adhoc

completed
2026-08-25T03:50:22.355674+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
low
image_horizon
null
images
always
max_llm_calls
100
max_output_tokens
null
max_speed_frac
0.1
model
gemini-3.7-flash
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
interactions
wire_capture
true
seed
0
max steps
1200
duration
212.8 s
total steps
282
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Place the right answer on the plate.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

done

Operator judgements

y
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, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - 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. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # 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: Place the right answer on the plate.
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, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - 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. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # 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: Place the right answer on the plate.
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 right arm forward and slightly left towards block '7' (the answer to 3+4=7).
move_to
right_x0.3800right_z0.1500right_y0.0600
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.794, 0.6052, -0.3756, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.3817, -0.0162, -0.0341, 0.9988] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1814 left_yaw=0.0 left_gripper=0.9996 right_x=0.2941 right_y=0.0 right_z=0.1788 right_yaw=0.0 right_gripper=0.9988 state[joint_eff]: [-0.6769, -1.5795, 10.0171, 1.7705, -0.0317, 0.2173, -0.0513, -0.4718, -1.3744, 10.3043, 1.9512, -0.0659, 0.1783, -0.1441] 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_to({"note": "Moving right arm forward and slightly left towards block '7' (the answer to 3+4=7).", "targets": {"right_x": 0.38, "right_z": 0.15, "right_y": 0.06}})
tool
executing move_to over 27 steps (2.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteMoving right arm directly above block 7 and lowering.
move_to
right_z0.0800right_y0.0500right_x0.4250
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7986, 0.6075, -0.3824, -0.0196, -0.0425, 0.9996, 0.2359, 1.2644, 0.6666, -0.07, 0.1795, 0.083, 0.9986] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1798 left_yaw=0.0017 left_gripper=0.9996 right_x=0.3646 right_y=0.0589 right_z=0.1245 right_yaw=0.061 right_gripper=0.9986 state[joint_eff]: [-0.253, -1.5111, 6.8581, 1.8095, -0.0513, -0.0415, -0.0171, 0.4308, -4.588, 10.0444, 2.1368, 0.3004, 0.2515, -0.0269] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving right arm directly above block 7 and lowering.", "targets": {"right_z": 0.08, "right_y": 0.05, "right_x": 0.425}})
tool
executing move_to over 19 steps (1.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteAdvancing slightly and lowering gripper around block 7.
move_to
right_y0.0500right_z0.0350right_x0.4300
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7986, 0.6018, -0.382, -0.0227, -0.049, 0.9996, 0.1406, 1.5921, 0.625, 0.3164, 0.065, 0.0174, 0.9986] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1773 left_yaw=0.0129 left_gripper=0.9996 right_x=0.4073 right_y=0.0497 right_z=0.0593 right_yaw=0.0709 right_gripper=0.9986 state[joint_eff]: [-0.4991, -1.6068, 6.7624, 1.8437, -0.0464, 0.0317, -0.0171, -0.6906, -6.1333, 9.0188, 2.1514, -0.0562, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"note": "Advancing slightly and lowering gripper around block 7.", "targets": {"right_y": 0.05, "right_z": 0.035, "right_x": 0.43}})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteClosing right gripper on block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7967, 0.5896, -0.3813, -0.0315, -0.0498, 0.9996, 0.1333, 1.7641, 0.5789, 0.5438, 0.0578, 0.0032, 0.9986] state[eef_state]: left_x=0.293 left_y=0.0014 left_z=0.1724 left_yaw=0.0066 left_gripper=0.9996 right_x=0.4132 right_y=0.0487 right_z=0.0193 right_yaw=0.0869 right_gripper=0.9986 state[joint_eff]: [-0.4718, -1.9077, 7.0906, 1.8632, -0.1392, -0.0659, -0.0171, -0.759, -6.5436, 7.7607, 1.9609, -0.1099, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Closing right gripper on block 7."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteOpening gripper and moving forward over block 7.
move_to
right_gripper1.0000right_x0.4400right_z0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7872, 0.5682, -0.3779, -0.0307, -0.0517, 0.9996, 0.1276, 1.771, 0.5301, 0.6106, 0.0353, -0.0032, 0.0085] state[eef_state]: left_x=0.2901 left_y=0.0013 left_z=0.1659 left_yaw=0.0088 left_gripper=0.9996 right_x=0.405 right_y=0.0493 right_z=0.0132 right_yaw=0.092 right_gripper=0.0085 state[joint_eff]: [-0.1026, -1.6479, 6.7897, 1.9853, -0.0757, -0.0317, -0.0171, -0.2803, -8.9641, 5.0393, 1.9853, -0.0757, -0.0415, 0.4664] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.44, "right_z": 0.05}, "note": "Opening gripper and moving forward over block 7."})
tool
executing move_to over 11 steps (1.1s)
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 noteAligning yaw slightly and lowering around block 7.
