adhoc

completed
2026-08-25T03:53:38.380450+00:00 inspect-robots 0.53.1git unknownembedded media truncated at 15 MB (91 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
12000
duration
287.9 s
total steps
319
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

Place the right answer on the plate.

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the right answer on the plate.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the right answer on the plate.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteMoving right arm forward towards block 7 (the correct answer for 3 + 4).
move_to
right_z0.1500right_x0.4000right_y0.0500
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.8005, 0.6098, -0.3939, -0.012, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.3874, -0.0162, -0.0124, 0.9995] state[eef_state]: left_x=0.294 left_y=-0.0007 left_z=0.178 left_yaw=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1837 right_yaw=0.0 right_gripper=0.9995 state[joint_eff]: [-0.5128, -1.812, 9.853, 1.9609, -0.1148, 0.1294, -0.1099, -0.3077, -1.7846, 9.1419, 1.8291, -0.0904, -0.0708, -0.0659] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving right arm forward towards block 7 (the correct answer for 3 + 4).", "targets": {"right_z": 0.15, "right_x": 0.4, "right_y": 0.05}})
tool
executing move_to over 32 steps (3.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteAdvancing right arm forward and slightly down over block 7.
move_to
right_y0.0550right_z0.0800right_x0.4400
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.8017, 0.609, -0.4084, -0.0113, -0.0307, 0.999, 0.1814, 1.3396, 0.7139, -0.0437, 0.1352, 0.0715, 0.9995] state[eef_state]: left_x=0.292 left_y=-0.0008 left_z=0.1743 left_yaw=0.0 left_gripper=0.999 right_x=0.3829 right_y=0.0497 right_z=0.1222 right_yaw=0.0657 right_gripper=0.9995 state[joint_eff]: [-0.1026, -1.3197, 7.0906, 1.873, -0.0073, -0.0317, -0.0171, 0.1026, -5.012, 9.853, 2.254, 0.2271, 0.2662, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.055, "right_z": 0.08, "right_x": 0.44}, "note": "Advancing right arm forward and slightly down over block 7."})
tool
executing move_to over 18 steps (1.8s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteLowering right gripper directly around block 7.
move_to
right_z0.0350right_y0.0520right_x0.4450
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7994, 0.5999, -0.4076, -0.0113, -0.0307, 0.999, 0.1463, 1.6516, 0.691, 0.3172, 0.0696, 0.0402, 0.9995] state[eef_state]: left_x=0.2908 left_y=-0.0008 left_z=0.1709 left_yaw=-0.0004 left_gripper=0.999 right_x=0.4248 right_y=0.0538 right_z=0.0611 right_yaw=0.0789 right_gripper=0.9995 state[joint_eff]: [-0.1573, -2.0581, 6.5299, 1.9072, -0.0562, -0.022, -0.0073, -0.2667, -6.9538, 8.2256, 1.9609, -0.0269, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035, "right_y": 0.052, "right_x": 0.445}, "note": "Lowering right gripper directly around block 7."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
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]: [-0.0219, 0.7929, 0.5823, -0.4004, -0.0116, -0.0311, 0.999, 0.1272, 1.8168, 0.6437, 0.5423, 0.0471, 0.033, 0.9995] state[eef_state]: left_x=0.2891 left_y=-0.0007 left_z=0.1662 left_yaw=-0.0001 left_gripper=0.999 right_x=0.4308 right_y=0.0503 right_z=0.0202 right_yaw=0.0709 right_gripper=0.9995 state[joint_eff]: [-0.3897, -1.8393, 6.6803, 1.9267, -0.0855, -0.0269, -0.0073, -0.3897, -7.5145, 7.3641, 2.0977, -0.0904, -0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [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 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteOpening gripper and advancing slightly further forward over block 7.
move_to
right_z0.0350right_y0.0500right_gripper1.0000right_x0.4600
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7834, 0.5617, -0.3855, -0.0113, -0.0311, 0.999, 0.1272, 1.821, 0.6071, 0.6052, 0.0475, 0.0261, 0.011] state[eef_state]: left_x=0.288 left_y=-0.0007 left_z=0.1624 left_yaw=0.0002 left_gripper=0.999 right_x=0.4267 right_y=0.0497 right_z=0.0184 right_yaw=0.0812 right_gripper=0.011 state[joint_eff]: [-0.2803, -1.812, 6.5573, 1.8584, -0.0366, -0.0464, -0.0122, 0.1299, -8.9641, 4.7248, 1.9658, 0.022, 0.0415, 0.8913] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"note": "Opening gripper and advancing slightly further forward over block 7.", "targets": {"right_z": 0.035, "right_y": 0.05, "right_gripper": 1, "right_x": 0.46}})
tool
executing move_to over 11 steps (1.1s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteLowering gripper onto block 7.
move_to
right_z0.0200
assistant
user
Respond with exactly one tool call.
assistant
agent noteClosing gripper to grasp block 7.
