534 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -2.6735, 2.6872, 1.3016, 0.2808, -0.0122, -0.2076, 1.6889, -4.5197, 3.1385, 0.735, -0.5299, 0.2222, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 263):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e595930150aeebf1f8690d9e940aeb17132ab8f39835c8b786f4a9368c8e975b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e595930150ae
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 263):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:46956a879eba30d4d565c8db94f1aef2d533926cecad29b59b0fa5e0da981f7f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 46956a879eba
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 263):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c7b4d89bb365881d4f3552fd783d66e2e4b349ab6c4a568ea33fb49a115ebf3f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c7b4d89bb365
call 26 attempt 0 · /interactions · status 200 · 5.435 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_6",
  "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=-0.3214 left_j1=2.1757 left_j2=1.5627 left_j3=-0.7963 left_j4=-0.041 left_j5=-0.3222 left_gripper=0.9982 right_j0=0.3786 right_j1=2.1635 right_j2=1.5341 right_j3=-0.7631 right_j4=0.0463 right_j5=0.3672 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -5.2308, 1.5658, 0.7399, 0.3687, -0.022, -0.2027, -1.5521, -4.5333, 2.9607, 0.735, -0.3394, 0.0366, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 265):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3dbb5b1846a2c4dd58f073a642dcdbd491f65c79705608503cc28549dae801c6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3dbb5b1846a2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 265):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:46f99f993b29326e08e9781660d629928b0a53d685bf9f807e61cd82260d378f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 46f99f993b29
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 265):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8a6ae641607a73a036d7d5da15cd7e439d992844f40c6258e8c81622ee86a8fc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8a6ae641607a
call 27 attempt 0 · /interactions · status 200 · 7.104 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_406068",
  "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=-0.3183 left_j1=2.1674 left_j2=1.5478 left_j3=-0.7574 left_j4=-0.0437 left_j5=-0.3229 left_gripper=0.0158 right_j0=0.3569 right_j1=2.1632 right_j2=1.5341 right_j3=-0.7616 right_j4=0.0307 right_j5=0.3553 right_gripper=0.0109\nstate[joint_eff]: [-0.1846, -5.053, 1.894, 0.7302, 0.3443, 0.0366, 0.652, 0.0342, -4.4513, 3.2615, 0.7546, -0.1734, 0.022, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 275):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:53c4a2b103dd66986da6637db00459d0aafe7002a5b753e092fc68aec3ab03bc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 53c4a2b103dd
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 275):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:37c2e2cbb520f99bf5349089d396c09d29aef8f135a36f767052b490b2c0251d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 37c2e2cbb520
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 275):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b579d50a02f51d553fcfcd0b32c83d6724ee424e4ba67223c582528405e8ada2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b579d50a02f5
call 28 attempt 0 · /interactions · status 200 · 5.676 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_20244",
  "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=-0.3965 left_j1=2.1677 left_j2=1.5475 left_j3=-0.7181 left_j4=-0.0544 left_j5=-0.3882 left_gripper=0.9953 right_j0=0.4435 right_j1=2.1681 right_j2=1.5391 right_j3=-0.7284 right_j4=0.0616 right_j5=0.4122 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -4.9846, 2.0034, 0.3443, 0.5543, -0.1099, -0.0757, 0.4308, -4.6838, 3.0974, 0.4811, -0.7253, 0.3541, -0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 285):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a911aeeef98e81f140fd882d62cccaf87c896595d61c3bb56434354de73c2043",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a911aeeef98e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 285):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:96b4c3fb46b8c5f34e80c35e66b264cc366dfebf519576b214c882366fc7d42c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 96b4c3fb46b8
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 285):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:613da54257898a921f98f8f030345ea7347e9b9d60f09e15a1c7810014ba7a7c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 613da5425789
call 29 attempt 0 · /interactions · status 200 · 7.003 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_93717",
  "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=-0.395 left_j1=2.1693 left_j2=1.5444 left_j3=-0.7174 left_j4=-0.0669 left_j5=-0.3969 left_gripper=0.0135 right_j0=0.4423 right_j1=2.1689 right_j2=1.5398 right_j3=-0.733 right_j4=0.0551 right_j5=0.4343 right_gripper=0.0112\nstate[joint_eff]: [-0.5675, -5.0803, 2.4, 0.3834, 0.6374, -0.0269, 0.8767, 0.4444, -4.9299, 2.5778, 0.5446, -0.5495, 0.0708, 0.9499]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 295):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:17610753ae4684c531ae8fbf18d4bd710b99ce5d85ef5501460c29493cbb1574",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 17610753ae46
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 295):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8ec7b0f43630da2c097ee117dfee916bd36fa15158b77234f4792fa71b03876c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8ec7b0f43630
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 295):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:af144b015f08a62b88e7857dd7760c1f47ea6674ea0d2ec866edc8b7ff11126e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob af144b015f08
call 30 attempt 0 · /interactions · status 200 · 18.67 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_33546",
  "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=-0.3977 left_j1=1.0294 left_j2=0.8146 left_j3=-0.2546 left_j4=-0.0097 left_j5=-0.3985 left_gripper=0.015 right_j0=0.4465 right_j1=1.0279 right_j2=0.8108 right_j3=-0.2581 right_j4=0.0025 right_j5=0.4381 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -3.3709, 7.0769, 2.1563, 0.0562, -0.0513, 1.0281, 0.2803, -3.3983, 7.5009, 2.1221, -0.0757, 0.0708, 0.989]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 314):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f03b3d2b6846a8629f5cfce31fae0262c4665077d833277a5a346eb57026fec9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f03b3d2b6846
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 314):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c028717d9e1f6989ada31190befc9a176893df90a2b47c913072e2fcf5519575",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c028717d9e1f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 314):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:3efde6a3d4822f9ddca799a869cf3ff45911e289f192546481c82306dd0752d8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3efde6a3d482
call 31 attempt 0 · /interactions · status 200 · 15.9 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_213",
  "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=-0.3576 left_j1=2.0583 left_j2=1.388 left_j3=-0.6819 left_j4=-0.0143 left_j5=-0.3645 left_gripper=0.9972 right_j0=0.3561 right_j1=2.0617 right_j2=1.3865 right_j3=-0.6765 right_j4=0.0048 right_j5=0.3504 right_gripper=0.9976\nstate[joint_eff]: [0.4308, -7.5009, 5.7368, 0.9255, 0.1245, 0.1001, -0.1441, -0.8274, -7.8291, 6.065, 0.5885, -0.0904, -0.0415, -0.1001]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 332):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:226dc2f8209c57f9ad12bd46918f2fc41bf1e0acd4754bcd2364fee778a382fa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 226dc2f8209c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 332):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2c9ac6a09c37dde620a766fe73f6310c47bcfea87f255423abd059d025d48318",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2c9ac6a09c37
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 332):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:660388950793697143595f7e3c89640f64e4b7bdd220272a19b192e7ba37aec0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 660388950793
call 32 attempt 0 · /interactions · status 200 · 13.58 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_621061",
  "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=-0.3584 left_j1=2.1502 left_j2=1.5223 left_j3=-0.7834 left_j4=-0.0448 left_j5=-0.3668 left_gripper=0.9981 right_j0=0.358 right_j1=2.154 right_j2=1.5223 right_j3=-0.7834 right_j4=0.0376 right_j5=0.3481 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -3.5897, 3.0564, 1.2527, 0.5299, 0.1538, -0.2076, -0.4581, -4.0547, 3.0154, 1.37, -0.4029, -0.0073, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 336):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ad8d243fe7a03365ffa092f27173db6e88728a407bc19887af0b7e40e152e5ef",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ad8d243fe7a0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 336):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3e84a5638f32df53ef8816f0f8ec37b1f1341aa1e6fe20601314e90989d08f16",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3e84a5638f32
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 336):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:6046332f8d61f84b6a23bd0077d0edf5d0d48cd4c55edaadec0e58bea9301a08",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6046332f8d61
call 33 attempt 0 · /interactions · status 200 · 17.81 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_8817",
  "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=-0.3508 left_j1=2.1586 left_j2=1.5337 left_j3=-0.7635 left_j4=-0.0391 left_j5=-0.363 left_gripper=0.0142 right_j0=0.3466 right_j1=2.162 right_j2=1.5341 right_j3=-0.7792 right_j4=0.0296 right_j5=0.3473 right_gripper=0.0111\nstate[joint_eff]: [0.212, -4.1094, 3.0017, 0.7546, 0.2857, 0.149, 0.6667, 0.0205, -4.3692, 3.4256, 0.8816, -0.3101, 0.0366, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 346):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5cfc8bb9d1e7b17a5619846a06fbb7d796826e3e3445caabadd4bcb58d97ff85",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5cfc8bb9d1e7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 346):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3f42c5cb6fecf6346fe9396290b6f9dc785d004fb0e54b935b81aad578cd3158",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3f42c5cb6fec
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 346):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:61d53b261e2f8fdbcb4f65606b2c40a770ae7c4607a41aeed9dd10ae84098606",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 61d53b261e2f
call 34 attempt 0 · /interactions · status 200 · 28.05 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_24775",
  "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=-0.4248 left_j1=2.196 left_j2=1.5944 left_j3=-0.7586 left_j4=-0.0471 left_j5=-0.4198 left_gripper=0.9953 right_j0=0.4164 right_j1=2.2009 right_j2=1.5917 right_j3=-0.7662 right_j4=0.0605 right_j5=0.3931 right_gripper=0.9956\nstate[joint_eff]: [0.4991, -3.1521, 2.5368, 0.8327, 0.4957, 0.0024, -0.1245, 0.4444, -3.6308, 2.7419, 0.7839, -0.5739, 0.1441, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 356):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:cdae39a31dad55bf8de19287b187ec4d8b2d27bd265118b808e386fc73cd7fd1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cdae39a31dad
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 356):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e07c5e1c6452526c36ed3239bd911b9c77221497e98aa889ba4e3b2b7816b755",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e07c5e1c6452