move_to
right_yaw0.1500right_x0.4450right_z0.0200
assistant
user
Respond with exactly one tool call.
assistant
agent noteAligning yaw and lowering to right_z=0.03 around block 7.
move_to
right_z0.0300right_x0.4450right_yaw0.1500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7719, 0.5362, -0.3592, -0.0311, -0.0521, 0.9996, 0.1154, 1.7714, 0.6361, 0.5186, 0.0166, -0.0227, 0.9956] state[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1592 left_yaw=0.0098 left_gripper=0.9996 right_x=0.4288 right_y=0.0504 right_z=0.0314 right_yaw=0.1136 right_gripper=0.9956 state[joint_eff]: [-0.5538, -1.7846, 7.0632, 1.9658, -0.0611, -0.022, -0.0122, -0.6769, -9.2239, 7.7744, 1.6484, -0.0269, 0.0952, -0.1392] 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_to({"targets": {"right_yaw": 0.15, "right_x": 0.445, "right_z": 0.02}, "note": "Aligning yaw slightly and lowering around block 7."})
tool
target for right_z is outside [0.03, 0.4]
assistant
user
Respond with exactly one tool call.
assistant
move_to({"targets": {"right_z": 0.03, "right_x": 0.445, "right_yaw": 0.15}, "note": "Aligning yaw and lowering to right_z=0.03 around block 7."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteClosing right gripper on block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7578, 0.5053, -0.3477, -0.0311, -0.0521, 0.9996, 0.0883, 1.821, 0.638, 0.5659, -0.0364, -0.0505, 0.9967] state[eef_state]: left_x=0.2843 left_y=0.0015 left_z=0.1512 left_yaw=0.0091 left_gripper=0.9996 right_x=0.4323 right_y=0.0483 right_z=0.0211 right_yaw=0.1346 right_gripper=0.9967 state[joint_eff]: [-0.5812, -1.6752, 7.0906, 1.9414, -0.0952, -0.0513, -0.0171, -0.7316, -5.9009, 7.5282, 2.0293, -0.1636, -0.0855, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"note": "Closing right gripper on block 7.", "targets": {"right_gripper": 0}})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteLifting block 7.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7403, 0.4717, -0.3325, -0.0311, -0.0521, 0.9996, 0.0883, 1.8309, 0.6418, 0.5793, -0.0536, -0.0635, 0.4207] state[eef_state]: left_x=0.2809 left_y=0.0016 left_z=0.1436 left_yaw=0.009 left_gripper=0.9996 right_x=0.4342 right_y=0.0515 right_z=0.0211 right_yaw=0.1582 right_gripper=0.4207 state[joint_eff]: [-0.5265, -1.6342, 6.8991, 1.9658, -0.1245, -0.0073, -0.0171, -0.7316, -7.0906, 6.9812, 1.8877, -0.0562, 0.0073, 1.0281] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lifting block 7.", "targets": {"right_z": 0.2}})
tool
executing move_to over 49 steps (4.9s)
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 noteCarrying block 7 towards the plate.
move_to
right_x0.2800right_z0.1800right_y0.1800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.7197, 0.4362, -0.3176, -0.0311, -0.0521, 0.9996, 0.0895, 1.4567, 0.976, -0.1894, -0.0616, -0.0723, 0.4217] state[eef_state]: left_x=0.2772 left_y=0.0017 left_z=0.1358 left_yaw=0.009 left_gripper=0.9996 right_x=0.4251 right_y=0.0527 right_z=0.1613 right_yaw=0.1649 right_gripper=0.4217 state[joint_eff]: [-0.4581, -1.347, 7.0222, 1.9951, -0.1001, -0.0317, -0.0171, -0.5675, -9.2923, 10.7009, 1.873, -0.022, 0.1001, 0.9158] approver: 4 step(s) modified (delta_clamped ×4). 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_to({"targets": {"right_x": 0.28, "right_z": 0.18, "right_y": 0.18}, "note": "Carrying block 7 towards the plate."})
tool
executing move_to over 44 steps (4.4s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteMoving block 7 over the center of the plate.
