adhoc

completed
2026-08-25T04:11:23.835109+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
330.4 s
total steps
345
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 (3+4=7).
move_to
right_x0.3800right_z0.1200right_y0.0800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.02, 0.7948, 0.606, -0.3771, -0.0196, -0.0257, 0.9996, -0.0208, 0.7937, 0.6025, -0.3817, -0.0299, -0.0334, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1813 left_yaw=-0.0001 left_gripper=0.9996 right_x=0.2944 right_y=0.0028 right_z=0.1791 right_yaw=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.6359, -1.6205, 9.7846, 1.8242, -0.0513, 0.1001, -0.0513, -0.4581, -1.4974, 10.2632, 1.9316, 0.0366, 0.2076, -0.0708] 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_z": 0.12, "right_y": 0.08}, "note": "Moving right arm toward block 7 (3+4=7)."})
tool
executing move_to over 26 steps (2.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteAdvancing right arm closer to block 7 and lowering.
move_to
right_y0.0800right_z0.0500right_x0.4200
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0261, 0.9996, 0.3069, 1.3415, 0.5961, 0.0692, 0.2218, 0.1246, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0002 left_gripper=0.9996 right_x=0.3633 right_y=0.0781 right_z=0.0955 right_yaw=0.0667 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.6068, 6.9949, 1.8486, -0.0269, -0.0659, -0.0171, 0.1709, -4.8342, 9.5795, 2.0586, 0.2369, 0.1636, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.08, "right_z": 0.05, "right_x": 0.42}, "note": "Advancing right arm closer to block 7 and lowering."})
tool
executing move_to over 18 steps (1.8s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteLowering gripper to grasp height around block 7.
move_to
right_z0.0200right_y0.0800right_x0.4350
assistant
user
Respond with exactly one tool call.
assistant
agent noteMoving to right_z=0.03 and centering over block 7.
move_to
right_y0.0800right_z0.0300right_x0.4350
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7986, 0.601, -0.3855, -0.0196, -0.0257, 0.9996, 0.2371, 1.6917, 0.5781, 0.4644, 0.1215, 0.0673, 0.9993] state[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1762 left_yaw=-0.0009 left_gripper=0.9996 right_x=0.4022 right_y=0.0788 right_z=0.0325 right_yaw=0.0848 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.7162, 6.612, 1.8388, -0.022, 0.0269, -0.0073, -0.7043, -6.2017, 8.1983, 2.0488, 0.0659, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_y": 0.08, "right_x": 0.435}, "note": "Lowering gripper to grasp height 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_y": 0.08, "right_z": 0.03, "right_x": 0.435}, "note": "Moving to right_z=0.03 and centering over block 7."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteClosing right gripper to grasp block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7967, 0.5846, -0.3817, -0.0196, -0.0261, 0.9996, 0.2192, 1.8179, 0.6182, 0.5808, 0.0944, 0.0467, 0.9993] state[eef_state]: left_x=0.2923 left_y=0.0013 left_z=0.17 left_yaw=-0.001 left_gripper=0.9996 right_x=0.4223 right_y=0.0807 right_z=0.0189 right_yaw=0.0978 right_gripper=0.9993 state[joint_eff]: [0.0889, -2.0991, 6.9949, 1.917, -0.0073, -0.0269, -0.0171, -0.7863, -6.6803, 7.0085, 1.8974, -0.0073, -0.0611, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"note": "Closing right gripper to grasp block 7.", "targets": {"right_gripper": 0}})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteOpening gripper and lifting slightly to reposition.
move_to
right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7853, 0.5583, -0.3706, -0.0193, -0.0261, 0.9996, 0.2157, 1.8103, 0.5941, 0.6033, 0.0879, 0.0334, 0.0079] state[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1633 left_yaw=-0.0013 left_gripper=0.9996 right_x=0.4181 right_y=0.0794 right_z=0.0182 right_yaw=0.1169 right_gripper=0.0079 state[joint_eff]: [0.1026, -1.9487, 6.8308, 1.9609, -0.0317, -0.0122, -0.0073, -0.0068, -9.1556, 4.7795, 1.8486, -0.0562, 0.0659, 0.6227] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_gripper": 1}, "note": "Opening gripper and lifting slightly to reposition."})
tool
executing move_to over 17 steps (1.7s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteRotating yaw to align with rotated block and advancing forward to envelop it.
move_to
right_x0.4400right_y0.0850right_yaw0.8000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0196, 0.7704, 0.5251, -0.3546, -0.0196, -0.0261, 0.9996, 0.2073, 1.6199, 0.622, 0.3721, 0.0616, 0.0219, 0.9975] state[eef_state]: left_x=0.2866 left_y=0.0014 left_z=0.1555 left_yaw=-0.0014 left_gripper=0.9996 right_x=0.4086 right_y=0.0785 right_z=0.0582 right_yaw=0.1291 right_gripper=0.9975 state[joint_eff]: [0.0615, -1.812, 7.0906, 1.9512, -0.0024, -0.0415, -0.0073, -0.4171, -8.6906, 8.2803, 1.8486, -0.0024, -0.0122, -0.1343] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"note": "Rotating yaw to align with rotated block and advancing forward to envelop it.", "targets": {"right_x": 0.44, "right_y": 0.085, "right_yaw": 0.8, "right_z": 0.035}})
tool
executing move_to over 11 steps (1.1s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteMoving forward over block 7.