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 356):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1a3ed5d71f8c302ba0de0f82230110716fc0453d3a98abb732f01d11843b349c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1a3ed5d71f8c
call 35 attempt 0 · /interactions · status 200 · 19.56 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_4893",
  "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=-0.4137 left_j1=2.2013 left_j2=1.597 left_j3=-0.7486 left_j4=-0.0677 left_j5=-0.4198 left_gripper=0.0158 right_j0=0.4133 right_j1=2.2021 right_j2=1.5932 right_j3=-0.7547 right_j4=0.0517 right_j5=0.4046 right_gripper=0.011\nstate[joint_eff]: [-0.7043, -4.0957, 2.2085, 0.6667, 0.5885, 0.0024, 0.7106, 0.4991, -3.8906, 2.7145, 0.7253, -0.5104, 0.1245, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 366):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:0bed460f95f23b606ea075e90b9923c4bc6f41fb95b16c2030ff33f8d1ef6366",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0bed460f95f2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 366):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f71978fbc5823109e5b666ecb1c1047002c8e0a0949c33537f69553549a3596d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f71978fbc582
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 366):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2bf30c8711a08abe1b260867f7252fd32f6b249bc8edaea23f70f9a7d164141b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2bf30c8711a0
call 36 attempt 0 · /interactions · status 200 · 20.48 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_500266",
  "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=-0.4175 left_j1=1.2358 left_j2=1.0138 left_j3=-0.3534 left_j4=-0.0124 left_j5=-0.4202 left_gripper=0.015 right_j0=0.4164 right_j1=1.2331 right_j2=1.0138 right_j3=-0.3595 right_j4=0.0017 right_j5=0.4049 right_gripper=0.0095\nstate[joint_eff]: [-0.4034, -5.5863, 7.1863, 2.0293, 0.0366, -0.0269, 1.033, 0.1709, -5.4085, 6.7897, 2.1807, -0.0122, 0.1392, 0.989]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 382):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:fd973738f58dd1e17dcd50e5027a717e3f226919947ed802297bce368de53d1c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fd973738f58d
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 382):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a59269797caa2411653582f80df3fc3d60c34b535aadd09cdb3b4e0fb81ef708",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a59269797caa
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 382):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d080331c27cb73d49b651154f985ee721f0da3dc9f791ae50b389e737e52237e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d080331c27cb
call 37 attempt 0 · /interactions · status 200 · 23.72 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_4787",
  "name": "move_joints",
  "result": "executing move_joints over 15 steps (1.5s)",
  "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=-0.4084 left_j1=2.0941 left_j2=1.4433 left_j3=-0.6838 left_j4=-0.0154 left_j5=-0.4126 left_gripper=0.9966 right_j0=0.4049 right_j1=2.1017 right_j2=1.4467 right_j3=-0.6785 right_j4=0.0067 right_j5=0.3935 right_gripper=0.9971\nstate[joint_eff]: [0.3761, -6.8171, 5.2991, 1.0134, 0.1734, 0.0855, -0.1245, -0.3624, -7.3641, 5.1077, 0.9402, -0.1636, 0.0366, -0.1197]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 397):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8b426581682c8550859f4be56cb7df11d4b31f239d47848ea32e38b12a10b2b0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8b426581682c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 397):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:02838cb10699d8ee518ce4cb056f1de38369c81e4c5133704b1504cfff87a9fa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 02838cb10699
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 397):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:70b675bc5284579a0e69103f3efd3a027fb664921cdfbd433aefe6fc32ee6bb3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 70b675bc5284
call 38 attempt 0 · /interactions · status 200 · 17.51 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_234607",
  "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=-0.4091 left_j1=2.1509 left_j2=1.5261 left_j3=-0.7555 left_j4=-0.036 left_j5=-0.4137 left_gripper=0.9981 right_j0=0.408 right_j1=2.1532 right_j2=1.5242 right_j3=-0.7536 right_j4=0.0219 right_j5=0.3935 right_gripper=0.9988\nstate[joint_eff]: [0.4034, -3.6308, 2.9333, 1.1013, 0.3883, 0.0855, -0.2076, -0.5538, -3.8085, 2.9197, 1.0916, -0.3541, 0.0464, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 400):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c4b19d45d0b2b0da4502f405715d8acfbcf9bc1596b22dfdb35e933439dcfdad",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c4b19d45d0b2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 400):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a5f0cc1a6051361ef994552763d8c78814d5493055478f0b2a6e415fbe04f975",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a5f0cc1a6051
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 400):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e5ba35086542f57438489661e29d392d2b035281c1ed8c11aa1e5168d9bdfb1c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e5ba35086542
call 39 attempt 0 · /interactions · status 200 · 20.15 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_11873",
  "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=-0.3969 left_j1=2.1612 left_j2=1.5372 left_j3=-0.7544 left_j4=-0.0525 left_j5=-0.4114 left_gripper=0.0151 right_j0=0.4091 right_j1=2.1632 right_j2=1.5341 right_j3=-0.7303 right_j4=-0.0315 right_j5=0.3935 right_gripper=0.0109\nstate[joint_eff]: [-0.6085, -4.1915, 2.9744, 0.7253, 0.4371, 0.0659, 0.6325, -0.4855, -4.4376, 3.0564, 0.4469, 0.315, 0.0317, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 410):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:cdc21e1e637272af504474080adad6430eacc4494782e00bf61622474f9b0d7d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cdc21e1e6372
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 410):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c75d7b7dfcf43d31bb89c9db1cd11abb63d0701050ddb8693f874f1a18dfc014",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c75d7b7dfcf4
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 410):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fa18f9d155080cc8e3176312e5f51e2abd8c334cdadc768bf9b4a2bba088ed0e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fa18f9d15508
call 40 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_5363",
  "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=-0.4122 left_j1=2.196 left_j2=1.5967 left_j3=-0.7471 left_j4=-0.0303 left_j5=-0.4141 left_gripper=0.9949 right_j0=0.408 right_j1=2.1639 right_j2=1.5349 right_j3=-0.7307 right_j4=-0.0307 right_j5=0.3931 right_gripper=0.0081\nstate[joint_eff]: [0.7453, -3.0974, 2.4547, 0.6716, 0.2564, 0.1001, -0.1441, -0.4581, -4.5744, 2.9197, 0.525, 0.2515, 0.0317, 0.8474]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 420):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c0272bc5126000abe984c9012db43b7851ea08894c2528b8d2081ae2e7b60b90",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c0272bc51260
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 420):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e65f42a9490bbe427dfe8a616b6c6ac9951b65d08c71ed15bac83999457034de",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e65f42a9490b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 420):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0ad44b37fe373f956e25dd27f0f869a58a159cda71f310d8faa0ef9cb9a6dac0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0ad44b37fe37
call 41 attempt 0 · /interactions · status 200 · 22.27 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_71873",
  "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=-0.3939 left_j1=2.2028 left_j2=1.599 left_j3=-0.7452 left_j4=-0.0528 left_j5=-0.408 left_gripper=0.0158 right_j0=0.4076 right_j1=2.1639 right_j2=1.536 right_j3=-0.7319 right_j4=-0.0315 right_j5=0.3931 right_gripper=0.0081\nstate[joint_eff]: [-0.3077, -4.041, 2.0308, 0.6764, 0.4811, 0.0464, 0.696, -0.6906, -4.7521, 2.9197, 0.5006, 0.2759, 0.0366, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 430):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3b101c2148c0b23f9f5d3171332123d7a8a2b536f6d16ce02e4905d7d71da04e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3b101c2148c0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 430):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:48574e02817f3a39592d28507dc53b392e7c523237e216747d0c5416860fe6e4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48574e02817f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 430):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8c820727deb58bb98b855a34d0541cf1efd4b82555265bc5a4840cc110575f47",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8c820727deb5
call 42 attempt 0 · /interactions · status 200 · 19.46 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_1370",
  "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=-0.3969 left_j1=1.8454 left_j2=1.4155 left_j3=-0.5652 left_j4=-0.0135 left_j5=-0.4126 left_gripper=0.015 right_j0=0.403 right_j1=1.8404 right_j2=1.4109 right_j3=-0.5667 right_j4=-0.0158 right_j5=0.3931 right_gripper=0.0081\nstate[joint_eff]: [-0.4308, -11.5761, 6.0239, 1.5897, 0.0757, 0.0855, 1.033, -0.4034, -11.3026, 5.9829, 1.7411, 0.0562, 0.0464, 0.8425]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 437):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ae63c0a9260818e5b97f04d29092119a96b6251ce568f18ec0bdf8d7c46a793d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ae63c0a92608
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 437):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6f7f29e125f3358f0d87d0ceb6f046f9973f4cab6e89021bf5a60759347793da",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6f7f29e125f3
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 437):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:242a4cb84a0369146c1f7691a352db218a019977fc3987306600a41f11da21e7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 242a4cb84a03
call 43 attempt 0 · /interactions · status 200 · 17.68 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_349056",
  "name": "move_joints",
  "result": "executing move_joints over 8 steps (0.8s)",
  "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=-0.3973 left_j1=2.2139 left_j2=1.6127 left_j3=-0.691 left_j4=-0.0074 left_j5=-0.4164 left_gripper=0.015 right_j0=0.4019 right_j1=2.2154 right_j2=1.6127 right_j3=-0.6979 right_j4=-0.0151 right_j5=0.3931 right_gripper=0.0081\nstate[joint_eff]: [-0.3624, -5.559, 3.9726, 0.9255, 0.0464, 0.1197, 1.033, -0.3487, -5.3949, 4.2872, 0.9499, 0.1294, 0.0122, 0.8425]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 445):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:64a7c7e3e9110c4b83746a06b9cad36ec4d6b42bc0e6ac604d0a1767eca6e252",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 64a7c7e3e911
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 445):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5a09502e0031f4a9d0b8493d3eaa66dfabc31558dfe11005e1a39bc7522e8714",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5a09502e0031
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 445):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5a4b5e79ff4506c182dddf0195dab7134e29a096075a9055e3fdafa8f7ff12b7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5a4b5e79ff45
call 44 attempt 0 · /interactions · status 200 · 20.76 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_171486",