move_to
right_x0.2000right_z0.1500right_y0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.6975, 0.4034, -0.2989, -0.0311, -0.0521, 0.9996, 0.8368, 1.1164, 0.7246, -0.3477, 0.5209, 0.3626, 0.4249] state[eef_state]: left_x=0.2744 left_y=0.0018 left_z=0.1303 left_yaw=0.01 left_gripper=0.9996 right_x=0.276 right_y=0.18 right_z=0.1608 right_yaw=0.2438 right_gripper=0.4249 state[joint_eff]: [-0.3897, -1.1282, 6.9265, 2.0098, -0.0708, -0.0122, -0.0171, 0.1846, -4.6564, 9.1282, 1.619, 0.525, 0.1294, 0.8669] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving block 7 over the center of the plate.", "targets": {"right_x": 0.2, "right_z": 0.15, "right_y": 0.2}})
tool
executing move_to over 24 steps (2.4s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteCentering block 7 directly over the plate and lowering.
move_to
right_x0.1600right_z0.0800right_y0.2200
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.6804, 0.3752, -0.284, -0.0311, -0.0521, 0.9996, 1.2156, 1.0134, 0.6102, -0.4717, 0.7349, 0.6273, 0.4249] state[eef_state]: left_x=0.2718 left_y=0.0019 left_z=0.1248 left_yaw=0.0106 left_gripper=0.9996 right_x=0.1975 right_y=0.2022 right_z=0.1409 right_yaw=0.3067 right_gripper=0.4249 state[joint_eff]: [-0.5402, -0.9231, 7.0769, 1.9121, -0.0952, -0.0562, -0.0171, 0.1846, -3.1248, 7.4598, 1.3895, 0.5934, 0.0562, 0.4371] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"note": "Centering block 7 directly over the plate and lowering.", "targets": {"right_x": 0.16, "right_z": 0.08, "right_y": 0.22}})
tool
executing move_to over 17 steps (1.7s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteLowering block 7 onto the plate.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.6674, 0.3542, -0.2749, -0.0315, -0.0525, 0.9996, 1.4399, 1.1645, 0.4427, -0.2863, 0.8337, 0.8192, 0.4266] state[eef_state]: left_x=0.2697 left_y=0.002 left_z=0.1203 left_yaw=0.0114 left_gripper=0.9996 right_x=0.1574 right_y=0.2213 right_z=0.0781 right_yaw=0.3598 right_gripper=0.4266 state[joint_eff]: [-0.7043, -0.7863, 6.8308, 1.9121, -0.1001, -0.0806, -0.0171, 0.3077, -2.6188, 5.053, 1.3846, 0.6618, 0.105, 0.8327] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lowering block 7 onto the plate.", "targets": {"right_z": 0.05}})
tool
executing move_to over 8 steps (0.8s)
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 noteReleasing block 7 onto the plate.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.654, 0.3351, -0.2695, -0.0311, -0.0521, 0.9996, 1.4418, 1.2301, 0.3172, -0.0681, 0.8253, 0.7815, 0.428] state[eef_state]: left_x=0.2674 left_y=0.002 left_z=0.116 left_yaw=0.0107 left_gripper=0.9996 right_x=0.1554 right_y=0.2165 right_z=0.046 right_yaw=0.3938 right_gripper=0.428 state[joint_eff]: [-0.6085, -0.7179, 6.7761, 1.9414, -0.105, -0.0171, -0.0171, -0.0342, -2.3453, 5.5043, 1.5507, 0.4029, -0.0952, 0.7057] 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_to({"targets": {"right_gripper": 1}, "note": "Releasing block 7 onto the plate."})
tool
executing move_to over 6 steps (0.6s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteRetracting right arm upwards.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.6403, 0.3149, -0.2657, -0.0315, -0.0521, 0.9996, 1.4368, 1.2041, 0.2634, 0.0048, 0.8032, 0.7261, 0.9954] state[eef_state]: left_x=0.2647 left_y=0.0021 left_z=0.111 left_yaw=0.0103 left_gripper=0.9996 right_x=0.1535 right_y=0.2139 right_z=0.0408 right_yaw=0.4298 right_gripper=0.9954 state[joint_eff]: [-0.6769, -0.6496, 7.0359, 1.9756, -0.1001, -0.0855, -0.0073, -0.1983, -3.1111, 5.4906, 1.4628, 0.4664, 0.0904, -0.1978] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"note": "Retracting right arm upwards.", "targets": {"right_z": 0.2}})
tool
executing move_to over 44 steps (4.4s)
step 281
top_cam
camera top_cam step 281
left_cam
camera left_cam step 281
right_cam
camera right_cam step 281
assistant
agent noteSuccessfully picked block 7 (the correct answer to 3+4=7) and placed it onto the plate.
done
hindsightThe block is cleanly grasped when descending to z≈0.03 and closing with gripper=0. Transporting to the plate requires moving to roughly right_x=0.16, right_y=0.22, where releasing the block places it centered inside the plate.
