adhoc

completed
2026-08-25T03:58:48.874181+00:00 inspect-robots 0.53.1git unknownembedded media truncated at 15 MB (90 embedded)
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
530.7 s
total steps
292
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 toward block 7 (the sum 3+4=7).
move_to
right_x0.3800right_y0.0500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7937, 0.6052, -0.3756, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.3817, -0.017, -0.02, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1815 left_yaw=0.0 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.1788 right_yaw=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3761, -1.5385, 10.0444, 1.7851, -0.0366, 0.2222, -0.0562, -0.5128, -1.388, 10.3043, 1.9365, -0.1099, 0.0269, -0.0757] 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_x": 0.38, "right_y": 0.05, "right_z": 0.15}, "note": "Moving right arm toward block 7 (the sum 3+4=7)."})
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 noteAligning directly over block 7 and lowering the gripper.
move_to
right_z0.0800right_x0.4000right_y0.0500
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, -0.0422, 0.9996, 0.1963, 1.251, 0.6575, -0.0689, 0.1467, 0.0792, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1791 left_yaw=0.0006 left_gripper=0.9996 right_x=0.3641 right_y=0.0497 right_z=0.1249 right_yaw=0.0525 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.5795, 6.8581, 1.8339, -0.0415, -0.0171, -0.0171, 0.335, -3.9726, 10.1949, 2.1465, 0.2369, 0.2076, -0.0171] 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({"targets": {"right_z": 0.08, "right_x": 0.4, "right_y": 0.05}, "note": "Aligning directly over block 7 and lowering the gripper."})
tool
executing move_to over 13 steps (1.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteLowering the gripper around block 7.
move_to
right_z0.0350right_x0.4200right_y0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7975, 0.5999, -0.3851, -0.02, -0.0425, 0.9996, 0.1593, 1.4971, 0.5549, 0.3073, 0.0883, 0.0479, 0.9993] state[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1761 left_yaw=0.001 left_gripper=0.9996 right_x=0.3883 right_y=0.0502 right_z=0.0666 right_yaw=0.0635 right_gripper=0.9993 state[joint_eff]: [-0.2393, -1.8667, 6.5846, 1.8877, -0.0366, -0.0611, -0.0171, -0.759, -5.6547, 6.8991, 2.0879, -0.0757, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035, "right_x": 0.42, "right_y": 0.05}, "note": "Lowering the gripper around block 7."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteAdvancing jaws around block 7.
move_to
right_y0.0500right_x0.4300right_z0.0150
assistant
user
Respond with exactly one tool call.
assistant
agent noteAdvancing jaws around block 7 at minimum z height.
move_to
right_z0.0300right_x0.4350right_y0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.791, 0.5838, -0.3813, -0.02, -0.0452, 0.9996, 0.141, 1.7382, 0.5411, 0.5575, 0.0643, 0.0261, 0.9993] state[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1713 left_yaw=0.0051 left_gripper=0.9996 right_x=0.4041 right_y=0.0495 right_z=0.0192 right_yaw=0.0822 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.7709, 6.8444, 1.917, -0.0513, -0.0024, -0.0073, -0.4855, -6.7487, 7.1726, 2.0879, -0.0415, 0.0024, -0.0122] 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({"targets": {"right_y": 0.05, "right_x": 0.43, "right_z": 0.015}, "note": "Advancing jaws 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": 0.435, "right_y": 0.05}, "note": "Advancing jaws around block 7 at minimum z height."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteGrasping block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7818, 0.5632, -0.3779, -0.0235, -0.049, 0.9996, 0.1265, 1.8034, 0.5915, 0.6033, 0.0357, 0.0032, 0.9993] state[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1651 left_yaw=0.0106 left_gripper=0.9996 right_x=0.4225 right_y=0.051 right_z=0.0197 right_yaw=0.1058 right_gripper=0.9993 state[joint_eff]: [-0.5949, -1.6205, 6.8718, 1.9805, -0.1197, 0.0122, -0.0073, -0.7453, -6.4752, 7.4872, 1.8486, -0.0317, 0.0562, -0.0122] 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": "Grasping block 7.", "targets": {"right_gripper": 0}})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteOpening gripper to re-align with the rotated block 7.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7647, 0.5339, -0.3592, -0.0273, -0.0494, 0.9996, 0.1173, 1.7973, 0.5739, 0.6071, 0.012, -0.0044, 0.0105] state[eef_state]: left_x=0.2869 left_y=0.0027 left_z=0.1601 left_yaw=0.0121 left_gripper=0.9996 right_x=0.4175 right_y=0.0507 right_z=0.0169 right_yaw=0.1099 right_gripper=0.0105 state[joint_eff]: [-0.5402, -1.4017, 6.8171, 1.9707, -0.1294, -0.0611, -0.0171, -0.3077, -9.0598, 4.6564, 1.9267, 0.022, 0.0024, 0.9109] 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({"targets": {"right_gripper": 1}, "note": "Opening gripper to re-align with the rotated block 7."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteRotating yaw to align with block 7's new orientation.