  "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=-0.3973 left_j1=2.4004 left_j2=1.8748 left_j3=-0.7372 left_j4=-0.0074 left_j5=-0.4187 left_gripper=0.015 right_j0=0.4019 right_j1=2.3962 right_j2=1.8763 right_j3=-0.7574 right_j4=-0.0265 right_j5=0.3927 right_gripper=0.0081\nstate[joint_eff]: [-0.4444, 2.2085, -0.5812, 0.652, 0.0757, 0.1587, 1.0281, -0.1983, 2.5504, -0.6496, 0.8181, 0.2076, 0.0366, 0.8474]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 452):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:88b255b76646a4a49c7ae7ee05a34586c1bac49f8b6d1c071daa5acf07e1d82d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 88b255b76646
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 452):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b31ff8f0514f4cb516cb6d8e5cbfe6e2aa61c34ad1a74ba6255651a121c5f57c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b31ff8f0514f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 452):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9853dd0d2a2fd5aaf86c3bd8cb914a97933d6800e04cf88ed9b6aee0bc972991",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9853dd0d2a2f
call 45 attempt 0 · /interactions · status 200 · 20.36 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_18307",
  "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=-0.4088 left_j1=2.3562 left_j2=1.8523 left_j3=-0.6643 left_j4=-0.0051 left_j5=-0.4046 left_gripper=0.9945 right_j0=0.4088 right_j1=2.3596 right_j2=1.8496 right_j3=-0.6548 right_j4=-0.0074 right_j5=0.3817 right_gripper=0.9953\nstate[joint_eff]: [0.7726, -9.812, 2.4274, 0.1587, 0.0317, 0.0171, -0.2466, -0.8274, -10.2769, 2.4821, 0.0708, 0.0269, 0.1197, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 462):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a0da15880d366be34a1254a7979b45161f2ae09db364f93b05e3caad80f0113e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a0da15880d36
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 462):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:ef880e1f86d4340c90c153ae847a94e1da1a0ae2956e8ba95dcebaaeac12c77b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ef880e1f86d4
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 462):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1198bb5c6cb20e644ca2bf64909f370c8dc0f17849534beec35564d4b0d29eab",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1198bb5c6cb2
call 46 attempt 0 · /interactions · status 200 · 21.91 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_4635",
  "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=-0.2066 left_j1=0.6182 left_j2=1.2072 left_j3=-0.622 left_j4=-0.0067 left_j5=-0.0303 left_gripper=0.9981 right_j0=0.205 right_j1=0.6205 right_j2=1.2064 right_j3=-0.6228 right_j4=-0.0044 right_j5=0.0158 right_gripper=0.9988\nstate[joint_eff]: [0.6769, 2.3316, 5.3402, 2.1172, 0.0855, 0.1343, -0.2076, -0.759, 2.0581, 5.5043, 2.0977, 0.0122, -0.1343, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 491):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:de1bb5665e82f9749da6e99afac5b33f30678c76ade10bbbf463490f455e00a9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob de1bb5665e82
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 491):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c7453b09a9ae439bcc885a3ced308910e12cbf5fab51f8c71e86c7d76c82047c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c7453b09a9ae
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 491):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:848fae844c7c30c98a4892848d9476672bbd259fb68dc6173d1b817ae4fd2191",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 848fae844c7c
call 47 attempt 0 · /interactions · status 200 · 21.65 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_4649",
  "name": "move_joints",
  "result": "executing move_joints over 24 steps (2.4s)",
  "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=-0.2974 left_j1=2.0632 left_j2=1.3941 left_j3=-0.7029 left_j4=-0.0231 left_j5=-0.2859 left_gripper=0.9981 right_j0=0.2985 right_j1=2.0678 right_j2=1.3941 right_j3=-0.6987 right_j4=0.0093 right_j5=0.2737 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -7.4188, 5.8735, 0.7448, 0.398, -0.0611, -0.2027, -0.0205, -7.9932, 5.641, 0.8962, -0.2418, 0.1245, -0.1294]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 515):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c9f7c6b7496eda05b9cb52294a862c3f2e29fbcd1e018f686dc80ddcac659785",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c9f7c6b7496e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 515):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:7d34350ceab866cf247a5f5e0ccbb2777f237546f2960ff8810ac57cd00d538f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7d34350ceab8
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 515):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:58acb37b7ddd777c799d24614da1ca75df86f9f47d7b12f5450196a993b0b833",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 58acb37b7ddd
call 48 attempt 0 · /interactions · status 200 · 21.39 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_227420",
  "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=-0.3527 left_j1=2.1849 left_j2=1.5726 left_j3=-0.7708 left_j4=-0.0563 left_j5=-0.358 left_gripper=0.9981 right_j0=0.3607 right_j1=2.1902 right_j2=1.5745 right_j3=-0.7628 right_j4=0.0521 right_j5=0.334 right_gripper=0.9988\nstate[joint_eff]: [-1.7709, -2.947, 2.7009, 0.9304, 0.5592, -0.0171, -0.2076, 0.9915, -3.2479, 2.6462, 0.7985, -0.6081, 0.2564, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 519):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:353b5fa095b45f9c8a635806c28f53824e343ba4e9ed735677373125fddb32c9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 353b5fa095b4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 519):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6a54e8705a3b4c2083bc6976c1de0e0de60c5100d83c2e44db036688c82a6cce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6a54e8705a3b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 519):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e435611b2865b90754ede47acc8130cedee084cdc24cd2c7978879f2330a6107",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e435611b2865
call 49 attempt 0 · /interactions · status 200 · 20.94 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_3154",
  "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=-0.3706 left_j1=2.225 left_j2=1.6367 left_j3=-0.7898 left_j4=-0.0639 left_j5=-0.3908 left_gripper=0.9981 right_j0=0.3767 right_j1=2.2276 right_j2=1.6341 right_j3=-0.7864 right_j4=0.0544 right_j5=0.3618 right_gripper=0.9988\nstate[joint_eff]: [-2.2906, -2.1675, 2.4274, 1.0379, 0.569, -0.0464, -0.2076, 1.7983, -2.4137, 2.5641, 1.0818, -0.5592, 0.3004, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 522):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5fc7e7837ad7b2160e474bcc33f2196a278288e3509cd6dc82e270a2bf2af200",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5fc7e7837ad7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 522):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b24499170ecc2708b659482059f708c081d7c2453c0b89729eff07539942d326",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b24499170ecc
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 522):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2dd92c39f5b5d9da32b2330914d69e49f17a5376a22321bb3abc61930a106644",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2dd92c39f5b5
call 50 attempt 0 · /interactions · status 200 · 23.71 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_310187",
  "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=-0.3744 left_j1=2.2818 left_j2=1.7123 left_j3=-0.8268 left_j4=-0.062 left_j5=-0.392 left_gripper=0.9981 right_j0=0.3748 right_j1=2.2822 right_j2=1.7119 right_j3=-0.831 right_j4=0.0513 right_j5=0.3668 right_gripper=0.9988\nstate[joint_eff]: [0.335, 1.1009, 0.6906, 1.4725, 0.569, 0.1929, -0.2125, -0.6769, 1.0325, 0.7726, 1.5507, -0.5299, -0.0269, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 526):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:063f50d905b22049d3d7b37ae0b1b629b421f31f8156692513895b43802aa94c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 063f50d905b2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 526):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:15754f42de8b5eb698019a42253b9777f34905cc5d1fcc6f8f66ee51e2924b7e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 15754f42de8b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 526):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:988771075bf9309148ad5b90e8e5dd0377bd7345baee233801c514016f035b1e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 988771075bf9
call 51 attempt 0 · /interactions · status 200 · 12.24 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_8729",
  "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=-0.4274 left_j1=2.2234 left_j2=1.626 left_j3=-0.741 left_j4=-0.094 left_j5=-0.4423 left_gripper=0.9981 right_j0=0.4328 right_j1=2.2246 right_j2=1.6238 right_j3=-0.7441 right_j4=0.0803 right_j5=0.4248 right_gripper=0.9989\nstate[joint_eff]: [-3.2479, -5.3949, 1.0598, 0.0464, 1.072, -0.1245, -0.2125, 2.4684, -5.5316, 1.1419, 0.0757, -0.8962, 0.2173, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 529):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ca7fd185a02404da6eadbc3b10519abf50e8e09e8a7502212f82d21c052a5660",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ca7fd185a024
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 529):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6c8f538de687bf51a595859db5b6498c48161fef02aacb249ddce854ca13aa76",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6c8f538de687
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 529):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7b0c36b115c02d62651d25fd7fcc2f56f16794f32d05583acc4466c7411fb098",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7b0c36b115c0
call 52 attempt 0 · /interactions · status 200 · 23.7 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_176717",
  "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=-0.4515 left_j1=2.2848 left_j2=1.71 left_j3=-0.786 left_j4=-0.0929 left_j5=-0.4644 left_gripper=0.9981 right_j0=0.4522 right_j1=2.286 right_j2=1.7115 right_j3=-0.7807 right_j4=0.0818 right_j5=0.4377 right_gripper=0.9988\nstate[joint_eff]: [-0.212, 0.7453, 0.8, 1.1893, 0.8327, 0.0855, -0.2125, -0.4308, 0.6359, 0.6769, 1.2234, -0.8083, 0.0757, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 533):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c485c471226894598bbca39e5c54d863c1ce24140a2e1a8d6e36f165418375c1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c485c4712268
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 533):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3435103094f363020ddf15582045db8d16df1c557cf0011079d1feda06804720",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3435103094f3
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 533):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2ae2c1c692c52eb28c17908ddb193ea66645409d718a50f8579efd32c26874d6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2ae2c1c692c5
call 53 attempt 0 · /interactions · status 200 · 23 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_173216",
  "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=-0.4446 left_j1=2.2921 left_j2=1.7237 left_j3=-0.7483 left_j4=-0.0998 left_j5=-0.4606 left_gripper=0.014 right_j0=0.4454 right_j1=2.2936 right_j2=1.7241 right_j3=-0.7563 right_j4=0.0673 right_j5=0.4374 right_gripper=0.0115\nstate[joint_eff]: [-0.2667, 0.1026, 0.4991, 0.7448, 0.8816, 0.0806, 0.6716, 0.3077, 0.2667, 0.5128, 0.7985, -0.6422, 0.0952, 0.9744]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 543):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4ac9d189488cbf8e0c2a8cc8d5e5f9ec58d06b3b95334e54813b565d71c31706",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4ac9d189488c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 543):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dfe9e8084e34d3552337da508d05908e3f8fb7aa75d133218644ecb476f9ff7c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dfe9e8084e34