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0265, 0.6243, 0.2893, -0.2577, -0.0315, -0.0521, 0.9996, 1.4284, 0.9146, 0.741, -0.7422, 0.7761, 0.6762, 0.9966] state[eef_state]: left_x=0.2618 left_y=0.0022 left_z=0.1049 left_yaw=0.0101 left_gripper=0.9996 right_x=0.1516 right_y=0.2108 right_z=0.1825 right_yaw=0.4833 right_gripper=0.9966 state[joint_eff]: [-0.6222, -0.7453, 7.0632, 1.8926, -0.1245, -0.0513, -0.0073, -0.253, -1.812, 10.0581, 1.3065, 0.3443, 0.0171, 0.1197] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
done({"hindsight": "The block is cleanly grasped when descending to z\u22480.03 and closing with gripper=0. Transporting to the plate requires moving to roughly right_x=0.16, right_y=0.22, where releasing the block places it centered inside the plate.", "summary": "Successfully picked block 7 (the correct answer to 3+4=7) and placed it onto the plate."})
tool
done: Successfully picked block 7 (the correct answer to 3+4=7) and placed it onto the plate.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.15, 0.48], left_y: [-0.25, 0.25], left_z: [0.03, 0.4], left_yaw: [-3.142, 3.142], left_gripper: [0, 1], right_x: [0.15, 0.48], right_y: [-0.25, 0.25], right_z: [0.03, 0.4], right_yaw: [-3.142, 3.142], right_gripper: [0, 1].",
    "name": "move_to",
    "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_x, left_y, left_z, left_yaw, left_gripper, right_x, right_y, right_z, right_yaw, 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 · 32.37 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3
{
  "text": "Goal: Place the right answer on the plate.",
  "type": "text"
}
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.794, 0.6052, -0.3756, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.3817, -0.0162, -0.0341, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1814 left_yaw=0.0 left_gripper=0.9996 right_x=0.2941 right_y=0.0 right_z=0.1788 right_yaw=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -1.5795, 10.0171, 1.7705, -0.0317, 0.2173, -0.0513, -0.4718, -1.3744, 10.3043, 1.9512, -0.0659, 0.1783, -0.1441]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:daaa42135a6c45e95f1edbe6a4b50a6072d8a1195f0d3474c50e97f70aa70fd0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob daaa42135a6c
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:a766ad6e7d76b28de880b1af4de1a52f416307df5809a50c0a5ea4447d4db673",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a766ad6e7d76
{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:c7bf0ad9d341ad147c6a6aa39e9d2101b2cfc6a3e1546b4ed614bd451e910efa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c7bf0ad9d341
call 1 attempt 0 · /interactions · status 200 · 3.555 s
model
gemini-3.7-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_36080",
  "name": "move_to",
  "result": "executing move_to over 27 steps (2.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.7986, 0.6075, -0.3824, -0.0196, -0.0425, 0.9996, 0.2359, 1.2644, 0.6666, -0.07, 0.1795, 0.083, 0.9986]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1798 left_yaw=0.0017 left_gripper=0.9996 right_x=0.3646 right_y=0.0589 right_z=0.1245 right_yaw=0.061 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.5111, 6.8581, 1.8095, -0.0513, -0.0415, -0.0171, 0.4308, -4.588, 10.0444, 2.1368, 0.3004, 0.2515, -0.0269]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 27):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d2a617d4cc87ba07233ebd5157967a43346552775865fc1db0c2500c27d37d29",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d2a617d4cc87
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 27):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5e335ed123e5b26d504bc6307a2dacc5620bade80e2a6daf6f6794e97db57a92",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5e335ed123e5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 27):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8fa6d8e8760673cfff14611050e59ca15da8785065d6dab3dd5c3a7d99d5e1b6",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 8fa6d8e87606
call 2 attempt 0 · /interactions · status 200 · 10.14 s
model
gemini-3.7-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_60845",
  "name": "move_to",
  "result": "executing move_to over 19 steps (1.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.7986, 0.6018, -0.382, -0.0227, -0.049, 0.9996, 0.1406, 1.5921, 0.625, 0.3164, 0.065, 0.0174, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1773 left_yaw=0.0129 left_gripper=0.9996 right_x=0.4073 right_y=0.0497 right_z=0.0593 right_yaw=0.0709 right_gripper=0.9986\nstate[joint_eff]: [-0.4991, -1.6068, 6.7624, 1.8437, -0.0464, 0.0317, -0.0171, -0.6906, -6.1333, 9.0188, 2.1514, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 46):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:17f1c5151bc559218d89e69ee9af7fb940a8cec33068cee7898f0b0113d6d9e3",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 17f1c5151bc5