move_to
right_z0.0300right_x0.4600right_y0.0800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0193, 0.7513, 0.4911, -0.3336, -0.0193, -0.0261, 0.9996, -0.07, 1.9121, 0.8597, 0.2798, -0.6376, -0.5369, 0.9982] state[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1493 left_yaw=-0.0006 left_gripper=0.9996 right_x=0.4403 right_y=0.0781 right_z=0.0298 right_yaw=0.7114 right_gripper=0.9982 state[joint_eff]: [0.1709, -1.4838, 6.9949, 1.9072, 0.0122, -0.0366, -0.0073, -0.3761, -8.4034, 7.1726, 1.37, -0.3834, 0.0171, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_x": 0.46, "right_y": 0.08}, "note": "Moving forward over block 7."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteClosing gripper on aligned block 7.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.7391, 0.4652, -0.3256, -0.0196, -0.0257, 0.9996, -0.0666, 1.9644, 0.8867, 0.2878, -0.6514, -0.5373, 0.9982] state[eef_state]: left_x=0.2809 left_y=0.0018 left_z=0.1423 left_yaw=-0.0013 left_gripper=0.9996 right_x=0.4448 right_y=0.0813 right_z=0.019 right_yaw=0.6972 right_gripper=0.9982 state[joint_eff]: [-0.212, -1.6205, 6.8308, 2.0293, -0.0269, -0.0122, -0.0073, -0.1026, -8.3077, 8.1436, 1.6239, -0.2076, 0.2125, -0.0073] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Closing gripper on aligned block 7."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteOpening gripper and commanding right_x to max bound (0.48) to compensate for controller undershoot.
move_to
right_y0.0800right_x0.4800right_gripper1.0000right_yaw0.7000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.7189, 0.4332, -0.3092, -0.0196, -0.0261, 0.9996, -0.0608, 1.9484, 0.8467, 0.3222, -0.6289, -0.5068, 0.0096] state[eef_state]: left_x=0.2778 left_y=0.0018 left_z=0.1363 left_yaw=-0.0003 left_gripper=0.9996 right_x=0.4389 right_y=0.081 right_z=0.0165 right_yaw=0.6601 right_gripper=0.0096 state[joint_eff]: [-0.1026, -1.0872, 6.9128, 2.0, -0.0073, -0.0415, -0.0073, 0.0615, -10.8239, 5.0667, 1.6679, -0.1929, 0.0659, 0.7106] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.08, "right_x": 0.48, "right_gripper": 1, "right_yaw": 0.7, "right_z": 0.03}, "note": "Opening gripper and commanding right_x to max bound (0.48) to compensate for controller undershoot."})
tool
executing move_to over 13 steps (1.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteShifting right arm to the left (+y) to center around block 7.
move_to
right_yaw0.7000right_x0.4700right_z0.0300right_y0.1200
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.7048, 0.4061, -0.2951, -0.0193, -0.0261, 0.9996, -0.0532, 2.0174, 0.9749, 0.284, -0.6144, -0.5076, 0.9965] state[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1304 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.47 right_y=0.0805 right_z=0.0214 right_yaw=0.6906 right_gripper=0.9965 state[joint_eff]: [0.1026, -1.388, 6.8581, 1.9463, 0.0122, -0.0611, -0.0171, -0.5675, -9.1282, 8.1026, 1.5067, -0.3834, 0.0855, -0.1636] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.7, "right_x": 0.47, "right_z": 0.03, "right_y": 0.12}, "note": "Shifting right arm to the left (+y) to center around block 7."})
tool
executing move_to over 8 steps (0.8s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteRotating right_yaw back to 0 to align jaws with the block's flat faces.
move_to
right_y0.1000right_yaw0.0000right_x0.4600right_z0.0300
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.6899, 0.379, -0.2817, -0.0196, -0.0257, 0.9996, 0.0463, 2.0197, 0.9531, 0.3336, -0.5556, -0.4362, 0.9975] state[eef_state]: left_x=0.2728 left_y=0.0019 left_z=0.1246 left_yaw=-0.0008 left_gripper=0.9996 right_x=0.4642 right_y=0.1184 right_z=0.0172 right_yaw=0.6889 right_gripper=0.9975 state[joint_eff]: [-0.2803, -1.1145, 6.9949, 1.9023, -0.0269, -0.0024, -0.0122, 0.335, -11.2205, 5.1077, 1.7802, -0.1538, 0.2027, 0.0952] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.1, "right_yaw": 0, "right_x": 0.46, "right_z": 0.03}, "note": "Rotating right_yaw back to 0 to align jaws with the block's flat faces."})
tool
executing move_to over 11 steps (1.1s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteAdvancing gripper forward to enclose block 7.