move_to
right_z0.0300right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7776, 0.5411, -0.3782, -0.0113, -0.0311, 0.999, 0.1146, 1.8606, 0.7048, 0.5678, 0.0216, 0.0074, 0.9958] state[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.156 left_yaw=-0.0004 left_gripper=0.999 right_x=0.4516 right_y=0.0518 right_z=0.0283 right_yaw=0.1009 right_gripper=0.9958 state[joint_eff]: [-0.4444, -1.8393, 6.8991, 1.9463, -0.0513, -0.0366, -0.0122, -0.5949, -7.3504, 7.2, 1.7411, 0.0122, 0.1294, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "Lowering gripper onto block 7."})
tool
target for right_z is outside [0.03, 0.4]
assistant
user
Respond with exactly one tool call.
assistant
move_to({"targets": {"right_z": 0.03, "right_gripper": 0}, "note": "Closing gripper to grasp block 7."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteOpening gripper, lifting slightly, and moving further forward to align with block 7.
move_to
right_x0.4800right_z0.0600right_y0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7647, 0.5156, -0.3698, -0.0113, -0.0311, 0.999, 0.1139, 1.8606, 0.6945, 0.5793, 0.0051, -0.0006, 0.0101] state[eef_state]: left_x=0.2829 left_y=-0.0006 left_z=0.1495 left_yaw=-0.0007 left_gripper=0.999 right_x=0.4494 right_y=0.0541 right_z=0.0269 right_yaw=0.1146 right_gripper=0.0101 state[joint_eff]: [-0.1162, -1.8256, 6.6803, 1.9853, -0.022, -0.0757, -0.0122, -0.294, -8.2393, 4.6701, 1.9219, 0.0659, 0.0464, 0.8913] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.06, "right_y": 0.05, "right_gripper": 1}, "note": "Opening gripper, lifting slightly, and moving further forward to align with block 7."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteAligning gripper yaw with the rotated block 7 and lowering.
move_to
right_yaw0.8000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.746, 0.4866, -0.3515, -0.0113, -0.0311, 0.999, 0.0933, 1.8606, 0.8127, 0.4332, -0.0238, -0.0204, 0.9954] state[eef_state]: left_x=0.2806 left_y=-0.0006 left_z=0.145 left_yaw=-0.0001 left_gripper=0.999 right_x=0.4687 right_y=0.0517 right_z=0.0406 right_yaw=0.1283 right_gripper=0.9954 state[joint_eff]: [-0.1983, -1.2376, 6.6667, 1.9609, -0.022, -0.0415, -0.0122, -0.5265, -10.0308, 8.1299, 1.8779, 0.0611, 0.0024, 0.0659] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"note": "Aligning gripper yaw with the rotated block 7 and lowering.", "targets": {"right_yaw": 0.8, "right_z": 0.03}})
tool
executing move_to over 11 steps (1.1s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
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]: [-0.0219, 0.733, 0.466, -0.3359, -0.0116, -0.0311, 0.999, -0.1532, 2.0136, 1.0111, 0.231, -0.68, -0.5648, 0.9958] state[eef_state]: left_x=0.2794 left_y=-0.0005 left_z=0.1421 left_yaw=0.0006 left_gripper=0.999 right_x=0.4764 right_y=0.0425 right_z=0.0318 right_yaw=0.7213 right_gripper=0.9958 state[joint_eff]: [-0.2256, -1.4154, 6.6256, 1.8779, -0.0464, -0.0513, -0.0073, -0.2803, -9.2513, 6.2291, 1.2576, -0.4762, -0.0952, 0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [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 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteLifting block 7 up from the table.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7273, 0.4511, -0.3328, -0.0116, -0.0311, 0.999, -0.1593, 2.0239, 1.0271, 0.1936, -0.7113, -0.5873, 0.4194] state[eef_state]: left_x=0.2774 left_y=-0.0004 left_z=0.1375 left_yaw=0.0001 left_gripper=0.999 right_x=0.4737 right_y=0.0443 right_z=0.0296 right_yaw=0.7192 right_gripper=0.4194 state[joint_eff]: [-0.3077, -1.2786, 6.9538, 1.8974, -0.0708, -0.0513, -0.0122, -0.1299, -10.0581, 5.2991, 1.536, -0.2906, 0.0122, 1.033] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lifting block 7 up from the table.", "targets": {"right_z": 0.18}})
tool
executing move_to over 41 steps (4.1s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteCarrying block 7 towards the plate.
move_to
right_z0.1800right_yaw0.0000right_x0.3000right_y0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.7158, 0.4316, -0.3252, -0.0116, -0.0311, 0.999, -0.1593, 1.7962, 1.2919, -0.35, -0.704, -0.5873, 0.4194] state[eef_state]: left_x=0.2753 left_y=-0.0004 left_z=0.1331 left_yaw=0.0001 left_gripper=0.999 right_x=0.4699 right_y=0.044 right_z=0.1492 right_yaw=0.6628 right_gripper=0.4194 state[joint_eff]: [-0.294, -1.3197, 6.8444, 1.9072, -0.0855, -0.0611, -0.0122, -0.1162, -12.7111, 8.9778, 1.409, -0.2857, 0.0952, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"note": "Carrying block 7 towards the plate.", "targets": {"right_z": 0.18, "right_yaw": 0, "right_x": 0.3, "right_y": 0.2}})
tool
executing move_to over 52 steps (5.2s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteMoving right arm directly over the plate.
