adhoc - adhoc_44cec235.json

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: 142.2 s
total steps: 295

success_at_end

scenes

trials

errored

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

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

user

Goal: Place the right answer on the plate.

step 0

assistant

agent noteThe math problem is 3+4=7, so the target is block 7. Moving right arm towards block 7.

move_to

right_y0.0600right_x0.4000right_z0.1800

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.794, 0.6056, -0.3759, -0.017, -0.0406, 0.9996, -0.0181, 0.7925, 0.6014, -0.3824, -0.017, -0.02, 0.9971] state[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1815 left_yaw=0.0 left_gripper=0.9996 right_x=0.294 right_y=0.0013 right_z=0.1787 right_yaw=0.0 right_gripper=0.9971 state[joint_eff]: [-0.3761, -1.5658, 10.0034, 1.7851, -0.0659, 0.2564, -0.0513, -0.7043, -1.2376, 10.3043, 1.9658, -0.0904, 0.0317, -0.3053] 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({"targets": {"right_y": 0.06, "right_x": 0.4, "right_z": 0.18}, "note": "The math problem is 3+4=7, so the target is block 7. Moving right arm towards block 7."})

tool

executing move_to over 33 steps (3.3s)

step 33

assistant

agent noteBlock 7 is nearly centered in right camera. Moving forward and lowering towards the block.

move_to

right_z0.0900right_x0.4350right_y0.0550

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7986, 0.6075, -0.3859, -0.0196, -0.0425, 0.9996, 0.2161, 1.309, 0.8165, -0.1783, 0.157, 0.0834, 0.997] state[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1791 left_yaw=0.002 left_gripper=0.9996 right_x=0.3837 right_y=0.0596 right_z=0.1522 right_yaw=0.0632 right_gripper=0.997 state[joint_eff]: [-0.1846, -1.6068, 6.8991, 1.8242, -0.0317, -0.0562, -0.0122, 0.1983, -4.547, 10.5504, 2.0781, 0.2466, 0.2662, -0.0269] 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_to({"targets": {"right_z": 0.09, "right_x": 0.435, "right_y": 0.055}, "note": "Block 7 is nearly centered in right camera. Moving forward and lowering towards the block."})

tool

executing move_to over 17 steps (1.7s)

step 50

assistant

agent noteCentering block 7 between the jaws and descending to grasp height.

move_to

right_x0.4450right_z0.0400right_y0.0420

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7975, 0.6006, -0.3851, -0.0196, -0.0456, 0.9996, 0.1482, 1.6001, 0.6983, 0.2607, 0.065, 0.028, 0.9969] state[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1764 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4208 right_y=0.0548 right_z=0.0737 right_yaw=0.0825 right_gripper=0.9969 state[joint_eff]: [0.0615, -1.853, 6.7487, 1.8632, -0.0269, -0.0024, -0.0171, -0.5538, -6.2564, 7.9795, 2.1074, -0.0269, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"note": "Centering block 7 between the jaws and descending to grasp height.", "targets": {"right_x": 0.445, "right_z": 0.04, "right_y": 0.042}})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteBlock 7 is perfectly between the fingertips. Closing right gripper to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7937, 0.585, -0.3813, -0.0231, -0.0494, 0.9996, 0.0929, 1.7908, 0.6437, 0.5068, 0.009, -0.0051, 0.9969] state[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.1711 left_yaw=0.0128 left_gripper=0.9996 right_x=0.429 right_y=0.042 right_z=0.0237 right_yaw=0.0827 right_gripper=0.9969 state[joint_eff]: [-0.4718, -1.8256, 7.0496, 1.8974, -0.0611, -0.0366, -0.0171, -0.759, -7.3368, 7.8154, 2.1514, -0.1148, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"note": "Block 7 is perfectly between the fingertips. Closing right gripper to grasp.", "targets": {"right_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteGripper missed the block and closed empty in front of it. Opening gripper and moving forward to encompass the block.