move_to
right_y0.0550right_x0.4300right_z0.0350right_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0246, 0.7532, 0.5079, -0.3485, -0.0273, -0.0494, 0.9996, 0.1165, 1.7844, 0.5529, 0.6106, 0.009, -0.012, 0.9951] state[eef_state]: left_x=0.2844 left_y=0.0014 left_z=0.1534 left_yaw=0.007 left_gripper=0.9996 right_x=0.4119 right_y=0.0502 right_z=0.0156 right_yaw=0.1222 right_gripper=0.9951 state[joint_eff]: [-0.1573, -1.4974, 7.0496, 1.9121, -0.0904, -0.0708, -0.0171, -0.4171, -9.1282, 4.6427, 1.9609, -0.105, 0.0366, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"note": "Rotating yaw to align with block 7's new orientation.", "targets": {"right_y": 0.055, "right_x": 0.43, "right_z": 0.035, "right_yaw": -0.65}})
tool
executing move_to over 13 steps (1.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteAdvancing deeper over block 7.
move_to
right_yaw-0.6500right_y0.0650right_z0.0300right_x0.4450
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0246, 0.7403, 0.4831, -0.3336, -0.0269, -0.0494, 0.9996, 0.4202, 1.9308, 0.9203, 0.1326, 0.7517, 0.6731, 0.9959] state[eef_state]: left_x=0.2824 left_y=0.0014 left_z=0.1486 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4324 right_y=0.065 right_z=0.0303 right_yaw=-0.539 right_gripper=0.9959 state[joint_eff]: [-0.3761, -1.5111, 6.8034, 1.9365, -0.0806, -0.0659, -0.0171, 0.3897, -8.3487, 6.694, 1.2772, 0.5983, 0.1734, 0.0708] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"note": "Advancing deeper over block 7.", "targets": {"right_yaw": -0.65, "right_y": 0.065, "right_z": 0.03, "right_x": 0.445}})
tool
executing move_to over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteClosing right gripper firmly onto block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.025, 0.7288, 0.4572, -0.326, -0.0273, -0.0494, 0.9996, 0.4301, 2.0029, 1.0016, 0.0353, 0.807, 0.757, 0.9961] state[eef_state]: left_x=0.2794 left_y=0.0014 left_z=0.1413 left_yaw=0.0061 left_gripper=0.9996 right_x=0.4357 right_y=0.0635 right_z=0.0197 right_yaw=-0.5687 right_gripper=0.9961 state[joint_eff]: [-0.6085, -1.3197, 7.0496, 1.9707, -0.1294, -0.0513, -0.0122, 0.0342, -9.4564, 7.3504, 1.2674, 0.6618, 0.1099, 0.0024] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"note": "Closing right gripper firmly onto block 7.", "targets": {"right_gripper": 0}})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
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]: [-0.0246, 0.7113, 0.424, -0.3096, -0.0269, -0.0494, 0.9996, 0.432, 2.0106, 1.0164, 0.0216, 0.8108, 0.783, 0.43] state[eef_state]: left_x=0.2763 left_y=0.0015 left_z=0.134 left_yaw=0.0066 left_gripper=0.9996 right_x=0.4374 right_y=0.0646 right_z=0.0199 right_yaw=-0.6041 right_gripper=0.43 state[joint_eff]: [-0.3077, -1.3744, 7.1043, 1.9902, -0.0855, -0.0464, -0.0171, -0.1026, -9.6205, 7.2274, 1.243, 0.5397, 0.0366, 1.0281] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [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 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteCarrying block 7 over to the plate.