move_to
right_y0.1100right_z0.0300right_x0.4800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.675, 0.3542, -0.2729, -0.0196, -0.0261, 0.9996, 0.2867, 1.9392, 0.7704, 0.5274, 0.1326, 0.0692, 0.9977] state[eef_state]: left_x=0.27 left_y=0.002 left_z=0.1188 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.4494 right_y=0.1119 right_z=0.0097 right_yaw=0.1301 right_gripper=0.9977 state[joint_eff]: [0.0205, -0.7863, 6.9265, 1.9219, 0.0269, -0.0513, -0.0073, 0.0752, -10.7966, 6.147, 1.8046, 0.2271, 0.1636, 0.0024] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.11, "right_z": 0.03, "right_x": 0.48, "right_yaw": 0}, "note": "Advancing gripper forward to enclose block 7."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteGrasping block 7 securely between jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.6579, 0.3279, -0.2657, -0.02, -0.0261, 0.9996, 0.3, 1.9659, 0.8509, 0.4965, 0.2062, 0.1181, 0.9977] state[eef_state]: left_x=0.2668 left_y=0.0021 left_z=0.1125 left_yaw=-0.0004 left_gripper=0.9996 right_x=0.4695 right_y=0.1112 right_z=0.0213 right_yaw=0.0548 right_gripper=0.9977 state[joint_eff]: [-0.1983, -0.9094, 6.9402, 1.9756, 0.0122, -0.0513, -0.0171, 0.253, -8.1846, 7.9385, 1.7265, 0.4029, 0.232, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Grasping block 7 securely between jaws."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteLifting block 7 up from table.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.6395, 0.3004, -0.2569, -0.0193, -0.0261, 0.9996, 0.2966, 1.9675, 0.828, 0.506, 0.1928, 0.1047, 0.4372] state[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1063 left_yaw=-0.0004 left_gripper=0.9996 right_x=0.4634 right_y=0.11 right_z=0.0141 right_yaw=0.0785 right_gripper=0.4372 state[joint_eff]: [-0.1573, -0.4171, 6.8991, 1.9463, 0.0122, -0.0073, -0.0122, -0.335, -11.0701, 5.2991, 1.9121, -0.0464, 0.0024, 1.033] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lifting block 7 up from table.", "targets": {"right_z": 0.18}})
tool
executing move_to over 45 steps (4.5s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteTransporting block 7 toward the plate.
move_to
right_x0.2500right_z0.1500right_y0.1800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.6189, 0.2726, -0.247, -0.0196, -0.0261, 0.9996, 0.2863, 1.6371, 1.0626, -0.1051, 0.1513, 0.0784, 0.4414] state[eef_state]: left_x=0.2605 left_y=0.0021 left_z=0.1006 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.4537 right_y=0.1096 right_z=0.139 right_yaw=0.1207 right_gripper=0.4414 state[joint_eff]: [0.0068, -0.6496, 6.9265, 1.9902, -0.0024, -0.0464, -0.0073, -0.2256, -11.2068, 10.5368, 1.8388, 0.0952, 0.0366, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_z": 0.15, "right_y": 0.18}, "note": "Transporting block 7 toward the plate."})
tool
executing move_to over 62 steps (6.2s)
step 267
top_cam
camera top_cam step 267
left_cam
camera left_cam step 267
right_cam
camera right_cam step 267
assistant
agent noteMoving block 7 over the center of the plate.
move_to
right_y0.2200right_x0.2000right_z0.1000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.5999, 0.2493, -0.2344, -0.0193, -0.0261, 0.9996, 0.973, 1.0836, 0.6243, -0.3305, 0.6464, 0.5056, 0.4414] state[eef_state]: left_x=0.2587 left_y=0.0021 left_z=0.0972 left_yaw=0.0004 left_gripper=0.9996 right_x=0.2489 right_y=0.1829 right_z=0.1407 right_yaw=0.1833 right_gripper=0.4414 state[joint_eff]: [-0.0479, -0.5265, 6.7897, 1.9609, -0.0024, -0.0317, -0.0171, 0.1846, -4.4239, 7.2547, 1.5507, 0.4176, 0.1294, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.22, "right_x": 0.2, "right_z": 0.1}, "note": "Moving block 7 over the center of the plate."})
tool
executing move_to over 15 steps (1.5s)
step 282
top_cam
camera top_cam step 282
left_cam
camera left_cam step 282
right_cam
camera right_cam step 282
assistant
agent noteLowering block 7 onto the plate.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.5869, 0.2333, -0.2279, -0.0196, -0.0261, 0.9996, 1.2659, 1.2129, 0.5323, -0.2714, 0.7959, 0.7383, 0.4414] state[eef_state]: left_x=0.2572 left_y=0.0022 left_z=0.0943 left_yaw=0.0006 left_gripper=0.9996 right_x=0.1974 right_y=0.2189 right_z=0.0941 right_yaw=0.2562 right_gripper=0.4414 state[joint_eff]: [-0.2667, -0.4171, 6.9812, 1.9023, -0.0415, -0.0415, -0.0171, 0.335, -3.2889, 6.6803, 1.453, 0.5641, 0.1392, 1.0281] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "Lowering block 7 onto the plate."})
tool
executing move_to over 12 steps (1.2s)
step 294
top_cam
camera top_cam step 294
left_cam
camera left_cam step 294
right_cam
camera right_cam step 294
assistant
agent noteOpening right gripper to release 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]: [-0.0189, 0.5785, 0.2211, -0.2276, -0.0196, -0.0261, 0.9996, 1.2568, 1.3102, 0.3523, 0.0662, 0.7685, 0.6765, 0.4414] state[eef_state]: left_x=0.2554 left_y=0.0022 left_z=0.0908 left_yaw=0.0004 left_gripper=0.9996 right_x=0.1955 right_y=0.216 right_z=0.048 right_yaw=0.2827 right_gripper=0.4414 state[joint_eff]: [-0.1436, -0.3487, 6.9538, 1.8681, -0.0171, -0.0562, -0.0171, -0.1026, -3.0974, 5.2581, 1.58, 0.3248, -0.0904, 1.0281] 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
move_to({"targets": {"right_gripper": 1}, "note": "Opening right gripper to release block 7 onto the plate."})
tool
executing move_to over 6 steps (0.6s)
step 300
top_cam
camera top_cam step 300
left_cam
camera left_cam step 300
right_cam
camera right_cam step 300
assistant
agent noteRetracting right arm to reveal the final placement.