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 46):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a309eb1f60bf177d7c4d36f89d03e8f587d9e87142daa75bfeb1e805f6c62030",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a309eb1f60bf
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 46):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:7e6142810898cf3716bd3edcd25bd558b16e907ed1fa9a879b94635715d8a3d2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7e6142810898
call 3 attempt 0 · /interactions · status 200 · 19.12 s
model
gemini-3.7-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_87857",
  "name": "move_to",
  "result": "executing move_to over 7 steps (0.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7967, 0.5896, -0.3813, -0.0315, -0.0498, 0.9996, 0.1333, 1.7641, 0.5789, 0.5438, 0.0578, 0.0032, 0.9986]\nstate[eef_state]: left_x=0.293 left_y=0.0014 left_z=0.1724 left_yaw=0.0066 left_gripper=0.9996 right_x=0.4132 right_y=0.0487 right_z=0.0193 right_yaw=0.0869 right_gripper=0.9986\nstate[joint_eff]: [-0.4718, -1.9077, 7.0906, 1.8632, -0.1392, -0.0659, -0.0171, -0.759, -6.5436, 7.7607, 1.9609, -0.1099, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 53):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:878254a45744c5e1a589e978e5d36d13fcf059ee152a16169e1e00450b43760d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 878254a45744
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 53):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2ecc4dde6cb546648b525bfbc78da1d8bd5d7fe81cb762adf158ea1f7750f5ca",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2ecc4dde6cb5
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 53):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:30798b63e9539ed781cd269328782ed1a6431c71a3f477230c58126404f5f70e",
  "mime_type": "image/png",
  "type": "image"
}
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call 4 attempt 0 · /interactions · status 200 · 11.61 s
model
gemini-3.7-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_123672",
  "name": "move_to",
  "result": "executing move_to over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7872, 0.5682, -0.3779, -0.0307, -0.0517, 0.9996, 0.1276, 1.771, 0.5301, 0.6106, 0.0353, -0.0032, 0.0085]\nstate[eef_state]: left_x=0.2901 left_y=0.0013 left_z=0.1659 left_yaw=0.0088 left_gripper=0.9996 right_x=0.405 right_y=0.0493 right_z=0.0132 right_yaw=0.092 right_gripper=0.0085\nstate[joint_eff]: [-0.1026, -1.6479, 6.7897, 1.9853, -0.0757, -0.0317, -0.0171, -0.2803, -8.9641, 5.0393, 1.9853, -0.0757, -0.0415, 0.4664]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 63):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:dc8b12337feef4cb4c87a4b988a06d3e1ccb0034d3a27ba69ec83643e8aa2e9c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dc8b12337fee
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 63):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b419404b416882abe160bb730b711b9245973d093527eaa4ea8dfe97e0da2291",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b419404b4168
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 63):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:631991c1250f84c69b3f0bb0443a227fdeac94de91ef8673f8037709524434c1",
  "mime_type": "image/png",
  "type": "image"
}
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call 5 attempt 0 · /interactions · status 200 · 11.94 s
model
gemini-3.7-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_35768",
  "name": "move_to",
  "result": "executing move_to over 11 steps (1.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7719, 0.5362, -0.3592, -0.0311, -0.0521, 0.9996, 0.1154, 1.7714, 0.6361, 0.5186, 0.0166, -0.0227, 0.9956]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1592 left_yaw=0.0098 left_gripper=0.9996 right_x=0.4288 right_y=0.0504 right_z=0.0314 right_yaw=0.1136 right_gripper=0.9956\nstate[joint_eff]: [-0.5538, -1.7846, 7.0632, 1.9658, -0.0611, -0.022, -0.0122, -0.6769, -9.2239, 7.7744, 1.6484, -0.0269, 0.0952, -0.1392]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 74):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:56704c8e933367d4c84cb39a7ae6dbc2fc7aaa42809ca51606f442cd3507f6ce",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 56704c8e9333