move_to

right_gripper1.0000right_x0.4600right_z0.0400

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7837, 0.5636, -0.3775, -0.0269, -0.0494, 0.9996, 0.0906, 1.7992, 0.5934, 0.588, 0.0082, -0.0124, 0.0083] state[eef_state]: left_x=0.2894 left_y=0.0025 left_z=0.1648 left_yaw=0.0119 left_gripper=0.9996 right_x=0.4226 right_y=0.0405 right_z=0.0189 right_yaw=0.0932 right_gripper=0.0083 state[joint_eff]: [-0.6496, -1.7162, 6.7487, 1.9756, -0.0855, -0.0708, -0.0073, 0.0205, -8.1162, 4.9983, 2.0781, -0.0122, 0.0904, 0.6081] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"note": "Gripper missed the block and closed empty in front of it. Opening gripper and moving forward to encompass the block.", "targets": {"right_gripper": 1, "right_x": 0.46, "right_z": 0.04}})

tool

executing move_to over 12 steps (1.2s)

step 82

assistant

agent noteAdvancing right gripper forward and aligning yaw with the block.

move_to

right_z0.0350right_yaw-0.2000right_x0.4800right_y0.0380

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7673, 0.5343, -0.3573, -0.0269, -0.0494, 0.9996, 0.0792, 1.8328, 0.7048, 0.5354, -0.0174, -0.0284, 0.9962] state[eef_state]: left_x=0.2874 left_y=0.0026 left_z=0.1599 left_yaw=0.0128 left_gripper=0.9996 right_x=0.4504 right_y=0.0424 right_z=0.0337 right_yaw=0.1112 right_gripper=0.9962 state[joint_eff]: [-0.3761, -1.6889, 6.9402, 1.9121, -0.0708, -0.0513, -0.0171, -0.7043, -6.7487, 7.6786, 1.8974, -0.0464, 0.0464, -0.1441] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.035, "right_yaw": -0.2, "right_x": 0.48, "right_y": 0.038}, "note": "Advancing right gripper forward and aligning yaw with the block."})

tool

executing move_to over 9 steps (0.9s)

step 91

assistant

agent noteBlock 7 is deeply within the jaws. Closing right gripper to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.757, 0.5083, -0.3481, -0.0269, -0.0494, 0.9996, 0.1841, 1.9182, 0.8295, 0.4778, 0.2581, 0.1616, 0.9965] state[eef_state]: left_x=0.2846 left_y=0.0026 left_z=0.1527 left_yaw=0.012 left_gripper=0.9996 right_x=0.4737 right_y=0.046 right_z=0.0329 right_yaw=-0.1189 right_gripper=0.9965 state[joint_eff]: [-0.2803, -1.7026, 7.0769, 1.9463, -0.0952, -0.0317, -0.0171, 0.335, -7.8701, 7.0222, 1.7851, 0.3004, 0.1734, 0.0171] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"note": "Block 7 is deeply within the jaws. Closing right gripper to grasp.", "targets": {"right_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 101

assistant

agent noteBlock 7 securely grasped (gripper=0.435, effort=1.03). Lifting up.

move_to

right_z0.1800

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7422, 0.4801, -0.3332, -0.0269, -0.049, 0.9996, 0.1822, 1.9327, 0.8181, 0.4904, 0.2459, 0.1539, 0.4352] state[eef_state]: left_x=0.2821 left_y=0.0027 left_z=0.1468 left_yaw=0.0115 left_gripper=0.9996 right_x=0.4706 right_y=0.0466 right_z=0.0244 right_yaw=-0.1019 right_gripper=0.4352 state[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.9414, -0.0659, 0.0171, -0.0073, -0.3624, -10.0171, 4.9162, 1.8584, 0.0464, -0.0415, 1.033] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"note": "Block 7 securely grasped (gripper=0.435, effort=1.03). Lifting up.", "targets": {"right_z": 0.18}})

tool

executing move_to over 43 steps (4.3s)

step 144

assistant

agent noteCarrying block 7 towards the plate.

