diff --git a/CMakeLists.txt b/CMakeLists.txt index 0c2377a..1239374 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,8 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") # -std=gnu++11 set(BUILD_DEPS "YES" CACHE BOOL "If YES, will install dependencies into sandbox. Automatically reset to NO after dependencies are installed.") set(BUILD_OPENBLAS "YES" CACHE BOOL "If YES, will download & build OpenBLAS (for Torch) into sandbox") -set(USE_PYTHON "YES" CACHE BOOL "If YES, will build PyTorch and PyTorch examples") +set(BUILD_PYTORCH "NO" CACHE BOOL "If YES, will build PyTorch and PyTorch examples in sandbox") +set(USE_PYTHON "YES" CACHE BOOL "If YES, will link to PyTorch and PyTorch examples in sandbox") set(USE_LUA "NO" CACHE BOOL "If YES, will build LUA, Torch, and Torch examples") @@ -29,7 +30,7 @@ set( if( ${BUILD_DEPS} ) message("Launching pre-build dependency installer script...") - execute_process(COMMAND sh ../CMakePreBuild.sh ${BUILD_OPENBLAS} ${USE_PYTHON} ${USE_LUA} + execute_process(COMMAND sh ../CMakePreBuild.sh ${BUILD_OPENBLAS} ${BUILD_PYTORCH} ${USE_LUA} WORKING_DIRECTORY ${PROJECT_BINARY_DIR} RESULT_VARIABLE PREBUILD_SCRIPT_RESULT) @@ -63,14 +64,13 @@ endif() if( ${USE_PYTHON} ) add_definitions(-DUSE_PYTHON) - include_directories(/usr/include/python2.7 ${PROJECT_BINARY_DIR}/pytorch/torch/lib/include ${PROJECT_BINARY_DIR}/pytorch/torch/csrc ${PROJECT_BINARY_DIR}/pytorch/torch/csrc/cuda ${PROJECT_BINARY_DIR}/pytorch ${PROJECT_BINARY_DIR}/pytorch/torch/lib/include/TH ${PROJECT_INCLUDE_DIR}) - link_directories(${PROJECT_BINARY_DIR}/pytorch/torch/lib ${PROJECT_BINARY_DIR}/pytorch/torch) + include_directories(/usr/include/python2.7 /opt/pytorch/torch/lib/include /opt/pytorch/torch/csrc /opt/pytorch/torch/csrc/cuda /opt/pytorch /opt/pytorch/torch/lib/include/TH ${PROJECT_INCLUDE_DIR}) + link_directories(/opt/pytorch/torch/lib /opt/pytorch/torch) link_directories(${CUDA_TOOLKIT_ROOT_DIR}/lib64) endif() - # library sources file(GLOB deepRLSources c/*.cpp cuda/*.cu) file(GLOB deepRLIncludes c/*.h cuda/*.h) diff --git a/output.txt b/output.txt new file mode 100644 index 0000000..102d722 --- /dev/null +++ b/output.txt @@ -0,0 +1,13758 @@ + +configuring gazebo7 plugin paths +previous GAZEBO_PLUGIN_PATH= +script directory /home/workspace/RoboND-DeepRL-Project/build/x86_64/bin +plugin path /home/workspace/RoboND-DeepRL-Project/build/x86_64/bin/../lib +new GAZEBO_PLUGIN_PATH=/home/workspace/RoboND-DeepRL-Project/build/x86_64/bin/../lib: + +starting gazebo7 simulator +[Msg] Waiting for master. +[Msg] Connected to gazebo master @ http://127.0.0.1:11345 +[Msg] Publicized address: 172.17.0.2 +ArmPlugin::ArmPlugin() +ArmPlugin::Load('arm') +PropPlugin::Load('tube') +[deepRL] use_cuda: True +[deepRL] use_lstm: 1 +[deepRL] lstm_size: 32 +[deepRL] input_width: 256 +[deepRL] input_height: 256 +[deepRL] input_channels: 3 +[deepRL] num_actions: 6 +[deepRL] optimizer: RMSprop +[deepRL] learning rate: 0.1 +[deepRL] replay_memory: 10000 +[deepRL] batch_size: 8 +[deepRL] gamma: 0.9 +[deepRL] epsilon_start: 0.9 +[deepRL] epsilon_end: 0.02 +[deepRL] epsilon_decay: 200.0 +[deepRL] allow_random: 1 +[deepRL] debug_mode: 0 +[deepRL] creating DQN model instance +[deepRL] DRQN::__init__() +[deepRL] LSTM (hx, cx) size = 32 +[deepRL] DQN model instance created +[deepRL] DQN script done init +[cuda] cudaAllocMapped 786432 bytes, CPU 0x2049a0000 GPU 0x2049a0000 +[deepRL] pyTorch THCState 0x889C3D40 +[cuda] cudaAllocMapped 12288 bytes, CPU 0x204aa0000 GPU 0x204aa0000 +ArmPlugin - allocated camera img buffer 64x64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +[deepRL] nn.Conv2d() output size = 26912 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.879075 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.879043 +distDelta: 0.000031 avgGoalDelta: 0.000016 +ArmPlugin - issuing reward 0.000047, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.946365 +distDelta: -0.067322 avgGoalDelta: -0.033653 +ArmPlugin - issuing reward -0.100960, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.816943 +distDelta: 0.129422 avgGoalDelta: 0.047885 +ArmPlugin - issuing reward 0.143654, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.677410 +distDelta: 0.139533 avgGoalDelta: 0.093709 +ArmPlugin - issuing reward 0.281126, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.677439 +distDelta: -0.000028 avgGoalDelta: 0.046840 +ArmPlugin - issuing reward 0.140520, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.677431 +distDelta: 0.000008 avgGoalDelta: 0.023424 +ArmPlugin - issuing reward 0.070272, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.601331 +distDelta: 0.076100 avgGoalDelta: 0.049762 +ArmPlugin - issuing reward 0.149286, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.518514 +distDelta: 0.082817 avgGoalDelta: 0.066289 +ArmPlugin - issuing reward 0.198868, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.518524 +distDelta: -0.000009 avgGoalDelta: 0.033140 +ArmPlugin - issuing reward 0.099420, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.601354 +distDelta: -0.082831 avgGoalDelta: -0.024845 +ArmPlugin - issuing reward -0.074536, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.601351 +distDelta: 0.000004 avgGoalDelta: -0.012421 +ArmPlugin - issuing reward -0.037263, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.453107 +distDelta: 0.148244 avgGoalDelta: 0.067911 +ArmPlugin - issuing reward 0.203734, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.601347 +distDelta: -0.148240 avgGoalDelta: -0.040164 +ArmPlugin - issuing reward -0.120493, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.453107 +distDelta: 0.148240 avgGoalDelta: 0.054038 +ArmPlugin - issuing reward 0.162114, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.531373 +distDelta: -0.078266 avgGoalDelta: -0.012114 +ArmPlugin - issuing reward -0.036342, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.677439 +distDelta: -0.146067 avgGoalDelta: -0.079090 +ArmPlugin - issuing reward -0.237271, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.677439 +distDelta: -0.000000 avgGoalDelta: -0.039545 +ArmPlugin - issuing reward -0.118636, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.677431 +distDelta: 0.000009 avgGoalDelta: -0.019768 +ArmPlugin - issuing reward -0.059305, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.746256 +distDelta: -0.068825 avgGoalDelta: -0.044297 +ArmPlugin - issuing reward -0.132890, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.805041 +distDelta: -0.058786 avgGoalDelta: -0.051541 +ArmPlugin - issuing reward -0.154623, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.805024 +distDelta: 0.000018 avgGoalDelta: -0.025762 +ArmPlugin - issuing reward -0.077285, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.929314 +distDelta: -0.124291 avgGoalDelta: -0.075026 +ArmPlugin - issuing reward -0.225079, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.804988 +distDelta: 0.124326 avgGoalDelta: 0.024650 +ArmPlugin - issuing reward 0.073950, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.667410 +distDelta: 0.137578 avgGoalDelta: 0.081114 +ArmPlugin - issuing reward 0.243341, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.667436 +distDelta: -0.000026 avgGoalDelta: 0.040544 +ArmPlugin - issuing reward 0.121632, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520912 +distDelta: 0.146524 avgGoalDelta: 0.093534 +ArmPlugin - issuing reward 0.280602, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.453719 +distDelta: 0.067194 avgGoalDelta: 0.080364 +ArmPlugin - issuing reward 0.241091, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.299902 +distDelta: 0.153816 avgGoalDelta: 0.117090 +ArmPlugin - issuing reward 0.351270, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.369051 +distDelta: -0.069149 avgGoalDelta: 0.023971 +ArmPlugin - issuing reward 0.071912, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.520944 +distDelta: -0.151893 avgGoalDelta: -0.063961 +ArmPlugin - issuing reward -0.191884, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369036 +distDelta: 0.151908 avgGoalDelta: 0.043974 +ArmPlugin - issuing reward 0.131921, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213199 +distDelta: 0.155837 avgGoalDelta: 0.099905 +ArmPlugin - issuing reward 0.299716, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.213205 +distDelta: -0.000007 avgGoalDelta: 0.049949 +ArmPlugin - issuing reward 0.149848, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.143015 +distDelta: 0.070191 avgGoalDelta: 0.060070 +ArmPlugin - issuing reward 0.180210, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.066115 +distDelta: 0.076899 avgGoalDelta: 0.068485 +ArmPlugin - issuing reward 0.205454, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.066111 +distDelta: 0.000004 avgGoalDelta: 0.034244 +ArmPlugin - issuing reward 0.102733, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.891140 +distDelta: 0.174971 avgGoalDelta: 0.104608 +ArmPlugin - issuing reward 0.313824, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.066112 +distDelta: -0.174972 avgGoalDelta: -0.035182 +ArmPlugin - issuing reward -0.105547, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.143009 +distDelta: -0.076896 avgGoalDelta: -0.056039 +ArmPlugin - issuing reward -0.168118, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.143005 +distDelta: 0.000004 avgGoalDelta: -0.028018 +ArmPlugin - issuing reward -0.084054, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.066116 +distDelta: 0.076889 avgGoalDelta: 0.024435 +ArmPlugin - issuing reward 0.073306, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.891148 +distDelta: 0.174969 avgGoalDelta: 0.099702 +ArmPlugin - issuing reward 0.299106, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.709378 +distDelta: 0.181770 avgGoalDelta: 0.140736 +ArmPlugin - issuing reward 0.422208, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.617265 +distDelta: 0.092113 avgGoalDelta: 0.116425 +ArmPlugin - issuing reward 0.349274, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.709372 +distDelta: -0.092107 avgGoalDelta: 0.012159 +ArmPlugin - issuing reward 0.036476, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.617258 +distDelta: 0.092114 avgGoalDelta: 0.052136 +ArmPlugin - issuing reward 0.156409, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.442019 +distDelta: 0.175238 avgGoalDelta: 0.113687 +ArmPlugin - issuing reward 0.341062, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.442022 +distDelta: -0.000003 avgGoalDelta: 0.056842 +ArmPlugin - issuing reward 0.170527, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.352339 +distDelta: 0.089683 avgGoalDelta: 0.073263 +ArmPlugin - issuing reward 0.219788, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.522049 +distDelta: -0.169710 avgGoalDelta: -0.048224 +ArmPlugin - issuing reward -0.144672, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352348 +distDelta: 0.169701 avgGoalDelta: 0.060739 +ArmPlugin - issuing reward 0.182216, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352346 +distDelta: 0.000002 avgGoalDelta: 0.030370 +ArmPlugin - issuing reward 0.091111, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227161 +distDelta: 0.125185 avgGoalDelta: 0.077778 +ArmPlugin - issuing reward 0.233333, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.227176 +distDelta: -0.000015 avgGoalDelta: 0.038882 +ArmPlugin - issuing reward 0.116645, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227173 +distDelta: 0.000003 avgGoalDelta: 0.019442 +ArmPlugin - issuing reward 0.058327, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227173 +distDelta: -0.000000 avgGoalDelta: 0.009721 +ArmPlugin - issuing reward 0.029163, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227175 +distDelta: -0.000002 avgGoalDelta: 0.004859 +ArmPlugin - issuing reward 0.014578, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 001) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.876669 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.798860 +distDelta: 0.077809 avgGoalDelta: 0.038905 +ArmPlugin - issuing reward 0.116714, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.713834 +distDelta: 0.085026 avgGoalDelta: 0.061965 +ArmPlugin - issuing reward 0.185896, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.847503 +distDelta: -0.133669 avgGoalDelta: -0.035852 +ArmPlugin - issuing reward -0.107556, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.929681 +distDelta: -0.082178 avgGoalDelta: -0.059015 +ArmPlugin - issuing reward -0.177045, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 2.001518 +distDelta: -0.071837 avgGoalDelta: -0.065426 +ArmPlugin - issuing reward -0.196278, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.876616 +distDelta: 0.124902 avgGoalDelta: 0.029738 +ArmPlugin - issuing reward 0.089214, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.876644 +distDelta: -0.000029 avgGoalDelta: 0.014855 +ArmPlugin - issuing reward 0.044564, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.944169 +distDelta: -0.067525 avgGoalDelta: -0.026335 +ArmPlugin - issuing reward -0.079005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.814457 +distDelta: 0.129712 avgGoalDelta: 0.051689 +ArmPlugin - issuing reward 0.155066, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.674794 +distDelta: 0.139663 avgGoalDelta: 0.095676 +ArmPlugin - issuing reward 0.287027, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.528635 +distDelta: 0.146159 avgGoalDelta: 0.120917 +ArmPlugin - issuing reward 0.362752, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.528643 +distDelta: -0.000008 avgGoalDelta: 0.060455 +ArmPlugin - issuing reward 0.181365, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.377257 +distDelta: 0.151385 avgGoalDelta: 0.105920 +ArmPlugin - issuing reward 0.317760, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.297463 +distDelta: 0.079794 avgGoalDelta: 0.092857 +ArmPlugin - issuing reward 0.278571, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.141519 +distDelta: 0.155945 avgGoalDelta: 0.124401 +ArmPlugin - issuing reward 0.373202, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.975702 +distDelta: 0.165817 avgGoalDelta: 0.145109 +ArmPlugin - issuing reward 0.435327, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.795174 +distDelta: 0.180527 avgGoalDelta: 0.162818 +ArmPlugin - issuing reward 0.488454, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.613974 +distDelta: 0.181201 avgGoalDelta: 0.172009 +ArmPlugin - issuing reward 0.516028, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.438947 +distDelta: 0.175027 avgGoalDelta: 0.173518 +ArmPlugin - issuing reward 0.520554, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.438949 +distDelta: -0.000002 avgGoalDelta: 0.086758 +ArmPlugin - issuing reward 0.260274, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.287079 +distDelta: 0.151870 avgGoalDelta: 0.119314 +ArmPlugin - issuing reward 0.357942, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.359942 +distDelta: -0.072862 avgGoalDelta: 0.023226 +ArmPlugin - issuing reward 0.069677, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.359933 +distDelta: 0.000009 avgGoalDelta: 0.011617 +ArmPlugin - issuing reward 0.034852, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.359933 +distDelta: -0.000001 avgGoalDelta: 0.005808 +ArmPlugin - issuing reward 0.017425, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.359933 +distDelta: 0.000000 avgGoalDelta: 0.002904 +ArmPlugin - issuing reward 0.008713, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.240107 +distDelta: 0.119826 avgGoalDelta: 0.061365 +ArmPlugin - issuing reward 0.184095, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 002) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.716502 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.716503 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.576042 +distDelta: 0.140462 avgGoalDelta: 0.070230 +ArmPlugin - issuing reward 0.210691, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.716526 +distDelta: -0.140484 avgGoalDelta: -0.035127 +ArmPlugin - issuing reward -0.105380, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.576052 +distDelta: 0.140473 avgGoalDelta: 0.052673 +ArmPlugin - issuing reward 0.158020, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.429685 +distDelta: 0.146367 avgGoalDelta: 0.099520 +ArmPlugin - issuing reward 0.298561, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.278593 +distDelta: 0.151092 avgGoalDelta: 0.125306 +ArmPlugin - issuing reward 0.375919, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.278579 +distDelta: 0.000014 avgGoalDelta: 0.062660 +ArmPlugin - issuing reward 0.187981, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.124078 +distDelta: 0.154500 avgGoalDelta: 0.108580 +ArmPlugin - issuing reward 0.325741, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.961341 +distDelta: 0.162737 avgGoalDelta: 0.135659 +ArmPlugin - issuing reward 0.406976, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.961328 +distDelta: 0.000013 avgGoalDelta: 0.067836 +ArmPlugin - issuing reward 0.203508, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.782538 +distDelta: 0.178789 avgGoalDelta: 0.123313 +ArmPlugin - issuing reward 0.369938, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.601268 +distDelta: 0.181271 avgGoalDelta: 0.152292 +ArmPlugin - issuing reward 0.456875, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.601263 +distDelta: 0.000005 avgGoalDelta: 0.076148 +ArmPlugin - issuing reward 0.228445, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.782521 +distDelta: -0.181258 avgGoalDelta: -0.052555 +ArmPlugin - issuing reward -0.157665, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.782535 +distDelta: -0.000014 avgGoalDelta: -0.026285 +ArmPlugin - issuing reward -0.078854, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.883304 +distDelta: -0.100769 avgGoalDelta: -0.063527 +ArmPlugin - issuing reward -0.190580, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.979066 +distDelta: -0.095763 avgGoalDelta: -0.079645 +ArmPlugin - issuing reward -0.238934, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.883314 +distDelta: 0.095753 avgGoalDelta: 0.008054 +ArmPlugin - issuing reward 0.024162, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.057218 +distDelta: -0.173904 avgGoalDelta: -0.082925 +ArmPlugin - issuing reward -0.248775, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.057230 +distDelta: -0.000012 avgGoalDelta: -0.041469 +ArmPlugin - issuing reward -0.124406, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883319 +distDelta: 0.173911 avgGoalDelta: 0.066221 +ArmPlugin - issuing reward 0.198663, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.883305 +distDelta: 0.000014 avgGoalDelta: 0.033118 +ArmPlugin - issuing reward 0.099353, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.883307 +distDelta: -0.000001 avgGoalDelta: 0.016558 +ArmPlugin - issuing reward 0.049674, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701804 +distDelta: 0.181502 avgGoalDelta: 0.099030 +ArmPlugin - issuing reward 0.297090, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.701796 +distDelta: 0.000009 avgGoalDelta: 0.049519 +ArmPlugin - issuing reward 0.148558, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.798664 +distDelta: -0.096868 avgGoalDelta: -0.023674 +ArmPlugin - issuing