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| Entry 0 | EPISODE START |
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| [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] 96 frames before the episode: video/sheet_1.png, video/sheet_2.png; video/frame_NNNN.jpg |
| [STATE] gripper_xyz [-0.202, -0.0, 0.0699], gripper_rpy_deg [-180.0, 0.1, -0.0], gripper_width n/a (stick); control step 0; status ongoing |
| [FRAME] frames/step_0000.png |
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| Entry 0 | control step 0 |
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| [STATE] gripper_xyz [-0.202, -0.0, 0.0699], gripper_rpy_deg [-180.0, 0.1, -0.0], gripper_width n/a (stick); control step 0; status ongoing |
| [FRAME] frames/step_0000.png |
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| Entry 1 | control step 19 |
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| [PLAN] |
| OBSERVED vs EXPECTED: Nothing has executed; the stick remains above the starting node. |
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| [PLAN] |
| Trace front-view top-middle → top-left → center → top-right, then lift. |
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| EXPECT: The demonstrated pattern is completed. |
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| [ACTION] {"op": "move", "xyz": [-0.2, 0, 0.015], "gripper": "close"} (entry 1/5 of turn 3) |
| [RESULT] ok, status=ongoing, control_steps=19, reached_error_m=0.003 |
| [MOTION] motion/step_0000/ (7 frames) |
| [STATE] gripper_xyz [-0.2024, -0.0001, 0.0163], gripper_rpy_deg [-180.0, 0.1, -0.0], gripper_width n/a (stick); control step 19; status ongoing |
| [FRAME] frames/step_0001.png |
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| Entry 2 | control step 45 |
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| [ACTION] {"op": "move", "xyz": [-0.2, -0.1, 0.015], "gripper": "close"} (entry 2/5 of turn 3) |
| [RESULT] ok, status=ongoing, control_steps=26, reached_error_m=0.004 |
| [MOTION] motion/step_0001/ (9 frames) |
| [STATE] gripper_xyz [-0.2036, -0.1007, 0.0147], gripper_rpy_deg [-180.0, 0.1, -0.1], gripper_width n/a (stick); control step 45; status ongoing |
| [FRAME] frames/step_0002.png |
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| Entry 3 | control step 72 |
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| [ACTION] {"op": "move", "xyz": [-0.1, 0, 0.015], "gripper": "close"} (entry 3/5 of turn 3) |
| [RESULT] ok, status=ongoing, control_steps=27, reached_error_m=0.006 |
| [MOTION] motion/step_0002/ (9 frames) |
| [STATE] gripper_xyz [-0.1051, 0.0031, 0.0148], gripper_rpy_deg [-180.0, 0.1, -0.0], gripper_width n/a (stick); control step 72; status ongoing |
| [FRAME] frames/step_0003.png |
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| Entry 4 | control step 98 |
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| [ACTION] {"op": "move", "xyz": [-0.2, 0.1, 0.015], "gripper": "close"} (entry 4/5 of turn 3) |
| [RESULT] ok, status=success, control_steps=26, reached_error_m=0.005 |
| [MOTION] motion/step_0003/ (9 frames) |
| [STATE] gripper_xyz [-0.2023, 0.0954, 0.0148], gripper_rpy_deg [-180.0, 0.1, 0.1], gripper_width n/a (stick); control step 98; status success |
| [EVENT] episode over: success |
| [FRAME] frames/step_0004.png |
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