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 543):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e4b13431afe23de2f327af18c6642417315b373d33ebdb97fdb13be937e5c708",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e4b13431afe2
call 54 attempt 0 · /interactions · status 200 · 24.92 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_21484",
  "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=-0.5236 left_j1=2.3024 left_j2=1.7317 left_j3=-0.6834 left_j4=-0.1104 left_j5=-0.503 left_gripper=0.9951 right_j0=0.4412 right_j1=2.2292 right_j2=1.615 right_j3=-0.6445 right_j4=0.0505 right_j5=0.4377 right_gripper=0.0094\nstate[joint_eff]: [0.4581, -0.7726, -0.4034, 0.2125, 1.1502, -0.1538, -0.0806, 0.3897, -6.4205, 0.8821, -0.2711, -0.5153, 0.1001, 0.9841]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 553):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c30f75b6eaca0a3eff06d1316a717ee21a79c737642db1a76c4e328ccba429ed",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c30f75b6eaca
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 553):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6fce9ee5555b66fbe45417be7c48b0a708c8890d94abdcba51f039e4913654df",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6fce9ee5555b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 553):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:24f6d2982ae7adbd0860f0ed2d464e5aa85ec1a6195e856c97a400fd5bd0026f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 24f6d2982ae7
call 55 attempt 0 · /interactions · status 504 · 7.455 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_12270",
  "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=-0.5114 left_j1=2.3032 left_j2=1.7279 left_j3=-0.6674 left_j4=-0.1158 left_j5=-0.5179 left_gripper=0.0232 right_j0=0.4412 right_j1=2.2234 right_j2=1.6058 right_j3=-0.635 right_j4=0.0479 right_j5=0.4377 right_gripper=0.0088\nstate[joint_eff]: [-0.7043, -1.0735, 0.0479, 0.0806, 0.9499, -0.0464, 0.9744, 0.4991, -6.1744, 1.4701, -0.2857, -0.486, 0.0659, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 563):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:cb9ad9e9c1f756691cdb0ab28c385bbc8d30b49239ba6ccb12dfbc9702b5df17",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cb9ad9e9c1f7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 563):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a973441a9838e4a08c7775598be631473c8117ac7bdc5fb1654850a7ba8a40e6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a973441a9838
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 563):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7194b30b6ae24c1a97c95e2d8a542d03ec99972b4e545da445b6e94307a9e1de",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7194b30b6ae2
call 55 attempt 1 · /interactions · status 200 · 21.03 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 56 attempt 0 · /interactions · status 200 · 23.07 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_12499",
  "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=-0.5041 left_j1=1.8488 left_j2=1.4155 left_j3=-0.54 left_j4=-0.0193 left_j5=-0.5171 left_gripper=0.0272 right_j0=0.4488 right_j1=1.8397 right_j2=1.4094 right_j3=-0.54 right_j4=0.0044 right_j5=0.4377 right_gripper=0.0087\nstate[joint_eff]: [-0.0342, -12.0957, 6.3385, 1.6777, 0.0415, 0.1197, 1.0281, -0.0205, -11.3983, 6.2564, 1.6142, -0.0122, 0.0904, 0.9158]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 572):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:55f1dd6d237804c248b8a95a632a8d3bd4e1caf921728e8614bbc9e977b23e85",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 55f1dd6d2378
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 572):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9a66847aaf230f3520b69653c7d8a2460fe0a637a6dbcd10e8e47b8d3d4c9904",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9a66847aaf23
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 572):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:909bafa4e9fb4f60f8908527a92586a463a723f8201e0de8e25c98322ca26eab",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 909bafa4e9fb
call 57 attempt 0 · /interactions · status 200 · 21.85 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_823",
  "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=-0.5014 left_j1=2.2871 left_j2=1.7294 left_j3=-0.7212 left_j4=-0.0063 left_j5=-0.5213 left_gripper=0.0272 right_j0=0.4488 right_j1=2.2856 right_j2=1.7279 right_j3=-0.7357 right_j4=-0.0048 right_j5=0.4377 right_gripper=0.0087\nstate[joint_eff]: [0.1846, -3.9863, 2.5915, 0.6276, 0.0317, 0.1734, 1.0281, -0.1846, -3.8632, 2.6598, 0.8474, 0.0122, 0.0952, 0.9158]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 581):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ddf326af8893d4ee7b6850c0867e8c2355fe0a1053739a20fafad63eb3fe7563",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ddf326af8893
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 581):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:370d1db030e76ee670feaaec3922da153798aa424aec98022f44128b65282015",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 370d1db030e7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 581):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:63d2562670fba89aba2a5597225f9d4bec7392ad14b22179c200d68114ac53d4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 63d2562670fb
call 58 attempt 0 · /interactions · status 200 · 21.63 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_879572",
  "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=-0.5125 left_j1=2.2932 left_j2=1.7535 left_j3=-0.6807 left_j4=0.0074 left_j5=-0.5125 left_gripper=0.9939 right_j0=0.4644 right_j1=2.2932 right_j2=1.7485 right_j3=-0.6823 right_j4=-0.0082 right_j5=0.4309 right_gripper=0.9949\nstate[joint_eff]: [1.2239, -4.3966, 2.0308, 0.2222, -0.0708, 0.1001, -0.2613, -1.4838, -3.9316, 2.6188, 0.2418, 0.0366, 0.1734, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 591):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6fda1fcaceb31c69da4b5e6511afb51539d06651d4c05295d77d29dbd1a2d2d6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6fda1fcaceb3
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 591):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9ab23cf951beadfa684bafc0740ae81f21fc33593e2ea8faab4a1583665fb02a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9ab23cf951be
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 591):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1c631a6b400948d89a4509e6d6ba991fc50317243409cfa2ffbe87681642f0a9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1c631a6b4009
call 59 attempt 0 · /interactions · status 200 · 25.54 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_267823",
  "name": "move_joints",
  "result": "executing move_joints over 27 steps (2.7s)",
  "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=-0.207 left_j1=0.6189 left_j2=1.2057 left_j3=-0.625 left_j4=-0.0063 left_j5=-0.0395 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6205 right_j2=1.206 right_j3=-0.6266 right_j4=-0.0048 right_j5=0.0177 right_gripper=0.9988\nstate[joint_eff]: [0.5812, 2.2906, 5.3812, 2.1807, 0.0611, 0.2808, -0.2076, -0.4171, 2.2085, 5.3675, 2.1172, 0.0122, -0.0317, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 618):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3e4ec6205cd86acc1f30c51175036509b1ff91ee2a534093de3288f26e872667",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3e4ec6205cd8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 618):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c81ccb11c652f227a199ed2ddd247fd0405f6b5c7b27b2cb0f39a76534573557",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c81ccb11c652
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 618):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e951297dde7f996d041f95eb7e7c3ad069f047dfcc0b94dfafb0c93095288185",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e951297dde7f
call 60 attempt 0 · /interactions · status 200 · 25.87 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_492",
  "name": "move_joints",
  "result": "executing move_joints over 26 steps (2.6s)",
  "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=-0.4149 left_j1=2.1529 left_j2=1.5253 left_j3=-0.7757 left_j4=-0.0513 left_j5=-0.4061 left_gripper=0.9982 right_j0=0.4171 right_j1=2.1548 right_j2=1.5242 right_j3=-0.7708 right_j4=0.0311 right_j5=0.3866 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -3.5487, 3.3709, 1.0623, 0.7643, -0.0464, -0.2027, 0.3897, -3.5077, 3.4393, 0.8767, -0.2955, 0.3101, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 644):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7f956d45a2d994ac2a2d864987d18f01b407f44d8fe2d31323ef1d453928e86a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7f956d45a2d9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 644):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:9151d887852d8fc5d7a19446292176705df445ab9e923bf412a58df4212950f1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9151d887852d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 644):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f2285a17930871d707594210eddea40ea74588fef8607bec2a9bc38be72388ff",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f2285a179308
call 61 attempt 0 · /interactions · status null · 163.1 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_278741",
  "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=-0.4168 left_j1=2.188 left_j2=1.5818 left_j3=-0.8078 left_j4=-0.0532 left_j5=-0.4198 left_gripper=0.9981 right_j0=0.4171 right_j1=2.1612 right_j2=1.5352 right_j3=-0.7799 right_j4=0.0307 right_j5=0.3981 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -2.7556, 2.7145, 1.2039, 0.4664, -0.0513, -0.2076, 0.1299, -4.4239, 2.8376, 0.9011, -0.3346, 0.1832, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 647):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:23a8fa98aa3c4f2a496c15c48ed170c96c92fa46158346851a9611c0fc0ee708",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 23a8fa98aa3c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 647):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f0747439953da89c65c028d73f45139a87717160239e16ba8b8f56083a2f4231",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f0747439953d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 647):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:489d4b5169dcf722de87659f62531c8b6f251bca2c26e86117995eb9039c2563",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 489d4b5169dc
call 61 attempt 1 · /interactions · status 200 · 35.27 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 62 attempt 0 · /interactions · status 200 · 24.66 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_3728",
  "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=-0.4171 left_j1=2.2791 left_j2=1.7096 left_j3=-0.8543 left_j4=-0.054 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4171 right_j1=2.162 right_j2=1.536 right_j3=-0.7795 right_j4=0.0315 right_j5=0.3988 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, 1.3333, 0.6769, 1.6435, 0.4518, -0.0464, -0.2076, 0.1983, -4.2598, 2.7829, 0.8962, -0.3443, 0.1636, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 652):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c28157ac2cc222dfe6577cdbd4660d8a4f0f59e5d127e57629af314af55ae4dd",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c28157ac2cc2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 652):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:74c4b373d3c3ece3d22612d185885e5ced0270e8aedd7f3ff510ec03bdec979c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 74c4b373d3c3