reward -0.071023, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.617434 +distDelta: 0.181230 avgGoalDelta: 0.078778 +ArmPlugin - issuing reward 0.236334, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.617428 +distDelta: 0.000006 avgGoalDelta: 0.039392 +ArmPlugin - issuing reward 0.118176, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.617428 +distDelta: -0.000000 avgGoalDelta: 0.019696 +ArmPlugin - issuing reward 0.059088, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.617428 +distDelta: 0.000000 avgGoalDelta: 0.009848 +ArmPlugin - issuing reward 0.029544, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.617428 +distDelta: 0.000000 avgGoalDelta: 0.004924 +ArmPlugin - issuing reward 0.014772, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.522221 +distDelta: 0.095207 avgGoalDelta: 0.050065 +ArmPlugin - issuing reward 0.150196, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522223 +distDelta: -0.000002 avgGoalDelta: 0.025032 +ArmPlugin - issuing reward 0.075096, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.522231 +distDelta: -0.000008 avgGoalDelta: 0.012512 +ArmPlugin - issuing reward 0.037536, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352516 +distDelta: 0.169715 avgGoalDelta: 0.091113 +ArmPlugin - issuing reward 0.273340, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.522226 +distDelta: -0.169710 avgGoalDelta: -0.039298 +ArmPlugin - issuing reward -0.117895, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522223 +distDelta: 0.000002 avgGoalDelta: -0.019648 +ArmPlugin - issuing reward -0.058944, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522223 +distDelta: 0.000001 avgGoalDelta: -0.009824 +ArmPlugin - issuing reward -0.029471, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522231 +distDelta: -0.000008 avgGoalDelta: -0.004916 +ArmPlugin - issuing reward -0.014748, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522223 +distDelta: 0.000008 avgGoalDelta: -0.002454 +ArmPlugin - issuing reward -0.007362, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522223 +distDelta: 0.000000 avgGoalDelta: -0.001227 +ArmPlugin - issuing reward -0.003681, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.522231 +distDelta: -0.000008 avgGoalDelta: -0.000618 +ArmPlugin - issuing reward -0.001853, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352516 +distDelta: 0.169715 avgGoalDelta: 0.084549 +ArmPlugin - issuing reward 0.253646, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: -0.000005 avgGoalDelta: 0.042272 +ArmPlugin - issuing reward 0.126816, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.259772 +distDelta: 0.092749 avgGoalDelta: 0.067510 +ArmPlugin - issuing reward 0.202531, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.352531 +distDelta: -0.092759 avgGoalDelta: -0.012624 +ArmPlugin - issuing reward -0.037873, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: 0.000010 avgGoalDelta: -0.006307 +ArmPlugin - issuing reward -0.018922, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: -0.000000 avgGoalDelta: -0.003154 +ArmPlugin - issuing reward -0.009461, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: -0.000000 avgGoalDelta: -0.001577 +ArmPlugin - issuing reward -0.004731, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: 0.000001 avgGoalDelta: -0.000788 +ArmPlugin - issuing reward -0.002364, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: 0.000000 avgGoalDelta: -0.000394 +ArmPlugin - issuing reward -0.001182, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: -0.000000 avgGoalDelta: -0.000197 +ArmPlugin - issuing reward -0.000591, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: -0.000001 avgGoalDelta: -0.000099 +ArmPlugin - issuing reward -0.000296, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: 0.000001 avgGoalDelta: -0.000049 +ArmPlugin - issuing reward -0.000147, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352527 +distDelta: -0.000007 avgGoalDelta: -0.000028 +ArmPlugin - issuing reward -0.000084, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: 0.000007 avgGoalDelta: -0.000010 +ArmPlugin - issuing reward -0.000031, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.352521 +distDelta: -0.000001 avgGoalDelta: -0.000006 +ArmPlugin - issuing reward -0.000017, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.352520 +distDelta: 0.000001 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227245 +distDelta: 0.125275 avgGoalDelta: 0.062636 +ArmPlugin - issuing reward 0.187909, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227258 +distDelta: -0.000012 avgGoalDelta: 0.031312 +ArmPlugin - issuing reward 0.093936, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227258 +distDelta: 0.000000 avgGoalDelta: 0.015656 +ArmPlugin - issuing reward 0.046968, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.289616 +distDelta: -0.062358 avgGoalDelta: -0.023351 +ArmPlugin - issuing reward -0.070054, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.289606 +distDelta: 0.000010 avgGoalDelta: -0.011670 +ArmPlugin - issuing reward -0.035011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.289605 +distDelta: 0.000000 avgGoalDelta: -0.005835 +ArmPlugin - issuing reward -0.017505, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.289606 +distDelta: -0.000001 avgGoalDelta: -0.002918 +ArmPlugin - issuing reward -0.008753, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.289606 +distDelta: 0.000000 avgGoalDelta: -0.001459 +ArmPlugin - issuing reward -0.004377, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.289605 +distDelta: 0.000001 avgGoalDelta: -0.000729 +ArmPlugin - issuing reward -0.002187, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.220321 +distDelta: 0.069284 avgGoalDelta: 0.034277 +ArmPlugin - issuing reward 0.102832, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 003) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.660007 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.740700 +distDelta: -0.080694 avgGoalDelta: -0.040347 +ArmPlugin - issuing reward -0.121041, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.740688 +distDelta: 0.000013 avgGoalDelta: -0.020167 +ArmPlugin - issuing reward -0.060501, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.598167 +distDelta: 0.142521 avgGoalDelta: 0.061177 +ArmPlugin - issuing reward 0.183531, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.449818 +distDelta: 0.148349 avgGoalDelta: 0.104763 +ArmPlugin - issuing reward 0.314289, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.296942 +distDelta: 0.152876 avgGoalDelta: 0.128819 +ArmPlugin - issuing reward 0.386458, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.140978 +distDelta: 0.155964 avgGoalDelta: 0.142391 +ArmPlugin - issuing reward 0.427174, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.975103 +distDelta: 0.165876 avgGoalDelta: 0.154134 +ArmPlugin - issuing reward 0.462401, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.975091 +distDelta: 0.000012 avgGoalDelta: 0.077073 +ArmPlugin - issuing reward 0.231218, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.794558 +distDelta: 0.180533 avgGoalDelta: 0.128803 +ArmPlugin - issuing reward 0.386409, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.613364 +distDelta: 0.181194 avgGoalDelta: 0.154998 +ArmPlugin - issuing reward 0.464995, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613360 +distDelta: 0.000004 avgGoalDelta: 0.077501 +ArmPlugin - issuing reward 0.232504, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613360 +distDelta: -0.000001 avgGoalDelta: 0.038750 +ArmPlugin - issuing reward 0.116251, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613361 +distDelta: -0.000001 avgGoalDelta: 0.019375 +ArmPlugin - issuing reward 0.058124, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.705466 +distDelta: -0.092105 avgGoalDelta: -0.036365 +ArmPlugin - issuing reward -0.109096, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705467 +distDelta: -0.000001 avgGoalDelta: -0.018183 +ArmPlugin - issuing reward -0.054549, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705466 +distDelta: 0.000001 avgGoalDelta: -0.009091 +ArmPlugin - issuing reward -0.027273, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705466 +distDelta: 0.000000 avgGoalDelta: -0.004545 +ArmPlugin - issuing reward -0.013636, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705465 +distDelta: 0.000001 avgGoalDelta: -0.002272 +ArmPlugin - issuing reward -0.006817, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705474 +distDelta: -0.000009 avgGoalDelta: -0.001141 +ArmPlugin - issuing reward -0.003422, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.526101 +distDelta: 0.179373 avgGoalDelta: 0.089116 +ArmPlugin - issuing reward 0.267349, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: 0.000001 avgGoalDelta: 0.044559 +ArmPlugin - issuing reward 0.133677, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.438373 +distDelta: 0.087726 avgGoalDelta: 0.066143 +ArmPlugin - issuing reward 0.198428, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.438377 +distDelta: -0.000004 avgGoalDelta: 0.033069 +ArmPlugin - issuing reward 0.099208, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.613370 +distDelta: -0.174993 avgGoalDelta: -0.070962 +ArmPlugin - issuing reward -0.212885, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613360 +distDelta: 0.000009 avgGoalDelta: -0.035476 +ArmPlugin - issuing reward -0.106428, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613361 +distDelta: -0.000000 avgGoalDelta: -0.017738 +ArmPlugin - issuing reward -0.053215, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.613361 +distDelta: -0.000000 avgGoalDelta: -0.008869 +ArmPlugin - issuing reward -0.026608, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.794545 +distDelta: -0.181184 avgGoalDelta: -0.095027 +ArmPlugin - issuing reward -0.285080, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.887233 +distDelta: -0.092688 avgGoalDelta: -0.093857 +ArmPlugin - issuing reward -0.281572, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.887227 +distDelta: 0.000005 avgGoalDelta: -0.046926 +ArmPlugin - issuing reward -0.140778, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.887227 +distDelta: 0.000000 avgGoalDelta: -0.023463 +ArmPlugin - issuing reward -0.070388, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.887226 +distDelta: 0.000001 avgGoalDelta: -0.011731 +ArmPlugin - issuing reward -0.035193, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.887227 +distDelta: -0.000001 avgGoalDelta: -0.005866 +ArmPlugin - issuing reward -0.017598, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.705471 +distDelta: 0.181756 avgGoalDelta: 0.087945 +ArmPlugin - issuing reward 0.263835, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.526100 +distDelta: 0.179371 avgGoalDelta: 0.133658 +ArmPlugin - issuing reward 0.400974, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: 0.000002 avgGoalDelta: 0.066830 +ArmPlugin - issuing reward 0.200489, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.705463 +distDelta: -0.179365 avgGoalDelta: -0.056267 +ArmPlugin - issuing reward -0.168802, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705474 +distDelta: -0.000011 avgGoalDelta: -0.028139 +ArmPlugin - issuing reward -0.084418, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.705465 +distDelta: 0.000009 avgGoalDelta: -0.014065 +ArmPlugin - issuing reward -0.042195, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.793927 +distDelta: -0.088462 avgGoalDelta: -0.051263 +ArmPlugin - issuing reward -0.153790, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793929 +distDelta: -0.000002 avgGoalDelta: -0.025633 +ArmPlugin - issuing reward -0.076899, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793928 +distDelta: 0.000001 avgGoalDelta: -0.012816 +ArmPlugin - issuing reward -0.038448, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793929 +distDelta: -0.000001 avgGoalDelta: -0.006409 +ArmPlugin - issuing reward -0.019226, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793928 +distDelta: 0.000001 avgGoalDelta: -0.003204 +ArmPlugin - issuing reward -0.009611, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793928 +distDelta: 0.000000 avgGoalDelta: -0.001602 +ArmPlugin - issuing reward -0.004805, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793929 +distDelta: -0.000001 avgGoalDelta: -0.000801 +ArmPlugin - issuing reward -0.002404, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793928 +distDelta: 0.000001 avgGoalDelta: -0.000400 +ArmPlugin - issuing reward -0.001201, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.793929 +distDelta: -0.000001 avgGoalDelta: -0.000201 +ArmPlugin - issuing reward -0.000602, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.974304 +distDelta: -0.180375 avgGoalDelta: -0.090288 +ArmPlugin - issuing reward -0.270864, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.974312 +distDelta: -0.000008 avgGoalDelta: -0.045148 +ArmPlugin - issuing reward -0.135443, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.974320 +distDelta: -0.000008 avgGoalDelta: -0.022578 +ArmPlugin - issuing reward -0.067734, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.139638 +distDelta: -0.165318 avgGoalDelta: -0.093948 +ArmPlugin - issuing reward -0.281843, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.209881 +distDelta: -0.070244 avgGoalDelta: -0.082096 +ArmPlugin - issuing reward -0.246287, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.051156 +distDelta: 0.158726 avgGoalDelta: 0.038315 +ArmPlugin - issuing reward 0.114945, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878205 +distDelta: 0.172950 avgGoalDelta: 0.105633 +ArmPlugin - issuing reward 0.316898, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.696372 +distDelta: 0.181834 avgGoalDelta: 0.143733 +ArmPlugin - issuing reward 0.431200, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.777163 +distDelta: -0.080791 avgGoalDelta: 0.031471 +ArmPlugin - issuing reward 0.094413, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.696372 +distDelta: 0.080790 avgGoalDelta: 0.056131 +ArmPlugin - issuing reward 0.168392, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.696376 +distDelta: -0.000003 avgGoalDelta: 0.028064 +ArmPlugin - issuing reward 0.084191, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.612427 +distDelta: 0.083948 avgGoalDelta: 0.056006 +ArmPlugin - issuing reward 0.168018, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: 0.086328 avgGoalDelta: 0.071167 +ArmPlugin - issuing reward 0.213501, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526100 +distDelta: -0.000001 avgGoalDelta: 0.035583 +ArmPlugin - issuing reward 0.106750, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526100 +distDelta: -0.000000 avgGoalDelta: 0.017791 +ArmPlugin - issuing reward 0.053374, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: 0.000001 avgGoalDelta: 0.008896 +ArmPlugin - issuing reward 0.026689, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: -0.000000 avgGoalDelta: 0.004448 +ArmPlugin - issuing reward 0.013344, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.526107 +distDelta: -0.000008 avgGoalDelta: 0.002220 +ArmPlugin - issuing reward 0.006660, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.526099 +distDelta: 0.000008 avgGoalDelta: 0.001114 +ArmPlugin - issuing reward 0.003342, EOE=false POS +[Msg] Waiting for master. +[Msg] Connected to gazebo master @ http://127.0.0.1:11345 +[Msg] Publicized address: 172.17.0.2 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.612433 +distDelta: -0.086334 avgGoalDelta: -0.042610 +ArmPlugin - issuing reward -0.127830, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.696375 +distDelta: -0.083942 avgGoalDelta: -0.063276 +ArmPlugin - issuing reward -0.189828, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.878197 +distDelta: -0.181822 avgGoalDelta: -0.122549 +ArmPlugin - issuing reward -0.367647, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.051144 +distDelta: -0.172947 avgGoalDelta: -0.147748 +ArmPlugin - issuing reward -0.443243, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878208 +distDelta: 0.172936 avgGoalDelta: 0.012594 +ArmPlugin - issuing reward 0.037782, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.878201 +distDelta: 0.000008 avgGoalDelta: 0.006301 +ArmPlugin - issuing reward 0.018902, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.878202 +distDelta: -0.000001 avgGoalDelta: 0.003150 +ArmPlugin - issuing reward 0.009450, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.696381 +distDelta: 0.181821 avgGoalDelta: 0.092485 +ArmPlugin - issuing reward 0.277456, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.878202 +distDelta: -0.181821 avgGoalDelta: -0.044668 +ArmPlugin - issuing reward -0.134004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.051145 +distDelta: -0.172943 avgGoalDelta: -0.108806 +ArmPlugin - issuing reward -0.326417, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.051149 +distDelta: -0.000004 avgGoalDelta: -0.054405 +ArmPlugin - issuing reward -0.163215, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.051151 +distDelta: -0.000001 avgGoalDelta: -0.027203 +ArmPlugin - issuing reward -0.081609, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.051149 +distDelta: 0.000002 avgGoalDelta: -0.013601 +ArmPlugin - issuing reward -0.040802, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878209 +distDelta: 0.172940 avgGoalDelta: 0.079670 +ArmPlugin - issuing reward 0.239009, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.696372 +distDelta: 0.181837 avgGoalDelta: 0.130753 +ArmPlugin - issuing reward 0.392260, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 84 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.696375 +distDelta: -0.000003 avgGoalDelta: 0.065375 +ArmPlugin - issuing reward 0.196125, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 85 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.696368 +distDelta: 0.000007 avgGoalDelta: 0.032691 +ArmPlugin - issuing reward 0.098073, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 86 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.515955 +distDelta: 0.180413 avgGoalDelta: 0.106552 +ArmPlugin - issuing reward 0.319656, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 87 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.346105 +distDelta: 0.169850 avgGoalDelta: 0.138201 +ArmPlugin - issuing reward 0.414603, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 88 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.220693 +distDelta: 0.125412 avgGoalDelta: 0.131807 +ArmPlugin - issuing reward 0.395420, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +Current Accuracy: 0.0000 (000 of 004) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663016 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518365 +distDelta: 0.144652 avgGoalDelta: 0.072326 +ArmPlugin - issuing reward 0.216977, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368457 +distDelta: 0.149908 avgGoalDelta: 0.111117 +ArmPlugin - issuing reward 0.333351, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.368447 +distDelta: 0.000009 avgGoalDelta: 0.055563 +ArmPlugin - issuing reward 0.166689, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214592 +distDelta: 0.153855 avgGoalDelta: 0.104709 +ArmPlugin - issuing reward 