move_to
right_z0.1600right_y0.2300right_x0.2200
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.701, 0.411, -0.3103, -0.0116, -0.0307, 0.999, 0.9012, 1.3113, 0.8742, -0.387, 0.6807, 0.5541, 0.4237] state[eef_state]: left_x=0.274 left_y=-0.0004 left_z=0.1305 left_yaw=0.0001 left_gripper=0.999 right_x=0.2957 right_y=0.2002 right_z=0.1657 right_yaw=0.1036 right_gripper=0.4237 state[joint_eff]: [-0.3761, -0.8957, 6.7487, 1.8535, -0.0366, -0.0513, -0.0122, 0.212, -4.1641, 9.7846, 1.4725, 0.5104, 0.1636, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving right arm directly over the plate.", "targets": {"right_z": 0.16, "right_y": 0.23, "right_x": 0.22}})
tool
executing move_to over 23 steps (2.3s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteMoving block 7 towards the center of the plate and lowering.
move_to
right_z0.0800right_x0.1700right_y0.2300
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.6952, 0.4034, -0.3096, -0.0116, -0.0307, 0.999, 1.2236, 1.2625, 0.7933, -0.527, 0.8356, 0.8162, 0.4237] state[eef_state]: left_x=0.2728 left_y=-0.0003 left_z=0.1287 left_yaw=0.0 left_gripper=0.999 right_x=0.2178 right_y=0.2275 right_z=0.1481 right_yaw=0.1749 right_gripper=0.4237 state[joint_eff]: [-0.4034, -1.1966, 6.4752, 1.9658, -0.0464, -0.0122, -0.0122, 0.4171, -3.453, 8.9094, 1.1013, 0.6618, 0.1783, 1.0379] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"note": "Moving block 7 towards the center of the plate and lowering.", "targets": {"right_z": 0.08, "right_x": 0.17, "right_y": 0.23}})
tool
executing move_to over 19 steps (1.9s)
step 255
top_cam
camera top_cam step 255
left_cam
camera left_cam step 255
right_cam
camera right_cam step 255
assistant
agent noteLowering block 7 onto the plate.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.688, 0.3904, -0.3096, -0.0116, -0.0307, 0.999, 1.4311, 1.3384, 0.5686, -0.3626, 0.8986, 1.0122, 0.4237] state[eef_state]: left_x=0.2707 left_y=-0.0003 left_z=0.1246 left_yaw=-0.0004 left_gripper=0.999 right_x=0.1686 right_y=0.2321 right_z=0.0785 right_yaw=0.219 right_gripper=0.4237 state[joint_eff]: [-0.3624, -0.9094, 6.9949, 1.8926, -0.0904, -0.0562, -0.0122, 0.4581, -3.6444, 5.1624, 1.0769, 0.7595, 0.0659, 1.033] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"note": "Lowering block 7 onto the plate.", "targets": {"right_z": 0.04}})
tool
executing move_to over 11 steps (1.1s)
step 266
top_cam
camera top_cam step 266
left_cam
camera left_cam step 266
right_cam
camera right_cam step 266
assistant
agent noteOpening right gripper to release block 7 on the plate.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.6765, 0.3744, -0.3065, -0.0113, -0.0307, 0.999, 1.4353, 1.4479, 0.4419, -0.0971, 0.9009, 0.9833, 0.4237] state[eef_state]: left_x=0.2685 left_y=-0.0003 left_z=0.1208 left_yaw=-0.0006 left_gripper=0.999 right_x=0.1675 right_y=0.23 right_z=0.0389 right_yaw=0.2344 right_gripper=0.4237 state[joint_eff]: [-0.212, -0.9641, 6.612, 1.9219, -0.0513, -0.0024, -0.0122, -0.0205, -4.1504, 4.547, 1.1746, 0.4615, -0.1245, 1.033] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Opening right gripper to release block 7 on the plate."})
tool
executing move_to over 6 steps (0.6s)
step 272
top_cam
camera top_cam step 272
left_cam
camera left_cam step 272
right_cam
camera right_cam step 272
assistant
agent noteRetracting right arm away from the plate.