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 74):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0548c96b4bc73501b4fcf209c76f4fc3a840daf61a20e071fdb82a4a09e242f1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0548c96b4bc7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 74):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:436a8531018b50a8b718f5c8959cdf364fbb3074c56d8d234523827588528ada",
  "mime_type": "image/png",
  "type": "image"
}
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call 6 attempt 0 · /interactions · status 200 · 2.659 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 0 current as-sent form
{
  "call_id": "call_37746",
  "name": "move_to",
  "result": "target for right_z is outside [0.03, 0.4]",
  "type": "function_result"
}
call 7 attempt 0 · /interactions · status 200 · 2.749 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 0 current as-sent form
{
  "text": "Respond with exactly one tool call.",
  "type": "text"
}
call 8 attempt 0 · /interactions · status 200 · 3.471 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 0 current as-sent form
{
  "call_id": "call_136147",
  "name": "move_to",
  "result": "executing move_to over 5 steps (0.5s)",
  "type": "function_result"
}
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7578, 0.5053, -0.3477, -0.0311, -0.0521, 0.9996, 0.0883, 1.821, 0.638, 0.5659, -0.0364, -0.0505, 0.9967]\nstate[eef_state]: left_x=0.2843 left_y=0.0015 left_z=0.1512 left_yaw=0.0091 left_gripper=0.9996 right_x=0.4323 right_y=0.0483 right_z=0.0211 right_yaw=0.1346 right_gripper=0.9967\nstate[joint_eff]: [-0.5812, -1.6752, 7.0906, 1.9414, -0.0952, -0.0513, -0.0171, -0.7316, -5.9009, 7.5282, 2.0293, -0.1636, -0.0855, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 79):",
  "type": "text"
}
{
  "data": "$blob:d8cb37ba7d7c3c9b8bc3cbb0656f27671098da7f16e275c2a05a17a1f17b84dd",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d8cb37ba7d7c
{
  "text": "camera 'left_cam' (step 79):",
  "type": "text"
}
{
  "data": "$blob:96153cbf3fdb48723d200ecd72cc4a2852d8e67e7497f0905e595c1d2c3fd44d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 96153cbf3fdb
{
  "text": "camera 'right_cam' (step 79):",
  "type": "text"
}
{
  "data": "$blob:ba87d32a0f6fcfd39b929778d874a2df72a7cd0ab7d3a554862986bdb352f88e",
  "mime_type": "image/png",
  "type": "image"
}
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call 9 attempt 0 · /interactions · status 200 · 3.488 s
model
gemini-3.7-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_103846",
  "name": "move_to",
  "result": "executing move_to over 10 steps (1.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7403, 0.4717, -0.3325, -0.0311, -0.0521, 0.9996, 0.0883, 1.8309, 0.6418, 0.5793, -0.0536, -0.0635, 0.4207]\nstate[eef_state]: left_x=0.2809 left_y=0.0016 left_z=0.1436 left_yaw=0.009 left_gripper=0.9996 right_x=0.4342 right_y=0.0515 right_z=0.0211 right_yaw=0.1582 right_gripper=0.4207\nstate[joint_eff]: [-0.5265, -1.6342, 6.8991, 1.9658, -0.1245, -0.0073, -0.0171, -0.7316, -7.0906, 6.9812, 1.8877, -0.0562, 0.0073, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 89):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:167de7ae36279d93f42185cd3376d311d187a3354af9756d13904b3a80b676d5",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 89):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fd2c6ac3d89bdac3e71c92c756c085bd93ff3d810e239a5e4ac3b4ba082534c8",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 89):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:af656b29681ccc98c0dec7e611ca0a8a11c51e7f8d239def3b3fe3ae4f9b3ba9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob af656b29681c
call 10 attempt 0 · /interactions · status 200 · 23.78 s
model
gemini-3.7-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_101258",
  "name": "move_to",
  "result": "executing move_to over 49 steps (4.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.7197, 0.4362, -0.3176, -0.0311, -0.0521, 0.9996, 0.0895, 1.4567, 0.976, -0.1894, -0.0616, -0.0723, 0.4217]\nstate[eef_state]: left_x=0.2772 left_y=0.0017 left_z=0.1358 left_yaw=0.009 left_gripper=0.9996 right_x=0.4251 right_y=0.0527 right_z=0.1613 right_yaw=0.1649 right_gripper=0.4217\nstate[joint_eff]: [-0.4581, -1.347, 7.0222, 1.9951, -0.1001, -0.0317, -0.0171, -0.5675, -9.2923, 10.7009, 1.873, -0.022, 0.1001, 0.9158]\napprover: 4 step(s) modified (delta_clamped ×4).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 138):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e249475db42da155a121c1cbdd416f97ae0ec0a21b261bf9f90fe1bf733ee6f2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e249475db42d