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 652):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2267752c634cd88ac00985023f3f6e8edc3f00b93e7a48466054a1c1fad09b44",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2267752c634c
call 63 attempt 0 · /interactions · status 200 · 26.05 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_6516",
  "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=-0.4137 left_j1=2.2913 left_j2=1.7233 left_j3=-0.7807 left_j4=-0.0742 left_j5=-0.4202 left_gripper=0.0149 right_j0=0.4236 right_j1=2.1647 right_j2=1.5391 right_j3=-0.7464 right_j4=-0.0235 right_j5=0.4091 right_gripper=0.0111\nstate[joint_eff]: [-0.4034, 0.3761, 0.1983, 1.0379, 0.6276, -0.022, 0.6422, -0.2803, -4.5744, 2.8923, 0.6471, 0.1929, 0.0708, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 662):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:db2b113585d70f18faee4e719b3a2d2534f01ceaa13d0a987076ede32e4ee2b5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob db2b113585d7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 662):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fdf3c7cf2f5ec0d3f264e1016ff67d9f3f69686ec5179bab36282ff2edd628e2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fdf3c7cf2f5e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 662):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:eca49dff7148383ef649cee92be0b6efbbefde94de001fc9767096ae1d3bc32d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eca49dff7148
call 64 attempt 0 · /interactions · status 200 · 39.11 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_622851",
  "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=-0.4156 left_j1=2.0602 left_j2=1.515 left_j3=-0.6582 left_j4=-0.0216 left_j5=-0.4202 left_gripper=0.0142 right_j0=0.4225 right_j1=2.0464 right_j2=1.5051 right_j3=-0.6617 right_j4=-0.0158 right_j5=0.4088 right_gripper=0.0081\nstate[joint_eff]: [-0.6906, -13.6274, 5.9829, 1.2869, 0.0464, -0.0415, 1.033, -0.3487, -13.1897, 5.6821, 1.0281, 0.1001, 0.0708, 0.8425]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 667):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:eadb0dba6fdd6379f771d2d1dc1946ca80481e43a0563101d0bafea11bd2ba99",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eadb0dba6fdd
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 667):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:24158ba8b5d1600efc1a023990fb8558d31a31c9ad71510ccb128672f16ee856",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 24158ba8b5d1
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 667):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c2fb329f4de1d05570d2a872fcb86846a8485029ffc805a871309f3b72dbb870",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c2fb329f4de1
call 65 attempt 0 · /interactions · status 200 · 25.72 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_5991",
  "name": "move_joints",
  "result": "executing move_joints over 8 steps (0.8s)",
  "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=-0.4168 left_j1=2.3386 left_j2=1.8069 left_j3=-0.73 left_j4=-0.0071 left_j5=-0.4278 left_gripper=0.0135 right_j0=0.4191 right_j1=2.3398 right_j2=1.8057 right_j3=-0.7448 right_j4=-0.0166 right_j5=0.4084 right_gripper=0.0076\nstate[joint_eff]: [-0.4171, -0.3624, 0.8547, 0.5934, 0.0122, 0.0024, 1.033, -0.0068, -0.4444, 0.7863, 0.7009, 0.0855, 0.0513, 0.7985]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 675):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b31f2e6afa880b707ab9c414bf7f9a76d451154c2c8b092fe91f24ab85cae749",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b31f2e6afa88
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 675):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:7f88b082af9443700f17ebf6e5f26bdc2b9f56f15464609fe1b598ff7dd75bbb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7f88b082af94
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 675):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:044c56be6dad1acd6bf45b86be3014870e52ca5b21534602947417245203bade",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 044c56be6dad
call 66 attempt 0 · /interactions · status 200 · 30.7 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_3038",
  "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=-0.4309 left_j1=2.3299 left_j2=1.8095 left_j3=-0.6708 left_j4=-0.0044 left_j5=-0.4194 left_gripper=0.9945 right_j0=0.4313 right_j1=2.3314 right_j2=1.8069 right_j3=-0.6704 right_j4=-0.0128 right_j5=0.3981 right_gripper=0.9951\nstate[joint_eff]: [0.6496, -7.706, 1.5111, 0.149, -0.0122, -0.0562, -0.2466, -1.1556, -7.6239, 1.6342, 0.1734, 0.0464, 0.1832, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 685):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d643076ad1283455cbffe87aacffb6de594da1062a608ff9f509114d5c696eb3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d643076ad128
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 685):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e2d4382dc0ce70cc6abf3110d49d5c51b91c75a9f5044a795a13e2a05826540f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e2d4382dc0ce
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 685):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:aeae1b72d9b8b408a83557d159e78b739bd920720a278694d9ac6fb4655748fa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aeae1b72d9b8
call 67 attempt 0 · /interactions · status 200 · 34.32 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_170737",
  "name": "move_joints",
  "result": "executing move_joints over 28 steps (2.8s)",
  "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=-0.2085 left_j1=0.6212 left_j2=1.2079 left_j3=-0.6239 left_j4=-0.0063 left_j5=-0.0341 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6209 right_j2=1.2068 right_j3=-0.6243 right_j4=-0.0051 right_j5=0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.6906, 2.1128, 5.3812, 2.1709, 0.0562, 0.1392, -0.2076, -0.4581, 2.0581, 5.4632, 2.1563, 0.0562, -0.0269, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 713):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:269af36d59996584d36fdc419408510f6096d7d1403a2d9ca221c94cc4af2e8c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 269af36d5999
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 713):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c6f1441c02da243bca1d5131b9a93852276a611cd15e4cd118bb0600eabb4027",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c6f1441c02da
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 713):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1308b09e955bb1ed82ff2c750712e6ca04d557abe0c209c641b1f9db1a40231d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1308b09e955b
call 68 attempt 0 · /interactions · status 200 · 39.84 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_4379",
  "name": "move_joints",
  "result": "executing move_joints over 26 steps (2.6s)",
  "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=-0.4427 left_j1=2.1525 left_j2=1.5249 left_j3=-0.7742 left_j4=-0.0532 left_j5=-0.432 left_gripper=0.9982 right_j0=0.4492 right_j1=2.1551 right_j2=1.5234 right_j3=-0.7727 right_j4=0.0441 right_j5=0.4156 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.6171, 3.4803, 1.1111, 0.8425, -0.0611, -0.2027, -0.1162, -3.6991, 3.494, 1.0427, -0.8816, 0.1929, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 739):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3fe175304c9c5ac6d8c09654aa23afd840db75718c4f54d000666a77e7616a3f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3fe175304c9c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 739):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3e9b55d01460d8ad5c0532561f142716479bde7c1a7dc7a1c69654c5d32910e3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3e9b55d01460
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 739):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5162e812822c5ec3b42bb75c3efbf4f5d9162e74978520234a031a3a54b0a90c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5162e812822c
call 69 attempt 0 · /interactions · status 200 · 18.34 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_51850",
  "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=-0.4465 left_j1=2.2791 left_j2=1.7073 left_j3=-0.836 left_j4=-0.0654 left_j5=-0.4503 left_gripper=0.9981 right_j0=0.4526 right_j1=2.2795 right_j2=1.7077 right_j3=-0.8318 right_j4=0.0597 right_j5=0.4305 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, 0.9504, 0.3761, 1.4237, 0.6569, -0.0122, -0.2076, -0.3487, 0.9504, 0.5265, 1.3748, -0.5836, 0.1929, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 744):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:cbaad501dae9a3ed6515f11d5ed3cb60d79b5823924757e44bf17effa1f61e64",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cbaad501dae9
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 744):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:8a72424ff117a6fc97bef858a583e4b8256c456dda8b125057ed5b75b4a93392",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8a72424ff117
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 744):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:47b4e60b108ddfe946662780d8d3caef5543d51d508a956ad77c94c903ffbf50",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 47b4e60b108d
call 70 attempt 0 · /interactions · status 504 · 5.742 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_32103",
  "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=-0.445 left_j1=2.2921 left_j2=1.7233 left_j3=-0.7765 left_j4=-0.086 left_j5=-0.4538 left_gripper=0.0139 right_j0=0.4458 right_j1=2.2929 right_j2=1.7233 right_j3=-0.7822 right_j4=0.0593 right_j5=0.4374 right_gripper=0.0113\nstate[joint_eff]: [-0.759, 0.3487, 0.0342, 0.9646, 0.7546, 0.0122, 0.9304, 0.3077, 0.3077, 0.294, 0.9939, -0.5641, 0.0806, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 754):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b531e517bfd4f5fc31e26f89b6a14963999ca50b2625e4f1958d85f861ced02b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b531e517bfd4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 754):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d2a31cb2443f0f8247c4f221537b260b1080f384d8dac4034335791df68dcbeb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d2a31cb2443f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 754):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7df2ef6863c0b313e6a2d27f0b8cb7acbdc72a2338269dfc2cf9f0fb5bf7ae53",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7df2ef6863c0
call 70 attempt 1 · /interactions · status 200 · 18.88 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 71 attempt 0 · /interactions · status 200 · 15.66 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_15466",
  "name": "move_joints",
  "result": "executing move_joints over 12 steps (1.2s)",
  "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=-0.4477 left_j1=1.6455 left_j2=1.2156 left_j3=-0.4561 left_j4=-0.0128 left_j5=-0.4538 left_gripper=0.0142 right_j0=0.4484 right_j1=1.6379 right_j2=1.2144 right_j3=-0.4572 right_j4=0.0048 right_j5=0.4381 right_gripper=0.0088\nstate[joint_eff]: [-0.2803, -9.6752, 6.8171, 1.746, 0.0122, -0.0024, 1.033, 0.3214, -9.3607, 6.9675, 1.8046, -0.0366, 0.1001, 0.9206]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 766):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d55bdcc2519bdc408cf100e752c9c96752c700a932645ffa0bccead7ca396951",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d55bdcc2519b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 766):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1dc26e44891e32cb52a15574351f502b96c76ad53893dfb20ba5156f7eea4d6c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1dc26e44891e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 766):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:067087537b18b4e1f43e4092d732d798142b2cd4901226ea16c85432d71593d4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 067087537b18