move_to
right_x0.2500right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.5663, 0.2043, -0.2226, -0.0196, -0.0261, 0.9996, 1.2537, 1.3033, 0.3092, 0.1173, 0.7464, 0.6323, 0.9958] state[eef_state]: left_x=0.2535 left_y=0.0023 left_z=0.087 left_yaw=0.0004 left_gripper=0.9996 right_x=0.1922 right_y=0.2126 right_z=0.0405 right_yaw=0.3394 right_gripper=0.9958 state[joint_eff]: [-0.1162, -0.1436, 6.8855, 1.8828, -0.0269, -0.0366, -0.0171, -0.4034, -4.3692, 5.4632, 1.5311, 0.3736, 0.0415, -0.1929] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"note": "Retracting right arm to reveal the final placement.", "targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.2}})
tool
executing move_to over 44 steps (4.4s)
step 344
top_cam
camera top_cam step 344
left_cam
camera left_cam step 344
right_cam
camera right_cam step 344
assistant
agent noteCalculated the answer to 3 + 4 = 7, aligned the right gripper with block 7, grasped and lifted it, transported it over the plate, and placed it inside the plate.
done
hindsightWhen picking a block near the arm's forward reach limit, account for controller undershoot by commanding near the maximum Cartesian x bound, and ensure the block is aligned and deep inside the jaws before closing to prevent it from squeezing out or rotating.
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0189, 0.5533, 0.1894, -0.2207, -0.0193, -0.0261, 0.9996, -0.0341, 0.6479, 0.6254, -0.6327, -0.2939, -0.223, 0.9968] state[eef_state]: left_x=0.2517 left_y=0.0022 left_z=0.0836 left_yaw=0.0004 left_gripper=0.9996 right_x=0.2473 right_y=0.0464 right_z=0.1802 right_yaw=0.2964 right_gripper=0.9968 state[joint_eff]: [-0.212, -0.0205, 6.7761, 1.8779, -0.0122, -0.0513, -0.0122, -0.1709, 0.0615, 9.9214, 1.663, -0.1587, -0.0366, 0.0855] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
done({"hindsight": "When picking a block near the arm's forward reach limit, account for controller undershoot by commanding near the maximum Cartesian x bound, and ensure the block is aligned and deep inside the jaws before closing to prevent it from squeezing out or rotating.", "summary": "Calculated the answer to 3 + 4 = 7, aligned the right gripper with block 7, grasped and lifted it, transported it over the plate, and placed it inside the plate."})
tool
done: Calculated the answer to 3 + 4 = 7, aligned the right gripper with block 7, grasped and lifted it, transported it over the plate, and placed it inside 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 · 5.813 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, 0.7948, 0.606, -0.3771, -0.0196, -0.0257, 0.9996, -0.0208, 0.7937, 0.6025, -0.3817, -0.0299, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1813 left_yaw=-0.0001 left_gripper=0.9996 right_x=0.2944 right_y=0.0028 right_z=0.1791 right_yaw=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.6205, 9.7846, 1.8242, -0.0513, 0.1001, -0.0513, -0.4581, -1.4974, 10.2632, 1.9316, 0.0366, 0.2076, -0.0708]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:6f654fc883d48b509d9bca0342c25cec07b04074245c81abf284302ce184fd71",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 6f654fc883d4
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:1b1a9aabf6d9f01be6f53a2d6b6a8646abc4b5fa14754b37537166557f2731e5",
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{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
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  "mime_type": "image/png",
  "type": "image"
}
wire blob a2238bb89d83
call 1 attempt 0 · /interactions · status 200 · 4.314 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_132109",
  "name": "move_to",
  "result": "executing move_to over 26 steps (2.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0261, 0.9996, 0.3069, 1.3415, 0.5961, 0.0692, 0.2218, 0.1246, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0002 left_gripper=0.9996 right_x=0.3633 right_y=0.0781 right_z=0.0955 right_yaw=0.0667 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6068, 6.9949, 1.8486, -0.0269, -0.0659, -0.0171, 0.1709, -4.8342, 9.5795, 2.0586, 0.2369, 0.1636, -0.0171]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 26):",
  "type": "text"
}
message 3 current as-sent form
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  "data": "$blob:9f0f6653c257d2a64f4fd8103ee06ffd907feabe842320b05d056ed7f24c723f",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 26):",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 26):",
  "type": "text"
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message 7 current as-sent form
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call 2 attempt 0 · /interactions · status 200 · 41.94 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

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message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_152639",
  "name": "move_to",
  "result": "executing move_to over 18 steps (1.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0196, 0.7986, 0.601, -0.3855, -0.0196, -0.0257, 0.9996, 0.2371, 1.6917, 0.5781, 0.4644, 0.1215, 0.0673, 0.9993]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1762 left_yaw=-0.0009 left_gripper=0.9996 right_x=0.4022 right_y=0.0788 right_z=0.0325 right_yaw=0.0848 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.7162, 6.612, 1.8388, -0.022, 0.0269, -0.0073, -0.7043, -6.2017, 8.1983, 2.0488, 0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 44):",
  "type": "text"
}
message 3 current as-sent form