move_to
right_y0.0000right_x0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.6636, 0.3569, -0.3023, -0.0116, -0.0307, 0.999, 1.4353, 1.4475, 0.4145, -0.0456, 0.9005, 0.9524, 0.9957] state[eef_state]: left_x=0.2663 left_y=-0.0002 left_z=0.1169 left_yaw=-0.0006 left_gripper=0.999 right_x=0.1673 right_y=0.229 right_z=0.036 right_yaw=0.2562 right_gripper=0.9957 state[joint_eff]: [-0.2667, -0.9641, 6.5983, 1.9658, -0.0366, -0.0708, -0.0122, 0.0889, -4.7385, 4.5333, 1.0867, 0.4762, -0.0269, -0.105] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0, "right_x": 0.25, "right_z": 0.2}, "note": "Retracting right arm away from the plate."})
tool
executing move_to over 46 steps (4.6s)
step 318
top_cam
camera top_cam step 318
left_cam
camera left_cam step 318
right_cam
camera right_cam step 318
assistant
agent noteCalculated the answer to 3 + 4 = 7, grasped the block with 7 using the right arm, and placed it onto the plate.
done
hindsightThe block 7 was at x ≈ 0.47 in the right arm frame. Aligning yaw with the block orientation and descending to z ≈ 0.03 allowed a reliable grasp, and moving to x ≈ 0.17, y ≈ 0.23 positioned the block centered over the plate.
Raw transcript
user
Current observation. Instruction: Place the right answer on the plate. state[joint_pos]: [-0.0219, 0.6487, 0.3401, -0.2905, -0.0113, -0.0307, 0.999, -0.3584, 0.6636, 0.6468, -0.6788, -0.4694, -0.3428, 0.9966] state[eef_state]: left_x=0.2652 left_y=-0.0002 left_z=0.1153 left_yaw=0.0002 left_gripper=0.999 right_x=0.2473 right_y=-0.0035 right_z=0.1848 right_yaw=0.1931 right_gripper=0.9966 state[joint_eff]: [-0.1846, -0.3761, 6.5299, 1.9121, -0.0513, -0.0366, -0.0122, -0.1846, 0.1846, 9.2239, 1.5458, -0.3101, -0.0562, 0.0806] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
done({"hindsight": "The block 7 was at x \u2248 0.47 in the right arm frame. Aligning yaw with the block orientation and descending to z \u2248 0.03 allowed a reliable grasp, and moving to x \u2248 0.17, y \u2248 0.23 positioned the block centered over the plate.", "summary": "Calculated the answer to 3 + 4 = 7, grasped the block with 7 using the right arm, and placed it onto the plate."})
tool
done: Calculated the answer to 3 + 4 = 7, grasped the block with 7 using the right arm, and placed it onto the plate.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.15, 0.48], left_y: [-0.25, 0.25], left_z: [0.03, 0.4], left_yaw: [-3.142, 3.142], left_gripper: [0, 1], right_x: [0.15, 0.48], right_y: [-0.25, 0.25], right_z: [0.03, 0.4], right_yaw: [-3.142, 3.142], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_gripper, right_x, right_y, right_z, right_yaw, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "type": "function"
  }
]
call 0 attempt 0 · /interactions · status 200 · 7.746 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]: [-0.0219, 0.8005, 0.6098, -0.3939, -0.012, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.3874, -0.0162, -0.0124, 0.9995]\nstate[eef_state]: left_x=0.294 left_y=-0.0007 left_z=0.178 left_yaw=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1837 right_yaw=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -1.812, 9.853, 1.9609, -0.1148, 0.1294, -0.1099, -0.3077, -1.7846, 9.1419, 1.8291, -0.0904, -0.0708, -0.0659]",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:c9dda379d6fc1c45ed4298a53414e22198f00236aa3dda4555db48581f78c575",
  "mime_type": "image/png",
  "type": "image"
}
wire blob c9dda379d6fc
{
  "text": "camera 'left_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:15d00a4a24496b3cf7b6b978b47c945729a65c3c2df79bd6be507bfdec8ccb17",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 15d00a4a2449
{
  "text": "camera 'right_cam' (step 0):",
  "type": "text"
}
{
  "data": "$blob:b9795c4605fcc8d3db1080c6dd606a42a4c381d80ec33784ae8fee03be8f16d0",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b9795c4605fc
call 1 attempt 0 · /interactions · status 200 · 3.834 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_125481",
  "name": "move_to",
  "result": "executing move_to over 32 steps (3.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.8017, 0.609, -0.4084, -0.0113, -0.0307, 0.999, 0.1814, 1.3396, 0.7139, -0.0437, 0.1352, 0.0715, 0.9995]\nstate[eef_state]: left_x=0.292 left_y=-0.0008 left_z=0.1743 left_yaw=0.0 left_gripper=0.999 right_x=0.3829 right_y=0.0497 right_z=0.1222 right_yaw=0.0657 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.3197, 7.0906, 1.873, -0.0073, -0.0317, -0.0171, 0.1026, -5.012, 9.853, 2.254, 0.2271, 0.2662, -0.0171]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 32):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b9b91ad4ec162f3a39b1852928f7669d29b5eff3551f4be573837714a47908ba",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b9b91ad4ec16
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 32):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:511064d82c35221af6ec5c5af58c0e332e681187d52a35201e8565bfc31a0842",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 511064d82c35
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 32):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d3606a7dd153923d664132ca426cce40371037758782f6196c67361451207bf7",