move_to

right_z0.1800right_x0.3000right_y0.2000

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7254, 0.4519, -0.3252, -0.0269, -0.0494, 0.9996, 0.1802, 1.6341, 1.0615, -0.1234, 0.223, 0.1345, 0.4401] state[eef_state]: left_x=0.2786 left_y=0.0028 left_z=0.1399 left_yaw=0.0117 left_gripper=0.9996 right_x=0.4601 right_y=0.0478 right_z=0.1379 right_yaw=-0.0488 right_gripper=0.4401 state[joint_eff]: [-0.1846, -1.3333, 6.8718, 1.9805, -0.0513, 0.0024, -0.0073, -0.6222, -11.1111, 10.5231, 1.9707, 0.1245, 0.0562, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"note": "Carrying block 7 towards the plate.", "targets": {"right_z": 0.18, "right_x": 0.3, "right_y": 0.2}})

tool

executing move_to over 49 steps (4.9s)

step 193

assistant

agent noteDirectly above the plate. Lowering block 7 onto the plate.

move_to

right_z0.0600

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7055, 0.4202, -0.3092, -0.0265, -0.0494, 0.9996, 0.9169, 1.3521, 0.9058, -0.4397, 0.7277, 0.6304, 0.4431] state[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1338 left_yaw=0.0123 left_gripper=0.9996 right_x=0.2957 right_y=0.1985 right_z=0.1618 right_yaw=0.0364 right_gripper=0.4431 state[joint_eff]: [-0.0752, -0.9915, 6.9265, 1.9951, -0.0269, -0.022, -0.0073, 0.2256, -5.6684, 9.7846, 1.3797, 0.6081, 0.1099, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.06}, "note": "Directly above the plate. Lowering block 7 onto the plate."})

tool

executing move_to over 28 steps (2.8s)

step 221

assistant

agent noteCentering over the plate.

move_to

right_y0.2200right_z0.0500right_x0.2500

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.6899, 0.3931, -0.2947, -0.0265, -0.0494, 0.9996, 0.9031, 1.5059, 0.5465, 0.1658, 0.6952, 0.556, 0.4431] state[eef_state]: left_x=0.2732 left_y=0.0028 left_z=0.1284 left_yaw=0.0127 left_gripper=0.9996 right_x=0.2947 right_y=0.1968 right_z=0.0627 right_yaw=0.0514 right_gripper=0.4431 state[joint_eff]: [-0.212, -1.2103, 7.0632, 1.9463, -0.0366, -0.0073, -0.0122, -0.0479, -3.8359, 5.053, 1.5995, 0.2613, 0.0122, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.22, "right_z": 0.05, "right_x": 0.25}, "note": "Centering over the plate."})

tool

executing move_to over 14 steps (1.4s)

step 235

assistant

agent noteBlock 7 is over the plate. Opening gripper to place it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.675, 0.3695, -0.2832, -0.0269, -0.0494, 0.9996, 1.0939, 1.5181, 0.5289, 0.128, 0.8387, 0.7155, 0.4431] state[eef_state]: left_x=0.271 left_y=0.0029 left_z=0.1237 left_yaw=0.013 left_gripper=0.9996 right_x=0.2574 right_y=0.2198 right_z=0.0613 right_yaw=0.0306 right_gripper=0.4431 state[joint_eff]: [-0.4991, -1.0325, 6.8581, 1.9316, -0.0708, -0.0513, -0.0073, 0.841, -3.6171, 5.4222, 0.9206, 0.0464, 0.2418, 1.0183] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"note": "Block 7 is over the plate. Opening gripper to place it.", "targets": {"right_gripper": 1}})

tool

executing move_to over 6 steps (0.6s)

step 241

assistant

agent noteRetracting right arm up and away to reveal the placed block.