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 138):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:cd723c653639ba7581f76b410a6dba2f5280db0a3d6a99894db9fdb5ad92a24e",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 138):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e5d0183e42f63567efecf2f5b9e2066c41179c09a630c9b0e283708489b79325",
  "mime_type": "image/png",
  "type": "image"
}
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call 11 attempt 0 · /interactions · status 200 · 4.381 s
model
gemini-3.7-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_86348",
  "name": "move_to",
  "result": "executing move_to over 44 steps (4.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.6975, 0.4034, -0.2989, -0.0311, -0.0521, 0.9996, 0.8368, 1.1164, 0.7246, -0.3477, 0.5209, 0.3626, 0.4249]\nstate[eef_state]: left_x=0.2744 left_y=0.0018 left_z=0.1303 left_yaw=0.01 left_gripper=0.9996 right_x=0.276 right_y=0.18 right_z=0.1608 right_yaw=0.2438 right_gripper=0.4249\nstate[joint_eff]: [-0.3897, -1.1282, 6.9265, 2.0098, -0.0708, -0.0122, -0.0171, 0.1846, -4.6564, 9.1282, 1.619, 0.525, 0.1294, 0.8669]\napprover: 2 step(s) modified (delta_clamped ×2).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 182):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:edc55ddacb8f20892260330843496c02e9b064faf7b4a4e54f5dfb2e5d273874",
  "mime_type": "image/png",
  "type": "image"
}
wire blob edc55ddacb8f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 182):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e5cb2485523ee6f058f2df5c9aa46cde6415edb52693dbbc16830bcc3b55d9d4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e5cb2485523e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 182):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1d27baf640287819ab4d344c05d69b75281719a760343178fcd9884853915912",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1d27baf64028
call 12 attempt 0 · /interactions · status 200 · 3.829 s
model
gemini-3.7-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_40515",
  "name": "move_to",
  "result": "executing move_to over 24 steps (2.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.6804, 0.3752, -0.284, -0.0311, -0.0521, 0.9996, 1.2156, 1.0134, 0.6102, -0.4717, 0.7349, 0.6273, 0.4249]\nstate[eef_state]: left_x=0.2718 left_y=0.0019 left_z=0.1248 left_yaw=0.0106 left_gripper=0.9996 right_x=0.1975 right_y=0.2022 right_z=0.1409 right_yaw=0.3067 right_gripper=0.4249\nstate[joint_eff]: [-0.5402, -0.9231, 7.0769, 1.9121, -0.0952, -0.0562, -0.0171, 0.1846, -3.1248, 7.4598, 1.3895, 0.5934, 0.0562, 0.4371]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 206):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2d0779f6ff9fee943c29c405790d4ab7a5e4cc2b47da1cbecd3014d93b0fd0bf",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2d0779f6ff9f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 206):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6c17de7e9b03d22fc4d94247062625d61632e90446fb28c700b77cbab17b0f07",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6c17de7e9b03
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 206):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:21dd6fd4bf4ff41c24d81ae6c8cafd6e33b76ea230539ea407f686cc113346bc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 21dd6fd4bf4f
call 13 attempt 0 · /interactions · status 200 · 11.01 s
model
gemini-3.7-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_60268",
  "name": "move_to",
  "result": "executing move_to over 17 steps (1.7s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.6674, 0.3542, -0.2749, -0.0315, -0.0525, 0.9996, 1.4399, 1.1645, 0.4427, -0.2863, 0.8337, 0.8192, 0.4266]\nstate[eef_state]: left_x=0.2697 left_y=0.002 left_z=0.1203 left_yaw=0.0114 left_gripper=0.9996 right_x=0.1574 right_y=0.2213 right_z=0.0781 right_yaw=0.3598 right_gripper=0.4266\nstate[joint_eff]: [-0.7043, -0.7863, 6.8308, 1.9121, -0.1001, -0.0806, -0.0171, 0.3077, -2.6188, 5.053, 1.3846, 0.6618, 0.105, 0.8327]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 223):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c9b036b4d473c3f176d4ac734ca988e8b95ca84a7180aceed232c7046f5a1754",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c9b036b4d473