call 72 attempt 0 · /interactions · status 200 · 14.97 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_8556",
  "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=-0.4572 left_j1=2.1506 left_j2=1.528 left_j3=-0.717 left_j4=-0.0154 left_j5=-0.4599 left_gripper=0.995 right_j0=0.4587 right_j1=2.1555 right_j2=1.5257 right_j3=-0.7151 right_j4=0.0204 right_j5=0.4377 right_gripper=0.9955\nstate[joint_eff]: [0.3761, -3.8906, 2.4957, 0.8425, 0.2271, 0.0513, -0.1783, -0.5402, -4.3282, 2.7556, 0.7888, -0.4567, 0.0855, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 776):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e4a8b54cc931689209313c440c6fa2d0d33a7b456fdc6ff0a3feed12f25411cc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e4a8b54cc931
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 776):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d72de3d6ea7abfe386f56eac4d6b3d250fce456e648c18e9122aae4b5a05674b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d72de3d6ea7a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 776):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:dcb62b582f40cf7eb1165627ab9d502e58c7bc68ad9a4af098ea93d56ac19b49",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dcb62b582f40
call 73 attempt 0 · /interactions · status 200 · 11.79 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_840",
  "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=-0.4595 left_j1=2.2807 left_j2=1.7084 left_j3=-0.8093 left_j4=-0.0818 left_j5=-0.4648 left_gripper=0.9981 right_j0=0.4587 right_j1=2.2822 right_j2=1.7084 right_j3=-0.7994 right_j4=0.0742 right_j5=0.4377 right_gripper=0.9988\nstate[joint_eff]: [0.4444, 1.0735, 0.7043, 1.4188, 0.6667, 0.1197, -0.2076, -1.0325, 0.9094, 0.5402, 1.2625, -0.7399, 0.0562, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 781):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2e25b752f05c141c27b49805584c8c8e7a7a3a5ccfa031fc32ae700321fa1956",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2e25b752f05c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 781):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5e5ecf3a6489eec482431146e353cd89a8d10299077e622191ac5bbcfe3dd8ae",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5e5ecf3a6489
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 781):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c0980161ab6b124ebccd697eb5208761de8b7065a47cd87b1b84557d08fac5f2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c0980161ab6b
call 74 attempt 0 · /interactions · status 200 · 13.9 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_8487",
  "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=-0.4454 left_j1=2.2921 left_j2=1.7241 left_j3=-0.7723 left_j4=-0.086 left_j5=-0.461 left_gripper=0.0158 right_j0=0.4469 right_j1=2.2929 right_j2=1.7241 right_j3=-0.7696 right_j4=0.0669 right_j5=0.4377 right_gripper=0.011\nstate[joint_eff]: [-0.294, 0.3897, 0.1983, 0.9353, 0.7546, 0.0952, 0.7204, 0.1983, 0.3487, 0.4171, 0.8767, -0.6618, 0.0855, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 791):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:48a166ca8a9655ed9c2f3691dfa679d5d64ddf3fc192b1a32e35deb0db5c381d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48a166ca8a96
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 791):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6ffff3df4743454d8b7e8340379b097dd8e67ced60c5dbc0ade15599df7d4a27",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6ffff3df4743
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 791):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:384a011971728afef3fde74c4333ee421fc161fe5a6dd8c90d7fa0ab8a25a007",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 384a01197172
call 75 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_7381",
  "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=-0.4458 left_j1=2.4035 left_j2=1.8805 left_j3=-0.7437 left_j4=-0.0662 left_j5=-0.4644 left_gripper=0.015 right_j0=0.4431 right_j1=2.4008 right_j2=1.8816 right_j3=-0.7544 right_j4=0.0406 right_j5=0.4377 right_gripper=0.0108\nstate[joint_eff]: [-0.6632, 2.1538, -0.6222, 0.6422, 0.5739, 0.1392, 1.0281, 0.335, 2.2085, -0.7316, 0.6422, -0.3394, 0.0952, 1.0232]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 796):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:845d6576c58936d639b65c2c41580b5e5c1da66a77386d02ed4d47e2091a30e2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 845d6576c589
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 796):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:814947c02c7068c8c116efe6f81ed3858a03be9c708364b56ceca2e5e44ebff8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 814947c02c70
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 796):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:08658f83abd4b3b63deaecad1d99ba7b1b74569f44bfdfe64febc82d667f4c5d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 08658f83abd4
call 76 attempt 0 · /interactions · status 200 · 12.75 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_13365",
  "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=-0.4389 left_j1=2.3558 left_j2=1.8507 left_j3=-0.6682 left_j4=-0.0177 left_j5=-0.4263 left_gripper=0.9945 right_j0=0.4377 right_j1=2.3581 right_j2=1.8503 right_j3=-0.6735 right_j4=0.0029 right_j5=0.4034 right_gripper=0.9951\nstate[joint_eff]: [1.6479, -9.8803, 2.5231, 0.1734, 0.1099, 0.0513, -0.2515, -1.6342, -10.1265, 2.2496, 0.2515, -0.0562, 0.1197, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 806):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6a28f3f362cd906e685ea9bf53cf8aa93ec699c26e6011c2f60914ad89e0be1d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6a28f3f362cd
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 806):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c707bb582a3fa3e48edddba581631887b509ab7b577a286d13b748535d712f30",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c707bb582a3f
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 806):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bf4c4abf443245ba0a70dba4208abb15154f1bab1b0ac594e1a82693367a1eb7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bf4c4abf4432
call 77 attempt 0 · /interactions · status 200 · 17.17 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_19653",
  "name": "move_joints",
  "result": "executing move_joints over 28 steps (2.8s)",
  "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=-0.2081 left_j1=0.6209 left_j2=1.2079 left_j3=-0.6243 left_j4=-0.0063 left_j5=-0.033 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6212 right_j2=1.2076 right_j3=-0.6258 right_j4=-0.0013 right_j5=0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.7179, 2.2496, 5.3675, 2.1123, 0.0806, 0.1099, -0.2125, -0.4308, 2.2496, 5.641, 2.1172, 0.0024, 0.0073, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 834):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d2eb836c7cd234d7f2496f42a9ba4ec9269bd82ee1669aeb4c68746502ccbaa6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d2eb836c7cd2
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 834):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:cdca406484d784b31c56cefc803a400a5cfcfee7b551d987f2f82de51ac3803c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob cdca406484d7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 834):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fb7f94d3b93564d22368a5dc7f1e4febed7f9ee6b74baacb335f7636b9cf1452",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fb7f94d3b935
call 78 attempt 0 · /interactions · status 200 · 14.39 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_37657",
  "name": "move_joints",
  "result": "executing move_joints over 26 steps (2.6s)",
  "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=-0.4152 left_j1=2.1529 left_j2=1.5253 left_j3=-0.775 left_j4=-0.0505 left_j5=-0.4061 left_gripper=0.9982 right_j0=0.4202 right_j1=2.1563 right_j2=1.5242 right_j3=-0.7704 right_j4=0.0452 right_j5=0.387 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -3.5761, 3.453, 1.1062, 0.7204, 0.0171, -0.2027, -0.1846, -3.6991, 3.6034, 1.0037, -0.8034, 0.3101, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 860):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e43e223dbb373c28dba27dc396458bd87ab85469f7367f6361d8156686f5c897",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e43e223dbb37
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 860):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3524cf92439bd70f7b7996fe1c7a2894d2c5d3801d20847853a2214bb0020f72",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3524cf92439b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 860):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:57959339f63cb53e0cc8d972bb69d5fdafe21069ea826583da3577220381e6f8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 57959339f63c
call 79 attempt 0 · /interactions · status 200 · 13.53 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_4193",
  "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=-0.4175 left_j1=2.2787 left_j2=1.7077 left_j3=-0.8436 left_j4=-0.0574 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4217 right_j1=2.2795 right_j2=1.7084 right_j3=-0.8417 right_j4=0.0521 right_j5=0.4015 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, 1.1829, 0.5949, 1.5067, 0.525, -0.0171, -0.2076, -0.2667, 1.0735, 0.5402, 1.536, -0.486, 0.1734, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 865):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:231387d8e2060ab21e72169051220a18bd9d9cd2e9df04969e6bb31c6282600a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 231387d8e206
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 865):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:80a66a7c4aad13f9fd38a03eb17d5958619ac834598983b9f39562ea5dff8be3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 80a66a7c4aad
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 865):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5dc3f539c8fbd81dd94b19f480972015c3fca38291c8394ff8d5aa05f371da1a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5dc3f539c8fb
call 80 attempt 0 · /interactions · status 200 · 16.39 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_8396",
  "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=-0.4175 left_j1=2.3558 left_j2=1.821 left_j3=-0.8532 left_j4=-0.0734 left_j5=-0.4206 left_gripper=0.9981 right_j0=0.4221 right_j1=2.3554 right_j2=1.8256 right_j3=-0.8604 right_j4=0.0635 right_j5=0.4011 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, 2.5641, 0.1436, 1.5946, 0.7057, -0.0611, -0.2076, -0.0615, 2.4821, -0.5128, 1.6142, -0.7009, 0.1245, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 870):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b258976630c1f82a10667d86e2f9d047f5f88c99cfb82e1ba6716fecdad51e5e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b258976630c1
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 870):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:585709e1165529e33dda670d2a230dcba523b68a676cf9474ba45830fdad7f59",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 585709e11655
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 870):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2ac29d705c95e38e54b978172f190232ea9cab8d33bed8f7d541037eb7396be1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2ac29d705c95
call 81 attempt 0 · /interactions · status 200 · 20.74 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_863",