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  "data": "$blob:5a27c99d16c487896dac53cb6e5ee545f90144b2247b486cf1b47b2e3a8972a1",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 44):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:0c92dba4cf334e4081232cc0dfe9a00aaa3859d3926ed959dd21c1ae46ac93ce",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 44):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:8dbe869258d7f933892e0e5ad344ac892a01df3e419012ea71b5566b0949f14a",
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call 3 attempt 0 · /interactions · status 200 · 4.371 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_25527",
  "name": "move_to",
  "result": "target for right_z is outside [0.03, 0.4]",
  "type": "function_result"
}
call 4 attempt 0 · /interactions · status 200 · 3.488 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 0 current as-sent form
{
  "text": "Respond with exactly one tool call.",
  "type": "text"
}
call 5 attempt 0 · /interactions · status 200 · 4.751 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_82697",
  "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]: [-0.0196, 0.7967, 0.5846, -0.3817, -0.0196, -0.0261, 0.9996, 0.2192, 1.8179, 0.6182, 0.5808, 0.0944, 0.0467, 0.9993]\nstate[eef_state]: left_x=0.2923 left_y=0.0013 left_z=0.17 left_yaw=-0.001 left_gripper=0.9996 right_x=0.4223 right_y=0.0807 right_z=0.0189 right_yaw=0.0978 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -2.0991, 6.9949, 1.917, -0.0073, -0.0269, -0.0171, -0.7863, -6.6803, 7.0085, 1.8974, -0.0073, -0.0611, -0.0171]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 54):",
  "type": "text"
}
{
  "data": "$blob:7157063e2d146c155fd13591cdd6712e78cdaf4c54d27ecdf484b4f22053ad19",
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{
  "text": "camera 'left_cam' (step 54):",
  "type": "text"
}
{
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{
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wire blob b2ebebf9b3d0
call 6 attempt 0 · /interactions · status 200 · 5.293 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_71008",
  "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, 0.7853, 0.5583, -0.3706, -0.0193, -0.0261, 0.9996, 0.2157, 1.8103, 0.5941, 0.6033, 0.0879, 0.0334, 0.0079]\nstate[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1633 left_yaw=-0.0013 left_gripper=0.9996 right_x=0.4181 right_y=0.0794 right_z=0.0182 right_yaw=0.1169 right_gripper=0.0079\nstate[joint_eff]: [0.1026, -1.9487, 6.8308, 1.9609, -0.0317, -0.0122, -0.0073, -0.0068, -9.1556, 4.7795, 1.8486, -0.0562, 0.0659, 0.6227]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 64):",
  "type": "text"
}
message 3 current as-sent form
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  "data": "$blob:a34886d82f155a4d39c282a78622e69f710fe46268cfa599793095bb3e2e5922",
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 64):",
  "type": "text"
}
message 5 current as-sent form
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 64):",
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message 7 current as-sent form
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call 7 attempt 0 · /interactions · status 200 · 6.689 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

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message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_49108",
  "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, 0.7704, 0.5251, -0.3546, -0.0196, -0.0261, 0.9996, 0.2073, 1.6199, 0.622, 0.3721, 0.0616, 0.0219, 0.9975]\nstate[eef_state]: left_x=0.2866 left_y=0.0014 left_z=0.1555 left_yaw=-0.0014 left_gripper=0.9996 right_x=0.4086 right_y=0.0785 right_z=0.0582 right_yaw=0.1291 right_gripper=0.9975\nstate[joint_eff]: [0.0615, -1.812, 7.0906, 1.9512, -0.0024, -0.0415, -0.0073, -0.4171, -8.6906, 8.2803, 1.8486, -0.0024, -0.0122, -0.1343]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 81):",
  "type": "text"
}
message 3 current as-sent form
{
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{
  "text": "camera 'left_cam' (step 81):",
  "type": "text"
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message 5 current as-sent form
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{
  "text": "camera 'right_cam' (step 81):",
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message 7 current as-sent form
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call 8 attempt 0 · /interactions · status 200 · 6.629 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_32753",
  "name": "move_to",
  "result": "executing move_to over 11 steps (1.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0193, 0.7513, 0.4911, -0.3336, -0.0193, -0.0261, 0.9996, -0.07, 1.9121, 0.8597, 0.2798, -0.6376, -0.5369, 0.9982]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1493 left_yaw=-0.0006 left_gripper=0.9996 right_x=0.4403 right_y=0.0781 right_z=0.0298 right_yaw=0.7114 right_gripper=0.9982\nstate[joint_eff]: [0.1709, -1.4838, 6.9949, 1.9072, 0.0122, -0.0366, -0.0073, -0.3761, -8.4034, 7.1726, 1.37, -0.3834, 0.0171, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 92):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:2697a282fc3f1d9ddbf2509abeb96b5fe695f54c0402a77922035c366987c05d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 2697a282fc3f
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 92):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:41b3ecae87927f5a81eb62310e4d055f38777e83d824212cc7b39d4cc09acace",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 41b3ecae8792