  "mime_type": "image/png",
  "type": "image"
}
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call 2 attempt 0 · /interactions · status 200 · 19.92 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_137790",
  "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]: [-0.0219, 0.7994, 0.5999, -0.4076, -0.0113, -0.0307, 0.999, 0.1463, 1.6516, 0.691, 0.3172, 0.0696, 0.0402, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=-0.0008 left_z=0.1709 left_yaw=-0.0004 left_gripper=0.999 right_x=0.4248 right_y=0.0538 right_z=0.0611 right_yaw=0.0789 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -2.0581, 6.5299, 1.9072, -0.0562, -0.022, -0.0073, -0.2667, -6.9538, 8.2256, 1.9609, -0.0269, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 50):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:83465807674056c647cf9cff9cf1a4026909eb3734547409d2cbdac8bbc9b42e",
  "mime_type": "image/png",
  "type": "image"
}
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 50):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:a110e77c7cb02d344c4c46c2c7967a4ce97d34f047efacdcc2a9116d34b7b298",
  "mime_type": "image/png",
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}
wire blob a110e77c7cb0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 50):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:3dae82169b200760ba0b6bcde1b6b5b6f84cc2ea33ae8fda639925039cd550de",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 3dae82169b20
call 3 attempt 0 · /interactions · status 200 · 6.117 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_128278",
  "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]: [-0.0219, 0.7929, 0.5823, -0.4004, -0.0116, -0.0311, 0.999, 0.1272, 1.8168, 0.6437, 0.5423, 0.0471, 0.033, 0.9995]\nstate[eef_state]: left_x=0.2891 left_y=-0.0007 left_z=0.1662 left_yaw=-0.0001 left_gripper=0.999 right_x=0.4308 right_y=0.0503 right_z=0.0202 right_yaw=0.0709 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -1.8393, 6.6803, 1.9267, -0.0855, -0.0269, -0.0073, -0.3897, -7.5145, 7.3641, 2.0977, -0.0904, -0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 58):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:b6529324169a3a9a013149c4fed7d7db84a57249cf7e97bb684c70e13c734324",
  "mime_type": "image/png",
  "type": "image"
}
wire blob b6529324169a
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 58):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:579b33f6275be6046819533b2b2fe8e1e3aea5f6c3b2d660032598c4b1b79a8f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 579b33f6275b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 58):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d342cee217a1922b3ca7afc25dc816e3ddfcc2d39463b08fd74a82b1c0f7a781",
  "mime_type": "image/png",
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}
wire blob d342cee217a1
call 4 attempt 0 · /interactions · status 200 · 5.518 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_99217",
  "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]: [-0.0219, 0.7834, 0.5617, -0.3855, -0.0113, -0.0311, 0.999, 0.1272, 1.821, 0.6071, 0.6052, 0.0475, 0.0261, 0.011]\nstate[eef_state]: left_x=0.288 left_y=-0.0007 left_z=0.1624 left_yaw=0.0002 left_gripper=0.999 right_x=0.4267 right_y=0.0497 right_z=0.0184 right_yaw=0.0812 right_gripper=0.011\nstate[joint_eff]: [-0.2803, -1.812, 6.5573, 1.8584, -0.0366, -0.0464, -0.0122, 0.1299, -8.9641, 4.7248, 1.9658, 0.022, 0.0415, 0.8913]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 68):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:67e7dad323f5475c9b40ae4132b3e13992e786e50eed1e97597b4074b1c31fa9",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 67e7dad323f5
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 68):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:17ec297a27a7f796497af31f69aa443acb1ca07a261113fd4e730d085268019f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 17ec297a27a7
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 68):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:d0f2c634a9052721873dab7d6de9444e6c5fb7c347a53555c8a95f0fe3e07065",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d0f2c634a905
call 5 attempt 0 · /interactions · status 200 · 8.012 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_37635",
  "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]: [-0.0219, 0.7776, 0.5411, -0.3782, -0.0113, -0.0311, 0.999, 0.1146, 1.8606, 0.7048, 0.5678, 0.0216, 0.0074, 0.9958]\nstate[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.156 left_yaw=-0.0004 left_gripper=0.999 right_x=0.4516 right_y=0.0518 right_z=0.0283 right_yaw=0.1009 right_gripper=0.9958\nstate[joint_eff]: [-0.4444, -1.8393, 6.8991, 1.9463, -0.0513, -0.0366, -0.0122, -0.5949, -7.3504, 7.2, 1.7411, 0.0122, 0.1294, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 79):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:eaaa00c19178e4a0a2155efd4a5df76d797675af57363b4e3effc3c6a3f8cf74",
  "mime_type": "image/png",
  "type": "image"
}
wire blob eaaa00c19178
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 79):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:d9107c67be62e7263cf9c056865466a2f4324fa88076ce0ce6cfe3ff6a974286",