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 223):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a4cad52d6f4351522e7d071a9b9ddadf053d8c00a426221860f6ae5bba36289a",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 223):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f5ad0fb1e1f73d508dc6bf944af70dea45f49969611c93b6dd60d100f7efe46e",
  "mime_type": "image/png",
  "type": "image"
}
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call 14 attempt 0 · /interactions · status 200 · 3.617 s
model
gemini-3.7-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_91588",
  "name": "move_to",
  "result": "executing move_to over 8 steps (0.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.654, 0.3351, -0.2695, -0.0311, -0.0521, 0.9996, 1.4418, 1.2301, 0.3172, -0.0681, 0.8253, 0.7815, 0.428]\nstate[eef_state]: left_x=0.2674 left_y=0.002 left_z=0.116 left_yaw=0.0107 left_gripper=0.9996 right_x=0.1554 right_y=0.2165 right_z=0.046 right_yaw=0.3938 right_gripper=0.428\nstate[joint_eff]: [-0.6085, -0.7179, 6.7761, 1.9414, -0.105, -0.0171, -0.0171, -0.0342, -2.3453, 5.5043, 1.5507, 0.4029, -0.0952, 0.7057]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 231):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a2ac57e789dffc00d2ae03689b19cfb6b96f1304975885b06a214543f6c6ca95",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a2ac57e789df
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 231):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dbececc4856d7acdc97c66fcad11d31ad6f3810045c0163896dbaeda92d75afc",
  "mime_type": "image/png",
  "type": "image"
}
wire blob dbececc4856d
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 231):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:cefbf7dfc6a30c28a3b58488f82cd8415b32ff8112a40f50bd23fc23490945db",
  "mime_type": "image/png",
  "type": "image"
}
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call 15 attempt 0 · /interactions · status 200 · 4.11 s
model
gemini-3.7-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_61779",
  "name": "move_to",
  "result": "executing move_to over 6 steps (0.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.6403, 0.3149, -0.2657, -0.0315, -0.0521, 0.9996, 1.4368, 1.2041, 0.2634, 0.0048, 0.8032, 0.7261, 0.9954]\nstate[eef_state]: left_x=0.2647 left_y=0.0021 left_z=0.111 left_yaw=0.0103 left_gripper=0.9996 right_x=0.1535 right_y=0.2139 right_z=0.0408 right_yaw=0.4298 right_gripper=0.9954\nstate[joint_eff]: [-0.6769, -0.6496, 7.0359, 1.9756, -0.1001, -0.0855, -0.0073, -0.1983, -3.1111, 5.4906, 1.4628, 0.4664, 0.0904, -0.1978]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 237):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:6766462e7a28089c081fed9f4353b75fd82694dc423981e0935937bf6f3d3b44",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6766462e7a28
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 237):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:67df301216042320cc9da7d68e372e988bdbce7637d655743c084285b93df9ac",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 237):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:11b5f8a6f26972d11bddc00db3cc06eb158155eb7d698ad7d6f3b7288dcafe8f",
  "mime_type": "image/png",
  "type": "image"
}
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call 16 attempt 0 · /interactions · status 200 · 7.84 s
model
gemini-3.7-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_34381",
  "name": "move_to",
  "result": "executing move_to over 44 steps (4.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0265, 0.6243, 0.2893, -0.2577, -0.0315, -0.0521, 0.9996, 1.4284, 0.9146, 0.741, -0.7422, 0.7761, 0.6762, 0.9966]\nstate[eef_state]: left_x=0.2618 left_y=0.0022 left_z=0.1049 left_yaw=0.0101 left_gripper=0.9996 right_x=0.1516 right_y=0.2108 right_z=0.1825 right_yaw=0.4833 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -0.7453, 7.0632, 1.8926, -0.1245, -0.0513, -0.0073, -0.253, -1.812, 10.0581, 1.3065, 0.3443, 0.0171, 0.1197]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 281):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:46427692a77eb63256e2618bca3b46b4f54ec14360b0b850eca592a8bf28c485",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 46427692a77e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 281):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b987ce0e143e6170e7a4c1737e86c58a3b1b0eec584602ed21623bb3bd025171",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b987ce0e143e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 281):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c2a64c92042e9ac26c3698a252e987ba491814fb43d301a06682d1b3bf199da0",
  "mime_type": "image/png",
  "type": "image"
}
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