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================================================================================ |
Entry 0 | EPISODE START |
[TASK] put one red cube into the bin, then press the button to stop |
Budget: 1300 control steps, 200 entries. Action space: waypoint. |
[VIDEO] none for this task |
[STATE] gripper_xyz [-0.0605, -0.0, 0.5211], gripper_rpy_deg [-180.0, 0.0, -0.0], gripper_width 0.08; control step 0; status ongoing |
[FRAME] frames/step_0000.png |
================================================================================ |
Entry 0 | control step 0 |
[STATE] gripper_xyz [-0.0605, -0.0, 0.5211], gripper_rpy_deg [-180.0, 0.0, -0.0], gripper_width 0.08; control step 0; status ongoing |
[FRAME] frames/step_0000.png |
================================================================================ |
Entry 1 | control step 51 |
[PLAN] |
OBSERVED vs EXPECTED: Red cube, bin, and button located; no actions executed yet. |
[PLAN] |
Grasp the cube, lift it, release it into the bin, and raise the gripper. |
EXPECT: One red cube inside the bin, ready for verification before pressing stop. |
[ACTION] {"op": "move", "xyz": [-0.117, -0.151, 0.14], "gripper": "open"} (entry 1/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=51, reached_error_m=0.015, gripper_width=0.08 |
[MOTION] motion/step_0000/ (17 frames) |
[STATE] gripper_xyz [-0.1319, -0.1489, 0.1434], gripper_rpy_deg [-180.2, 0.2, -0.1], gripper_width 0.08; control step 51; status ongoing |
[FRAME] frames/step_0001.png |
================================================================================ |
Entry 2 | control step 81 |
[ACTION] {"op": "move", "xyz": [-0.117, -0.151, 0.02], "gripper": "close"} (entry 2/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=30, reached_error_m=0.005, gripper_width=0.0374 |
[MOTION] motion/step_0001/ (10 frames) |
[STATE] gripper_xyz [-0.1224, -0.1503, 0.0204], gripper_rpy_deg [-180.2, 0.4, -0.2], gripper_width 0.0374; control step 81; status ongoing |
[FRAME] frames/step_0002.png |
================================================================================ |
Entry 3 | control step 112 |
[ACTION] {"op": "move", "xyz": [-0.117, -0.151, 0.16], "gripper": "close"} (entry 3/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=31, reached_error_m=0.005, gripper_width=0.0374 |
[MOTION] motion/step_0002/ (11 frames) |
[STATE] gripper_xyz [-0.1215, -0.1505, 0.1574], gripper_rpy_deg [-180.2, 0.3, -0.3], gripper_width 0.0374; control step 112; status ongoing |
[FRAME] frames/step_0003.png |
================================================================================ |
Entry 4 | control step 158 |
[ACTION] {"op": "move", "xyz": [0.071, 0.075, 0.16], "gripper": "close"} (entry 4/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=46, reached_error_m=0.011, gripper_width=0.0374 |
[MOTION] motion/step_0003/ (16 frames) |
[STATE] gripper_xyz [0.0634, 0.0832, 0.1574], gripper_rpy_deg [-179.9, 0.4, -0.4], gripper_width 0.0374; control step 158; status ongoing |
[FRAME] frames/step_0004.png |
================================================================================ |
Entry 5 | control step 179 |
[ACTION] {"op": "move", "xyz": [0.071, 0.075, 0.085], "gripper": "open"} (entry 5/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=21, reached_error_m=0.004, gripper_width=0.0779 |
[MOTION] motion/step_0004/ (7 frames) |
[STATE] gripper_xyz [0.067, 0.0751, 0.0863], gripper_rpy_deg [-180.0, 0.6, -0.4], gripper_width 0.0779; control step 179; status ongoing |
[FRAME] frames/step_0005.png |
================================================================================ |
Entry 6 | control step 205 |
[ACTION] {"op": "move", "xyz": [0.071, 0.075, 0.18], "gripper": "open"} (entry 6/6 of turn 1) |
[RESULT] ok, status=ongoing, control_steps=26, reached_error_m=0.003, gripper_width=0.08 |
[MOTION] motion/step_0005/ (9 frames) |
[STATE] gripper_xyz [0.0686, 0.0746, 0.1816], gripper_rpy_deg [-179.9, 0.5, -0.4], gripper_width 0.08; control step 205; status ongoing |
[FRAME] frames/step_0006.png |
================================================================================ |
Entry 7 | control step 238 |
[PLAN] |
OBSERVED vs EXPECTED: The grasp succeeded, but the cube did not remain in the bin. |
[PLAN] |
Pick another red cube, lower it farther into the bin, release, and withdraw. |
EXPECT: A red cube stays inside the bin before pressing stop. |
[ACTION] {"op": "move", "xyz": [0, -0.068, 0.14], "gripper": "open"} (entry 1/7 of turn 2) |
[RESULT] ok, status=ongoing, control_steps=33, reached_error_m=0.005, gripper_width=0.08 |
[MOTION] motion/step_0006/ (11 frames) |
[STATE] gripper_xyz [-0.005, -0.0673, 0.1405], gripper_rpy_deg [-180.0, 0.5, -0.7], gripper_width 0.08; control step 238; status ongoing |
[FRAME] frames/step_0007.png |
================================================================================ |
Entry 8 | control step 267 |
[ACTION] {"op": "move", "xyz": [0, -0.068, 0.021], "gripper": "close"} (entry 2/7 of turn 2) |
[RESULT] ok, status=ongoing, control_steps=29, reached_error_m=0.005, gripper_width=0.0371 |
[MOTION] motion/step_0007/ (10 frames) |
[STATE] gripper_xyz [-0.0049, -0.0676, 0.0198], gripper_rpy_deg [-179.9, 0.7, -0.7], gripper_width 0.0371; control step 267; status ongoing |
[FRAME] frames/step_0008.png |
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