move_to
right_y0.2500right_x0.2800right_z0.1500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0246, 0.6918, 0.3931, -0.292, -0.0273, -0.0494, 0.9996, 0.432, 1.7332, 1.3243, -0.5747, 0.7956, 0.7284, 0.4343] state[eef_state]: left_x=0.2736 left_y=0.0017 left_z=0.1284 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4315 right_y=0.064 right_z=0.169 right_yaw=-0.4989 right_gripper=0.4343 state[joint_eff]: [-0.3487, -1.1145, 6.9675, 1.9414, -0.1343, -0.0562, -0.0171, -0.1846, -11.2889, 10.359, 1.2772, 0.4713, 0.0269, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"note": "Carrying block 7 over to the plate.", "targets": {"right_y": 0.25, "right_x": 0.28, "right_z": 0.15, "right_yaw": 0}})
tool
executing move_to over 46 steps (4.6s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteMoving back over the center of the plate and lowering.
move_to
right_x0.2000right_z0.0800right_y0.2500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0246, 0.6788, 0.3687, -0.2806, -0.0269, -0.0494, 0.9996, 1.0672, 1.496, 0.9504, -0.4088, 0.8043, 0.7612, 0.435] state[eef_state]: left_x=0.2713 left_y=0.0017 left_z=0.1229 left_yaw=0.0074 left_gripper=0.9996 right_x=0.2783 right_y=0.2488 right_z=0.1424 right_yaw=0.0464 right_gripper=0.435 state[joint_eff]: [-0.6359, -1.1282, 6.9265, 1.8828, -0.1099, -0.0757, -0.0171, 0.4444, -6.4342, 7.0632, 1.37, 0.6325, 0.1441, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving back over the center of the plate and lowering.", "targets": {"right_x": 0.2, "right_z": 0.08, "right_y": 0.25}})
tool
executing move_to over 24 steps (2.4s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteLowering onto the plate.
move_to
right_y0.2500right_x0.2000right_z0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.025, 0.6636, 0.3435, -0.2729, -0.0273, -0.0494, 0.9996, 1.3411, 1.5219, 0.7288, -0.3664, 0.9092, 1.0607, 0.435] state[eef_state]: left_x=0.2683 left_y=0.0017 left_z=0.1168 left_yaw=0.0067 left_gripper=0.9996 right_x=0.199 right_y=0.2545 right_z=0.0796 right_yaw=0.0661 right_gripper=0.435 state[joint_eff]: [-0.335, -0.6359, 6.9949, 1.9512, -0.1294, -0.0464, -0.0073, 0.2803, -4.5744, 5.5316, 0.823, 0.7985, 0.1245, 1.0232] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lowering onto the plate.", "targets": {"right_y": 0.25, "right_x": 0.2, "right_z": 0.05}})
tool
executing move_to over 9 steps (0.9s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
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]: [-0.0246, 0.6468, 0.3195, -0.2657, -0.0273, -0.0494, 0.9996, 1.3418, 1.5917, 0.646, -0.2226, 0.9089, 1.055, 0.435] state[eef_state]: left_x=0.2654 left_y=0.0019 left_z=0.1115 left_yaw=0.0071 left_gripper=0.9996 right_x=0.1975 right_y=0.2492 right_z=0.0482 right_yaw=0.0892 right_gripper=0.435 state[joint_eff]: [-0.3077, -0.841, 6.9538, 1.9365, -0.1001, -0.0757, -0.0122, -0.0205, -5.2034, 5.0256, 1.1013, 0.6227, -0.0269, 1.033] 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": "Releasing block 7 onto the plate.", "targets": {"right_gripper": 1}})
tool
executing move_to over 6 steps (0.6s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteRetracting right arm away from the plate.
