| ================================================================================ |
| Entry 0 | EPISODE START |
|
|
| [TASK] watch the video carefully, then use the stick attached to the robot to retrace the same pattern |
| Budget: 1300 control steps, 200 entries. Action space: waypoint. |
| [VIDEO] 86 frames before the episode: video/sheet_1.png, video/sheet_2.png; video/frame_NNNN.jpg |
| [STATE] gripper_xyz [-0.1023, 0.1001, 0.0695], gripper_rpy_deg [-179.8, 0.1, 0.1], gripper_width n/a (stick); control step 0; status ongoing |
| [FRAME] frames/step_0000.png |
|
|
| ================================================================================ |
| Entry 0 | control step 0 |
|
|
| [STATE] gripper_xyz [-0.1023, 0.1001, 0.0695], gripper_rpy_deg [-179.8, 0.1, 0.1], gripper_width n/a (stick); control step 0; status ongoing |
| [FRAME] frames/step_0000.png |
|
|
| ================================================================================ |
| Entry 1 | control step 15 |
|
|
| [PLAN] |
| OBSERVED vs EXPECTED: Video shows middle-right → center → bottom-left → bottom-center; stick starts above the first node. |
|
|
| [PLAN] |
| Lower the stick and trace those four nodes in order. |
| EXPECT: The demonstrated pattern is completed. |
|
|
| [ACTION] {"op": "move", "xyz": [-0.1, 0.1, 0.017], "gripper": "close"} (entry 1/4 of turn 1) |
| [RESULT] ok, status=ongoing, control_steps=15, reached_error_m=0.003 |
| [MOTION] motion/step_0000/ (5 frames) |
| [STATE] gripper_xyz [-0.1024, 0.0996, 0.0185], gripper_rpy_deg [-179.8, 0.3, 0.1], gripper_width n/a (stick); control step 15; status ongoing |
| [FRAME] frames/step_0001.png |
|
|
| ================================================================================ |
| Entry 2 | control step 35 |
|
|
| [ACTION] {"op": "move", "xyz": [-0.1, 0.0, 0.017], "gripper": "close"} (entry 2/4 of turn 1) |
| [RESULT] ok, status=ongoing, control_steps=20, reached_error_m=0.004 |
| [MOTION] motion/step_0001/ (7 frames) |
| [STATE] gripper_xyz [-0.1033, 0.0021, 0.0172], gripper_rpy_deg [-179.9, 0.3, -0.1], gripper_width n/a (stick); control step 35; status ongoing |
| [FRAME] frames/step_0002.png |
|
|
| ================================================================================ |
| Entry 3 | control step 69 |
|
|
| [ACTION] {"op": "move", "xyz": [0.0, -0.1, 0.017], "gripper": "close"} (entry 3/4 of turn 1) |
| [RESULT] ok, status=ongoing, control_steps=34, reached_error_m=0.005 |
| [MOTION] motion/step_0002/ (12 frames) |
| [STATE] gripper_xyz [-0.0048, -0.1024, 0.0172], gripper_rpy_deg [-179.9, 0.3, -0.2], gripper_width n/a (stick); control step 69; status ongoing |
| [FRAME] frames/step_0003.png |
|
|
| ================================================================================ |
| Entry 4 | control step 88 |
|
|
| [ACTION] {"op": "move", "xyz": [0.0, 0.0, 0.017], "gripper": "close"} (entry 4/4 of turn 1) |
| [RESULT] ok, status=success, control_steps=19, reached_error_m=0.003 |
| [MOTION] motion/step_0003/ (7 frames) |
| [STATE] gripper_xyz [-0.0033, 0.0007, 0.0173], gripper_rpy_deg [-179.9, 0.3, -0.1], gripper_width n/a (stick); control step 88; status success |
| [EVENT] episode over: success |
| [FRAME] frames/step_0004.png |
|
|