move_to

right_x0.3000right_z0.2500right_y0.0000

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.6636, 0.3485, -0.2737, -0.0269, -0.0494, 0.9996, 1.0882, 1.5185, 0.5545, 0.0257, 0.8108, 0.7444, 0.9961] state[eef_state]: left_x=0.2689 left_y=0.003 left_z=0.1189 left_yaw=0.013 left_gripper=0.9996 right_x=0.2535 right_y=0.2156 right_z=0.0541 right_yaw=0.074 right_gripper=0.9961 state[joint_eff]: [-0.212, -0.8547, 6.9812, 1.9121, -0.0757, -0.0513, -0.0122, -0.3624, -5.4769, 6.9812, 1.1941, 0.4762, 0.0024, -0.1001] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"note": "Retracting right arm up and away to reveal the placed block.", "targets": {"right_x": 0.3, "right_z": 0.25, "right_y": 0}})

tool

executing move_to over 53 steps (5.3s)

step 294

assistant

agent noteSolved the math problem 3 + 4 = 7, located the block with number 7, picked it up with the right arm, and placed it onto the plate.

done

hindsightTo grasp blocks effectively, align the gripper yaw to match the block's rotation and ensure the gripper is translated far enough forward in x so the block sits fully between the jaws before closing.

Raw transcript

user

Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.6506, 0.3271, -0.2661, -0.0269, -0.0494, 0.9996, -0.0872, 0.8757, 0.8722, -0.6262, -0.1146, -0.0963, 0.9964] state[eef_state]: left_x=0.2666 left_y=0.003 left_z=0.1139 left_yaw=0.0129 left_gripper=0.9996 right_x=0.2957 right_y=-0.002 right_z=0.2295 right_yaw=0.0581 right_gripper=0.9964 state[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8926, -0.105, -0.0073, -0.0073, -0.2256, -1.1009, 10.2632, 1.746, -0.2125, 0.0415, 0.0171] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

done({"summary": "Solved the math problem 3 + 4 = 7, located the block with number 7, picked it up with the right arm, and placed it onto the plate.", "hindsight": "To grasp blocks effectively, align the gripper yaw to match the block's rotation and ensure the gripper is translated far enough forward in x so the block sits fully between the jaws before closing."})

tool

done: Solved the math problem 3 + 4 = 7, located the block with number 7, picked it up with the right arm, 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 · 4.222 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, 0.6056, -0.3759, -0.017, -0.0406, 0.9996, -0.0181, 0.7925, 0.6014, -0.3824, -0.017, -0.02, 0.9971]\nstate[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1815 left_yaw=0.0 left_gripper=0.9996 right_x=0.294 right_y=0.0013 right_z=0.1787 right_yaw=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.5658, 10.0034, 1.7851, -0.0659, 0.2564, -0.0513, -0.7043, -1.2376, 10.3043, 1.9658, -0.0904, 0.0317, -0.3053]",
  "type": "text"
}

{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}

{
  "data": "$blob:1cc7b0e25c1e26fce31dbb8b9262f0051901d499140c2b8f2a839592b607bfad",
  "mime_type": "image/png",
  "type": "image"
}

{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}

{
  "data": "$blob:90ff13932dc545de20b27cbae655dcba69262384596cdd43a9a245cadd9be6a1",
  "mime_type": "image/png",
  "type": "image"
}

{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}

{
  "data": "$blob:24f1b4b423c9ce7a5f3729c3167fb4f4c0d8241512e65992ce1033f4780a63d5",
  "mime_type": "image/png",
  "type": "image"
}

