GPT-6 Astra (Ultrafast) sorting blocks off a conveyor with a Franka Panda arm: the full 3-minute run as step-by-step JSON (tool calls, results, messages)

A developer ran GPT-6 Astra in "ultrafast" service tier through Codex CLI 0.141 with a Franka Panda arm as its only MCP server, tasking the agent with sorting colored wooden blocks from a conveyor belt into matching crates within a 180-second limit. The run ended with 5 of 12 blocks sorted correctly, 0 in the wrong crate, while 5 remained on the belt, 1 fell into the chute, and 1 ended on the table, consuming 1.6 million input tokens (1.58 million cached) and 4,112 output tokens.

| | { | | | "model": "gpt-6-astra", | | | "service tier": "ultrafast", | | | "harness": "Codex CLI 0.141 codex exec , with the robot as its only MCP server", | | | "reasoning": "The model reasoned before 15 of its 63 responses 1,925 tokens at the API's default effort. OpenAI returns reasoning encrypted, and no readable summary was requested, so it is not in this transcript.", | | | "task": "There's a Franka Panda arm at a table with a conveyor belt in front of it, carrying coloured wooden blocks, and you control the arm through the robot tools. Sort the blocks into the crates by colour: red blocks into the red crate, green into the green crate, blue into the blue crate.\n\nRig notes:\n\n- Units are millimetres. The origin is the arm's base on the table top: +x points away from the arm, +y to its left, +z up. The table top is z = 0. The arm reaches about 850 mm from its base.\n- The belt is 260 mm wide, centred on x = 550, and runs from y = 880 past the back of the table, on a stand to y = -420 with its surface 65 mm above the table. Side guards stand 20 mm above the belt on both edges. It moves toward -y at 5 mm/s, starting when you start. Whatever reaches its end at y = -420 falls into a chute there.\n- The blocks are 45 mm cubes. They start on the belt between about y -40 and 830.\n- Crates, each with an opening of about 270 x 190 mm long side along x and a rim 185 mm above the table: red centred at x 250, y 400; green at x -70, y 420; blue at x 250, y -400.\n- The arm has Franka's standard gripper: two fingers ending in rubber pads about 17 mm wide, which open to 80 mm. The tool point that move to positions is between the pads, at their middle.\n- A move stops as soon as the contact force on the arm passes its force limit. Every move reports the wrist force sensor.\n- The only camera is on the wrist. take pic returns a 960 x 540 picture from it, along with where the camera was and which way it faced when the picture was taken. It is a pinhole camera with a 58 degree vertical field of view: focal length 487 pixels, image centre 480, 270 .", | | | "time limit s": 180, | | | "outcome": { | | | "sorted correctly": 5, | | | "wrong crate": 0, | | | "where the 12 blocks ended": { | | | "belt": 5, | | | "chute": 1, | | | "crate": 5, | | | "table": 1 | | | } | | | }, | | | "tokens": { | | | "input tokens": 1616001, | | | "cached input tokens": 1577968, | | | "output tokens": 4112, | | | "reasoning output tokens": 1925 | | | }, | | | "times": "seconds since the agent started", | | | "steps": | | | { | | | "step": 1, | | | "t": 1.11, | | | "type": "message", | | | "text": "I’ll inspect the belt, then sort blocks nearest the chute first." | | | }, | | | { | | | "step": 2, | | | "t start": 1.22, | | | "t end": 1.26, | | | "type": "tool call", | | | "tool": "robot state", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "The arm is still. Last motion: No motion yet.\nTool point at 280.1, -0.0, 449.9 mm.\nFingers point along -0.00, 0.00, -1.00 and open along -0.00, 1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 3, | | | "t start": 2.49, | | | "t end": 2.69, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 2.9 s. The camera was at 210, -0, 513 mm, looking along 0.542, 0.000, -0.840 ; picture right is -0.000, 1.000, 0.000 , picture down is 0.840, -0.000, 0.542 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 4, | | | "t start": 5.4, | | | "t end": 5.83, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 595, | | | "y": -65, | | | "z": 230, | | | "approach": | | | 0, | | | 0, | | | -1 | | | , | | | "finger axis": | | | 0, | | | 1, | | | 0 | | | , | | | "speed": 250, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Move refused, the arm did not move: the arm can reach the target, but not along a straight line from its current posture: at 396, -24, 369 mm a joint would pass its limit. A joint-space path path='joint' can get there; the hand then travels along a curve rather than a line." | | | } | | | | | | }, | | | { | | | "step": 5, | | | "t start": 7.17, | | | "t end": 9.13, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 595, | | | "y": -80, | | | "z": 230, | | | "approach": | | | 0, | | | 0, | | | -1 | | | , | | | "finger axis": | | | 0, | | | 1, | | | 0 | | | , | | | "path": "joint", | | | "speed": 250, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a joint-space path in 1.7 s; peak contact force 0.00 N.