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 92):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:509e905aa31cd307d067b60e3a151164c339c318b03965b2dd5a1794aaf90bfd",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 509e905aa31c
call 9 attempt 0 · /interactions · status 200 · 8.327 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_59477",
  "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]: [-0.0189, 0.7391, 0.4652, -0.3256, -0.0196, -0.0257, 0.9996, -0.0666, 1.9644, 0.8867, 0.2878, -0.6514, -0.5373, 0.9982]\nstate[eef_state]: left_x=0.2809 left_y=0.0018 left_z=0.1423 left_yaw=-0.0013 left_gripper=0.9996 right_x=0.4448 right_y=0.0813 right_z=0.019 right_yaw=0.6972 right_gripper=0.9982\nstate[joint_eff]: [-0.212, -1.6205, 6.8308, 2.0293, -0.0269, -0.0122, -0.0073, -0.1026, -8.3077, 8.1436, 1.6239, -0.2076, 0.2125, -0.0073]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 98):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:818d0d2c87d136f3a896b68e834646fac6b18fe2c91c9b97f415f79ed6af2158",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 818d0d2c87d1
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 98):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:10eb577002377c425a242b58e886b1e1bdc044ff5330996e5d264453a282475f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 10eb57700237
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 98):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:20778ffe34f5cb9dc5dfbbc5fe01e25c415c4ab9faac23bc9174b59ba65d7995",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 20778ffe34f5
call 10 attempt 0 · /interactions · status 200 · 9.544 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_31166",
  "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]: [-0.0189, 0.7189, 0.4332, -0.3092, -0.0196, -0.0261, 0.9996, -0.0608, 1.9484, 0.8467, 0.3222, -0.6289, -0.5068, 0.0096]\nstate[eef_state]: left_x=0.2778 left_y=0.0018 left_z=0.1363 left_yaw=-0.0003 left_gripper=0.9996 right_x=0.4389 right_y=0.081 right_z=0.0165 right_yaw=0.6601 right_gripper=0.0096\nstate[joint_eff]: [-0.1026, -1.0872, 6.9128, 2.0, -0.0073, -0.0415, -0.0073, 0.0615, -10.8239, 5.0667, 1.6679, -0.1929, 0.0659, 0.7106]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 108):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:45ddaaf71e60f7495471756e95fe9af0de5dfdad4bee5e94a3594bc156522d44",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 45ddaaf71e60
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 108):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5c160a75336a916a2af4db18af1eeef49d2ee55e54272a15a7a5d2858a708870",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5c160a75336a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 108):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:255f69f760e638521514035807bd6f4549131dc525b7cb8908b78aa6665fda1e",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 255f69f760e6
call 11 attempt 0 · /interactions · status 200 · 8.208 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_69058",
  "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]: [-0.0189, 0.7048, 0.4061, -0.2951, -0.0193, -0.0261, 0.9996, -0.0532, 2.0174, 0.9749, 0.284, -0.6144, -0.5076, 0.9965]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1304 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.47 right_y=0.0805 right_z=0.0214 right_yaw=0.6906 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -1.388, 6.8581, 1.9463, 0.0122, -0.0611, -0.0171, -0.5675, -9.1282, 8.1026, 1.5067, -0.3834, 0.0855, -0.1636]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 121):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:48b877a902466ca3a4654daa5a7faaa230fd1e1013e5480af0c8ed36eff01607",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 48b877a90246
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 121):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a202055191b68d06a23a43b302d9d776bf209606f0443291aba9cb402ad718f9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob a202055191b6
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 121):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:420a72200566149c1eef83385a967c931735cd97e740be1836ba10dbb9fd78ee",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 420a72200566
call 12 attempt 0 · /interactions · status 200 · 9.509 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_67388",
  "name": "move_to",
  "result": "executing move_to over 8 steps (0.8s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.6899, 0.379, -0.2817, -0.0196, -0.0257, 0.9996, 0.0463, 2.0197, 0.9531, 0.3336, -0.5556, -0.4362, 0.9975]\nstate[eef_state]: left_x=0.2728 left_y=0.0019 left_z=0.1246 left_yaw=-0.0008 left_gripper=0.9996 right_x=0.4642 right_y=0.1184 right_z=0.0172 right_yaw=0.6889 right_gripper=0.9975\nstate[joint_eff]: [-0.2803, -1.1145, 6.9949, 1.9023, -0.0269, -0.0024, -0.0122, 0.335, -11.2205, 5.1077, 1.7802, -0.1538, 0.2027, 0.0952]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 129):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1168938ec17899b7c6b966c57d5b0cdf3d14a9d36a475c8192ca81c70201fc7d",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 129):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:f8eeba14eb7fe9a2e9cc42455472f8a833528d9a51817fc948e7ae592a172b7a",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 129):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:59b6647b829e86fec3cbf1ad5655677395385e2a733c8af99cf2a3d37e816df8",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 13 attempt 0 · /interactions · status 200 · 8.229 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_168066",
  "name": "move_to",