call 1 attempt 0 · /interactions · status 200 · 18.63 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_64282",
  "name": "move_to",
  "result": "executing move_to over 33 steps (3.3s)",
  "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, -0.3859, -0.0196, -0.0425, 0.9996, 0.2161, 1.309, 0.8165, -0.1783, 0.157, 0.0834, 0.997]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1791 left_yaw=0.002 left_gripper=0.9996 right_x=0.3837 right_y=0.0596 right_z=0.1522 right_yaw=0.0632 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -1.6068, 6.8991, 1.8242, -0.0317, -0.0562, -0.0122, 0.1983, -4.547, 10.5504, 2.0781, 0.2466, 0.2662, -0.0269]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 33):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:6bc142a2069e481286aa94610f0de84457764486e46ac087a7d26c102459dd31",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 33):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:513ebbd922d22ac0cecb2ec93674f7fe7eeeaff18156a0a8b479c753d5981b3e",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 33):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:1e757b9f629613794050a632323fa4c31a7399138692bcb29b99e9a47e402a0a",
  "mime_type": "image/png",
  "type": "image"
}

call 2 attempt 0 · /interactions · status 200 · 3.731 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_152561",
  "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]: [-0.0196, 0.7975, 0.6006, -0.3851, -0.0196, -0.0456, 0.9996, 0.1482, 1.6001, 0.6983, 0.2607, 0.065, 0.028, 0.9969]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1764 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4208 right_y=0.0548 right_z=0.0737 right_yaw=0.0825 right_gripper=0.9969\nstate[joint_eff]: [0.0615, -1.853, 6.7487, 1.8632, -0.0269, -0.0024, -0.0171, -0.5538, -6.2564, 7.9795, 2.1074, -0.0269, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 50):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:1afdf4878a73f1bdeef3f1127e5b038d0179195a9bc67cee535efcb7c8deeaeb",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 50):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:1e52e63c59f0e023df96526bf971a728a7012a62e2d68c971aeb48d9c4077c72",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 50):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:ced10cafb91b66bfd1d4e751ceebc55fe43a49d3e3a6be9a2b64a30631c3390b",
  "mime_type": "image/png",
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}

call 3 attempt 0 · /interactions · status 200 · 3.081 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_52446",
  "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]: [-0.02, 0.7937, 0.585, -0.3813, -0.0231, -0.0494, 0.9996, 0.0929, 1.7908, 0.6437, 0.5068, 0.009, -0.0051, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.1711 left_yaw=0.0128 left_gripper=0.9996 right_x=0.429 right_y=0.042 right_z=0.0237 right_yaw=0.0827 right_gripper=0.9969\nstate[joint_eff]: [-0.4718, -1.8256, 7.0496, 1.8974, -0.0611, -0.0366, -0.0171, -0.759, -7.3368, 7.8154, 2.1514, -0.1148, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 60):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:c5a5e4c3117fa7492651824e7ff0a99e810a5fddf35a4a541d49830d70e0170a",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 60):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:94cfdfa285a8aff0c4515406c201439b15f2c9cdc28bc3a6c5995496199c7ce7",
  "mime_type": "image/png",
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message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 60):",
  "type": "text"
}

message 7 current as-sent form

{
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}

call 4 attempt 0 · /interactions · status 200 · 4.233 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_106035",
  "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]: [-0.02, 0.7837, 0.5636, -0.3775, -0.0269, -0.0494, 0.9996, 0.0906, 1.7992, 0.5934, 0.588, 0.0082, -0.0124, 0.0083]\nstate[eef_state]: left_x=0.2894 left_y=0.0025 left_z=0.1648 left_yaw=0.0119 left_gripper=0.9996 right_x=0.4226 right_y=0.0405 right_z=0.0189 right_yaw=0.0932 right_gripper=0.0083\nstate[joint_eff]: [-0.6496, -1.7162, 6.7487, 1.9756, -0.0855, -0.0708, -0.0073, 0.0205, -8.1162, 4.9983, 2.0781, -0.0122, 0.0904, 0.6081]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 70):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:846df184098ca2a86c0ab310f30ddc4e560133bce6364559f96d335f2f180c5f",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 70):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:53d811a53d5a81f607c2f80ceafb13ef11fef5ab1aa61278b08424273602d5fd",
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message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 70):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:bcca007531406d51eee542de1f31a2bf80aca139ffd8c5635a1f36043c8ce512",
  "mime_type": "image/png",
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}