\nTool point at 594.1, -79.6, 231.2 mm.\nFingers point along -0.00, 0.00, -1.00 and open along 0.01, -1.00, -0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 6, | | | "t start": 10.37, | | | "t end": 10.57, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 10.8 s. The camera was at 665, -80, 293 mm, looking along -0.542, 0.000, -0.840 ; picture right is -0.000, -1.000, -0.000 , picture down is -0.840, 0.000, 0.542 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 7, | | | "t start": 15.48, | | | "t end": 16.46, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -100, | | | "z": 92, | | | "speed": 180, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Stopped after 116.2 of 141.7 mm. The contact force on the robot passed the limit peak 26.83 N .\nTool point at 616.1, -96.9, 117.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 80.4 mm apart.\nWrist force 3.80 N, direction 0.00, -0.47, 0.88 ." | | | } | | | | | | }, | | | { | | | "step": 8, | | | "t start": 18.15, | | | "t end": 18.36, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 18.6 s. The camera was at 686, -97, 181 mm, looking along -0.541, -0.000, -0.841 ; picture right is -0.001, -1.000, 0.001 , picture down is -0.841, 0.001, 0.541 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 9, | | | "t start": 22.19, | | | "t end": 22.8, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 35, | | | "speed": 100, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.6 s; peak contact force 5.08 N.\nTool point at 616.3, -97.4, 151.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 10, | | | "t start": 24.42, | | | "t end": 25.26, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -140, | | | "z": 90, | | | "speed": 130, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.8 s; peak contact force 0.00 N.\nTool point at 619.7, -139.1, 91.4 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 11, | | | "t start": 26.82, | | | "t end": 27.83, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 44.8 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 0.88 N, direction -0.13, -0.91, 0.40 ." | | | } | | | | | | }, | | | { | | | "step": 12, | | | "t start": 29.07, | | | "t end": 30.16, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -140, | | | "z": 270, | | | "speed": 220, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.1 s; peak contact force 3.55 N.\nTool point at 620.2, -140.1, 267.4 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 44.6 mm apart.\nWrist force 0.52 N, direction 0.00, 0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 13, | | | "t start": 31.59, | | | "t end": 33.43, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 250, | | | "y": -400, | | | "z": 270, | | | "speed": 300, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.8 s; peak contact force 0.98 N.\nTool point at 252.7, -398.3, 270.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.01, -1.00, 0.00 , 44.0 mm apart.\nWrist force 0.55 N, direction -0.04, 0.02, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 14, | | | "t start": 34.77, | | | "t end": 35.79, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 15, | | | "t start": 37.13, | | | "t end": 39.11, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 550, | | | "y": -20, | | | "z": 380, | | | "speed": 300, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.9 s; peak contact force 0.00 N.\nTool point at 548.0, -22.5, 379.2 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.01, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 16, | | | "t start": 40.49, | | | "t end": 40.72, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 40.9 s. The camera was at 620, -20, 443 mm, looking along -0.541, 0.003, -0.841 ; picture right is -0.006, -1.000, 0.001 , picture down is -0.841, 0.006, 0.541 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 17, | | | "t start": 43.13, | | | "t end": 44.43, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -168, | | | "z": 150, | | | "speed": 300, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.2 s; peak contact force 0.00 N.