Event Tracking
April 10, 2026 ยท View on GitHub
The EventTracker class monitors and records significant events that occur during robot manipulation tasks. It provides a unified mechanism to detect anomalies, failures, and state transitions during task execution.
Overview
The tracker maintains internal state to detect transitions and ensures each event type is only recorded once per occurrence. When a condition clears (e.g., gripper lifts off table), the tracker resets for that event, allowing it to be recorded again if it reoccurs.
Events are returned as (info_string, StatusCode) tuples, where the info string provides human-readable context and the status code categorizes the event type.
Tracked Event Modes
| Event | Description |
|---|---|
| WRONG_OBJECT_GRABBED | Gripper grasped an object not in the intended target list |
| GRIPPER_HIT_TABLE | Gripper made contact with the table surface |
| GRIPPER_FULLY_CLOSED | Gripper closed completely without grasping an object (potential failed grasp) |
| OBJECT_STARTED_MOVING | A non-target object transitioned from stationary to moving |
| OBJECT_BUMPED | Object stopped after minor displacement (< move threshold) |
| OBJECT_MOVED | Object stopped after significant displacement (>= move threshold) |
| OBJECT_OUT_OF_SCENE | Object moved outside the defined workspace bounding box |
| OBJECT_TIPPED_OVER | An object that should remain upright has fallen over |
| TARGET_OBJECT_DROPPED | Target object was successfully grasped but released mid-transport |
| GRIPPER_HIT_OBJECT | Gripper collided with a non-target object |
| MULTIPLE_OBJECTS_GRABBED | Gripper is in contact with multiple objects simultaneously |