call 5 attempt 0 · /interactions · status 200 · 4.282 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_84367",
  "name": "move_to",
  "result": "executing move_to over 12 steps (1.2s)",
  "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, 0.7673, 0.5343, -0.3573, -0.0269, -0.0494, 0.9996, 0.0792, 1.8328, 0.7048, 0.5354, -0.0174, -0.0284, 0.9962]\nstate[eef_state]: left_x=0.2874 left_y=0.0026 left_z=0.1599 left_yaw=0.0128 left_gripper=0.9996 right_x=0.4504 right_y=0.0424 right_z=0.0337 right_yaw=0.1112 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -1.6889, 6.9402, 1.9121, -0.0708, -0.0513, -0.0171, -0.7043, -6.7487, 7.6786, 1.8974, -0.0464, 0.0464, -0.1441]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 82):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:4bb7114c8715b4431c153319bb697af014d78a641cc1a4c83af5de780fe738e2",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 82):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:aa7943bef3fca75bcc4a56e37ec396e15724e81a9c9a229915da282071c46086",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 82):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:d840b746db5f498a75ade5d5b8932043e9f99bc89f0dfcedc60a7b6cb7148f2c",
  "mime_type": "image/png",
  "type": "image"
}

call 6 attempt 0 · /interactions · status 200 · 8.412 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_51038",
  "name": "move_to",
  "result": "executing move_to over 9 steps (0.9s)",
  "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, 0.757, 0.5083, -0.3481, -0.0269, -0.0494, 0.9996, 0.1841, 1.9182, 0.8295, 0.4778, 0.2581, 0.1616, 0.9965]\nstate[eef_state]: left_x=0.2846 left_y=0.0026 left_z=0.1527 left_yaw=0.012 left_gripper=0.9996 right_x=0.4737 right_y=0.046 right_z=0.0329 right_yaw=-0.1189 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -1.7026, 7.0769, 1.9463, -0.0952, -0.0317, -0.0171, 0.335, -7.8701, 7.0222, 1.7851, 0.3004, 0.1734, 0.0171]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 91):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:288235b836e9e7a5c7cb55f88d7f9a04c88013dbb2895254a5fdb858f2e55dc7",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 91):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:0586edb97d0dfacb169f365c4faad3925bf99042c512ae9ea4c030c319178139",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 91):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:2bd53bd623d825974b765c39b6d8e3c80df0500321df006cbf52cda36cc0173c",
  "mime_type": "image/png",
  "type": "image"
}

call 7 attempt 0 · /interactions · status 200 · 3.123 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_95367",
  "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]: [-0.02, 0.7422, 0.4801, -0.3332, -0.0269, -0.049, 0.9996, 0.1822, 1.9327, 0.8181, 0.4904, 0.2459, 0.1539, 0.4352]\nstate[eef_state]: left_x=0.2821 left_y=0.0027 left_z=0.1468 left_yaw=0.0115 left_gripper=0.9996 right_x=0.4706 right_y=0.0466 right_z=0.0244 right_yaw=-0.1019 right_gripper=0.4352\nstate[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.9414, -0.0659, 0.0171, -0.0073, -0.3624, -10.0171, 4.9162, 1.8584, 0.0464, -0.0415, 1.033]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 101):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:8e3aa73e99e0cb3aaa5c9ae5d6e19672abc18451cb8936750e34fa1a4d485676",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 101):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:304ea91202544f7ee7646e7c2c1594e7481b562f12fd060bf785826659a7140d",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 101):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:8890c46c5f25598db2e8e60d26c1b121fcfa8cfd8f277c49e9e7c7c0270dc87f",
  "mime_type": "image/png",
  "type": "image"
}