  "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=-0.4088 left_j1=2.3051 left_j2=1.7329 left_j3=-0.6971 left_j4=-0.1127 left_j5=-0.4187 left_gripper=0.0146 right_j0=0.4126 right_j1=2.3035 right_j2=1.7348 right_j3=-0.7288 right_j4=0.0696 right_j5=0.4046 right_gripper=0.0113\nstate[joint_eff]: [-0.7453, -1.265, -0.3487, 0.2955, 0.9695, -0.0171, 0.7009, 0.8547, -0.9231, -0.8274, 0.5495, -0.6813, 0.1294, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 880):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f38679c5976022d1d8505a7a417e70c391facd1b8d87a788c9fd191118b11df7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f38679c59760
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 880):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:7e8be18eb97bba753509be62a0ef92507c762da0e27a670b47a246ca0995abd3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7e8be18eb97b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 880):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8fc4402e04a86f2d08956281634f58ae50bdf5d5d0f777d96947dc39903feee3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8fc4402e04a8
call 82 attempt 0 · /interactions · status 200 · 15.7 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_20309",
  "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=-0.4103 left_j1=2.4065 left_j2=1.8782 left_j3=-0.7094 left_j4=-0.0898 left_j5=-0.4202 left_gripper=0.015 right_j0=0.4129 right_j1=2.4031 right_j2=1.8801 right_j3=-0.7307 right_j4=0.0483 right_j5=0.4046 right_gripper=0.0095\nstate[joint_eff]: [-1.0462, 1.7162, -0.6085, 0.4957, 0.8083, -0.0513, 1.033, 0.4718, 2.0581, -0.7453, 0.5446, -0.4567, 0.1245, 0.9939]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 885):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:67a6ff4fc9d8ccf7e4603e47b825ed48f1da7b7862b6a3b492d0dce24d0cdf97",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 67a6ff4fc9d8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 885):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dcd3cd03d8bdf713ed7e79ce2b0d373285a8824a8da5ff4e63ba3b9ec027774a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dcd3cd03d8bd
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 885):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:ba17ac0b22cce2bb0a49c6fc838ffe3a71e0a73b7c8f11c7973ad7b5f45b4c1e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ba17ac0b22cc
call 83 attempt 0 · /interactions · status 200 · 23.66 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_15364",
  "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=-0.4244 left_j1=2.3604 left_j2=1.8515 left_j3=-0.6491 left_j4=-0.0322 left_j5=-0.416 left_gripper=0.9945 right_j0=0.4274 right_j1=2.3619 right_j2=1.8507 right_j3=-0.6552 right_j4=0.0181 right_j5=0.4004 right_gripper=0.9956\nstate[joint_eff]: [0.0752, -10.2085, 2.4547, 0.0366, 0.2759, -0.0366, -0.232, -0.841, -10.4274, 2.2769, 0.0611, -0.2271, 0.1636, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 895):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2e878407eff78408546e642e04f0bfa5817e22993000ffb6e68a1cc08b5cf1cc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2e878407eff7
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 895):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:48339fd120a458f0125f03e01633b6ca72e12cbb64cb88c1f11b5c747241839c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48339fd120a4
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 895):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fea883db6e3de5b6196b811e0aea189bb7868bbd1b0143588b2d65702a5d22ea",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fea883db6e3d
call 84 attempt 0 · /interactions · status 200 · 30.43 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_5419",
  "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=-0.2073 left_j1=0.6193 left_j2=1.2076 left_j3=-0.6216 left_j4=-0.0067 left_j5=-0.0319 left_gripper=0.9981 right_j0=0.2039 right_j1=0.6193 right_j2=1.2064 right_j3=-0.622 right_j4=0.0025 right_j5=0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.6769, 2.1949, 5.4359, 2.1123, 0.0513, 0.1294, -0.2076, -0.4581, 2.1812, 5.4769, 2.0781, -0.0611, -0.105, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 924):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:bbc3480ab97fb1db617d0f8196dbe241097a0fb3e7140dafecd990ffcc0e7511",
  "mime_type": "image/png",
  "type": "image"
}
wire blob bbc3480ab97f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 924):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5e8eb0bd09c9a5fd6853a523665dd643f3453b88901a5d4272a7ff801907cf8b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5e8eb0bd09c9
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 924):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8c38f89bce4533ac8ad313c068d014814fcf3e40c9d6ac3f6d22b59c56ec56b1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8c38f89bce45
call 85 attempt 0 · /interactions · status 200 · 33.63 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_17319",
  "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=-0.3729 left_j1=2.2436 left_j2=1.6543 left_j3=-0.807 left_j4=-0.0559 left_j5=-0.3695 left_gripper=0.9981 right_j0=0.3767 right_j1=2.244 right_j2=1.6547 right_j3=-0.8108 right_j4=0.0475 right_j5=0.3527 right_gripper=0.9988\nstate[joint_eff]: [-0.8547, 0.2256, 1.0462, 1.2967, 0.4518, -0.1245, -0.2076, -0.1026, 0.294, 0.9094, 1.3455, -0.4567, 0.232, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 953):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:af951d59663aafd453b46f7379c1378e1bad319a0ef90ccee18d23f38f2d108b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob af951d59663a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 953):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2e049f37ff7a572c937af9869496a85243c4e1849a7cbf0d18edde7d055fe4c6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2e049f37ff7a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 953):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b3529fb7bf6ed3a06a89676335efdf117662266f79da599df5bfd811656f6e0c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b3529fb7bf6e
call 86 attempt 0 · /interactions · status 200 · 14.33 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_6359",
  "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=-0.395 left_j1=2.3192 left_j2=1.7683 left_j3=-0.8333 left_j4=-0.0711 left_j5=-0.4133 left_gripper=0.9981 right_j0=0.4053 right_j1=2.3211 right_j2=1.7702 right_j3=-0.8295 right_j4=0.0631 right_j5=0.3862 right_gripper=0.9988\nstate[joint_eff]: [-1.935, 1.7846, 0.2667, 1.4969, 0.7106, 0.022, -0.2076, 1.0872, 1.5111, 0.1573, 1.4139, -0.7155, 0.2662, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 958):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d53052e7b374183c62fd59368023e46428c4b7dfac8a7f1072d2c1e095ca67b9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d53052e7b374
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 958):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e07045fbef31aeadbb7f33d09b42ed03d753c759e118c8606d61e471541d1c2c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e07045fbef31
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 958):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:59d9d39d946b64d59e9f01df1c07e9f27600d7d0a85aaed84b5003daa739634e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 59d9d39d946b
call 87 attempt 0 · /interactions · status 200 · 13.66 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_2305",
  "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=-0.4007 left_j1=2.3257 left_j2=1.7775 left_j3=-0.8246 left_j4=-0.078 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4122 right_j1=2.3283 right_j2=1.7802 right_j3=-0.8093 right_j4=0.0727 right_j5=0.3939 right_gripper=0.9988\nstate[joint_eff]: [-1.8803, 1.4427, -0.3487, 1.3944, 0.7057, -0.0415, -0.2125, 0.8274, 1.1692, -0.2803, 1.2283, -0.7253, 0.2076, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 961):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8be2d8bd8664d5ffdec4a3888ba6262bf4b6188c3cac7abab74b834ade6eb8c5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8be2d8bd8664
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 961):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:355b521834cb89e59e3bf2380ab47160aa610f664c17229a77278656813cec91",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 355b521834cb
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 961):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9f49a6bf3ad0ef951287296f04379531bfc9c0a6ed38e1cb8f3849e8c74d80c1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9f49a6bf3ad0
call 88 attempt 0 · /interactions · status 200 · 20.25 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_7613",
  "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=-0.4034 left_j1=2.299 left_j2=1.7313 left_j3=-0.7212 left_j4=-0.1047 left_j5=-0.4194 left_gripper=0.0154 right_j0=0.4095 right_j1=2.302 right_j2=1.734 right_j3=-0.7223 right_j4=0.0719 right_j5=0.4042 right_gripper=0.011\nstate[joint_eff]: [-1.6615, -0.6359, -0.4171, 0.5055, 0.9304, -0.0415, 0.6422, 0.7863, -0.8684, -0.4855, 0.4908, -0.696, 0.1148, 0.9744]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 971):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:72988839a6af554abc721f7f6347f3461a95f1d9445ea555e0b94987b1f41903",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 72988839a6af
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 971):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:92af28cb7e62a6a9e1a32aea66daadf59c84425babc865f6666a86d63d9af8fc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 92af28cb7e62
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 971):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0e2617d54b026d7ebadcee870ca347cd1ffcae2920e0e68e1e0475fe953e35f7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0e2617d54b02
call 89 attempt 0 · /interactions · status 200 · 26.74 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_619",
  "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=-0.3683 left_j1=2.1559 left_j2=1.5124 left_j3=-0.5915 left_j4=-0.0311 left_j5=-0.3485 left_gripper=0.9941 right_j0=0.3637 right_j1=2.1555 right_j2=1.507 right_j3=-0.606 right_j4=0.0238 right_j5=0.3397 right_gripper=0.9952\nstate[joint_eff]: [1.5932, -7.6923, 1.7573, -0.2271, 0.1832, -0.1978, -0.2222, -1.2513, -7.8427, 2.0718, -0.1685, -0.2125, 0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 981):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ea618eea7215cd96d4095219a00cf4019d29d11ef782c48455e7fe25965f7771",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ea618eea7215
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 981):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f74e411ac1730fe53644c85457284d168f867a6fb244f0a97f4a6b59288afa6d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f74e411ac173
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 981):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:805a2f681568f56e6cf483ddacf95fc24a55cfb1a2f8a5fdb12395244a987867",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 805a2f681568
call 90 attempt 0 · /interactions · status 200 · 15.96 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_2707",
  "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=-0.3809 left_j1=2.2292 left_j2=1.6352 left_j3=-0.7105 left_j4=-0.07 left_j5=-0.3676 left_gripper=0.9981 right_j0=0.382 right_j1=2.2314 right_j2=1.6321 right_j3=-0.7288 right_j4=0.07 right_j5=0.3523 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -2.6051, 2.5504, 0.779, 0.8181, -0.1392, -0.2076, -0.212, -2.7419, 2.5094, 0.9158, -0.8474, 0.2125, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 985):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ca1699815e4c4c68cf15756a247bb5da6a6ff08ea6c4468d924d504085248f7e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob ca1699815e4c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 985):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:70a1e877f6acc42f50e192b802b8901bea2cce0ef0ed6a76306b413d41d5203d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 70a1e877f6ac