\nTool point at 480.8, -166.3, 152.5 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.01, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 18, | | | "t start": 46.03, | | | "t end": 46.21, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 46.4 s. The camera was at 550, -168, 213 mm, looking along -0.541, 0.003, -0.841 ; picture right is -0.006, -1.000, 0.001 , picture down is -0.841, 0.006, 0.541 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 19, | | | "t start": 48.46, | | | "t end": 49.03, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -190, | | | "z": 89, | | | "speed": 150, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Stopped after 35.3 of 64.8 mm. The contact force on the robot passed the limit peak 16.27 N .\nTool point at 480.5, -180.4, 117.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.01, -1.00, 0.00 , 80.5 mm apart.\nWrist force 4.00 N, direction 0.14, -0.52, 0.84 ." | | | } | | | | | | }, | | | { | | | "step": 20, | | | "t start": 50.78, | | | "t end": 51.42, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 45, | | | "speed": 120, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.6 s; peak contact force 6.30 N.\nTool point at 480.8, -181.0, 160.6 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.01, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 21, | | | "t start": 52.87, | | | "t end": 53.47, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -220, | | | "z": 155, | | | "approach": | | | 0, | | | 0, | | | -1 | | | , | | | "finger axis": | | | 0.707, | | | 0.707, | | | 0 | | | , | | | "speed": 180, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.5 s; peak contact force 0.00 N.\nTool point at 480.0, -218.5, 155.3 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.68, -0.73, -0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 22, | | | "t start": 54.77, | | | "t end": 54.98, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 55.2 s. The camera was at 529, -269, 218 mm, looking along -0.384, 0.384, -0.840 ; picture right is -0.707, -0.707, -0.000 , picture down is -0.594, 0.594, 0.542 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 23, | | | "t start": 57.16, | | | "t end": 57.9, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 482, | | | "y": -226, | | | "z": 89, | | | "speed": 150, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.7 s; peak contact force 0.00 N.\nTool point at 481.8, -225.7, 91.0 mm.\nFingers point along -0.00, 0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 24, | | | "t start": 59.7, | | | "t end": 60.82, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 44.0 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 0.66 N, direction -0.02, -0.96, 0.26 ." | | | } | | | | | | }, | | | { | | | "step": 25, | | | "t start": 62.4, | | | "t end": 63.48, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 185, | | | "speed": 250, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 3.43 N.\nTool point at 482.3, -226.2, 271.3 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, -0.00 , 44.0 mm apart.\nWrist force 0.52 N, direction 0.00, -0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 26, | | | "t start": 65.59, | | | "t end": 67.91, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 250, | | | "y": 400, | | | "z": 270, | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 2.2 s; peak contact force 2.90 N.\nTool point at 251.4, 396.4, 269.9 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.70, -0.71, 0.00 , 44.1 mm apart.\nWrist force 0.55 N, direction 0.03, 0.18, -0.98 ." | | | } | | | | | | }, | | | { | | | "step": 27, | | | "t start": 69.5, | | | "t end": 70.53, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 28, | | | "t start": 72.15, | | | "t end": 74.1, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 550, | | | "y": -70, | | | "z": 360, | | | "finger axis": | | | 0, | | | 1, | | | 0 | | | , | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.9 s; peak contact force 0.00 N.\nTool point at 548.1, -66.9, 359.4 mm.