move_to
right_x0.2500right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.025, 0.6292, 0.292, -0.2573, -0.0269, -0.0494, 0.9996, 1.3472, 1.5948, 0.6094, -0.1745, 0.9085, 1.0252, 0.9954] state[eef_state]: left_x=0.2622 left_y=0.0018 left_z=0.1049 left_yaw=0.0065 left_gripper=0.9996 right_x=0.1951 right_y=0.2459 right_z=0.0412 right_yaw=0.1356 right_gripper=0.9954 state[joint_eff]: [-0.5949, -0.4171, 7.0632, 1.9658, -0.0904, -0.0806, -0.0073, -0.0479, -6.4752, 5.2034, 1.0867, 0.6716, 0.0073, -0.188] 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({"targets": {"right_x": 0.25, "right_y": 0, "right_z": 0.2}, "note": "Retracting right arm away from the plate."})
tool
executing move_to over 50 steps (5.0s)
step 291
top_cam
camera top_cam step 291
left_cam
camera left_cam step 291
right_cam
camera right_cam step 291
assistant
agent noteCalculated 3 + 4 = 7, approached block 7 with the right arm, adjusted yaw to grasp the block securely, transported it over the plate, lowered it, and released it onto the plate.
done
hindsightWhen grasping a small cube block, ensuring the yaw is precisely aligned to the cube's faces and advancing the gripper far enough over the block prevents corner pinches. Checking joint effort and residual gripper width confirms a successful grasp before lifting.
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.025, 0.6075, 0.2649, -0.2466, -0.0273, -0.0494, 0.9996, -0.2092, 0.6159, 0.6201, -0.6563, -0.2485, -0.1852, 0.9961] state[eef_state]: left_x=0.2595 left_y=0.0019 left_z=0.1 left_yaw=0.0072 left_gripper=0.9996 right_x=0.2457 right_y=-0.0041 right_z=0.1793 right_yaw=0.084 right_gripper=0.9961 state[joint_eff]: [-0.4991, -0.2393, 6.9128, 1.9853, -0.0904, -0.0317, -0.0171, -0.2256, 0.4034, 9.6479, 1.7314, -0.2125, -0.0171, 0.0513] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
done({"summary": "Calculated 3 + 4 = 7, approached block 7 with the right arm, adjusted yaw to grasp the block securely, transported it over the plate, lowered it, and released it onto the plate.", "hindsight": "When grasping a small cube block, ensuring the yaw is precisely aligned to the cube's faces and advancing the gripper far enough over the block prevents corner pinches. Checking joint effort and residual gripper width confirms a successful grasp before lifting."})
tool
done: Calculated 3 + 4 = 7, approached block 7 with the right arm, adjusted yaw to grasp the block securely, transported it over the plate, lowered it, and released 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 · 23.05 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, 0.7937, 0.6052, -0.3756, -0.0196, -0.041, 0.9996, -0.0219, 0.7925, 0.6014, -0.3817, -0.017, -0.02, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1815 left_yaw=0.0 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.1788 right_yaw=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.5385, 10.0444, 1.7851, -0.0366, 0.2222, -0.0562, -0.5128, -1.388, 10.3043, 1.9365, -0.1099, 0.0269, -0.0757]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:fbfd0620a6d56d4a8b7883498d01f38be0fc1802824ca8aa8ec8e212e1775d57",
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  "type": "image"
}
wire blob fbfd0620a6d5
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:cc08d5aa431f667f0e409cb31c10d81c6a3e7e77fa58ef52dd08ca8bb6905615",
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wire blob cc08d5aa431f
{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:bd7a9111e13bd6d8ee01d53067e4bd26c6a5cf8d3dcaf822d8d5c1e1e5b8cc27",
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  "type": "image"
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call 1 attempt 0 · /interactions · status 200 · 3.108 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_43266",
  "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, -0.3859, -0.0196, -0.0422, 0.9996, 0.1963, 1.251, 0.6575, -0.0689, 0.1467, 0.0792, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1791 left_yaw=0.0006 left_gripper=0.9996 right_x=0.3641 right_y=0.0497 right_z=0.1249 right_yaw=0.0525 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5795, 6.8581, 1.8339, -0.0415, -0.0171, -0.0171, 0.335, -3.9726, 10.1949, 2.1465, 0.2369, 0.2076, -0.0171]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 27):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b254d9f1628755062ea2c43e7b83212ac968a193aeeb20ac4b078006a349c2c1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b254d9f16287
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 27):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a39bb0b4cfe6bfbbd894e973fdb4617dcbe2d14eb79c187ae0c550654f0fd069",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 27):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:2374c27347d3292134dab91779f5f2a2ac2b1bda0f294dd2e33c45707e5da42f",