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 985):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:073724a61e43edd1173bd1e167443d37fe45e1c728c45fc532b95e9727be671e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 073724a61e43
call 91 attempt 0 · /interactions · status 200 · 17.83 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_20973",
  "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=-0.3969 left_j1=2.2868 left_j2=1.7123 left_j3=-0.7654 left_j4=-0.0868 left_j5=-0.4049 left_gripper=0.9981 right_j0=0.4 right_j1=2.2871 right_j2=1.7123 right_j3=-0.7731 right_j4=0.0731 right_j5=0.3836 right_gripper=0.9988\nstate[joint_eff]: [-1.8803, 0.5949, 0.6906, 0.8474, 0.779, -0.0464, -0.2125, 1.5795, 0.4855, 0.6906, 0.9548, -0.735, 0.2369, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 989):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:aa07892ab7bd2547d91ad04dbf464a567c46566c971faaeb52ab8c6bd7e9a9fe",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aa07892ab7bd
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 989):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6e5db85a8c7b7e92ae0d46614dd70513c1098c3816c4eeed5b941c030ec5f094",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6e5db85a8c7b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 989):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:47b226a08c835a6dd7b66e163ac3d19fed2b5ad2a5b2969ff7a4af9cc59701d0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 47b226a08c83
call 92 attempt 0 · /interactions · status 200 · 21.31 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_35421",
  "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=-0.4038 left_j1=2.3238 left_j2=1.7699 left_j3=-0.7876 left_j4=-0.0921 left_j5=-0.4202 left_gripper=0.9981 right_j0=0.4061 right_j1=2.323 right_j2=1.7702 right_j3=-0.7956 right_j4=0.0753 right_j5=0.3943 right_gripper=0.9988\nstate[joint_eff]: [-1.5932, 1.4838, 0.3624, 1.1355, 0.8034, -0.0611, -0.2125, 1.2513, 1.4974, 0.6632, 1.1258, -0.7057, 0.2564, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 993):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:eb085780cec8a07cdd1bd263ad3feaa6591ffe818906b337c814cb662eefc37e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eb085780cec8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 993):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2d799df78d530dfb91d8107f7a74b83f5c6ecebabc4280684ae19cd0be7ae4ad",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2d799df78d53
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 993):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:34cacb665aae5b1267e8ef3b900f60fef55e69905650bfbcfe59c3ffb0e39395",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 34cacb665aae
call 93 attempt 0 · /interactions · status 200 · 18.92 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_778",
  "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=-0.4019 left_j1=2.3604 left_j2=1.8244 left_j3=-0.804 left_j4=-0.0937 left_j5=-0.4164 left_gripper=0.9981 right_j0=0.4023 right_j1=2.3589 right_j2=1.8256 right_j3=-0.8177 right_j4=0.0757 right_j5=0.3931 right_gripper=0.9988\nstate[joint_eff]: [0.335, 2.1812, 0.1299, 1.3651, 0.862, 0.1636, -0.2076, -0.3761, 2.2906, -0.1026, 1.3602, -0.7399, 0.0366, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 997):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7c39c2b7e53842db6ccf51088cc3e7a15de4efb07efa7971c100cf7e978d44da",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7c39c2b7e538
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 997):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3cb6014e22a4669ea29b50122a9ba0b48d6a271c31f97f6cf796cf41b1673a60",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3cb6014e22a4
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 997):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:10e86dcf7c83c46f9f0bec6c5d71dfe9e8316e399049b7367c2ed43fac3daa58",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 10e86dcf7c83
call 94 attempt 0 · /interactions · status 200 · 17.97 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_2425",
  "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=-0.4019 left_j1=2.3089 left_j2=1.7332 left_j3=-0.6758 left_j4=-0.123 left_j5=-0.4183 left_gripper=0.0152 right_j0=0.4042 right_j1=2.3085 right_j2=1.7348 right_j3=-0.6907 right_j4=0.078 right_j5=0.4038 right_gripper=0.011\nstate[joint_eff]: [-1.812, -1.6615, -0.3897, 0.0171, 1.1013, -0.0464, 0.6129, 1.1009, -1.5248, -0.6632, 0.2173, -0.6813, 0.1294, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1007):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c95af43aae9cbfe0f7620d406156f473b3450b17019f460add6630956bbc5aba",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c95af43aae9c
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1007):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f38b35c86ad8b7017931e1ba64f11d256dfb54a1e3a059ab89e8971459f29138",
  "mime_type": "image/png",
  "type": "image"
}
wire blob f38b35c86ad8
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1007):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e7066ea70d2f4b296458aee86d9bbd216ae007acf508a23ed767b5ac10ad41e8",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e7066ea70d2f
call 95 attempt 0 · /interactions · status 504 · 8.148 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_20564",
  "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=-0.395 left_j1=2.1929 left_j2=1.5669 left_j3=-0.6041 left_j4=-0.0494 left_j5=-0.3683 left_gripper=0.9948 right_j0=0.3943 right_j1=2.1914 right_j2=1.5631 right_j3=-0.6212 right_j4=0.0364 right_j5=0.3576 right_gripper=0.9956\nstate[joint_eff]: [1.306, -7.3094, 1.1966, -0.5055, 0.3736, -0.1978, -0.1929, -1.4291, -7.0496, 1.5111, -0.3932, -0.4078, 0.2173, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1017):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d81007efbad4ca0565f7425b2393f78a98d13eeade1987c6414d13f9f780ef1b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d81007efbad4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1017):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:28288952931debe414260dc2ff06f342e0a1459da42485e5f32d8a9f806541d6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 28288952931d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1017):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:eac0df2c30a3d9ee381253214145ee16f1ee8465cef5eb8be3150a69dbfc2d2d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eac0df2c30a3
call 95 attempt 1 · /interactions · status 200 · 16.82 s
model
gemini-3.6-flash
effort
n/a
temperature
n/a
tool count
3

no new messages

call 96 attempt 0 · /interactions · status 200 · 18.3 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_8568",
  "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=-0.3943 left_j1=2.2047 left_j2=1.5909 left_j3=-0.6411 left_j4=-0.0559 left_j5=-0.3664 left_gripper=0.9981 right_j0=0.392 right_j1=2.2047 right_j2=1.5894 right_j3=-0.6529 right_j4=0.0368 right_j5=0.3557 right_gripper=0.9988\nstate[joint_eff]: [0.9231, -4.2872, 2.4957, 0.0171, 0.4957, -0.1538, -0.2076, -0.7179, -4.0684, 2.7829, -0.0122, -0.3492, 0.1783, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1020):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:9a7e8f19d997b623020dc15325d3ec65db4fd337fb2f5e656df6070ae3d0f944",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9a7e8f19d997
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1020):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0ccc733b029374966f97dfbba406988ee681018fd5d8b63e72329bffd916734b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0ccc733b0293
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1020):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5fcb1b34189be89f2875a756f49dee7a13291e4a74d8544c9fe9c853b3fd90cc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5fcb1b34189b
call 97 attempt 0 · /interactions · status 200 · 16.83 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_48292",
  "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=-0.3965 left_j1=2.2513 left_j2=1.6627 left_j3=-0.7124 left_j4=-0.0669 left_j5=-0.3717 left_gripper=0.9981 right_j0=0.3985 right_j1=2.2517 right_j2=1.6611 right_j3=-0.7269 right_j4=0.0563 right_j5=0.3592 right_gripper=0.9988\nstate[joint_eff]: [1.1009, -0.335, 0.5949, 0.6667, 0.6032, -0.1294, -0.2076, -1.4564, -0.4034, 0.6085, 0.7937, -0.7497, 0.1587, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1024):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6d73449b84727202ec3853ddf07b4bf84862f612251e941906edb548dba5087b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6d73449b8472
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1024):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:36d5e166d6944bda488dafebca3c325eabb40780c0a01ac8de311a0d7472065b",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 36d5e166d694
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1024):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7c6eaff0fce76a8f049cb6c4d0300c8f95e1a93a9875784fc82f0521d8884c29",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7c6eaff0fce7
call 98 attempt 0 · /interactions · status 200 · 16.8 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_24782",
  "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=-0.3981 left_j1=2.2887 left_j2=1.7176 left_j3=-0.7643 left_j4=-0.0757 left_j5=-0.3752 left_gripper=0.9981 right_j0=0.4023 right_j1=2.2875 right_j2=1.7153 right_j3=-0.7807 right_j4=0.0662 right_j5=0.3599 right_gripper=0.9988\nstate[joint_eff]: [1.0872, 0.3761, 0.5128, 0.9744, 0.6569, -0.0513, -0.2125, -2.1128, 0.5949, 0.4444, 1.16, -0.6374, 0.1734, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1028):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e733f8823094beaff8dc635c46981ec3ae41828b1a44402fdd9d7aa492022b8d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e733f8823094
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1028):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:04c0809085594071a802459a7978e0f914b2833e04ed4c81e52b6af5c7cea653",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 04c080908559
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1028):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:3c26c36cdedecbf1c73ebc656b2daac81d6dce97a38e1d76c9e9d4c2c57d91a0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3c26c36cdede
call 99 attempt 0 · /interactions · status 200 · 19.28 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_367631",
  "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=-0.421 left_j1=2.3253 left_j2=1.7718 left_j3=-0.7826 left_j4=-0.0963 left_j5=-0.429 left_gripper=0.9981 right_j0=0.4282 right_j1=2.3257 right_j2=1.771 right_j3=-0.7925 right_j4=0.0799 right_j5=0.4053 right_gripper=0.9988\nstate[joint_eff]: [-2.3043, 1.265, 0.2256, 1.0476, 0.9841, -0.0757, -0.2076, 1.6615, 1.1829, 0.6906, 1.1404, -0.8278, 0.2906, -0.1441]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 1032):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:187e2b1c1b377967aa4b31d6a828a34c428e2824b145f95c24b574715c133ab7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 187e2b1c1b37
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 1032):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d83ac999ae1b4f309d48749012b2b2af0234964aa52ecee20d463b7ef22139d5",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d83ac999ae1b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 1032):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c0c881829439521b76d420140a54724e524b6827c43531ba3eefcc1d4816bf26",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c0c881829439