  "result": "executing move_to over 11 steps (1.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.675, 0.3542, -0.2729, -0.0196, -0.0261, 0.9996, 0.2867, 1.9392, 0.7704, 0.5274, 0.1326, 0.0692, 0.9977]\nstate[eef_state]: left_x=0.27 left_y=0.002 left_z=0.1188 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.4494 right_y=0.1119 right_z=0.0097 right_yaw=0.1301 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -0.7863, 6.9265, 1.9219, 0.0269, -0.0513, -0.0073, 0.0752, -10.7966, 6.147, 1.8046, 0.2271, 0.1636, 0.0024]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 140):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ed4d39e79f416fb5a34c1a0ad1c089198b42894d9640df400408903c880ff20e",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 140):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d7ae55de1e6ca6f4286480a8ba2e2c4782260560624bee2747838d8f1b7891ca",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 140):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:266468f66eef1fa4692abc3edea291c292b61865f51f43e5f9b9f2488c95e0fd",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 14 attempt 0 · /interactions · status 200 · 8.52 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_81846",
  "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]: [-0.0189, 0.6579, 0.3279, -0.2657, -0.02, -0.0261, 0.9996, 0.3, 1.9659, 0.8509, 0.4965, 0.2062, 0.1181, 0.9977]\nstate[eef_state]: left_x=0.2668 left_y=0.0021 left_z=0.1125 left_yaw=-0.0004 left_gripper=0.9996 right_x=0.4695 right_y=0.1112 right_z=0.0213 right_yaw=0.0548 right_gripper=0.9977\nstate[joint_eff]: [-0.1983, -0.9094, 6.9402, 1.9756, 0.0122, -0.0513, -0.0171, 0.253, -8.1846, 7.9385, 1.7265, 0.4029, 0.232, -0.0122]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 150):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:1b62271083600901aea606d8e8147df6d77434826e19546e860989625826e0be",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 150):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:2ac174525e53f96d67dedeeeb920939616238c884fa7c70111b853713175bc47",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 150):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:515b8bbb5bbfe897bf9afcc0642197e063ba915daa2577fa7281e39de5be0356",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 15 attempt 0 · /interactions · status 200 · 17.84 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 1 changed as sent

message 2 changed as sent

message 3 changed as sent

message 4 changed as sent

message 5 changed as sent

message 6 changed as sent

message 7 changed as sent

message 0 current as-sent form
{
  "call_id": "call_76733",
  "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]: [-0.0189, 0.6395, 0.3004, -0.2569, -0.0193, -0.0261, 0.9996, 0.2966, 1.9675, 0.828, 0.506, 0.1928, 0.1047, 0.4372]\nstate[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1063 left_yaw=-0.0004 left_gripper=0.9996 right_x=0.4634 right_y=0.11 right_z=0.0141 right_yaw=0.0785 right_gripper=0.4372\nstate[joint_eff]: [-0.1573, -0.4171, 6.8991, 1.9463, 0.0122, -0.0073, -0.0122, -0.335, -11.0701, 5.2991, 1.9121, -0.0464, 0.0024, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 160):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5ff1564485290523c7ed24fef074a229adf0f7135bddea0e4ec4e79c962dc3b5",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 160):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:17208086dcf85fc9e9e57bc5ca33b35ef1344807b73914ce9e7efb1db9515055",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 160):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0ea6e7ca7377cdd78f74a8e0b84df30b624d4a5dd79b08aa707f7740863a6fde",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 16 attempt 0 · /interactions · status 200 · 9.947 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_38842",
  "name": "move_to",
  "result": "executing move_to over 45 steps (4.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.6189, 0.2726, -0.247, -0.0196, -0.0261, 0.9996, 0.2863, 1.6371, 1.0626, -0.1051, 0.1513, 0.0784, 0.4414]\nstate[eef_state]: left_x=0.2605 left_y=0.0021 left_z=0.1006 left_yaw=-0.0002 left_gripper=0.9996 right_x=0.4537 right_y=0.1096 right_z=0.139 right_yaw=0.1207 right_gripper=0.4414\nstate[joint_eff]: [0.0068, -0.6496, 6.9265, 1.9902, -0.0024, -0.0464, -0.0073, -0.2256, -11.2068, 10.5368, 1.8388, 0.0952, 0.0366, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 205):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:67bb4c167aead493c71d85c884906adfe9e511fbb8fa84076e881822ea867e34",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 205):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:3e13fb5721bb92a995615c95e24bb0af9dc82ef2c1b2d66d8ab7441c74f7a097",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 205):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bd6a83f752b7e85a2eea67c7cb22d71f78f83736f7b310de54bc0152681c0227",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 17 attempt 0 · /interactions · status 200 · 13.58 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_46033",
  "name": "move_to",
  "result": "executing move_to over 62 steps (6.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.5999, 0.2493, -0.2344, -0.0193, -0.0261, 0.9996, 0.973, 1.0836, 0.6243, -0.3305, 0.6464, 0.5056, 0.4414]\nstate[eef_state]: left_x=0.2587 left_y=0.0021 left_z=0.0972 left_yaw=0.0004 left_gripper=0.9996 right_x=0.2489 right_y=0.1829 right_z=0.1407 right_yaw=0.1833 right_gripper=0.4414\nstate[joint_eff]: [-0.0479, -0.5265, 6.7897, 1.9609, -0.0024, -0.0317, -0.0171, 0.1846, -4.4239, 7.2547, 1.5507, 0.4176, 0.1294, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 267):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ecd5c18427ffab7469dc1ffe482c60e56f80ba82a1482336bb903b0201fdaa4c",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 267):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1ef99a40490429e6a1c5a26cd3f00910f689f262c865cdc3d9b9f793af27a8c1",