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call 2 attempt 0 · /interactions · status 200 · 4.534 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_34228",
  "name": "move_to",
  "result": "executing move_to over 13 steps (1.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0196, 0.7975, 0.5999, -0.3851, -0.02, -0.0425, 0.9996, 0.1593, 1.4971, 0.5549, 0.3073, 0.0883, 0.0479, 0.9993]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1761 left_yaw=0.001 left_gripper=0.9996 right_x=0.3883 right_y=0.0502 right_z=0.0666 right_yaw=0.0635 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.8667, 6.5846, 1.8877, -0.0366, -0.0611, -0.0171, -0.759, -5.6547, 6.8991, 2.0879, -0.0757, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 40):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:796b9403feabf04564fa11f4b01742b9888d2bb799a3f991bdcb2c60bdca8b42",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 40):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:15515d2cacbe77e1fa03293f7db7a3ca8cd6ad03b6ea95181f5c0a4b078fce38",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 40):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:56036a98d55a9eaa6102f3cca6c2d3a56bcb77495eebbe74fc4d546d04cb0fd7",
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call 3 attempt 0 · /interactions · status 200 · 12.78 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_6487",
  "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]: [-0.0196, 0.791, 0.5838, -0.3813, -0.02, -0.0452, 0.9996, 0.141, 1.7382, 0.5411, 0.5575, 0.0643, 0.0261, 0.9993]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1713 left_yaw=0.0051 left_gripper=0.9996 right_x=0.4041 right_y=0.0495 right_z=0.0192 right_yaw=0.0822 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.7709, 6.8444, 1.917, -0.0513, -0.0024, -0.0073, -0.4855, -6.7487, 7.1726, 2.0879, -0.0415, 0.0024, -0.0122]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 50):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:3c3e3e9219a9cf49daf0420f7671b99b8eeb9706daaa1c1622ff75373cbd0822",
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  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 50):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:730686a0b8418e65c986b9e8cc99f3899584791c0d3a8e1e9024a58856574fbb",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 730686a0b841
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 50):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f68249bd532a4495a550b2478742e484dce1ef6034e5cdc54eb389bc9160461b",
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call 4 attempt 0 · /interactions · status 200 · 3.619 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_26506",
  "name": "move_to",
  "result": "target for right_z is outside [0.03, 0.4]",
  "type": "function_result"
}
call 5 attempt 0 · /interactions · status 200 · 6.93 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 6 attempt 0 · /interactions · status 200 · 4.701 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_100286",
  "name": "move_to",
  "result": "executing move_to over 10 steps (1.0s)",
  "type": "function_result"
}
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.02, 0.7818, 0.5632, -0.3779, -0.0235, -0.049, 0.9996, 0.1265, 1.8034, 0.5915, 0.6033, 0.0357, 0.0032, 0.9993]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1651 left_yaw=0.0106 left_gripper=0.9996 right_x=0.4225 right_y=0.051 right_z=0.0197 right_yaw=0.1058 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.6205, 6.8718, 1.9805, -0.1197, 0.0122, -0.0073, -0.7453, -6.4752, 7.4872, 1.8486, -0.0317, 0.0562, -0.0122]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 60):",
  "type": "text"
}
{
  "data": "$blob:340516e60f7829de38a7c570a5b12ef90347195d2f9ebb91868b7cea0e37a9fa",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 340516e60f78
{
  "text": "camera 'left_cam' (step 60):",
  "type": "text"
}
{
  "data": "$blob:2c23f517a73ffe51e2ada3943d8d0268749541fd18688d747771e3e57e497b85",
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wire blob 2c23f517a73f
{
  "text": "camera 'right_cam' (step 60):",
  "type": "text"
}
{
  "data": "$blob:b26cc1748f7579c75c81c4cc7fb5f5c7ed4f9544735dfdde6b1eb0844ade4281",
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  "type": "image"
}
wire blob b26cc1748f75
call 7 attempt 0 · /interactions · status 200 · 14.82 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_152509",