\nFingers point along -0.00, 0.00, -1.00 and open along -0.01, -1.00, -0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 29, | | | "t start": 75.49, | | | "t end": 75.72, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 75.9 s. The camera was at 620, -70, 423 mm, looking along -0.543, -0.000, -0.840 ; picture right is -0.000, -1.000, 0.000 , picture down is -0.840, 0.000, 0.543 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 30, | | | "t": 78.05, | | | "type": "message", | | | "text": "Two blocks are sorted. I’m tracking the next downstream blocks." | | | }, | | | { | | | "step": 31, | | | "t start": 78.32, | | | "t end": 79.63, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -290, | | | "z": 170, | | | "speed": 300, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.3 s; peak contact force 0.00 N.\nTool point at 618.9, -287.6, 172.0 mm.\nFingers point along -0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 32, | | | "t start": 81.41, | | | "t end": 81.65, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 81.8 s. The camera was at 690, -290, 233 mm, looking along -0.543, -0.000, -0.840 ; picture right is -0.000, -1.000, 0.000 , picture down is -0.840, 0.000, 0.543 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 33, | | | "t start": 83.65, | | | "t end": 84.37, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -296, | | | "z": 90, | | | "speed": 180, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.7 s; peak contact force 0.00 N.\nTool point at 619.8, -295.8, 92.0 mm.\nFingers point along -0.00, 0.00, -1.00 and open along -0.00, -1.00, -0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 34, | | | "t start": 85.84, | | | "t end": 86.84, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 44.7 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 1.01 N, direction -0.08, -0.88, 0.47 ." | | | } | | | | | | }, | | | { | | | "step": 35, | | | "t start": 88.7, | | | "t end": 89.8, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 180, | | | "speed": 260, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.9 s; peak contact force 3.60 N.\nTool point at 620.3, -296.3, 267.2 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 44.4 mm apart.\nWrist force 0.52 N, direction 0.00, 0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 36, | | | "t start": 91.32, | | | "t end": 92.73, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 270, | | | "y": -400, | | | "z": 260, | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.3 s; peak contact force 2.06 N.\nTool point at 273.3, -399.4, 260.2 mm.\nFingers point along -0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 44.1 mm apart.\nWrist force 0.54 N, direction -0.04, -0.01, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 37, | | | "t start": 94.16, | | | "t end": 95.2, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 38, | | | "t start": 96.99, | | | "t end": 98.0, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -255, | | | "z": 160, | | | "finger axis": | | | 0.707, | | | 0.707, | | | 0 | | | , | | | "speed": 300, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Stopped after 184.7 of 274.1 mm. The contact force on the robot passed the limit peak 111.19 N .\nTool point at 412.5, -303.0, 193.5 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.50, -0.86, 0.00 , 78.4 mm apart.\nWrist force 4.00 N, direction 0.70, 0.11, 0.70 ." | | | } | | | | | | }, | | | { | | | "step": 39, | | | "t start": 99.59, | | | "t end": 100.75, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 90, | | | "speed": 100, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.1 s; peak contact force 5.13 N.\nTool point at 412.4, -303.2, 282.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.50, -0.86, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 40, | | | "t start": 102.33, | | | "t end": 103.47, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -280, | | | "z": 170, | | | "finger axis": | | | 0.707, | | | 0.707, | | | 0 | | | , | | | "speed": 160, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.1 s; peak contact force 0.00 N.\nTool point at 478.8, -280.2, 171.7 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.70, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 41, | | | "t start": 105.07, | | | "t end": 105.29, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 105.4 s. The camera was at 529, -329, 234 mm, looking along -0.383, 0.382, -0.841 ; picture right is -0.707, -0.707, 0.001 , picture down is -0.594, 0.595, 0.541 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 42, | | | "t start": 107.65, | | | "t end": 108.27, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -334, | | | "z": 155, | | | "speed": 180, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.5 s; peak contact force 0.00 N.