  "mime_type": "image/png",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 79):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:12b8fd0cb407077e6f871af725ae979567ca262eb0ad0741706be127fb3193bb",
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call 6 attempt 0 · /interactions · status 200 · 21.56 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_65944",
  "name": "move_to",
  "result": "target for right_z is outside [0.03, 0.4]",
  "type": "function_result"
}
call 7 attempt 0 · /interactions · status 200 · 6.86 s
model
gemini-3.7-flash
effort
n/a
temperature
n/a
tool count
3

message 0 changed as sent

message 0 current as-sent form
{
  "text": "Respond with exactly one tool call.",
  "type": "text"
}
call 8 attempt 0 · /interactions · status 200 · 6.259 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_135745",
  "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]: [-0.0219, 0.7647, 0.5156, -0.3698, -0.0113, -0.0311, 0.999, 0.1139, 1.8606, 0.6945, 0.5793, 0.0051, -0.0006, 0.0101]\nstate[eef_state]: left_x=0.2829 left_y=-0.0006 left_z=0.1495 left_yaw=-0.0007 left_gripper=0.999 right_x=0.4494 right_y=0.0541 right_z=0.0269 right_yaw=0.1146 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -1.8256, 6.6803, 1.9853, -0.022, -0.0757, -0.0122, -0.294, -8.2393, 4.6701, 1.9219, 0.0659, 0.0464, 0.8913]\napprover: 10 step(s) modified (delta_clamped ×10).",
  "type": "text"
}
{
  "text": "camera 'top_cam' (step 89):",
  "type": "text"
}
{
  "data": "$blob:94f6fff6643fb91b2a31524d8adf867c7c30dc6c024e6eaec717da653a891a67",
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{
  "text": "camera 'left_cam' (step 89):",
  "type": "text"
}
{
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{
  "text": "camera 'right_cam' (step 89):",
  "type": "text"
}
{
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call 9 attempt 0 · /interactions · status 200 · 13.83 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_25817",
  "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]: [-0.0219, 0.746, 0.4866, -0.3515, -0.0113, -0.0311, 0.999, 0.0933, 1.8606, 0.8127, 0.4332, -0.0238, -0.0204, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=-0.0006 left_z=0.145 left_yaw=-0.0001 left_gripper=0.999 right_x=0.4687 right_y=0.0517 right_z=0.0406 right_yaw=0.1283 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2376, 6.6667, 1.9609, -0.022, -0.0415, -0.0122, -0.5265, -10.0308, 8.1299, 1.8779, 0.0611, 0.0024, 0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 99):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:86a096bffd757869a6d2a20b85c5b5e8f835dcda1691ba1ea597e780ce271c9a",
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  "type": "image"
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message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 99):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:dba6fb5a378d4dce149fef48404505b8d7101fc4a5d4528eccd6dc703f747c3b",
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message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 99):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:0d7bc2085939f5b7c53d441d20eb3454712d274ebbef332995a61d2a52743515",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 0d7bc2085939
call 10 attempt 0 · /interactions · status 200 · 22.59 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_74854",
  "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]: [-0.0219, 0.733, 0.466, -0.3359, -0.0116, -0.0311, 0.999, -0.1532, 2.0136, 1.0111, 0.231, -0.68, -0.5648, 0.9958]\nstate[eef_state]: left_x=0.2794 left_y=-0.0005 left_z=0.1421 left_yaw=0.0006 left_gripper=0.999 right_x=0.4764 right_y=0.0425 right_z=0.0318 right_yaw=0.7213 right_gripper=0.9958\nstate[joint_eff]: [-0.2256, -1.4154, 6.6256, 1.8779, -0.0464, -0.0513, -0.0073, -0.2803, -9.2513, 6.2291, 1.2576, -0.4762, -0.0952, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 110):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:7f9482ad4890fbab52d7bb58440ff9e07714564d78be703887f936d3dbbe0ce7",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 7f9482ad4890
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 110):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1dfc8106a18bb3240590a85d8ec42a88c81e96bd8aef603be71dd76f53e59d6f",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 1dfc8106a18b
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 110):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:66071047abe1ffab029a6974d7cc2fce75486a244321930f6e39594fb81da78c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 66071047abe1
call 11 attempt 0 · /interactions · status 200 · 7.164 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_17219",
  "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]: [-0.0219, 0.7273, 0.4511, -0.3328, -0.0116, -0.0311, 0.999, -0.1593, 2.0239, 1.0271, 0.1936, -0.7113, -0.5873, 0.4194]\nstate[eef_state]: left_x=0.2774 left_y=-0.0004 left_z=0.1375 left_yaw=0.0001 left_gripper=0.999 right_x=0.4737 right_y=0.0443 right_z=0.0296 right_yaw=0.7192 right_gripper=0.4194\nstate[joint_eff]: [-0.3077, -1.2786, 6.9538, 1.8974, -0.0708, -0.0513, -0.0122, -0.1299, -10.0581, 5.2991, 1.536, -0.2906, 0.0122, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 120):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:4c12de7780192ba0dd652c3ac2e08efff3dd3176239a1f6c83cbf4f1a5668c94",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 4c12de778019