  "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, 0.7647, 0.5339, -0.3592, -0.0273, -0.0494, 0.9996, 0.1173, 1.7973, 0.5739, 0.6071, 0.012, -0.0044, 0.0105]\nstate[eef_state]: left_x=0.2869 left_y=0.0027 left_z=0.1601 left_yaw=0.0121 left_gripper=0.9996 right_x=0.4175 right_y=0.0507 right_z=0.0169 right_yaw=0.1099 right_gripper=0.0105\nstate[joint_eff]: [-0.5402, -1.4017, 6.8171, 1.9707, -0.1294, -0.0611, -0.0171, -0.3077, -9.0598, 4.6564, 1.9267, 0.022, 0.0024, 0.9109]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 70):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4f63b95b398dcd25224546b78a27bafb839d1b0efcc86d208a476cb50723b9ae",
  "mime_type": "image/png",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 70):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:6638cabf2fbb77375bb546dc9c8e6ffad61259519510c83c2ee3193f8d7d4434",
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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:234afb005707a044416eaea41242a4c52f19cf76495bdf8392bd25ba0f801446",
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call 8 attempt 0 · /interactions · status 200 · 17.58 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_48985",
  "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]: [-0.0246, 0.7532, 0.5079, -0.3485, -0.0273, -0.0494, 0.9996, 0.1165, 1.7844, 0.5529, 0.6106, 0.009, -0.012, 0.9951]\nstate[eef_state]: left_x=0.2844 left_y=0.0014 left_z=0.1534 left_yaw=0.007 left_gripper=0.9996 right_x=0.4119 right_y=0.0502 right_z=0.0156 right_yaw=0.1222 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.4974, 7.0496, 1.9121, -0.0904, -0.0708, -0.0171, -0.4171, -9.1282, 4.6427, 1.9609, -0.105, 0.0366, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 80):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d4301f58ebc921bb93bb4da5bc06b9b37dee03949caf67b98ad14d113c145fdd",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 80):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:cd80b291b73759a09db737ba16e7885dd6608eb875b2e43b29f6d317ca561ad9",
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{
  "text": "camera 'right_cam' (step 80):",
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message 7 current as-sent form
{
  "data": "$blob:a74eaf7502f64e60d2bbf2e20d1bb331bd5b36d4f786d5f5100291dc23b3a24a",
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call 9 attempt 0 · /interactions · status 200 · 8.198 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_77080",
  "name": "move_to",
  "result": "executing move_to over 13 steps (1.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0246, 0.7403, 0.4831, -0.3336, -0.0269, -0.0494, 0.9996, 0.4202, 1.9308, 0.9203, 0.1326, 0.7517, 0.6731, 0.9959]\nstate[eef_state]: left_x=0.2824 left_y=0.0014 left_z=0.1486 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4324 right_y=0.065 right_z=0.0303 right_yaw=-0.539 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -1.5111, 6.8034, 1.9365, -0.0806, -0.0659, -0.0171, 0.3897, -8.3487, 6.694, 1.2772, 0.5983, 0.1734, 0.0708]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 93):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f493fe206a81186444e3bb4dfa2fbcfbf9861a2c97b16f8a93c968624fff618d",
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{
  "text": "camera 'left_cam' (step 93):",
  "type": "text"
}
message 5 current as-sent form
{
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 93):",
  "type": "text"
}
message 7 current as-sent form
{
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call 10 attempt 0 · /interactions · status 200 · 7.856 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_83996",
  "name": "move_to",
  "result": "executing move_to over 4 steps (0.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.025, 0.7288, 0.4572, -0.326, -0.0273, -0.0494, 0.9996, 0.4301, 2.0029, 1.0016, 0.0353, 0.807, 0.757, 0.9961]\nstate[eef_state]: left_x=0.2794 left_y=0.0014 left_z=0.1413 left_yaw=0.0061 left_gripper=0.9996 right_x=0.4357 right_y=0.0635 right_z=0.0197 right_yaw=-0.5687 right_gripper=0.9961\nstate[joint_eff]: [-0.6085, -1.3197, 7.0496, 1.9707, -0.1294, -0.0513, -0.0122, 0.0342, -9.4564, 7.3504, 1.2674, 0.6618, 0.1099, 0.0024]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 97):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:19c1900fb4f4f262438d48d742da109944944c1babc44a545c9558cc9a5d4261",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 19c1900fb4f4
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 97):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:4e37b9c7dab00714b219d3eeada08a48de0c2b863cb010851981621cd67b9846",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4e37b9c7dab0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 97):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:a638de00e9821fac5c9ea0742636687d338b9677d5dd1670c61e08493c577963",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a638de00e982