\nTool point at 479.9, -331.9, 155.6 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 43, | | | "t start": 109.82, | | | "t end": 110.54, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -342, | | | "z": 90, | | | "speed": 150, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.7 s; peak contact force 0.00 N.\nTool point at 479.9, -341.7, 91.9 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 44, | | | "t start": 112.09, | | | "t end": 113.11, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 44.1 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 0.93 N, direction -0.05, -0.90, 0.43 ." | | | } | | | | | | }, | | | { | | | "step": 45, | | | "t start": 114.9, | | | "t end": 116.0, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 195, | | | "speed": 250, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 3.63 N.\nTool point at 480.3, -342.3, 282.2 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 44.1 mm apart.\nWrist force 0.52 N, direction 0.00, -0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 46, | | | "t start": 117.88, | | | "t end": 119.0, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 220, | | | "y": -400, | | | "z": 280, | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 1.08 N.\nTool point at 223.4, -399.6, 280.2 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 44.0 mm apart.\nWrist force 0.54 N, direction -0.04, -0.01, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 47, | | | "t start": 120.55, | | | "t end": 121.57, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 48, | | | "t start": 123.62, | | | "t end": 125.14, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -335, | | | "z": 290, | | | "finger axis": | | | 0.707, | | | 0.707, | | | 0 | | | , | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.4 s; peak contact force 0.00 N.\nTool point at 616.6, -335.4, 289.9 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 49, | | | "t start": 126.59, | | | "t end": 126.81, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 127.0 s. The camera was at 669, -384, 354 mm, looking along -0.383, 0.382, -0.841 ; picture right is -0.707, -0.707, 0.001 , picture down is -0.594, 0.595, 0.541 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 50, | | | "t start": 128.97, | | | "t end": 129.87, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -362, | | | "z": 150, | | | "speed": 250, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.8 s; peak contact force 0.00 N.\nTool point at 619.8, -361.4, 152.5 mm.\nFingers point along -0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 51, | | | "t start": 131.51, | | | "t end": 132.23, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -372, | | | "z": 90, | | | "speed": 150, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 0.6 s; peak contact force 0.00 N.\nTool point at 619.8, -371.6, 91.8 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 52, | | | "t start": 133.98, | | | "t end": 135.01, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 47.8 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 1.24 N, direction 0.11, -0.84, 0.53 ." | | | } | | | | | | }, | | | { | | | "step": 53, | | | "t start": 136.77, | | | "t end": 137.85, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 195, | | | "speed": 270, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 9.60 N.\nTool point at 620.3, -373.5, 283.4 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 45.9 mm apart.\nWrist force 0.52 N, direction -0.00, -0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 54, | | | "t start": 139.54, | | | "t end": 142.89, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": -70, | | | "y": 420, | | | "z": 290, | | | "speed": 400, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 3.3 s; peak contact force 7.34 N.\nTool point at -67.3, 417.3, 290.0 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.71, -0.71, 0.00 , 0.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 55, | | | "t start": 145.47, | | | "t end": 146.47, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 56, | | | "t start": 148.19, | | | "t end": 148.7, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -365, | | | "z": 300, | | | "finger axis": | | | 0, | | | 1, | | | 0 | | | , | | | "speed": 400, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Move refused, the arm did not move: the arm can reach the target, but not along a straight line from its current posture: at 152, 103, 294 mm a joint would pass its limit. A joint-space path path='joint' can get there; the hand then travels along a curve rather than a line." | | | } | | | | | | }, | | | { | | | "step": 57, | | | "t start": 150.45, | | | "t end": 153.61, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -370, | | | "z": 300, | | | "finger axis": | | | 0, | | | 1, | | | 0 | | | , | | | "path": "joint", | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a joint-space path in 2.9 s; peak contact force 0.00 N.