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 120):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:e0760308d55cfd14fd4e05653e681bb60eb14fc23ba7cc39c1dca4ae28b673f2",
  "mime_type": "image/png",
  "type": "image"
}
wire blob e0760308d55c
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 120):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:aa7dc389d6ccb9d9f33245813690708c6ef06c472943720c894abad4286ecde4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob aa7dc389d6cc
call 12 attempt 0 · /interactions · status 200 · 14.79 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_36906",
  "name": "move_to",
  "result": "executing move_to over 41 steps (4.1s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.7158, 0.4316, -0.3252, -0.0116, -0.0311, 0.999, -0.1593, 1.7962, 1.2919, -0.35, -0.704, -0.5873, 0.4194]\nstate[eef_state]: left_x=0.2753 left_y=-0.0004 left_z=0.1331 left_yaw=0.0001 left_gripper=0.999 right_x=0.4699 right_y=0.044 right_z=0.1492 right_yaw=0.6628 right_gripper=0.4194\nstate[joint_eff]: [-0.294, -1.3197, 6.8444, 1.9072, -0.0855, -0.0611, -0.0122, -0.1162, -12.7111, 8.9778, 1.409, -0.2857, 0.0952, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 161):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:694ca953733bb4798d3f6578b3072b36d823a59263f1963c1ad9e6a2b77a1e22",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 694ca953733b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 161):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:494685e2178af85c78147267018bcf9aeb8446695787797eb2b66a3a038d085c",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 494685e2178a
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 161):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9bce1eaffd99e182f2eec8b7ccc93eea903feec88290cccd947679017b4d3b78",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9bce1eaffd99
call 13 attempt 0 · /interactions · status 200 · 10.03 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_21263",
  "name": "move_to",
  "result": "executing move_to over 52 steps (5.2s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.701, 0.411, -0.3103, -0.0116, -0.0307, 0.999, 0.9012, 1.3113, 0.8742, -0.387, 0.6807, 0.5541, 0.4237]\nstate[eef_state]: left_x=0.274 left_y=-0.0004 left_z=0.1305 left_yaw=0.0001 left_gripper=0.999 right_x=0.2957 right_y=0.2002 right_z=0.1657 right_yaw=0.1036 right_gripper=0.4237\nstate[joint_eff]: [-0.3761, -0.8957, 6.7487, 1.8535, -0.0366, -0.0513, -0.0122, 0.212, -4.1641, 9.7846, 1.4725, 0.5104, 0.1636, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 213):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d5e2e830c05bca5b43918be37376fb6009c3e7e4d220a0641cdc8eae7c6d8296",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d5e2e830c05b
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 213):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fc4cb954d9ebe9340ab525010d257c48bf9a61836f802bc06c2913ecbcde3d72",
  "mime_type": "image/png",
  "type": "image"
}
wire blob fc4cb954d9eb
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 213):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:5732536eaebad73a3ec0f856a95e6578183ebede7d8dc3b01e2552e655fac9a4",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 5732536eaeba
call 14 attempt 0 · /interactions · status 200 · 10.22 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_14600",
  "name": "move_to",
  "result": "executing move_to over 23 steps (2.3s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.6952, 0.4034, -0.3096, -0.0116, -0.0307, 0.999, 1.2236, 1.2625, 0.7933, -0.527, 0.8356, 0.8162, 0.4237]\nstate[eef_state]: left_x=0.2728 left_y=-0.0003 left_z=0.1287 left_yaw=0.0 left_gripper=0.999 right_x=0.2178 right_y=0.2275 right_z=0.1481 right_yaw=0.1749 right_gripper=0.4237\nstate[joint_eff]: [-0.4034, -1.1966, 6.4752, 1.9658, -0.0464, -0.0122, -0.0122, 0.4171, -3.453, 8.9094, 1.1013, 0.6618, 0.1783, 1.0379]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 236):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:38091a6d0bf8f8056f7b8b4df269eb4755920d5e2f941aaf50d70b8ecd78055d",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 38091a6d0bf8
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 236):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:baf58deae1d02b93167818074f14e0328306f6e33f0f8c2d3b5838630c2a9092",
  "mime_type": "image/png",
  "type": "image"
}
wire blob baf58deae1d0
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 236):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:9cca412e8e81f401c90d25bbc8b7836abb6dad52742c9584e7dbe4ea6bd5d724",
  "mime_type": "image/png",
  "type": "image"
}
wire blob 9cca412e8e81
call 15 attempt 0 · /interactions · status 200 · 9.274 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_34472",
  "name": "move_to",