call 11 attempt 0 · /interactions · status 200 · 8.908 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_99715",
  "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]: [-0.0246, 0.7113, 0.424, -0.3096, -0.0269, -0.0494, 0.9996, 0.432, 2.0106, 1.0164, 0.0216, 0.8108, 0.783, 0.43]\nstate[eef_state]: left_x=0.2763 left_y=0.0015 left_z=0.134 left_yaw=0.0066 left_gripper=0.9996 right_x=0.4374 right_y=0.0646 right_z=0.0199 right_yaw=-0.6041 right_gripper=0.43\nstate[joint_eff]: [-0.3077, -1.3744, 7.1043, 1.9902, -0.0855, -0.0464, -0.0171, -0.1026, -9.6205, 7.2274, 1.243, 0.5397, 0.0366, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 107):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:71e7c984aa4e5b1b57a3eceb6ef87432f5e0b0c7b7dcaae6b27f88abf2850262",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 71e7c984aa4e
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 107):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:425394b55f47dbd0561a16d22916c5d881e7c70a226e5ebc8c9fd4a107839633",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 425394b55f47
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 107):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4028c46cc4f1254c686b513762a47958ce5b10ac382f0367513b0b70eff1f5a4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4028c46cc4f1
call 12 attempt 0 · /interactions · status 200 · 17.49 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_74207",
  "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]: [-0.0246, 0.6918, 0.3931, -0.292, -0.0273, -0.0494, 0.9996, 0.432, 1.7332, 1.3243, -0.5747, 0.7956, 0.7284, 0.4343]\nstate[eef_state]: left_x=0.2736 left_y=0.0017 left_z=0.1284 left_yaw=0.0074 left_gripper=0.9996 right_x=0.4315 right_y=0.064 right_z=0.169 right_yaw=-0.4989 right_gripper=0.4343\nstate[joint_eff]: [-0.3487, -1.1145, 6.9675, 1.9414, -0.1343, -0.0562, -0.0171, -0.1846, -11.2889, 10.359, 1.2772, 0.4713, 0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 156):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:a950ff20b3a0f83ef2393915b31397016d34c8a183607b085a552ad80dfe45f7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a950ff20b3a0
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 156):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:13a9b05ea0e72276105920d56f0216ba1a3b45eb43136e156088513380537381",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 13a9b05ea0e7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 156):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:fe3a612a70ce13a0e676d0cd8751175164220c53c28d3c43195db2d35d629e68",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fe3a612a70ce
call 13 attempt 0 · /interactions · status 200 · 15.11 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_109700",
  "name": "move_to",
  "result": "executing move_to over 46 steps (4.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0246, 0.6788, 0.3687, -0.2806, -0.0269, -0.0494, 0.9996, 1.0672, 1.496, 0.9504, -0.4088, 0.8043, 0.7612, 0.435]\nstate[eef_state]: left_x=0.2713 left_y=0.0017 left_z=0.1229 left_yaw=0.0074 left_gripper=0.9996 right_x=0.2783 right_y=0.2488 right_z=0.1424 right_yaw=0.0464 right_gripper=0.435\nstate[joint_eff]: [-0.6359, -1.1282, 6.9265, 1.8828, -0.1099, -0.0757, -0.0171, 0.4444, -6.4342, 7.0632, 1.37, 0.6325, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 202):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c563d05406a1033092dad034db64527403a7ef1a7f714a89afa0226058359e2a",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c563d05406a1
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 202):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c7cc98b6fd0e0fad6b479851c135475aaa9855cd9c7281fe355b1a415b83ed72",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c7cc98b6fd0e
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 202):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:76d8ff01d647154d02ca25f15445d5271b17a491b34402bacddf9704527fd9e1",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 76d8ff01d647
call 14 attempt 0 · /interactions · status 200 · 18.51 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_44991",