0.314128, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.056838 +distDelta: 0.157755 avgGoalDelta: 0.131232 +ArmPlugin - issuing reward 0.393696, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.882842 +distDelta: 0.173995 avgGoalDelta: 0.152614 +ArmPlugin - issuing reward 0.457841, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.978553 +distDelta: -0.095711 avgGoalDelta: 0.028451 +ArmPlugin - issuing reward 0.085354, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.978559 +distDelta: -0.000006 avgGoalDelta: 0.014223 +ArmPlugin - issuing reward 0.042668, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.798138 +distDelta: 0.180421 avgGoalDelta: 0.097322 +ArmPlugin - issuing reward 0.291965, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.616902 +distDelta: 0.181237 avgGoalDelta: 0.139279 +ArmPlugin - issuing reward 0.417838, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.441692 +distDelta: 0.175210 avgGoalDelta: 0.157245 +ArmPlugin - issuing reward 0.471734, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.441693 +distDelta: -0.000002 avgGoalDelta: 0.078621 +ArmPlugin - issuing reward 0.235864, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.529468 +distDelta: -0.087775 avgGoalDelta: -0.004577 +ArmPlugin - issuing reward -0.013730, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.362355 +distDelta: 0.167113 avgGoalDelta: 0.081268 +ArmPlugin - issuing reward 0.243804, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.241245 +distDelta: 0.121110 avgGoalDelta: 0.101189 +ArmPlugin - issuing reward 0.303567, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - agent selected action 1 +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 005) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661980 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.517292 +distDelta: 0.144688 avgGoalDelta: 0.072344 +ArmPlugin - issuing reward 0.217032, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367338 +distDelta: 0.149954 avgGoalDelta: 0.111149 +ArmPlugin - issuing reward 0.333447, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.517284 +distDelta: -0.149946 avgGoalDelta: -0.019398 +ArmPlugin - issuing reward -0.058195, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.517294 +distDelta: -0.000010 avgGoalDelta: -0.009704 +ArmPlugin - issuing reward -0.029113, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.600042 +distDelta: -0.082748 avgGoalDelta: -0.046226 +ArmPlugin - issuing reward -0.138679, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.600039 +distDelta: 0.000003 avgGoalDelta: -0.023112 +ArmPlugin - issuing reward -0.069335, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.451740 +distDelta: 0.148299 avgGoalDelta: 0.062594 +ArmPlugin - issuing reward 0.187781, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.298885 +distDelta: 0.152855 avgGoalDelta: 0.107724 +ArmPlugin - issuing reward 0.323173, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.213448 +distDelta: 0.085436 avgGoalDelta: 0.096580 +ArmPlugin - issuing reward 0.289741, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.213434 +distDelta: 0.000014 avgGoalDelta: 0.048297 +ArmPlugin - issuing reward 0.144891, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.213436 +distDelta: -0.000002 avgGoalDelta: 0.024148 +ArmPlugin - issuing reward 0.072443, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.213444 +distDelta: -0.000008 avgGoalDelta: 0.012070 +ArmPlugin - issuing reward 0.036210, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055633 +distDelta: 0.157811 avgGoalDelta: 0.084941 +ArmPlugin - issuing reward 0.254822, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.055619 +distDelta: 0.000014 avgGoalDelta: 0.042477 +ArmPlugin - issuing reward 0.127432, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881504 +distDelta: 0.174115 avgGoalDelta: 0.108296 +ArmPlugin - issuing reward 0.324888, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.881491 +distDelta: 0.000013 avgGoalDelta: 0.054154 +ArmPlugin - issuing reward 0.162463, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.055601 +distDelta: -0.174110 avgGoalDelta: -0.059978 +ArmPlugin - issuing reward -0.179933, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.142917 +distDelta: -0.087316 avgGoalDelta: -0.073647 +ArmPlugin - issuing reward -0.220940, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.977277 +distDelta: 0.165640 avgGoalDelta: 0.045997 +ArmPlugin - issuing reward 0.137990, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.881496 +distDelta: 0.095781 avgGoalDelta: 0.070889 +ArmPlugin - issuing reward 0.212666, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.977249 +distDelta: -0.095753 avgGoalDelta: -0.012432 +ArmPlugin - issuing reward -0.037297, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.881507 +distDelta: 0.095742 avgGoalDelta: 0.041655 +ArmPlugin - issuing reward 0.124964, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699989 +distDelta: 0.181518 avgGoalDelta: 0.111586 +ArmPlugin - issuing reward 0.334759, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520463 +distDelta: 0.179527 avgGoalDelta: 0.145557 +ArmPlugin - issuing reward 0.436670, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.520470 +distDelta: -0.000007 avgGoalDelta: 0.072775 +ArmPlugin - issuing reward 0.218324, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350982 +distDelta: 0.169488 avgGoalDelta: 0.121131 +ArmPlugin - issuing reward 0.363394, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226777 +distDelta: 0.124204 avgGoalDelta: 0.122668 +ArmPlugin - issuing reward 0.368004, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 006) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663042 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663065 +distDelta: -0.000022 avgGoalDelta: -0.000011 +ArmPlugin - issuing reward -0.000034, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663057 +distDelta: 0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663065 +distDelta: -0.000008 avgGoalDelta: -0.000005 +ArmPlugin - issuing reward -0.000015, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663057 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663065 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663066 +distDelta: -0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663065 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663065 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.743663 +distDelta: -0.080598 avgGoalDelta: -0.040299 +ArmPlugin - issuing reward -0.120897, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.816917 +distDelta: -0.073254 avgGoalDelta: -0.056777 +ArmPlugin - issuing reward -0.170330, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.816899 +distDelta: 0.000019 avgGoalDelta: -0.028379 +ArmPlugin - issuing reward -0.085137, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.816890 +distDelta: 0.000009 avgGoalDelta: -0.014185 +ArmPlugin - issuing reward -0.042555, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.677334 +distDelta: 0.139556 avgGoalDelta: 0.062685 +ArmPlugin - issuing reward 0.188056, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.677346 +distDelta: -0.000012 avgGoalDelta: 0.031337 +ArmPlugin - issuing reward 0.094010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.746191 +distDelta: -0.068845 avgGoalDelta: -0.018754 +ArmPlugin - issuing reward -0.056263, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.602868 +distDelta: 0.143323 avgGoalDelta: 0.062284 +ArmPlugin - issuing reward 0.186853, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.602885 +distDelta: -0.000017 avgGoalDelta: 0.031134 +ArmPlugin - issuing reward 0.093401, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.602894 +distDelta: -0.000008 avgGoalDelta: 0.015563 +ArmPlugin - issuing reward 0.046688, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.602894 +distDelta: -0.000000 avgGoalDelta: 0.007781 +ArmPlugin - issuing reward 0.023344, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.602885 +distDelta: 0.000008 avgGoalDelta: 0.003895 +ArmPlugin - issuing reward 0.011685, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.602885 +distDelta: -0.000000 avgGoalDelta: 0.001947 +ArmPlugin - issuing reward 0.005842, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.531265 +distDelta: 0.071620 avgGoalDelta: 0.036784 +ArmPlugin - issuing reward 0.110351, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.531288 +distDelta: -0.000023 avgGoalDelta: 0.018380 +ArmPlugin - issuing reward 0.055141, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.531281 +distDelta: 0.000008 avgGoalDelta: 0.009194 +ArmPlugin - issuing reward 0.027582, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.531290 +distDelta: -0.000009 avgGoalDelta: 0.004593 +ArmPlugin - issuing reward 0.013778, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.602898 +distDelta: -0.071608 avgGoalDelta: -0.033508 +ArmPlugin - issuing reward -0.100524, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.531266 +distDelta: 0.071632 avgGoalDelta: 0.019062 +ArmPlugin - issuing reward 0.057185, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.531288 +distDelta: -0.000022 avgGoalDelta: 0.009520 +ArmPlugin - issuing reward 0.028560, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.453001 +distDelta: 0.078287 avgGoalDelta: 0.043904 +ArmPlugin - issuing reward 0.131711, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.368522 +distDelta: 0.084479 avgGoalDelta: 0.064191 +ArmPlugin - issuing reward 0.192574, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.278300 +distDelta: 0.090222 avgGoalDelta: 0.077207 +ArmPlugin - issuing reward 0.231620, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.123791 +distDelta: 0.154509 avgGoalDelta: 0.115858 +ArmPlugin - issuing reward 0.347574, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.961047 +distDelta: 0.162744 avgGoalDelta: 0.139301 +ArmPlugin - issuing reward 0.417903, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.782226 +distDelta: 0.178821 avgGoalDelta: 0.159061 +ArmPlugin - issuing reward 0.477183, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.600958 +distDelta: 0.181268 avgGoalDelta: 0.170164 +ArmPlugin - issuing reward 0.510493, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.422297 +distDelta: 0.178661 avgGoalDelta: 0.174412 +ArmPlugin - issuing reward 0.523237, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.422297 +distDelta: 0.000000 avgGoalDelta: 0.087206 +ArmPlugin - issuing reward 0.261619, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.259501 +distDelta: 0.162797 avgGoalDelta: 0.125001 +ArmPlugin - issuing reward 0.375004, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192651 +distDelta: 0.066850 avgGoalDelta: 0.095925 +ArmPlugin - issuing reward 0.287776, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 007) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800811 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800812 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800813 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800813 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800813 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.878512 +distDelta: -0.077699 avgGoalDelta: -0.038849 +ArmPlugin - issuing reward -0.116548, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.743105 +distDelta: 0.135406 avgGoalDelta: 0.048278 +ArmPlugin - issuing reward 0.144835, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.743134 +distDelta: -0.000029 avgGoalDelta: 0.024125 +ArmPlugin - issuing reward 0.072374, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.600698 +distDelta: 0.142436 avgGoalDelta: 0.083280 +ArmPlugin - issuing reward 0.249841, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000018 avgGoalDelta: 0.041631 +ArmPlugin - issuing reward 0.124894, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000008 avgGoalDelta: 0.020820 +ArmPlugin - issuing reward 0.062459, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000000 avgGoalDelta: 0.010410 +ArmPlugin - issuing reward 0.031230, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: -0.000000 avgGoalDelta: 0.005205 +ArmPlugin - issuing reward 0.015615, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000008 avgGoalDelta: 0.002598 +ArmPlugin - issuing reward 0.007795, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600709 +distDelta: 0.000007 avgGoalDelta: 0.001303 +ArmPlugin - issuing reward 0.003909, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000007 avgGoalDelta: 0.000648 +ArmPlugin - issuing reward 0.001943, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000008 avgGoalDelta: 0.000328 +ArmPlugin - issuing reward 0.000984, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000008 avgGoalDelta: 0.000160 +ArmPlugin - issuing reward 0.000479, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: 0.000000 avgGoalDelta: 0.000080 +ArmPlugin - issuing reward 0.000240, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: 0.000000 avgGoalDelta: 0.000040 +ArmPlugin - issuing reward 0.000120, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000008 avgGoalDelta: 0.000024 +ArmPlugin - issuing reward 0.000072, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000008 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000024, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000009 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000025, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000009 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000008 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600717 +distDelta: -0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600717 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000009 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000013, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600716 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.743143 +distDelta: -0.142427 avgGoalDelta: -0.071215 +ArmPlugin - issuing reward -0.213645, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.600706 +distDelta: 0.142436 avgGoalDelta: 0.035611 +ArmPlugin - issuing reward 0.106832, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.600708 +distDelta: -0.000001 avgGoalDelta: 0.017805 +ArmPlugin - issuing reward 0.053414, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.452444 +distDelta: 0.148263 avgGoalDelta: 0.083034 +ArmPlugin - issuing reward 0.249102, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.367989 +distDelta: 0.084456 avgGoalDelta: 0.083745 +ArmPlugin - issuing reward 0.251235, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214138 +distDelta: 0.153851 avgGoalDelta: 0.118798 +ArmPlugin - issuing reward 0.356393, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.056372 +distDelta: 0.157766 avgGoalDelta: 0.138282 +ArmPlugin - issuing reward 0.414846, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.882349 +distDelta: 0.174023 avgGoalDelta: 0.156153 +ArmPlugin - issuing reward 0.468458, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.781576 +distDelta: 0.100772 avgGoalDelta: 0.128462 +ArmPlugin - issuing reward 0.385387, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.677237 +distDelta: 0.104339 avgGoalDelta: 0.116401 +ArmPlugin - issuing reward 0.349202, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.494717 +distDelta: 0.182520 avgGoalDelta: 0.149460 +ArmPlugin - issuing reward 0.448381, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.312957 +distDelta: 0.181760 avgGoalDelta: 0.165610 +ArmPlugin - issuing reward 0.496831, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.312959 +distDelta: -0.000002 avgGoalDelta: 0.082804 +ArmPlugin - issuing reward 0.248413, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.182482 +distDelta: 0.130477 avgGoalDelta: 0.106640 +ArmPlugin - issuing reward 0.319921, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.259148 +distDelta: -0.076666 avgGoalDelta: 0.014987 +ArmPlugin - issuing reward 0.044962, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.259141 +distDelta: 0.000007 avgGoalDelta: 0.007497 +ArmPlugin - issuing reward 0.022491, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.182479 +distDelta: 0.076662 avgGoalDelta: 0.042080 +ArmPlugin - issuing reward 0.126239, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.133960 +distDelta: 0.048518 avgGoalDelta: 0.045299 +ArmPlugin - issuing reward 0.135897, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 008) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661824 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.517162 +distDelta: 0.144662 avgGoalDelta: 0.072331 +ArmPlugin - issuing reward 0.216993, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367241 +distDelta: 0.149921 avgGoalDelta: 0.111126 +ArmPlugin - issuing reward 0.333378, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213361 +distDelta: 0.153880 avgGoalDelta: 0.132503 +ArmPlugin - issuing reward 0.397508, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055566 +distDelta: 0.157795 avgGoalDelta: 0.145149 +ArmPlugin - issuing reward 0.435447, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881491 +distDelta: 0.174075 avgGoalDelta: 0.159612 +ArmPlugin - issuing reward 0.478836, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699973 +distDelta: 0.181518 avgGoalDelta: 0.170565 +ArmPlugin - issuing reward 0.511695, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520443 +distDelta: 0.179530 avgGoalDelta: 0.175048 +ArmPlugin - issuing reward 0.525143, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350820 +distDelta: 0.169623 avgGoalDelta: 0.172335 +ArmPlugin - issuing reward 0.517006, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226520 +distDelta: 0.124300 avgGoalDelta: 0.148318 +ArmPlugin - issuing reward 0.444953, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.226532 +distDelta: -0.000012 avgGoalDelta: 0.074153 +ArmPlugin - issuing reward 0.222458, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.192342 +distDelta: 0.034190 avgGoalDelta: 0.054171 +ArmPlugin - issuing reward 0.162514, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 009) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799647 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799649 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799649 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799649 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661359 +distDelta: 0.138290 avgGoalDelta: 0.069145 +ArmPlugin - issuing reward 0.207435, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661370 +distDelta: -0.000011 avgGoalDelta: 0.034567 +ArmPlugin - issuing reward 0.103700, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516646 +distDelta: 0.144724 avgGoalDelta: 0.089646 +ArmPlugin - issuing reward 0.268937, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516654 +distDelta: -0.000008 avgGoalDelta: 0.044819 +ArmPlugin - issuing reward 0.134456, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366706 +distDelta: 0.149948 avgGoalDelta: 0.097383 +ArmPlugin - issuing reward 0.292150, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.276489 +distDelta: 0.090217 avgGoalDelta: 0.093800 +ArmPlugin - issuing reward 0.281401, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.121933 +distDelta: 0.154556 avgGoalDelta: 0.124178 +ArmPlugin - issuing