call 8 attempt 0 · /interactions · status 200 · 4.184 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_78404",
  "name": "move_to",
  "result": "executing move_to over 43 steps (4.3s)",
  "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, 0.7254, 0.4519, -0.3252, -0.0269, -0.0494, 0.9996, 0.1802, 1.6341, 1.0615, -0.1234, 0.223, 0.1345, 0.4401]\nstate[eef_state]: left_x=0.2786 left_y=0.0028 left_z=0.1399 left_yaw=0.0117 left_gripper=0.9996 right_x=0.4601 right_y=0.0478 right_z=0.1379 right_yaw=-0.0488 right_gripper=0.4401\nstate[joint_eff]: [-0.1846, -1.3333, 6.8718, 1.9805, -0.0513, 0.0024, -0.0073, -0.6222, -11.1111, 10.5231, 1.9707, 0.1245, 0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 144):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:337f1c8ce1bc77d1f7c693e6cf4fecc79532571810e7027710edac3a2693631b",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 144):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:66c145594ae16db6c620fd0680d762c46b588a25a8bcb32a9903bc66ca0c8eac",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 144):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:639007d6d3954466187289073586305ebc9ad640705bb4d21735208d5c28c4b5",
  "mime_type": "image/png",
  "type": "image"
}

call 9 attempt 0 · /interactions · status 200 · 6.736 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_91813",
  "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]: [-0.02, 0.7055, 0.4202, -0.3092, -0.0265, -0.0494, 0.9996, 0.9169, 1.3521, 0.9058, -0.4397, 0.7277, 0.6304, 0.4431]\nstate[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1338 left_yaw=0.0123 left_gripper=0.9996 right_x=0.2957 right_y=0.1985 right_z=0.1618 right_yaw=0.0364 right_gripper=0.4431\nstate[joint_eff]: [-0.0752, -0.9915, 6.9265, 1.9951, -0.0269, -0.022, -0.0073, 0.2256, -5.6684, 9.7846, 1.3797, 0.6081, 0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 193):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:d37727e7450b319824068c41ace1bce6b79d1dfb640eff15336c81e64671fa6e",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 193):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:bbf41909226fa709b6b3a0df993b4a8b2bcff90f0e3376201bc3fa8dcc0b7bcf",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 193):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:db9079c445387bf295ea72ac6b21da9e8251fe2304d51669997339f057c26a6c",
  "mime_type": "image/png",
  "type": "image"
}

call 10 attempt 0 · /interactions · status 200 · 3.355 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_71389",
  "name": "move_to",
  "result": "executing move_to over 28 steps (2.8s)",
  "type": "function_result"
}

message 1 current as-sent form

{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.6899, 0.3931, -0.2947, -0.0265, -0.0494, 0.9996, 0.9031, 1.5059, 0.5465, 0.1658, 0.6952, 0.556, 0.4431]\nstate[eef_state]: left_x=0.2732 left_y=0.0028 left_z=0.1284 left_yaw=0.0127 left_gripper=0.9996 right_x=0.2947 right_y=0.1968 right_z=0.0627 right_yaw=0.0514 right_gripper=0.4431\nstate[joint_eff]: [-0.212, -1.2103, 7.0632, 1.9463, -0.0366, -0.0073, -0.0122, -0.0479, -3.8359, 5.053, 1.5995, 0.2613, 0.0122, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 221):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:3b37c9378946f31d80bd6ececd0d67ec2da5f662afc06cef97bbb42846851fab",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 221):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:2eb3886a6f912c15d826b9344fd440ae75639c5f187ff84baebb96b952fd6370",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 221):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:3c8a5c7acbc5e084a2799bbe4e6fb6724af20e4537570c06df7ffe1c073b90ef",
  "mime_type": "image/png",
  "type": "image"
}

call 11 attempt 0 · /interactions · status 200 · 5.828 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_137642",
  "name": "move_to",
  "result": "executing move_to over 14 steps (1.4s)",
  "type": "function_result"
}