  "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]: [-0.025, 0.6636, 0.3435, -0.2729, -0.0273, -0.0494, 0.9996, 1.3411, 1.5219, 0.7288, -0.3664, 0.9092, 1.0607, 0.435]\nstate[eef_state]: left_x=0.2683 left_y=0.0017 left_z=0.1168 left_yaw=0.0067 left_gripper=0.9996 right_x=0.199 right_y=0.2545 right_z=0.0796 right_yaw=0.0661 right_gripper=0.435\nstate[joint_eff]: [-0.335, -0.6359, 6.9949, 1.9512, -0.1294, -0.0464, -0.0073, 0.2803, -4.5744, 5.5316, 0.823, 0.7985, 0.1245, 1.0232]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 226):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:fa22e980ad401c9974a1f392d5a9de1d5cb1b89b39b4be7d500f7d461ea0da46",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fa22e980ad40
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 226):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:18326d43fd909ba8efecde942608d8d64d07dcec29962552ca837142fe6562b7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 18326d43fd90
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 226):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:eef5b1872fcfcb8a5808a9395e357bced591fa820d667913782a90cd281daad2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eef5b1872fcf
call 15 attempt 0 · /interactions · status 200 · 20.44 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_16089",
  "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]: [-0.0246, 0.6468, 0.3195, -0.2657, -0.0273, -0.0494, 0.9996, 1.3418, 1.5917, 0.646, -0.2226, 0.9089, 1.055, 0.435]\nstate[eef_state]: left_x=0.2654 left_y=0.0019 left_z=0.1115 left_yaw=0.0071 left_gripper=0.9996 right_x=0.1975 right_y=0.2492 right_z=0.0482 right_yaw=0.0892 right_gripper=0.435\nstate[joint_eff]: [-0.3077, -0.841, 6.9538, 1.9365, -0.1001, -0.0757, -0.0122, -0.0205, -5.2034, 5.0256, 1.1013, 0.6227, -0.0269, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 235):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:471a85b7478b4b0ec41ad4e8b599eb99e4b41245fabc29b2c401c2afd4de8e48",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 471a85b7478b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 235):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:c0456a1d8955092feebaea4545acfde67b7445bed9b9679ae0bfaebe9aa3422c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c0456a1d8955
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 235):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:64557ff20fbe8eb26d9700cc32981a2b2f44faca9840b2c0a9d76b4341a5c544",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 64557ff20fbe
call 16 attempt 0 · /interactions · status 200 · 12.11 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_52068",
  "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]: [-0.025, 0.6292, 0.292, -0.2573, -0.0269, -0.0494, 0.9996, 1.3472, 1.5948, 0.6094, -0.1745, 0.9085, 1.0252, 0.9954]\nstate[eef_state]: left_x=0.2622 left_y=0.0018 left_z=0.1049 left_yaw=0.0065 left_gripper=0.9996 right_x=0.1951 right_y=0.2459 right_z=0.0412 right_yaw=0.1356 right_gripper=0.9954\nstate[joint_eff]: [-0.5949, -0.4171, 7.0632, 1.9658, -0.0904, -0.0806, -0.0073, -0.0479, -6.4752, 5.2034, 1.0867, 0.6716, 0.0073, -0.188]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 241):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2b1e94ad5da90c287d655f97c6e0832ee8921b3f08ea0e09f4f015cc4c7bf2cf",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 241):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:99835d7308795fced84aac5e2b18ffe28bbea2403b792ead933209e296a966bc",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 241):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:c8ee3f7ffa887d70acb361b37e4f98b06b55a89aacb9a48766eb1b6c07f103b6",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 17 attempt 0 · /interactions · status 200 · 14.01 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_28517",
  "name": "move_to",
  "result": "executing move_to over 50 steps (5.0s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.025, 0.6075, 0.2649, -0.2466, -0.0273, -0.0494, 0.9996, -0.2092, 0.6159, 0.6201, -0.6563, -0.2485, -0.1852, 0.9961]\nstate[eef_state]: left_x=0.2595 left_y=0.0019 left_z=0.1 left_yaw=0.0072 left_gripper=0.9996 right_x=0.2457 right_y=-0.0041 right_z=0.1793 right_yaw=0.084 right_gripper=0.9961\nstate[joint_eff]: [-0.4991, -0.2393, 6.9128, 1.9853, -0.0904, -0.0317, -0.0171, -0.2256, 0.4034, 9.6479, 1.7314, -0.2125, -0.0171, 0.0513]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 291):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:c4cbf3d3c9e406b5fcda4af4334ef1b0641d2b2718bca544f29d65dd3313beba",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 291):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:b62f5bb719bdb3796e2572861e17d71a738ceb4529174a16929024786fb4c86b",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 291):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:a7e173ed84cad85ce7ebb0886739a6af99fdc56a0540742e92c6ee7befc7d4a6",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]