reward 0.372535, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.958964 +distDelta: 0.162969 avgGoalDelta: 0.143574 +ArmPlugin - issuing reward 0.430721, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.121917 +distDelta: -0.162954 avgGoalDelta: -0.009690 +ArmPlugin - issuing reward -0.029070, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.121921 +distDelta: -0.000003 avgGoalDelta: -0.004847 +ArmPlugin - issuing reward -0.014540, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.958965 +distDelta: 0.162956 avgGoalDelta: 0.079055 +ArmPlugin - issuing reward 0.237164, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.780039 +distDelta: 0.178926 avgGoalDelta: 0.128990 +ArmPlugin - issuing reward 0.386970, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.598786 +distDelta: 0.181253 avgGoalDelta: 0.155122 +ArmPlugin - issuing reward 0.465365, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.598772 +distDelta: 0.000014 avgGoalDelta: 0.077568 +ArmPlugin - issuing reward 0.232703, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.598772 +distDelta: 0.000000 avgGoalDelta: 0.038784 +ArmPlugin - issuing reward 0.116352, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.420152 +distDelta: 0.178620 avgGoalDelta: 0.108702 +ArmPlugin - issuing reward 0.326106, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.257970 +distDelta: 0.162182 avgGoalDelta: 0.135442 +ArmPlugin - issuing reward 0.406326, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192405 +distDelta: 0.065565 avgGoalDelta: 0.100503 +ArmPlugin - issuing reward 0.301510, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0000 (000 of 010) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.804142 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.666066 +distDelta: 0.138077 avgGoalDelta: 0.069038 +ArmPlugin - issuing reward 0.207115, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.578894 +distDelta: 0.087172 avgGoalDelta: 0.078105 +ArmPlugin - issuing reward 0.234315, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.485670 +distDelta: 0.093224 avgGoalDelta: 0.085665 +ArmPlugin - issuing reward 0.256994, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.338102 +distDelta: 0.147568 avgGoalDelta: 0.116616 +ArmPlugin - issuing reward 0.349848, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.186215 +distDelta: 0.151887 avgGoalDelta: 0.134252 +ArmPlugin - issuing reward 0.402755, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.186200 +distDelta: 0.000015 avgGoalDelta: 0.067133 +ArmPlugin - issuing reward 0.201400, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.086156 +distDelta: 0.100044 avgGoalDelta: 0.083589 +ArmPlugin - issuing reward 0.250766, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.928671 +distDelta: 0.157485 avgGoalDelta: 0.120537 +ArmPlugin - issuing reward 0.361610, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.822026 +distDelta: 0.106645 avgGoalDelta: 0.113591 +ArmPlugin - issuing reward 0.340773, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.822030 +distDelta: -0.000004 avgGoalDelta: 0.056794 +ArmPlugin - issuing reward 0.170381, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.822022 +distDelta: 0.000008 avgGoalDelta: 0.028401 +ArmPlugin - issuing reward 0.085202, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.822023 +distDelta: -0.000001 avgGoalDelta: 0.014200 +ArmPlugin - issuing reward 0.042600, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.711730 +distDelta: 0.110293 avgGoalDelta: 0.062246 +ArmPlugin - issuing reward 0.186739, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.593260 +distDelta: 0.118470 avgGoalDelta: 0.090358 +ArmPlugin - issuing reward 0.271074, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.411699 +distDelta: 0.181561 avgGoalDelta: 0.135960 +ArmPlugin - issuing reward 0.407879, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.302265 +distDelta: 0.109433 avgGoalDelta: 0.122697 +ArmPlugin - issuing reward 0.368090, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.123086 +distDelta: 0.179179 avgGoalDelta: 0.150938 +ArmPlugin - issuing reward 0.452814, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.000000 +distDelta: 0.123086 avgGoalDelta: 0.137012 +ArmPlugin - issuing reward 0.411036, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::gripperbase::gripper_link] +ArmPlugin - issuing reward 15.000000, EOE=true POS+ +Current Accuracy: 0.0909 (001 of 011) (reward=+15.00 WIN) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662679 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518041 +distDelta: 0.144637 avgGoalDelta: 0.072319 +ArmPlugin - issuing reward 0.216956, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368155 +distDelta: 0.149887 avgGoalDelta: 0.111103 +ArmPlugin - issuing reward 0.333309, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214302 +distDelta: 0.153853 avgGoalDelta: 0.132478 +ArmPlugin - issuing reward 0.397433, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.056551 +distDelta: 0.157751 avgGoalDelta: 0.145114 +ArmPlugin - issuing reward 0.435343, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.882579 +distDelta: 0.173972 avgGoalDelta: 0.159543 +ArmPlugin - issuing reward 0.478630, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701063 +distDelta: 0.181516 avgGoalDelta: 0.170530 +ArmPlugin - issuing reward 0.511589, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.600498 +distDelta: 0.100565 avgGoalDelta: 0.135547 +ArmPlugin - issuing reward 0.406642, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.421830 +distDelta: 0.178667 avgGoalDelta: 0.157107 +ArmPlugin - issuing reward 0.471322, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.259151 +distDelta: 0.162679 avgGoalDelta: 0.159893 +ArmPlugin - issuing reward 0.479680, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192547 +distDelta: 0.066604 avgGoalDelta: 0.113249 +ArmPlugin - issuing reward 0.339746, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0833 (001 of 012) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662204 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.517534 +distDelta: 0.144670 avgGoalDelta: 0.072335 +ArmPlugin - issuing reward 0.217004, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367611 +distDelta: 0.149923 avgGoalDelta: 0.111129 +ArmPlugin - issuing reward 0.333387, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213747 +distDelta: 0.153864 avgGoalDelta: 0.132496 +ArmPlugin - issuing reward 0.397489, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055951 +distDelta: 0.157796 avgGoalDelta: 0.145146 +ArmPlugin - issuing reward 0.435439, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881898 +distDelta: 0.174052 avgGoalDelta: 0.159599 +ArmPlugin - issuing reward 0.478798, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.700379 +distDelta: 0.181519 avgGoalDelta: 0.170559 +ArmPlugin - issuing reward 0.511678, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520835 +distDelta: 0.179544 avgGoalDelta: 0.175052 +ArmPlugin - issuing reward 0.525155, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.351249 +distDelta: 0.169586 avgGoalDelta: 0.172319 +ArmPlugin - issuing reward 0.516957, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226778 +distDelta: 0.124471 avgGoalDelta: 0.148395 +ArmPlugin - issuing reward 0.445184, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0769 (001 of 013) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663264 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518651 +distDelta: 0.144614 avgGoalDelta: 0.072307 +ArmPlugin - issuing reward 0.216921, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368802 +distDelta: 0.149849 avgGoalDelta: 0.111078 +ArmPlugin - issuing reward 0.333234, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214983 +distDelta: 0.153818 avgGoalDelta: 0.132448 +ArmPlugin - issuing reward 0.397344, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057288 +distDelta: 0.157696 avgGoalDelta: 0.145072 +ArmPlugin - issuing reward 0.435216, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883405 +distDelta: 0.173883 avgGoalDelta: 0.159477 +ArmPlugin - issuing reward 0.478432, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701904 +distDelta: 0.181501 avgGoalDelta: 0.170489 +ArmPlugin - issuing reward 0.511468, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522303 +distDelta: 0.179601 avgGoalDelta: 0.175045 +ArmPlugin - issuing reward 0.525135, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352497 +distDelta: 0.169806 avgGoalDelta: 0.172426 +ArmPlugin - issuing reward 0.517277, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227101 +distDelta: 0.125396 avgGoalDelta: 0.148911 +ArmPlugin - issuing reward 0.446733, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0714 (001 of 014) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662215 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.517546 +distDelta: 0.144669 avgGoalDelta: 0.072334 +ArmPlugin - issuing reward 0.217003, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367623 +distDelta: 0.149923 avgGoalDelta: 0.111129 +ArmPlugin - issuing reward 0.333386, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213760 +distDelta: 0.153863 avgGoalDelta: 0.132496 +ArmPlugin - issuing reward 0.397488, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055973 +distDelta: 0.157787 avgGoalDelta: 0.145141 +ArmPlugin - issuing reward 0.435424, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881905 +distDelta: 0.174068 avgGoalDelta: 0.159605 +ArmPlugin - issuing reward 0.478815, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.700385 +distDelta: 0.181520 avgGoalDelta: 0.170562 +ArmPlugin - issuing reward 0.511687, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520849 +distDelta: 0.179536 avgGoalDelta: 0.175049 +ArmPlugin - issuing reward 0.525147, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.351262 +distDelta: 0.169587 avgGoalDelta: 0.172318 +ArmPlugin - issuing reward 0.516954, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226784 +distDelta: 0.124479 avgGoalDelta: 0.148398 +ArmPlugin - issuing reward 0.445195, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0667 (001 of 015) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663276 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.663290 +distDelta: -0.000014 avgGoalDelta: -0.000007 +ArmPlugin - issuing reward -0.000021, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518679 +distDelta: 0.144611 avgGoalDelta: 0.072302 +ArmPlugin - issuing reward 0.216906, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368816 +distDelta: 0.149863 avgGoalDelta: 0.111083 +ArmPlugin - issuing reward 0.333248, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214987 +distDelta: 0.153829 avgGoalDelta: 0.132456 +ArmPlugin - issuing reward 0.397367, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057302 +distDelta: 0.157685 avgGoalDelta: 0.145071 +ArmPlugin - issuing reward 0.435212, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883420 +distDelta: 0.173882 avgGoalDelta: 0.159476 +ArmPlugin - issuing reward 0.478429, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701908 +distDelta: 0.181512 avgGoalDelta: 0.170494 +ArmPlugin - issuing reward 0.511482, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522318 +distDelta: 0.179589 avgGoalDelta: 0.175042 +ArmPlugin - issuing reward 0.525125, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352504 +distDelta: 0.169814 avgGoalDelta: 0.172428 +ArmPlugin - issuing reward 0.517284, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227108 +distDelta: 0.125396 avgGoalDelta: 0.148912 +ArmPlugin - issuing reward 0.446736, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0625 (001 of 016) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662227 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.517567 +distDelta: 0.144660 avgGoalDelta: 0.072330 +ArmPlugin - issuing reward 0.216990, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367636 +distDelta: 0.149931 avgGoalDelta: 0.111130 +ArmPlugin - issuing reward 0.333391, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213765 +distDelta: 0.153871 avgGoalDelta: 0.132501 +ArmPlugin - issuing reward 0.397502, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055987 +distDelta: 0.157778 avgGoalDelta: 0.145139 +ArmPlugin - issuing reward 0.435418, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881920 +distDelta: 0.174067 avgGoalDelta: 0.159603 +ArmPlugin - issuing reward 0.478810, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.700401 +distDelta: 0.181519 avgGoalDelta: 0.170561 +ArmPlugin - issuing reward 0.511683, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520872 +distDelta: 0.179529 avgGoalDelta: 0.175045 +ArmPlugin - issuing reward 0.525135, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.351283 +distDelta: 0.169589 avgGoalDelta: 0.172317 +ArmPlugin - issuing reward 0.516951, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226787 +distDelta: 0.124496 avgGoalDelta: 0.148407 +ArmPlugin - issuing reward 0.445220, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0588 (001 of 017) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663288 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518691 +distDelta: 0.144597 avgGoalDelta: 0.072298 +ArmPlugin - issuing reward 0.216895, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368828 +distDelta: 0.149863 avgGoalDelta: 0.111081 +ArmPlugin - issuing reward 0.333242, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215000 +distDelta: 0.153828 avgGoalDelta: 0.132454 +ArmPlugin - issuing reward 0.397363, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057315 +distDelta: 0.157685 avgGoalDelta: 0.145070 +ArmPlugin - issuing reward 0.435209, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883436 +distDelta: 0.173879 avgGoalDelta: 0.159475 +ArmPlugin - issuing reward 0.478424, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701923 +distDelta: 0.181513 avgGoalDelta: 0.170494 +ArmPlugin - issuing reward 0.511481, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522333 +distDelta: 0.179590 avgGoalDelta: 0.175042 +ArmPlugin - issuing reward 0.525125, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352518 +distDelta: 0.169815 avgGoalDelta: 0.172429 +ArmPlugin - issuing reward 0.517286, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227111 +distDelta: 0.125406 avgGoalDelta: 0.148917 +ArmPlugin - issuing reward 0.446752, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0556 (001 of 018) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662238 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.574988 +distDelta: 0.087251 avgGoalDelta: 0.043625 +ArmPlugin - issuing reward 0.130876, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.428580 +distDelta: 0.146407 avgGoalDelta: 0.095016 +ArmPlugin - issuing reward 0.285049, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.277454 +distDelta: 0.151127 avgGoalDelta: 0.123072 +ArmPlugin - issuing reward 0.369215, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.277450 +distDelta: 0.000004 avgGoalDelta: 0.061538 +ArmPlugin - issuing reward 0.184613, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.182022 +distDelta: 0.095428 avgGoalDelta: 0.078483 +ArmPlugin - issuing reward 0.235448, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.081928 +distDelta: 0.100094 avgGoalDelta: 0.089289 +ArmPlugin - issuing reward 0.267866, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.924173 +distDelta: 0.157755 avgGoalDelta: 0.123522 +ArmPlugin - issuing reward 0.370565, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924152 +distDelta: 0.000021 avgGoalDelta: 0.061771 +ArmPlugin - issuing reward 0.185313, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924161 +distDelta: -0.000009 avgGoalDelta: 0.030881 +ArmPlugin - issuing reward 0.092643, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924161 +distDelta: -0.000000 avgGoalDelta: 0.015440 +ArmPlugin - issuing reward 0.046321, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924161 +distDelta: 0.000000 avgGoalDelta: 0.007720 +ArmPlugin - issuing reward 0.023161, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924161 +distDelta: 0.000000 avgGoalDelta: 0.003860 +ArmPlugin - issuing reward 0.011581, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924162 +distDelta: -0.000000 avgGoalDelta: 0.001930 +ArmPlugin - issuing reward 0.005790, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.924162 +distDelta: 0.000000 avgGoalDelta: 0.000965 +ArmPlugin - issuing reward 0.002895, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.750842 +distDelta: 0.173320 avgGoalDelta: 0.087142 +ArmPlugin - issuing reward 0.261427, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.750821 +distDelta: 0.000020 avgGoalDelta: 0.043581 +ArmPlugin - issuing reward 0.130744, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.750821 +distDelta: 0.000000 avgGoalDelta: 0.021791 +ArmPlugin - issuing reward 0.065373, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.750821 +distDelta: 0.000000 avgGoalDelta: 0.010895 +ArmPlugin - issuing reward 0.032686, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.750830 +distDelta: -0.000009 avgGoalDelta: 0.005443 +ArmPlugin - issuing reward 0.016329, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.567785 +distDelta: 0.183045 avgGoalDelta: 0.094244 +ArmPlugin - issuing reward 0.282733, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.377984 +distDelta: 0.189801 avgGoalDelta: 0.142023 +ArmPlugin - issuing reward 0.426068, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.205502 +distDelta: 0.172482 avgGoalDelta: 0.157252 +ArmPlugin - issuing reward 0.471757, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.133844 +distDelta: 0.071658 avgGoalDelta: 0.114455 +ArmPlugin - issuing reward 0.343366, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0526 (001 of 019) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661496 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516815 +distDelta: 0.144681 avgGoalDelta: 0.072340 +ArmPlugin - issuing reward 0.217021, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366885 +distDelta: 0.149930 avgGoalDelta: 0.111135 +ArmPlugin - issuing reward 0.333406, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.516806 +distDelta: -0.149922 avgGoalDelta: -0.019393 +ArmPlugin - issuing reward -0.058179, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366886 +distDelta: 0.149921 avgGoalDelta: 0.065264 +ArmPlugin - issuing reward 0.195791, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213009 +distDelta: 0.153877 avgGoalDelta: 0.109570 +ArmPlugin - issuing reward 0.328711, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055195 +distDelta: 0.157814 avgGoalDelta: 0.133692 +ArmPlugin - issuing reward 0.401076, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881087 +distDelta: 0.174108 avgGoalDelta: 0.153900 +ArmPlugin - issuing reward 0.461700, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699568 +distDelta: 0.181520 avgGoalDelta: 0.167710 +ArmPlugin - issuing reward 0.503129, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520048 +distDelta: 0.179519 avgGoalDelta: 0.173615 +ArmPlugin - issuing reward 0.520844, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350443 +distDelta: 0.169605 avgGoalDelta: 0.171610 +ArmPlugin - issuing reward 