\nTool point at 480.7, -368.7, 300.3 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 58, | | | "t start": 155.68, | | | "t end": 155.88, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 156.0 s. The camera was at 550, -370, 364 mm, looking along -0.540, -0.003, -0.841 ; picture right is -0.000, -1.000, 0.004 , picture down is -0.841, 0.002, 0.540 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 59, | | | "t start": 157.96, | | | "t end": 159.0, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -420, | | | "z": 90, | | | "speed": 300, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 0.00 N.\nTool point at 479.9, -419.8, 93.5 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 81.2 mm apart.\nWrist force 8.75 N, direction 0.27, -0.75, 0.60 ." | | | } | | | | | | }, | | | { | | | "step": 60, | | | "t start": 160.94, | | | "t end": 162.0, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 0 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 0.0 mm; the fingers are 44.0 mm apart.\nThe fingers stopped short of the command: something is between them.\nWrist force 2.07 N, direction 0.01, -0.79, 0.62 ." | | | } | | | | | | }, | | | { | | | "step": 61, | | | "t start": 163.96, | | | "t end": 165.12, | | | "type": "tool call", | | | "tool": "move by", | | | "arguments": { | | | "dz": 190, | | | "speed": 220, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.1 s; peak contact force 7.23 N.\nTool point at 480.2, -420.5, 277.6 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 44.0 mm apart.\nWrist force 0.52 N, direction 0.00, 0.00, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 62, | | | "t start": 166.86, | | | "t end": 167.9, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 300, | | | "y": -400, | | | "z": 280, | | | "speed": 260, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.0 s; peak contact force 1.08 N.\nTool point at 302.7, -400.7, 280.2 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.00, -1.00, 0.00 , 44.0 mm apart.\nWrist force 0.54 N, direction -0.03, 0.01, -1.00 ." | | | } | | | | | | }, | | | { | | | "step": 63, | | | "t start": 169.78, | | | "t end": 170.82, | | | "type": "tool call", | | | "tool": "gripper", | | | "arguments": { | | | "opening": 80 | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Gripper commanded to 80.0 mm; the fingers are 79.8 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 64, | | | "t start": 172.57, | | | "t end": 173.86, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 620, | | | "y": -310, | | | "z": 290, | | | "finger axis": | | | 0.707, | | | 0.707, | | | 0 | | | , | | | "speed": 350, | | | "force limit": 20, | | | "wait": true | | | }, | | | "result": | | | { | | | "type": "text", | | | "text": "Reached the target by a straight-line path in 1.2 s; peak contact force 0.00 N.\nTool point at 616.7, -310.8, 289.8 mm.\nFingers point along 0.00, -0.00, -1.00 and open along -0.70, -0.72, 0.00 , 80.0 mm apart.\nWrist force 0.00 N, direction 0.00, 0.00, 0.00 ." | | | } | | | | | | }, | | | { | | | "step": 65, | | | "t start": 175.43, | | | "t end": 175.65, | | | "type": "tool call", | | | "tool": "take pic", | | | "arguments": {}, | | | "result": | | | { | | | "type": "text", | | | "text": "Wrist camera picture at 175.8 s. The camera was at 669, -359, 354 mm, looking along -0.382, 0.380, -0.843 ; picture right is -0.706, -0.708, 0.001 , picture down is -0.596, 0.596, 0.538 ." | | | }, | | | { | | | "type": "image", | | | "note": "960 x 540 JPEG from the wrist camera, left out of this transcript" | | | } | | | | | | }, | | | { | | | "step": 66, | | | "t": 179.5, | | | "type": "message", | | | "text": "A green block slipped during transfer. I’ll slow loaded moves." | | | }, | | | { | | | "step": 67, | | | "t start": 179.91, | | | "type": "tool call", | | | "tool": "move to", | | | "arguments": { | | | "x": 480, | | | "y": -362, | | | "z": 155, | | | "finger axis": | | | 0.94, | | | 0.342, | | | 0 | | | , | | | "speed": 280, | | | "force limit": 15, | | | "wait": true | | | }, | | | "result": null, | | | "note": "still running when the 3-minute limit stopped the agent" | | | } | | | | | | } |