message 1 current as-sent form

{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.675, 0.3695, -0.2832, -0.0269, -0.0494, 0.9996, 1.0939, 1.5181, 0.5289, 0.128, 0.8387, 0.7155, 0.4431]\nstate[eef_state]: left_x=0.271 left_y=0.0029 left_z=0.1237 left_yaw=0.013 left_gripper=0.9996 right_x=0.2574 right_y=0.2198 right_z=0.0613 right_yaw=0.0306 right_gripper=0.4431\nstate[joint_eff]: [-0.4991, -1.0325, 6.8581, 1.9316, -0.0708, -0.0513, -0.0073, 0.841, -3.6171, 5.4222, 0.9206, 0.0464, 0.2418, 1.0183]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 235):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:0f284a1cc224c585185c9e56f26dabc01d8b5596e8fd36a179addbd47d782c5a",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 235):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:b868160ebefe70a7f8ee59f1cafc3b558566bb172ca8b3627d607b2c7d6f128a",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 235):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:640f635d69652af5f25dbc003acb7540f19cc23f7f167cad141bfeca160532ae",
  "mime_type": "image/png",
  "type": "image"
}

call 12 attempt 0 · /interactions · status 200 · 21.94 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_20522",
  "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]: [-0.02, 0.6636, 0.3485, -0.2737, -0.0269, -0.0494, 0.9996, 1.0882, 1.5185, 0.5545, 0.0257, 0.8108, 0.7444, 0.9961]\nstate[eef_state]: left_x=0.2689 left_y=0.003 left_z=0.1189 left_yaw=0.013 left_gripper=0.9996 right_x=0.2535 right_y=0.2156 right_z=0.0541 right_yaw=0.074 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -0.8547, 6.9812, 1.9121, -0.0757, -0.0513, -0.0122, -0.3624, -5.4769, 6.9812, 1.1941, 0.4762, 0.0024, -0.1001]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 241):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:5c6ccdfe8ea8a9cb94b85cd045abec03174de309b97ad4cf4e4e51489794ed0e",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 241):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:931a1704f8120f3bc43775e0ee7ba8d1613ed275087f7156d351b02f32ab821f",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 241):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:cf2c618f7cfe02fb3d2ae91e9da11752d787e09c2857b1b715d37b462f9492a0",
  "mime_type": "image/png",
  "type": "image"
}

call 13 attempt 0 · /interactions · status 200 · 11.43 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_5031",
  "name": "move_to",
  "result": "executing move_to over 53 steps (5.3s)",
  "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, 0.6506, 0.3271, -0.2661, -0.0269, -0.0494, 0.9996, -0.0872, 0.8757, 0.8722, -0.6262, -0.1146, -0.0963, 0.9964]\nstate[eef_state]: left_x=0.2666 left_y=0.003 left_z=0.1139 left_yaw=0.0129 left_gripper=0.9996 right_x=0.2957 right_y=-0.002 right_z=0.2295 right_yaw=0.0581 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8926, -0.105, -0.0073, -0.0073, -0.2256, -1.1009, 10.2632, 1.746, -0.2125, 0.0415, 0.0171]",
  "type": "text"
}

message 2 current as-sent form

{
  "text": "camera 'top_cam' (step 294):",
  "type": "text"
}

message 3 current as-sent form

{
  "data": "$blob:5195237933edabb951382536b8d8117ff34d2857e48cfefa1df66f5a868a0f7c",
  "mime_type": "image/png",
  "type": "image"
}

message 4 current as-sent form

{
  "text": "camera 'left_cam' (step 294):",
  "type": "text"
}

message 5 current as-sent form

{
  "data": "$blob:1496505de881a65e96c2f206618e88ccd8335c9d3d0dff12ecb4c16c9c7ed2e8",
  "mime_type": "image/png",
  "type": "image"
}

message 6 current as-sent form

{
  "text": "camera 'right_cam' (step 294):",
  "type": "text"
}

message 7 current as-sent form

{
  "data": "$blob:b53e5e3db04c6c0d1f8b2f70b6e246e30059a948ee7dc231f7b8d4d2327b59e3",
  "mime_type": "image/png",
  "type": "image"
}