0.514829, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226357 +distDelta: 0.124086 avgGoalDelta: 0.147848 +ArmPlugin - issuing reward 0.443543, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0500 (001 of 020) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665638 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521100 +distDelta: 0.144538 avgGoalDelta: 0.072269 +ArmPlugin - issuing reward 0.216807, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371290 +distDelta: 0.149809 avgGoalDelta: 0.111039 +ArmPlugin - issuing reward 0.333117, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217489 +distDelta: 0.153801 avgGoalDelta: 0.132420 +ArmPlugin - issuing reward 0.397260, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.217476 +distDelta: 0.000013 avgGoalDelta: 0.066217 +ArmPlugin - issuing reward 0.198650, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059902 +distDelta: 0.157574 avgGoalDelta: 0.111895 +ArmPlugin - issuing reward 0.335686, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886221 +distDelta: 0.173680 avgGoalDelta: 0.142788 +ArmPlugin - issuing reward 0.428364, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704723 +distDelta: 0.181499 avgGoalDelta: 0.162143 +ArmPlugin - issuing reward 0.486430, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525066 +distDelta: 0.179656 avgGoalDelta: 0.170900 +ArmPlugin - issuing reward 0.512699, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355224 +distDelta: 0.169843 avgGoalDelta: 0.170371 +ArmPlugin - issuing reward 0.511114, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228430 +distDelta: 0.126794 avgGoalDelta: 0.148583 +ArmPlugin - issuing reward 0.445748, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0476 (001 of 021) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799782 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.799785 +distDelta: -0.000003 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.799785 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799793 +distDelta: -0.000008 avgGoalDelta: -0.000005 +ArmPlugin - issuing reward -0.000014, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661518 +distDelta: 0.138275 avgGoalDelta: 0.069135 +ArmPlugin - issuing reward 0.207405, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516827 +distDelta: 0.144691 avgGoalDelta: 0.106913 +ArmPlugin - issuing reward 0.320740, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.149930 avgGoalDelta: 0.128422 +ArmPlugin - issuing reward 0.385265, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366888 +distDelta: 0.000009 avgGoalDelta: 0.064215 +ArmPlugin - issuing reward 0.192646, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: 0.032103 +ArmPlugin - issuing reward 0.096309, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.016056 +ArmPlugin - issuing reward 0.048167, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000001 avgGoalDelta: 0.008028 +ArmPlugin - issuing reward 0.024083, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: 0.004010 +ArmPlugin - issuing reward 0.012029, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.000000 avgGoalDelta: 0.002005 +ArmPlugin - issuing reward 0.006015, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000000 avgGoalDelta: 0.001003 +ArmPlugin - issuing reward 0.003008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000000 avgGoalDelta: 0.000501 +ArmPlugin - issuing reward 0.001503, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000255 +ArmPlugin - issuing reward 0.000765, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000127 +ArmPlugin - issuing reward 0.000382, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000064 +ArmPlugin - issuing reward 0.000191, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000032 +ArmPlugin - issuing reward 0.000096, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000016 +ArmPlugin - issuing reward 0.000047, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366898 +distDelta: -0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000019, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000011, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366898 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366898 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366890 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.516819 +distDelta: -0.149929 avgGoalDelta: -0.074963 +ArmPlugin - issuing reward -0.224890, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.661530 +distDelta: -0.144711 avgGoalDelta: -0.109837 +ArmPlugin - issuing reward -0.329512, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516836 +distDelta: 0.144694 avgGoalDelta: 0.017428 +ArmPlugin - issuing reward 0.052285, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516827 +distDelta: 0.000009 avgGoalDelta: 0.008719 +ArmPlugin - issuing reward 0.026156, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366906 +distDelta: 0.149921 avgGoalDelta: 0.079320 +ArmPlugin - issuing reward 0.237959, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366888 +distDelta: 0.000018 avgGoalDelta: 0.039669 +ArmPlugin - issuing reward 0.119007, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000001 avgGoalDelta: 0.019834 +ArmPlugin - issuing reward 0.059502, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366898 +distDelta: -0.000009 avgGoalDelta: 0.009913 +ArmPlugin - issuing reward 0.029738, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366898 +distDelta: 0.000000 avgGoalDelta: 0.004956 +ArmPlugin - issuing reward 0.014869, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.002483 +ArmPlugin - issuing reward 0.007448, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000001 avgGoalDelta: 0.001241 +ArmPlugin - issuing reward 0.003723, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000001 avgGoalDelta: 0.000621 +ArmPlugin - issuing reward 0.001863, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: 0.000306 +ArmPlugin - issuing reward 0.000918, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.000000 avgGoalDelta: 0.000153 +ArmPlugin - issuing reward 0.000459, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000081 +ArmPlugin - issuing reward 0.000242, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000041 +ArmPlugin - issuing reward 0.000122, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000020 +ArmPlugin - issuing reward 0.000060, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000018, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000007 +ArmPlugin - issuing reward 0.000021, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366896 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 84 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 85 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 86 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 87 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 88 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 89 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 90 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 91 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 92 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 93 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 94 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 95 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 96 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 97 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 98 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366889 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 99 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 100 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366897 +distDelta: -0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 101 +ArmPlugin - agent selected action 5 +ArmPlugin - triggering EOE, episode has exceeded 100 frames +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0455 (001 of 022) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.666588 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.579433 +distDelta: 0.087155 avgGoalDelta: 0.043577 +ArmPlugin - issuing reward 0.130732, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.433178 +distDelta: 0.146255 avgGoalDelta: 0.094916 +ArmPlugin - issuing reward 0.284748, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.282169 +distDelta: 0.151009 avgGoalDelta: 0.122963 +ArmPlugin - issuing reward 0.368888, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.127715 +distDelta: 0.154454 avgGoalDelta: 0.138708 +ArmPlugin - issuing reward 0.416125, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.965320 +distDelta: 0.162395 avgGoalDelta: 0.150552 +ArmPlugin - issuing reward 0.451655, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.786712 +distDelta: 0.178607 avgGoalDelta: 0.164579 +ArmPlugin - issuing reward 0.493738, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.605419 +distDelta: 0.181293 avgGoalDelta: 0.172936 +ArmPlugin - issuing reward 0.518809, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.605414 +distDelta: 0.000005 avgGoalDelta: 0.086471 +ArmPlugin - issuing reward 0.259412, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.426848 +distDelta: 0.178566 avgGoalDelta: 0.132518 +ArmPlugin - issuing reward 0.397555, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.262970 +distDelta: 0.163878 avgGoalDelta: 0.148198 +ArmPlugin - issuing reward 0.444595, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.193606 +distDelta: 0.069364 avgGoalDelta: 0.108781 +ArmPlugin - issuing reward 0.326344, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0435 (001 of 023) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663032 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518429 +distDelta: 0.144603 avgGoalDelta: 0.072302 +ArmPlugin - issuing reward 0.216905, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368563 +distDelta: 0.149866 avgGoalDelta: 0.111084 +ArmPlugin - issuing reward 0.333251, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.453122 +distDelta: -0.084560 avgGoalDelta: 0.013262 +ArmPlugin - issuing reward 0.039786, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.300328 +distDelta: 0.152794 avgGoalDelta: 0.083028 +ArmPlugin - issuing reward 0.249084, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.144426 +distDelta: 0.155902 avgGoalDelta: 0.119465 +ArmPlugin - issuing reward 0.358395, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.978973 +distDelta: 0.165454 avgGoalDelta: 0.142459 +ArmPlugin - issuing reward 0.427378, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.798579 +distDelta: 0.180394 avgGoalDelta: 0.161426 +ArmPlugin - issuing reward 0.484280, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.617329 +distDelta: 0.181250 avgGoalDelta: 0.171338 +ArmPlugin - issuing reward 0.514014, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.442078 +distDelta: 0.175251 avgGoalDelta: 0.173295 +ArmPlugin - issuing reward 0.519884, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.289418 +distDelta: 0.152660 avgGoalDelta: 0.162977 +ArmPlugin - issuing reward 0.488932, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.220209 +distDelta: 0.069209 avgGoalDelta: 0.116093 +ArmPlugin - issuing reward 0.348280, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0417 (001 of 024) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662823 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.743374 +distDelta: -0.080552 avgGoalDelta: -0.040276 +ArmPlugin - issuing reward -0.120827, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.600929 +distDelta: 0.142445 avgGoalDelta: 0.051085 +ArmPlugin - issuing reward 0.153254, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.452668 +distDelta: 0.148261 avgGoalDelta: 0.099673 +ArmPlugin - issuing reward 0.299018, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.299841 +distDelta: 0.152827 avgGoalDelta: 0.126250 +ArmPlugin - issuing reward 0.378749, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.143915 +distDelta: 0.155926 avgGoalDelta: 0.141088 +ArmPlugin - issuing reward 0.423264, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.978370 +distDelta: 0.165546 avgGoalDelta: 0.153317 +ArmPlugin - issuing reward 0.459951, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.797933 +distDelta: 0.180437 avgGoalDelta: 0.166877 +ArmPlugin - issuing reward 0.500630, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.616700 +distDelta: 0.181233 avgGoalDelta: 0.174055 +ArmPlugin - issuing reward 0.522165, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.441507 +distDelta: 0.175192 avgGoalDelta: 0.174624 +ArmPlugin - issuing reward 0.523871, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.289118 +distDelta: 0.152389 avgGoalDelta: 0.163506 +ArmPlugin - issuing reward 0.490519, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.220257 +distDelta: 0.068861 avgGoalDelta: 0.116184 +ArmPlugin - issuing reward 0.348552, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0400 (001 of 025) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664725 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520162 +distDelta: 0.144563 avgGoalDelta: 0.072281 +ArmPlugin - issuing reward 0.216844, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370324 +distDelta: 0.149838 avgGoalDelta: 0.111060 +ArmPlugin - issuing reward 0.333180, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216511 +distDelta: 0.153813 avgGoalDelta: 0.132436 +ArmPlugin - issuing reward 0.397309, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058889 +distDelta: 0.157622 avgGoalDelta: 0.145029 +ArmPlugin - issuing reward 0.435088, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.963061 +distDelta: 0.095827 avgGoalDelta: 0.120428 +ArmPlugin - issuing reward 0.361285, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.058879 +distDelta: -0.095817 avgGoalDelta: 0.012306 +ArmPlugin - issuing reward 0.036917, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885129 +distDelta: 0.173750 avgGoalDelta: 0.093028 +ArmPlugin - issuing reward 0.279083, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703625 +distDelta: 0.181504 avgGoalDelta: 0.137266 +ArmPlugin - issuing reward 0.411797, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523988 +distDelta: 0.179637 avgGoalDelta: 0.158451 +ArmPlugin - issuing reward 0.475354, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.354165 +distDelta: 0.169823 avgGoalDelta: 0.164137 +ArmPlugin - issuing reward 0.492411, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227925 +distDelta: 0.126240 avgGoalDelta: 0.145189 +ArmPlugin - issuing reward 0.435566, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0385 (001 of 026) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.660592 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.515895 +distDelta: 0.144697 avgGoalDelta: 0.072348 +ArmPlugin - issuing reward 0.217045, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.365938 +distDelta: 0.149957 avgGoalDelta: 0.111153 +ArmPlugin - issuing reward 0.333458, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.212060 +distDelta: 0.153879 avgGoalDelta: 0.132516 +ArmPlugin - issuing reward 0.397547, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.054192 +distDelta: 0.157867 avgGoalDelta: 0.145192 +ArmPlugin - issuing reward 0.435575, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.880005 +distDelta: 0.174187 avgGoalDelta: 0.159689 +ArmPlugin - issuing reward 0.479068, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.975925 +distDelta: -0.095920 avgGoalDelta: 0.031885 +ArmPlugin - issuing reward 0.095654, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.795429 +distDelta: 0.180496 avgGoalDelta: 0.106190 +ArmPlugin - issuing reward 0.318571, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.614214 +distDelta: 0.181215 avgGoalDelta: 0.143703 +ArmPlugin - issuing reward 0.431108, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.439172 +distDelta: 0.175042 avgGoalDelta: 0.159372 +ArmPlugin - issuing reward 0.478117, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.287168 +distDelta: 0.152004 avgGoalDelta: 0.155688 +ArmPlugin - issuing reward 0.467064, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.219719 +distDelta: 0.067449 avgGoalDelta: 0.111569 +ArmPlugin - issuing reward 0.334706, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0370 (001 of 027) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665576 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521042 +distDelta: 0.144534 avgGoalDelta: 0.072267 +ArmPlugin - issuing reward 0.216801, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371219 +distDelta: 0.149823 avgGoalDelta: 0.111045 +ArmPlugin - issuing reward 0.333135, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217406 +distDelta: 0.153813 avgGoalDelta: 0.132429 +ArmPlugin - issuing reward 0.397287, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059829 +distDelta: 0.157578 avgGoalDelta: 0.145003 +ArmPlugin - issuing reward 0.435010, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886129 +distDelta: 0.173699 avgGoalDelta: 0.159351 +ArmPlugin - issuing reward 0.478054, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704628 +distDelta: 0.181501 avgGoalDelta: 0.170426 +ArmPlugin - issuing reward 0.511278, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524976 +distDelta: 0.179652 avgGoalDelta: 0.175039 +ArmPlugin - issuing reward 0.525118, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355151 +distDelta: 0.169825 avgGoalDelta: 0.172432 +ArmPlugin - issuing reward 0.517297, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228416 +distDelta: 0.126734 avgGoalDelta: 0.149583 +ArmPlugin - issuing reward 0.448750, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0357 (001 of 028) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661445 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516769 +distDelta: 0.144677 avgGoalDelta: 0.072338 +ArmPlugin - issuing reward 0.217015, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366826 +distDelta: 0.149943 avgGoalDelta: 0.111141 +ArmPlugin - issuing reward 0.333422, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.212947 +distDelta: 0.153879 avgGoalDelta: 0.132510 +ArmPlugin - issuing reward 0.397530, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055136 +distDelta: 0.157810 avgGoalDelta: 0.145160 +ArmPlugin - issuing reward 0.435481, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881008 +distDelta: 0.174128 avgGoalDelta: 0.159644 +ArmPlugin - issuing reward 0.478932, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699489 +distDelta: 0.181519 avgGoalDelta: 0.170581 +ArmPlugin - issuing reward 0.511744, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.519981 +distDelta: 0.179509 avgGoalDelta: 0.175045 +ArmPlugin - issuing reward 0.525135, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350391 +distDelta: 0.169589 avgGoalDelta: 0.172317 +ArmPlugin - issuing reward 0.516952, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350396 +distDelta: -0.000005 avgGoalDelta: 0.086156 +ArmPlugin - issuing reward 0.258469, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226352 +distDelta: 0.124044 avgGoalDelta: 0.105100 +ArmPlugin - issuing reward 0.315301, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0345 (001 of 029) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665588 