  "mime_type": "image/png",
  "type": "image"
}
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 267):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0fe29ef454b083061ac83160c3642531d982c939db15c3986b8b6c22089b9ed5",
  "mime_type": "image/png",
  "type": "image"
}
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call 18 attempt 0 · /interactions · status 200 · 25.37 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_69279",
  "name": "move_to",
  "result": "executing move_to over 15 steps (1.5s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.5869, 0.2333, -0.2279, -0.0196, -0.0261, 0.9996, 1.2659, 1.2129, 0.5323, -0.2714, 0.7959, 0.7383, 0.4414]\nstate[eef_state]: left_x=0.2572 left_y=0.0022 left_z=0.0943 left_yaw=0.0006 left_gripper=0.9996 right_x=0.1974 right_y=0.2189 right_z=0.0941 right_yaw=0.2562 right_gripper=0.4414\nstate[joint_eff]: [-0.2667, -0.4171, 6.9812, 1.9023, -0.0415, -0.0415, -0.0171, 0.335, -3.2889, 6.6803, 1.453, 0.5641, 0.1392, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 282):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:ada78e661426f60e488e881e114abef177e8a86282f3c53f77cb0a34edc01391",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 282):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:57202c87b34faf56c461522aaae4f696158866b13c5827ccba1fafff78e58fc6",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 282):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:738d8f50220c45e62dfffdeac1cdc26575cc77fbab76a8f2e210798d4f106dd3",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 19 attempt 0 · /interactions · status 200 · 21.39 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_36740",
  "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]: [-0.0189, 0.5785, 0.2211, -0.2276, -0.0196, -0.0261, 0.9996, 1.2568, 1.3102, 0.3523, 0.0662, 0.7685, 0.6765, 0.4414]\nstate[eef_state]: left_x=0.2554 left_y=0.0022 left_z=0.0908 left_yaw=0.0004 left_gripper=0.9996 right_x=0.1955 right_y=0.216 right_z=0.048 right_yaw=0.2827 right_gripper=0.4414\nstate[joint_eff]: [-0.1436, -0.3487, 6.9538, 1.8681, -0.0171, -0.0562, -0.0171, -0.1026, -3.0974, 5.2581, 1.58, 0.3248, -0.0904, 1.0281]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 294):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:fd7986df26f9be24e586dee4d82c50ee5372e2a3ad3b26506d901c7bca0d66b7",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 294):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e4707d30806eb64fa1a3dd85954d7fb72d5bde9a9256ebcc386daf51fed266f1",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 294):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:b37d796282f36641ab83f3af9b41bf31af27ae3ab977a075674d5e26c502d33b",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 20 attempt 0 · /interactions · status 200 · 11.34 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_120733",
  "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]: [-0.0189, 0.5663, 0.2043, -0.2226, -0.0196, -0.0261, 0.9996, 1.2537, 1.3033, 0.3092, 0.1173, 0.7464, 0.6323, 0.9958]\nstate[eef_state]: left_x=0.2535 left_y=0.0023 left_z=0.087 left_yaw=0.0004 left_gripper=0.9996 right_x=0.1922 right_y=0.2126 right_z=0.0405 right_yaw=0.3394 right_gripper=0.9958\nstate[joint_eff]: [-0.1162, -0.1436, 6.8855, 1.8828, -0.0269, -0.0366, -0.0171, -0.4034, -4.3692, 5.4632, 1.5311, 0.3736, 0.0415, -0.1929]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 300):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:5bb99134e510b1c2c532169702b4b94918e35f052ec0d6f9e411e636c0a1f003",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 300):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:482ce5d3d0393412c45f554e64d3fa6d838ae52481e1862bb981062523b75043",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 300):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:bff561f1f315eac6d36940bcd8d3e38e782da998dfe5d97abfd9cae6e5eff550",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 21 attempt 0 · /interactions · status 200 · 12.97 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_98639",
  "name": "move_to",
  "result": "executing move_to over 44 steps (4.4s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0189, 0.5533, 0.1894, -0.2207, -0.0193, -0.0261, 0.9996, -0.0341, 0.6479, 0.6254, -0.6327, -0.2939, -0.223, 0.9968]\nstate[eef_state]: left_x=0.2517 left_y=0.0022 left_z=0.0836 left_yaw=0.0004 left_gripper=0.9996 right_x=0.2473 right_y=0.0464 right_z=0.1802 right_yaw=0.2964 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -0.0205, 6.7761, 1.8779, -0.0122, -0.0513, -0.0122, -0.1709, 0.0615, 9.9214, 1.663, -0.1587, -0.0366, 0.0855]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 344):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:8b26ab3cc7481086065ae721d03dadaad4869e16fa07fea74d496676c3b7991e",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 344):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:5eecf6015cf0ce3cd42c9a8fa2f38e14b8fbc49f0d6b0a2d29e238b0131775ba",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 344):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e14df28c5ccab74375803366670ebb52a536e60fa9fbb76900937e858753edfb",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]