  "result": "executing move_to over 19 steps (1.9s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.688, 0.3904, -0.3096, -0.0116, -0.0307, 0.999, 1.4311, 1.3384, 0.5686, -0.3626, 0.8986, 1.0122, 0.4237]\nstate[eef_state]: left_x=0.2707 left_y=-0.0003 left_z=0.1246 left_yaw=-0.0004 left_gripper=0.999 right_x=0.1686 right_y=0.2321 right_z=0.0785 right_yaw=0.219 right_gripper=0.4237\nstate[joint_eff]: [-0.3624, -0.9094, 6.9949, 1.8926, -0.0904, -0.0562, -0.0122, 0.4581, -3.6444, 5.1624, 1.0769, 0.7595, 0.0659, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 255):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:d9097b1c2facc8d116db1260060d709eb545bf2b51aa37ce2f6894128589c827",
  "mime_type": "image/png",
  "type": "image"
}
wire blob d9097b1c2fac
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 255):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:835748fae4a831bb2be012afa0a707e4237d11204da132c81906527a6cea81de",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 255):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:f77cefa54f9193c7b4800721b070b9df07fc7649599644fb87abb75652658f96",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 16 attempt 0 · /interactions · status 200 · 16.99 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_21274",
  "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]: [-0.0219, 0.6765, 0.3744, -0.3065, -0.0113, -0.0307, 0.999, 1.4353, 1.4479, 0.4419, -0.0971, 0.9009, 0.9833, 0.4237]\nstate[eef_state]: left_x=0.2685 left_y=-0.0003 left_z=0.1208 left_yaw=-0.0006 left_gripper=0.999 right_x=0.1675 right_y=0.23 right_z=0.0389 right_yaw=0.2344 right_gripper=0.4237\nstate[joint_eff]: [-0.212, -0.9641, 6.612, 1.9219, -0.0513, -0.0024, -0.0122, -0.0205, -4.1504, 4.547, 1.1746, 0.4615, -0.1245, 1.033]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 266):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:e4fe1d24402a41cf11e1d9b25f69a98265189e25e323484f43189e6c0a403b44",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 266):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:fb4ec987de9366471753807d8ea23ab9ecff8aa31a4e87c37de3099501676e4e",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 266):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:1ac3d3e3a6b5bb20eef7febf7252fdfb1968ca2f8578d9a457419648c1182e46",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 17 attempt 0 · /interactions · status 200 · 9.642 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_47766",
  "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]: [-0.0219, 0.6636, 0.3569, -0.3023, -0.0116, -0.0307, 0.999, 1.4353, 1.4475, 0.4145, -0.0456, 0.9005, 0.9524, 0.9957]\nstate[eef_state]: left_x=0.2663 left_y=-0.0002 left_z=0.1169 left_yaw=-0.0006 left_gripper=0.999 right_x=0.1673 right_y=0.229 right_z=0.036 right_yaw=0.2562 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -0.9641, 6.5983, 1.9658, -0.0366, -0.0708, -0.0122, 0.0889, -4.7385, 4.5333, 1.0867, 0.4762, -0.0269, -0.105]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 272):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:f0770604ffd90fbd3f062ed9eaba2dd23bce4835d9eda48d5e6894608f6b8e3c",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 272):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:4cebcfc8c136c37affe790f99d8699bdb5a640d64f0556a33a1ab83e05ad5239",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 272):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:4381cffab3b5054ebe41d341cdaecbdcd2f2b5165b2e23796a64dc93856f11da",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
call 18 attempt 0 · /interactions · status 200 · 13.45 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_14030",
  "name": "move_to",
  "result": "executing move_to over 46 steps (4.6s)",
  "type": "function_result"
}
message 1 current as-sent form
{
  "text": "Current observation.\nInstruction: Place the right answer on the plate.\nstate[joint_pos]: [-0.0219, 0.6487, 0.3401, -0.2905, -0.0113, -0.0307, 0.999, -0.3584, 0.6636, 0.6468, -0.6788, -0.4694, -0.3428, 0.9966]\nstate[eef_state]: left_x=0.2652 left_y=-0.0002 left_z=0.1153 left_yaw=0.0002 left_gripper=0.999 right_x=0.2473 right_y=-0.0035 right_z=0.1848 right_yaw=0.1931 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -0.3761, 6.5299, 1.9121, -0.0513, -0.0366, -0.0122, -0.1846, 0.1846, 9.2239, 1.5458, -0.3101, -0.0562, 0.0806]",
  "type": "text"
}
message 2 current as-sent form
{
  "text": "camera 'top_cam' (step 318):",
  "type": "text"
}
message 3 current as-sent form
{
  "data": "$blob:dfb0d368eb50b0e1f2aa5039d527cec5a84a52136e962c4ab6f25296000e87da",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 4 current as-sent form
{
  "text": "camera 'left_cam' (step 318):",
  "type": "text"
}
message 5 current as-sent form
{
  "data": "$blob:1b6dc2b4612366001031b3556e7fcd8f2da4f8afec6892c4a717a2af8b07709d",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]
message 6 current as-sent form
{
  "text": "camera 'right_cam' (step 318):",
  "type": "text"
}
message 7 current as-sent form
{
  "data": "$blob:e4bc7c0a13cd409ed44cda052b980fba6e2ac831e657e361f20dcc43e33d2ddd",
  "mime_type": "image/png",
  "type": "image"
}
[blob elided: media budget]