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521045 +distDelta: 0.144543 avgGoalDelta: 0.072271 +ArmPlugin - issuing reward 0.216814, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371232 +distDelta: 0.149813 avgGoalDelta: 0.111042 +ArmPlugin - issuing reward 0.333127, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.371215 +distDelta: 0.000018 avgGoalDelta: 0.055530 +ArmPlugin - issuing reward 0.166590, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217429 +distDelta: 0.153786 avgGoalDelta: 0.104658 +ArmPlugin - issuing reward 0.313973, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217406 +distDelta: 0.000023 avgGoalDelta: 0.052340 +ArmPlugin - issuing reward 0.157021, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217416 +distDelta: -0.000010 avgGoalDelta: 0.026165 +ArmPlugin - issuing reward 0.078496, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217407 +distDelta: 0.000009 avgGoalDelta: 0.013087 +ArmPlugin - issuing reward 0.039262, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217416 +distDelta: -0.000009 avgGoalDelta: 0.006539 +ArmPlugin - issuing reward 0.019617, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217407 +distDelta: 0.000009 avgGoalDelta: 0.003274 +ArmPlugin - issuing reward 0.009822, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217407 +distDelta: -0.000000 avgGoalDelta: 0.001637 +ArmPlugin - issuing reward 0.004911, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217416 +distDelta: -0.000009 avgGoalDelta: 0.000814 +ArmPlugin - issuing reward 0.002442, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217407 +distDelta: 0.000009 avgGoalDelta: 0.000411 +ArmPlugin - issuing reward 0.001234, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.217408 +distDelta: -0.000001 avgGoalDelta: 0.000205 +ArmPlugin - issuing reward 0.000616, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.302832 +distDelta: -0.085425 avgGoalDelta: -0.042610 +ArmPlugin - issuing reward -0.127829, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.302840 +distDelta: -0.000008 avgGoalDelta: -0.021309 +ArmPlugin - issuing reward -0.063927, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.302838 +distDelta: 0.000002 avgGoalDelta: -0.010653 +ArmPlugin - issuing reward -0.031960, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.302839 +distDelta: -0.000001 avgGoalDelta: -0.005327 +ArmPlugin - issuing reward -0.015981, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.302847 +distDelta: -0.000008 avgGoalDelta: -0.002667 +ArmPlugin - issuing reward -0.008002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.302847 +distDelta: -0.000000 avgGoalDelta: -0.001334 +ArmPlugin - issuing reward -0.004001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 1.382517 +distDelta: -0.079670 avgGoalDelta: -0.040502 +ArmPlugin - issuing reward -0.121506, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382521 +distDelta: -0.000004 avgGoalDelta: -0.020253 +ArmPlugin - issuing reward -0.060759, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000002 avgGoalDelta: -0.010125 +ArmPlugin - issuing reward -0.030376, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: -0.005063 +ArmPlugin - issuing reward -0.015189, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: -0.002531 +ArmPlugin - issuing reward -0.007594, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: -0.001266 +ArmPlugin - issuing reward -0.003797, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: -0.000633 +ArmPlugin - issuing reward -0.001898, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000321 +ArmPlugin - issuing reward -0.000962, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000160 +ArmPlugin - issuing reward -0.000481, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000000 avgGoalDelta: -0.000080 +ArmPlugin - issuing reward -0.000241, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: -0.000036 +ArmPlugin - issuing reward -0.000107, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000022 +ArmPlugin - issuing reward -0.000067, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: -0.000007 +ArmPlugin - issuing reward -0.000020, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000009 avgGoalDelta: -0.000006 +ArmPlugin - issuing reward -0.000018, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382528 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382520 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382520 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000007 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 84 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 85 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 86 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 87 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 88 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 89 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 90 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000008 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000011, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 91 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: -0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 92 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 93 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 94 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 95 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 96 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 97 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000011, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 98 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 99 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382527 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 100 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.382519 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 101 +ArmPlugin - agent selected action 4 +ArmPlugin - triggering EOE, episode has exceeded 100 frames +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0333 (001 of 030) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800913 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800913 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800923 +distDelta: -0.000007 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800916 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800923 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.800915 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662663 +distDelta: 0.138252 avgGoalDelta: 0.069127 +ArmPlugin - issuing reward 0.207382, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662683 +distDelta: -0.000020 avgGoalDelta: 0.034554 +ArmPlugin - issuing reward 0.103661, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000008 avgGoalDelta: 0.017281 +ArmPlugin - issuing reward 0.051842, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: -0.000001 avgGoalDelta: 0.008640 +ArmPlugin - issuing reward 0.025920, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: 0.000000 avgGoalDelta: 0.004320 +ArmPlugin - issuing reward 0.012960, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.002160 +ArmPlugin - issuing reward 0.006480, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: -0.000000 avgGoalDelta: 0.001080 +ArmPlugin - issuing reward 0.003240, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000001 avgGoalDelta: 0.000540 +ArmPlugin - issuing reward 0.001621, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662683 +distDelta: -0.000008 avgGoalDelta: 0.000266 +ArmPlugin - issuing reward 0.000799, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000008 avgGoalDelta: 0.000137 +ArmPlugin - issuing reward 0.000411, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: -0.000001 avgGoalDelta: 0.000068 +ArmPlugin - issuing reward 0.000204, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: 0.000000 avgGoalDelta: 0.000034 +ArmPlugin - issuing reward 0.000102, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000001 avgGoalDelta: 0.000017 +ArmPlugin - issuing reward 0.000052, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000009 +ArmPlugin - issuing reward 0.000026, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000013, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662676 +distDelta: -0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662675 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.662683 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 1.575460 +distDelta: 0.087223 avgGoalDelta: 0.043609 +ArmPlugin - issuing reward 0.130828, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575467 +distDelta: -0.000007 avgGoalDelta: 0.021801 +ArmPlugin - issuing reward 0.065403, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000002 avgGoalDelta: 0.010900 +ArmPlugin - issuing reward 0.032699, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: 0.000000 avgGoalDelta: 0.005450 +ArmPlugin - issuing reward 0.016350, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.002725 +ArmPlugin - issuing reward 0.008176, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.001362 +ArmPlugin - issuing reward 0.004086, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: 0.000000 avgGoalDelta: 0.000681 +ArmPlugin - issuing reward 0.002043, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000341 +ArmPlugin - issuing reward 0.001023, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000171 +ArmPlugin - issuing reward 0.000512, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.000085 +ArmPlugin - issuing reward 0.000254, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000043 +ArmPlugin - issuing reward 0.000128, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.000021 +ArmPlugin - issuing reward 0.000063, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000011 +ArmPlugin - issuing reward 0.000033, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000015, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575476 +distDelta: -0.000007 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000008 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575470 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575470 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575470 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575470 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 84 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575476 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 85 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 86 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 87 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 88 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 89 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 90 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 91 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 92 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 93 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575476 +distDelta: -0.000007 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 94 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575469 +distDelta: 0.000007 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 95 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 96 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 97 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 98 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 99 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 100 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.575468 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 101 +ArmPlugin - agent selected action 4 +ArmPlugin - triggering EOE, episode has exceeded 100 frames +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0323 (001 of 031) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799726 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799728 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799737 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000011, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799729 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799730 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661462 +distDelta: 0.138267 avgGoalDelta: 0.069133 +ArmPlugin - issuing reward 0.207400, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661475 +distDelta: -0.000012 avgGoalDelta: 0.034561 +ArmPlugin - issuing reward 0.103682, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661474 +distDelta: 0.000000 avgGoalDelta: 0.017280 +ArmPlugin - issuing reward 0.051841, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516787 +distDelta: 0.144687 avgGoalDelta: 0.080984 +ArmPlugin - issuing reward 0.242951, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516787 +distDelta: 0.000000 avgGoalDelta: 0.040492 +ArmPlugin - issuing reward 0.121476, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516788 +distDelta: -0.000000 avgGoalDelta: 0.020246 +ArmPlugin - issuing reward 0.060737, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366865 +distDelta: 0.149923 avgGoalDelta: 0.085084 +ArmPlugin - issuing reward 0.255253, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.366857 +distDelta: 0.000008 avgGoalDelta: 0.042546 +ArmPlugin - issuing reward 0.127639, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213004 +distDelta: 0.153853 avgGoalDelta: 0.098199 +ArmPlugin - issuing reward 0.294598, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055192 +distDelta: 0.157812 avgGoalDelta: 0.128006 +ArmPlugin - issuing reward 0.384018, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881098 +distDelta: 0.174094 avgGoalDelta: 0.151050 +ArmPlugin - issuing reward 0.453149, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699581 +distDelta: 0.181517 avgGoalDelta: 0.166283 +ArmPlugin - issuing reward 0.498850, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520057 +distDelta: 0.179524 avgGoalDelta: 0.172904 +ArmPlugin - issuing reward 0.518712, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350408 +distDelta: 0.169649 avgGoalDelta: 0.171276 +ArmPlugin - issuing reward 0.513829, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226282 +distDelta: 0.124126 avgGoalDelta: 0.147701 +ArmPlugin - issuing reward 0.443103, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0312 (001 of 032) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665602 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.665616 +distDelta: -0.000014 avgGoalDelta: -0.000007 +ArmPlugin - issuing reward -0.000020, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.665617 +distDelta: -0.000001 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.665617 +distDelta: -0.000001 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521083 +distDelta: 0.144535 avgGoalDelta: 0.072266 +ArmPlugin - issuing reward 0.216799, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371262 +distDelta: 0.149821 avgGoalDelta: 0.111043 +ArmPlugin - issuing reward 0.333130, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217467 +distDelta: 0.153794 avgGoalDelta: 0.132419 +ArmPlugin - issuing reward 0.397257, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059897 +distDelta: 0.157571 avgGoalDelta: 0.144995 +ArmPlugin - issuing reward 0.434984, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886235 +distDelta: 0.173662 avgGoalDelta: 0.159328 +ArmPlugin - issuing reward 0.477985, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704726 +distDelta: 0.181509 avgGoalDelta: 0.170418 +ArmPlugin - issuing reward 0.511255, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525076 +distDelta: 0.179650 avgGoalDelta: 0.175034 +ArmPlugin - issuing reward 0.525103, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355183 +distDelta: 0.169893 avgGoalDelta: 0.172464 +ArmPlugin - issuing reward 0.517391, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.525070 +distDelta: -0.169888 avgGoalDelta: 0.001288 +ArmPlugin - issuing reward 0.003864, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355183 +distDelta: 0.169888 avgGoalDelta: 0.085588 +ArmPlugin - issuing reward 0.256764, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228357 +distDelta: 0.126826 avgGoalDelta: 0.106207 +ArmPlugin - issuing reward 0.318620, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0303 (001 of 033) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799737 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: -0.000003 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799748 +distDelta: -0.000008 avgGoalDelta: -0.000005 +ArmPlugin - issuing reward -0.000015, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000008 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799740 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.799741 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661475 +distDelta: 0.138266 avgGoalDelta: 0.069133 +ArmPlugin - issuing reward 0.207399, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661486 +distDelta: -0.000011 avgGoalDelta: 0.034561 +ArmPlugin - issuing reward 0.103682, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661486 +distDelta: 0.000000 avgGoalDelta: 0.017280 +ArmPlugin - issuing reward 0.051841, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661495 +distDelta: -0.000009 avgGoalDelta: 0.008636 +ArmPlugin - issuing reward 0.025908, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661486 +distDelta: 0.000009 avgGoalDelta: 0.004322 +ArmPlugin - issuing reward 0.012967, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661487 +distDelta: -0.000000 avgGoalDelta: 0.002161 +ArmPlugin - issuing reward 0.006483, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661486 +distDelta: 0.000000 avgGoalDelta: 0.001081 +ArmPlugin - issuing reward 0.003242, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.661486 +distDelta: 0.000000 avgGoalDelta: 0.000540 +ArmPlugin - issuing reward 0.001621, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.144686 avgGoalDelta: 0.072613 +ArmPlugin - issuing reward 0.217840, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: -0.000000 avgGoalDelta: 0.036306 +ArmPlugin - issuing reward 0.108919, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000000 avgGoalDelta: 0.018153 +ArmPlugin - issuing reward 0.054460, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516801 +distDelta: -0.000001 avgGoalDelta: 0.009076 +ArmPlugin - issuing reward 0.027228, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000001 avgGoalDelta: 0.004539 +ArmPlugin - issuing reward 0.013616, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516801 +distDelta: -0.000001 avgGoalDelta: 0.002269 +ArmPlugin - issuing reward 0.006807, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000001 avgGoalDelta: 0.001135 +ArmPlugin - issuing reward 0.003404, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000000 avgGoalDelta: 0.000567 +ArmPlugin - issuing reward 0.001702, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000000 avgGoalDelta: 0.000284 +ArmPlugin - issuing reward 0.000851, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.516801 +distDelta: -0.000001 avgGoalDelta: 0.000141 +ArmPlugin - issuing reward 0.000424, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516800 +distDelta: 0.000001 avgGoalDelta: 0.000071 +ArmPlugin - issuing reward 0.000213, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516801 +distDelta: -0.000001 avgGoalDelta: 0.000035 +ArmPlugin - issuing reward 0.000106, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.516801 +distDelta: 0.000000 avgGoalDelta: 0.000018 +ArmPlugin - issuing reward 0.000053, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366879 +distDelta: 0.149922 avgGoalDelta: 0.074970 +ArmPlugin - issuing reward 0.224910, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213008 +distDelta: 0.153870 avgGoalDelta: 0.114420 +ArmPlugin - issuing reward 0.343260, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055205 +distDelta: 0.157803 avgGoalDelta: 0.136112 +ArmPlugin - issuing reward 0.408335, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881114 +distDelta: 0.174091 avgGoalDelta: 0.155101 +ArmPlugin - issuing reward 0.465304, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.780272 +distDelta: 0.100842 avgGoalDelta: 0.127971 +ArmPlugin - issuing reward 0.383914, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.675880 +distDelta: 0.104393 avgGoalDelta: 0.116182 +ArmPlugin - issuing reward 0.348546, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.566639 +distDelta: 0.109240 avgGoalDelta: 0.112711 +ArmPlugin - issuing reward 0.338134, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.447738 +distDelta: 0.118901 avgGoalDelta: 0.115806 +ArmPlugin - issuing reward 0.347419, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.329877 +distDelta: 0.117861 avgGoalDelta: 0.116834 +ArmPlugin - issuing reward 0.350501, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.218278 +distDelta: 0.111598 avgGoalDelta: 0.114216 +ArmPlugin - issuing reward 0.342648, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.117519 +distDelta: 0.100759 avgGoalDelta: 0.107488 +ArmPlugin - issuing reward 0.322463, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117525 +distDelta: -0.000006 avgGoalDelta: 0.053741 +ArmPlugin - issuing reward 0.161223, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.027395 +distDelta: 0.090130 avgGoalDelta: 0.071936 +ArmPlugin - issuing reward 0.215807, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.117532 +distDelta: -0.090138 avgGoalDelta: -0.009101 +ArmPlugin - issuing reward -0.027303, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117524 +distDelta: 0.000008 avgGoalDelta: -0.004547 +ArmPlugin - issuing reward -0.013640, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117525 +distDelta: -0.000001 avgGoalDelta: -0.002274 +ArmPlugin - issuing reward -0.006821, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117525 +distDelta: -0.000000 avgGoalDelta: -0.001137 +ArmPlugin - issuing reward -0.003411, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117525 +distDelta: -0.000000 avgGoalDelta: -0.000568 +ArmPlugin - issuing reward -0.001705, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117524 +distDelta: 0.000001 avgGoalDelta: -0.000284 +ArmPlugin - issuing reward -0.000851, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.117524 +distDelta: -0.000000 avgGoalDelta: -0.000142 +ArmPlugin - issuing reward -0.000425, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.296486 +distDelta: -0.178963 avgGoalDelta: -0.089552 +ArmPlugin - issuing reward -0.268657, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.195724 +distDelta: 0.100762 avgGoalDelta: 0.005605 +ArmPlugin - issuing reward 0.016815, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.115954 +distDelta: 0.079770 avgGoalDelta: 0.042687 +ArmPlugin - issuing reward 0.128062, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.115961 +distDelta: -0.000006 avgGoalDelta: 0.021340 +ArmPlugin - issuing reward 0.064021, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.115960 +distDelta: 0.000001 avgGoalDelta: 0.010671 +ArmPlugin - issuing reward 0.032013, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.115960 +distDelta: -0.000001 avgGoalDelta: 0.005335 +ArmPlugin - issuing reward 0.016005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.115961 +distDelta: -0.000000 avgGoalDelta: 0.002667 +ArmPlugin - issuing reward 0.008002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.115960 +distDelta: 0.000001 avgGoalDelta: 0.001334 +ArmPlugin - issuing reward 0.004003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.065288 +distDelta: 0.050672 avgGoalDelta: 0.026003 +ArmPlugin - issuing reward 0.078009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0294 (001 of 034) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664680 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.664694 +distDelta: -0.000014 avgGoalDelta: -0.000007 +ArmPlugin - issuing reward -0.000021, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.664695 +distDelta: -0.000001 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.664695 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520139 +distDelta: 0.144556 avgGoalDelta: 0.072277 +ArmPlugin - issuing reward 0.216831, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.520147 +distDelta: -0.000008 avgGoalDelta: 0.036134 +ArmPlugin - issuing reward 0.108403, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.520148 +distDelta: -0.000001 avgGoalDelta: 0.018067 +ArmPlugin - issuing reward 0.054200, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.520139 +distDelta: 0.000009 avgGoalDelta: 0.009038 +ArmPlugin - issuing reward 0.027113, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.520140 +distDelta: -0.000000 avgGoalDelta: 0.004519 +ArmPlugin - issuing reward 0.013556, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370320 +distDelta: 0.149820 avgGoalDelta: 0.077169 +ArmPlugin - issuing reward 0.231508, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216522 +distDelta: 0.153797 avgGoalDelta: 0.115483 +ArmPlugin - issuing reward 0.346450, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058931 +distDelta: 0.157591 avgGoalDelta: 0.136537 +ArmPlugin - issuing reward 0.409612, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885200 +distDelta: 0.173730 avgGoalDelta: 0.155134 +ArmPlugin - issuing reward 0.465402, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885196 +distDelta: 0.000004 avgGoalDelta: 0.077569 +ArmPlugin - issuing reward 0.232707, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885197 +distDelta: -0.000001 avgGoalDelta: 0.038784 +ArmPlugin - issuing reward 0.116353, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885197 +distDelta: -0.000000 avgGoalDelta: 0.019392 +ArmPlugin - issuing reward 0.058176, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885197 +distDelta: 0.000000 avgGoalDelta: 0.009696 +ArmPlugin - issuing reward 0.029088, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885197 +distDelta: 0.000000 avgGoalDelta: 0.004848 +ArmPlugin - issuing reward 0.014544, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885188 +distDelta: 0.000009 avgGoalDelta: 0.002429 +ArmPlugin - issuing reward 0.007286, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.885197 +distDelta: -0.000009 avgGoalDelta: 0.001210 +ArmPlugin - issuing reward 0.003629, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703693 +distDelta: 0.181504 avgGoalDelta: 0.091357 +ArmPlugin - issuing reward 0.274070, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.703694 +distDelta: -0.000001 avgGoalDelta: 0.045678 +ArmPlugin - issuing reward 0.137034, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524063 +distDelta: 0.179631 avgGoalDelta: 0.112655 +ArmPlugin - issuing reward 0.337964, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524061 +distDelta: 0.000002 avgGoalDelta: 0.056328 +ArmPlugin - issuing reward 0.168985, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524061 +distDelta: 0.000000 avgGoalDelta: 0.028164 +ArmPlugin - issuing reward 0.084492, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524061 +distDelta: -0.000000 avgGoalDelta: 0.014082 +ArmPlugin - issuing reward 0.042246, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524061 +distDelta: 0.000000 avgGoalDelta: 0.007041 +ArmPlugin - issuing reward 0.021123, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524052 +distDelta: 0.000009 avgGoalDelta: 0.003525 +ArmPlugin - issuing reward 0.010575, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524052 +distDelta: -0.000000 avgGoalDelta: 0.001762 +ArmPlugin - issuing reward 0.005287, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.619357 +distDelta: -0.095305 avgGoalDelta: -0.046771 +ArmPlugin - issuing reward -0.140314, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.443980 +distDelta: 0.175377 avgGoalDelta: 0.064303 +ArmPlugin - issuing reward 0.192908, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.290937 +distDelta: 0.153043 avgGoalDelta: 0.108673 +ArmPlugin - issuing reward 0.326019, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.220555 +distDelta: 0.070382 avgGoalDelta: 0.089527 +ArmPlugin - issuing reward 0.268582, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0286 (001 of 035) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664471 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519878 +distDelta: 0.144594 avgGoalDelta: 0.072297 +ArmPlugin - issuing reward 0.216890, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370014 +distDelta: 0.149864 avgGoalDelta: 0.111080 +ArmPlugin - issuing reward 0.333241, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216180 +distDelta: 0.153834 avgGoalDelta: 0.132457 +ArmPlugin - issuing reward 0.397371, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058519 +distDelta: 0.157662 avgGoalDelta: 0.145059 +ArmPlugin - issuing reward 0.435178, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884696 +distDelta: 0.173823 avgGoalDelta: 0.159441 +ArmPlugin - issuing reward 0.478323, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703182 +distDelta: 0.181514 avgGoalDelta: 0.170478 +ArmPlugin - issuing reward 0.511433, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523563 +distDelta: 0.179619 avgGoalDelta: 0.175048 +ArmPlugin - issuing reward 0.525144, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353860 +distDelta: 0.169704 avgGoalDelta: 0.172376 +ArmPlugin - issuing reward 0.517128, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227920 +distDelta: 0.125940 avgGoalDelta: 0.149158 +ArmPlugin - issuing reward 0.447474, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0278 (001 of 036) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665532 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521010 +distDelta: 0.144522 avgGoalDelta: 0.072261 +ArmPlugin - issuing reward 0.216783, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371215 +distDelta: 0.149795 avgGoalDelta: 0.111028 +ArmPlugin - issuing reward 0.333084, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217417 +distDelta: 0.153798 avgGoalDelta: 0.132413 +ArmPlugin - issuing reward 0.397239, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059854 +distDelta: 0.157563 avgGoalDelta: 0.144988 +ArmPlugin - issuing reward 0.434964, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886212 +distDelta: 0.173642 avgGoalDelta: 0.159315 +ArmPlugin - issuing reward 0.477946, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704696 +distDelta: 0.181516 avgGoalDelta: 0.170415 +ArmPlugin - issuing reward 0.511246, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000007 avgGoalDelta: 0.085211 +ArmPlugin - issuing reward 0.255634, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: -0.000000 avgGoalDelta: 0.042606 +ArmPlugin - issuing reward 0.127817, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.021302 +ArmPlugin - issuing reward 0.063907, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000001 avgGoalDelta: 0.010652 +ArmPlugin - issuing reward 0.031955, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.005325 +ArmPlugin - issuing reward 0.015976, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000001 avgGoalDelta: 0.002663 +ArmPlugin - issuing reward 0.007989, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000000 avgGoalDelta: 0.001332 +ArmPlugin - issuing reward 0.003995, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: 0.000662 +ArmPlugin - issuing reward 0.001985, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000335 +ArmPlugin - issuing reward 0.001005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.801576 +distDelta: -0.096887 avgGoalDelta: -0.048276 +ArmPlugin - issuing reward -0.144828, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.801587 +distDelta: -0.000011 avgGoalDelta: -0.024143 +ArmPlugin - issuing reward -0.072430, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.801586 +distDelta: 0.000001 avgGoalDelta: -0.012071 +ArmPlugin - issuing reward -0.036214, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.801577 +distDelta: 0.000009 avgGoalDelta: -0.006031 +ArmPlugin - issuing reward -0.018093, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.704691 +distDelta: 0.096886 avgGoalDelta: 0.045427 +ArmPlugin - issuing reward 0.136282, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704688 +distDelta: 0.000003 avgGoalDelta: 0.022715 +ArmPlugin - issuing reward 0.068146, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000010 avgGoalDelta: 0.011353 +ArmPlugin - issuing reward 0.034058, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.005681 +ArmPlugin - issuing reward 0.017042, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: -0.000000 avgGoalDelta: 0.002840 +ArmPlugin - issuing reward 0.008521, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000000 avgGoalDelta: 0.001420 +ArmPlugin - issuing reward 0.004260, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: 0.000706 +ArmPlugin - issuing reward 0.002117, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000000 avgGoalDelta: 0.000353 +ArmPlugin - issuing reward 0.001058, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.000000 avgGoalDelta: 0.000177 +ArmPlugin - issuing reward 0.000530, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.000000 avgGoalDelta: 0.000088 +ArmPlugin - issuing reward 0.000265, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000049 +ArmPlugin - issuing reward 0.000146, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.000024 +ArmPlugin - issuing reward 0.000072, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000000 avgGoalDelta: 0.000012 +ArmPlugin - issuing reward 0.000036, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000015, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: -0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: -0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.886184 +distDelta: -0.181494 avgGoalDelta: -0.090746 +ArmPlugin - issuing reward -0.272238, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.181486 avgGoalDelta: 0.045370 +ArmPlugin - issuing reward 0.136110, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000001 avgGoalDelta: 0.022685 +ArmPlugin - issuing reward 0.068056, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000000 avgGoalDelta: 0.011343 +ArmPlugin - issuing reward 0.034028, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000000 avgGoalDelta: 0.005671 +ArmPlugin - issuing reward 0.017014, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000000 avgGoalDelta: 0.002836 +ArmPlugin - issuing reward 0.008507, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704690 +distDelta: 0.000007 avgGoalDelta: 0.001421 +ArmPlugin - issuing reward 0.004264, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000001 avgGoalDelta: 0.000711 +ArmPlugin - issuing reward 0.002134, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: 0.000351 +ArmPlugin - issuing reward 0.001054, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000000 avgGoalDelta: 0.000176 +ArmPlugin - issuing reward 0.000527, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: 0.000000 avgGoalDelta: 0.000088 +ArmPlugin - issuing reward 0.000264, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000048 +ArmPlugin - issuing reward 0.000145, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000000 avgGoalDelta: 0.000024 +ArmPlugin - issuing reward 0.000073, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: -0.000000 avgGoalDelta: 0.000012 +ArmPlugin - issuing reward 0.000036, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704698 +distDelta: -0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000009 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000014, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704689 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.704697 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525035 +distDelta: 0.179662 avgGoalDelta: 0.089831 +ArmPlugin - issuing reward 0.269493, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355108 +distDelta: 0.169927 avgGoalDelta: 0.129879 +ArmPlugin - issuing reward 0.389637, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.355119 +distDelta: -0.000011 avgGoalDelta: 0.064934 +ArmPlugin - issuing reward 0.194802, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228268 +distDelta: 0.126851 avgGoalDelta: 0.095893 +ArmPlugin - issuing reward 0.287678, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0270 (001 of 037) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664483 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519872 +distDelta: 0.144610 avgGoalDelta: 0.072305 +ArmPlugin - issuing reward 0.216916, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370035 +distDelta: 0.149838 avgGoalDelta: 0.111071 +ArmPlugin - issuing reward 0.333214, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216193 +distDelta: 0.153841 avgGoalDelta: 0.132456 +ArmPlugin - issuing reward 0.397369, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058532 +distDelta: 0.157661 avgGoalDelta: 0.145059 +ArmPlugin - issuing reward 0.435177, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884703 +distDelta: 0.173829 avgGoalDelta: 0.159444 +ArmPlugin - issuing reward 0.478332, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703188 +distDelta: 0.181515 avgGoalDelta: 0.170479 +ArmPlugin - issuing reward 0.511438, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523578 +distDelta: 0.179610 avgGoalDelta: 0.175045 +ArmPlugin - issuing reward 0.525134, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.523578 +distDelta: 0.000001 avgGoalDelta: 0.087523 +ArmPlugin - issuing reward 0.262568, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.523578 +distDelta: -0.000000 avgGoalDelta: 0.043761 +ArmPlugin - issuing reward 0.131283, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.523585 +distDelta: -0.000007 avgGoalDelta: 0.021877 +ArmPlugin - issuing reward 0.065631, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.424157 +distDelta: 0.099428 avgGoalDelta: 0.060652 +ArmPlugin - issuing reward 0.181957, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424162 +distDelta: -0.000005 avgGoalDelta: 0.030324 +ArmPlugin - issuing reward 0.090971, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000001 avgGoalDelta: 0.015162 +ArmPlugin - issuing reward 0.045485, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.007581 +ArmPlugin - issuing reward 0.022743, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424164 +distDelta: -0.000001 avgGoalDelta: 0.003790 +ArmPlugin - issuing reward 0.011370, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.001895 +ArmPlugin - issuing reward 0.005686, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424171 +distDelta: -0.000008 avgGoalDelta: 0.000944 +ArmPlugin - issuing reward 0.002831, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000008 avgGoalDelta: 0.000476 +ArmPlugin - issuing reward 0.001428, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000001 avgGoalDelta: 0.000238 +ArmPlugin - issuing reward 0.000713, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000119 +ArmPlugin - issuing reward 0.000357, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000060 +ArmPlugin - issuing reward 0.000179, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000001 avgGoalDelta: 0.000029 +ArmPlugin - issuing reward 0.000088, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000015 +ArmPlugin - issuing reward 0.000044, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000023, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000001 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000011, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424164 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424164 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424164 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424164 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.424163 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.315326 +distDelta: 0.108836 avgGoalDelta: 0.054418 +ArmPlugin - issuing reward 0.163255, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.208033 +distDelta: 0.107293 avgGoalDelta: 0.080856 +ArmPlugin - issuing reward 0.242567, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.208044 +distDelta: -0.000011 avgGoalDelta: 0.040423 +ArmPlugin - issuing reward 0.121268, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.208043 +distDelta: 0.000001 avgGoalDelta: 0.020212 +ArmPlugin - issuing reward 0.060635, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.208044 +distDelta: -0.000000 avgGoalDelta: 0.010106 +ArmPlugin - issuing reward 0.030317, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.208043 +distDelta: 0.000000 avgGoalDelta: 0.005053 +ArmPlugin - issuing reward 0.015159, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.208043 +distDelta: 0.000000 avgGoalDelta: 0.002527 +ArmPlugin - issuing reward 0.007580, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.208044 +distDelta: -0.000001 avgGoalDelta: 0.001263 +ArmPlugin - issuing reward 0.003789, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.134682 +distDelta: 0.073362 avgGoalDelta: 0.037313 +ArmPlugin - issuing reward 0.111938, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +Current Accuracy: 0.0263 (001 of 038) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663742 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519135 +distDelta: 0.144607 avgGoalDelta: 0.072303 +ArmPlugin - issuing reward 0.216910, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369272 +distDelta: 0.149864 avgGoalDelta: 0.111084 +ArmPlugin - issuing reward 0.333251, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215434 +distDelta: 0.153837 avgGoalDelta: 0.132460 +ArmPlugin - issuing reward 0.397381, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057737 +distDelta: 0.157697 avgGoalDelta: 0.145079 +ArmPlugin - issuing reward 0.435237, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883863 +distDelta: 0.173873 avgGoalDelta: 0.159476 +ArmPlugin - issuing reward 0.478428, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702350 +distDelta: 0.181513 avgGoalDelta: 0.170495 +ArmPlugin - issuing reward 0.511484, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522756 +distDelta: 0.179594 avgGoalDelta: 0.175044 +ArmPlugin - issuing reward 0.525132, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353032 +distDelta: 0.169724 avgGoalDelta: 0.172384 +ArmPlugin - issuing reward 0.517153, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227482 +distDelta: 0.125550 avgGoalDelta: 0.148967 +ArmPlugin - issuing reward 0.446902, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227492 +distDelta: -0.000010 avgGoalDelta: 0.074479 +ArmPlugin - issuing reward 0.223436, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: 0.000000 avgGoalDelta: 0.037239 +ArmPlugin - issuing reward 0.111718, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: -0.000000 avgGoalDelta: 0.018620 +ArmPlugin - issuing reward 0.055859, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: 0.000000 avgGoalDelta: 0.009310 +ArmPlugin - issuing reward 0.027930, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: -0.000000 avgGoalDelta: 0.004655 +ArmPlugin - issuing reward 0.013965, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: -0.000000 avgGoalDelta: 0.002327 +ArmPlugin - issuing reward 0.006982, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227494 +distDelta: -0.000002 avgGoalDelta: 0.001163 +ArmPlugin - issuing reward 0.003488, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: 0.000002 avgGoalDelta: 0.000582 +ArmPlugin - issuing reward 0.001747, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227491 +distDelta: -0.000000 avgGoalDelta: 0.000291 +ArmPlugin - issuing reward 0.000874, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.192918 +distDelta: 0.034573 avgGoalDelta: 0.017432 +ArmPlugin - issuing reward 0.052296, EOE=false POS +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0256 (001 of 039) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663265 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518627 +distDelta: 0.144639 avgGoalDelta: 0.072319 +ArmPlugin - issuing reward 0.216958, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368728 +distDelta: 0.149898 avgGoalDelta: 0.111109 +ArmPlugin - issuing reward 0.333327, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214871 +distDelta: 0.153858 avgGoalDelta: 0.132483 +ArmPlugin - issuing reward 0.397450, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057137 +distDelta: 0.157734 avgGoalDelta: 0.145109 +ArmPlugin - issuing reward 0.435326, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883175 +distDelta: 0.173962 avgGoalDelta: 0.159535 +ArmPlugin - issuing reward 0.478606, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701657 +distDelta: 0.181518 avgGoalDelta: 0.170526 +ArmPlugin - issuing reward 0.511579, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522088 +distDelta: 0.179569 avgGoalDelta: 0.175048 +ArmPlugin - issuing reward 0.525144, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352468 +distDelta: 0.169620 avgGoalDelta: 0.172334 +ArmPlugin - issuing reward 0.517002, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227332 +distDelta: 0.125136 avgGoalDelta: 0.148735 +ArmPlugin - issuing reward 0.446205, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0250 (001 of 040) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664326 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519759 +distDelta: 0.144567 avgGoalDelta: 0.072284 +ArmPlugin - issuing reward 0.216851, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369920 +distDelta: 0.149839 avgGoalDelta: 0.111062 +ArmPlugin - issuing reward 0.333185, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216107 +distDelta: 0.153812 avgGoalDelta: 0.132437 +ArmPlugin - issuing reward 0.397311, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058474 +distDelta: 0.157633 avgGoalDelta: 0.145035 +ArmPlugin - issuing reward 0.435105, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884690 +distDelta: 0.173785 avgGoalDelta: 0.159410 +ArmPlugin - issuing reward 0.478230, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703180 +distDelta: 0.181510 avgGoalDelta: 0.170460 +ArmPlugin - issuing reward 0.511379, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.602603 +distDelta: 0.100577 avgGoalDelta: 0.135518 +ArmPlugin - issuing reward 0.406554, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.423940 +distDelta: 0.178663 avgGoalDelta: 0.157091 +ArmPlugin - issuing reward 0.471272, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.260681 +distDelta: 0.163259 avgGoalDelta: 0.160175 +ArmPlugin - issuing reward 0.480525, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192845 +distDelta: 0.067836 avgGoalDelta: 0.114006 +ArmPlugin - issuing reward 0.342017, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +Current Accuracy: 0.0244 (001 of 041) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663852 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519253 +distDelta: 0.144599 avgGoalDelta: 0.072300 +ArmPlugin - issuing reward 0.216899, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369386 +distDelta: 0.149867 avgGoalDelta: 0.111083 +ArmPlugin - issuing reward 0.333250, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215553 +distDelta: 0.153833 avgGoalDelta: 0.132458 +ArmPlugin - issuing reward 0.397375, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057883 +distDelta: 0.157670 avgGoalDelta: 0.145064 +ArmPlugin - issuing reward 0.435192, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884009 +distDelta: 0.173874 avgGoalDelta: 0.159469 +ArmPlugin - issuing reward 0.478406, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702497 +distDelta: 0.181513 avgGoalDelta: 0.170491 +ArmPlugin - issuing reward 0.511472, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522907 +distDelta: 0.179589 avgGoalDelta: 0.175040 +ArmPlugin - issuing reward 0.525120, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353154 +distDelta: 0.169753 avgGoalDelta: 0.172397 +ArmPlugin - issuing reward 0.517190, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227519 +distDelta: 0.125635 avgGoalDelta: 0.149016 +ArmPlugin - issuing reward 0.447048, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227529 +distDelta: -0.000010 avgGoalDelta: 0.074503 +ArmPlugin - issuing reward 0.223509, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227530 +distDelta: -0.000002 avgGoalDelta: 0.037251 +ArmPlugin - issuing reward 0.111752, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227528 +distDelta: 0.000002 avgGoalDelta: 0.018626 +ArmPlugin - issuing reward 0.055879, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227530 +distDelta: -0.000002 avgGoalDelta: 0.009312 +ArmPlugin - issuing reward 0.027936, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227530 +distDelta: -0.000000 avgGoalDelta: 0.004656 +ArmPlugin - issuing reward 0.013968, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227528 +distDelta: 0.000002 avgGoalDelta: 0.002329 +ArmPlugin - issuing reward 0.006987, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227530 +distDelta: -0.000002 avgGoalDelta: 0.001163 +ArmPlugin - issuing reward 0.003490, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227531 +distDelta: -0.000000 avgGoalDelta: 0.000582 +ArmPlugin - issuing reward 0.001745, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227528 +distDelta: 0.000002 avgGoalDelta: 0.000292 +ArmPlugin - issuing reward 0.000876, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.227528 +distDelta: -0.000000 avgGoalDelta: 0.000146 +ArmPlugin - issuing reward 0.000438, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0238 (001 of 042) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.659719 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.514977 +distDelta: 0.144742 avgGoalDelta: 0.072371 +ArmPlugin - issuing reward 0.217112, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.365000 +distDelta: 0.149977 avgGoalDelta: 0.111174 +ArmPlugin - issuing reward 0.333522, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.211092 +distDelta: 0.153908 avgGoalDelta: 0.132541 +ArmPlugin - issuing reward 0.397623, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.053175 +distDelta: 0.157917 avgGoalDelta: 0.145229 +ArmPlugin - issuing reward 0.435686, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878888 +distDelta: 0.174287 avgGoalDelta: 0.159758 +ArmPlugin - issuing reward 0.479274, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.697366 +distDelta: 0.181522 avgGoalDelta: 0.170640 +ArmPlugin - issuing reward 0.511920, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.517906 +distDelta: 0.179460 avgGoalDelta: 0.175050 +ArmPlugin - issuing reward 0.525150, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.348407 +distDelta: 0.169499 avgGoalDelta: 0.172275 +ArmPlugin - issuing reward 0.516824, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.225507 +distDelta: 0.122900 avgGoalDelta: 0.147587 +ArmPlugin - issuing reward 0.442762, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000010 avgGoalDelta: 0.073789 +ArmPlugin - issuing reward 0.221366, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.036894 +ArmPlugin - issuing reward 0.110683, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225519 +distDelta: -0.000002 avgGoalDelta: 0.018446 +ArmPlugin - issuing reward 0.055339, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000002 avgGoalDelta: 0.009224 +ArmPlugin - issuing reward 0.027672, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.004612 +ArmPlugin - issuing reward 0.013836, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225519 +distDelta: -0.000002 avgGoalDelta: 0.002305 +ArmPlugin - issuing reward 0.006915, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000002 avgGoalDelta: 0.001154 +ArmPlugin - issuing reward 0.003461, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000577 +ArmPlugin - issuing reward 0.001730, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000288 +ArmPlugin - issuing reward 0.000865, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000144 +ArmPlugin - issuing reward 0.000433, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225516 +distDelta: 0.000000 avgGoalDelta: 0.000072 +ArmPlugin - issuing reward 0.000217, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000036 +ArmPlugin - issuing reward 0.000108, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000018 +ArmPlugin - issuing reward 0.000054, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225519 +distDelta: -0.000002 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000024, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000002 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000015, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225516 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225518 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225516 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225516 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225516 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0233 (001 of 043) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663864 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519273 +distDelta: 0.144590 avgGoalDelta: 0.072295 +ArmPlugin - issuing reward 0.216886, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369408 +distDelta: 0.149866 avgGoalDelta: 0.111080 +ArmPlugin - issuing reward 0.333241, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215575 +distDelta: 0.153833 avgGoalDelta: 0.132457 +ArmPlugin - issuing reward 0.397370, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057897 +distDelta: 0.157678 avgGoalDelta: 0.145067 +ArmPlugin - issuing reward 0.435202, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884025 +distDelta: 0.173872 avgGoalDelta: 0.159470 +ArmPlugin - issuing reward 0.478409, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702512 +distDelta: 0.181513 avgGoalDelta: 0.170491 +ArmPlugin - issuing reward 0.511474, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522914 +distDelta: 0.179598 avgGoalDelta: 0.175045 +ArmPlugin - issuing reward 0.525134, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353168 +distDelta: 0.169746 avgGoalDelta: 0.172395 +ArmPlugin - issuing reward 0.517186, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227522 +distDelta: 0.125646 avgGoalDelta: 0.149021 +ArmPlugin - issuing reward 0.447062, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0227 (001 of 044) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.659730 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.514997 +distDelta: 0.144733 avgGoalDelta: 0.072366 +ArmPlugin - issuing reward 0.217099, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.365021 +distDelta: 0.149976 avgGoalDelta: 0.111171 +ArmPlugin - issuing reward 0.333514, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.211114 +distDelta: 0.153907 avgGoalDelta: 0.132539 +ArmPlugin - issuing reward 0.397618, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.053189 +distDelta: 0.157925 avgGoalDelta: 0.145232 +ArmPlugin - issuing reward 0.435697, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878904 +distDelta: 0.174285 avgGoalDelta: 0.159758 +ArmPlugin - issuing reward 0.479275, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.697381 +distDelta: 0.181523 avgGoalDelta: 0.170641 +ArmPlugin - issuing reward 0.511922, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.517929 +distDelta: 0.179452 avgGoalDelta: 0.175047 +ArmPlugin - issuing reward 0.525140, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.348428 +distDelta: 0.169501 avgGoalDelta: 0.172274 +ArmPlugin - issuing reward 0.516822, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.225512 +distDelta: 0.122916 avgGoalDelta: 0.147595 +ArmPlugin - issuing reward 0.442785, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0222 (001 of 045) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663875 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519277 +distDelta: 0.144599 avgGoalDelta: 0.072299 +ArmPlugin - issuing reward 0.216898, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369412 +distDelta: 0.149865 avgGoalDelta: 0.111082 +ArmPlugin - issuing reward 0.333247, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215579 +distDelta: 0.153833 avgGoalDelta: 0.132458 +ArmPlugin - issuing reward 0.397373, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057902 +distDelta: 0.157677 avgGoalDelta: 0.145067 +ArmPlugin - issuing reward 0.435202, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884040 +distDelta: 0.173861 avgGoalDelta: 0.159464 +ArmPlugin - issuing reward 0.478393, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702527 +distDelta: 0.181513 avgGoalDelta: 0.170489 +ArmPlugin - issuing reward 0.511467, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522929 +distDelta: 0.179598 avgGoalDelta: 0.175043 +ArmPlugin - issuing reward 0.525130, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353188 +distDelta: 0.169741 avgGoalDelta: 0.172392 +ArmPlugin - issuing reward 0.517176, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227527 +distDelta: 0.125661 avgGoalDelta: 0.149027 +ArmPlugin - issuing reward 0.447080, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0217 (001 of 046) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 1.798091 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.659745 +distDelta: 0.138346 avgGoalDelta: 0.069173 +ArmPlugin - issuing reward 0.207519, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.515002 +distDelta: 0.144744 avgGoalDelta: 0.106958 +ArmPlugin - issuing reward 0.320875, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.365026 +distDelta: 0.149976 avgGoalDelta: 0.128467 +ArmPlugin - issuing reward 0.385401, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.211118 +distDelta: 0.153907 avgGoalDelta: 0.141187 +ArmPlugin - issuing reward 0.423562, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.053203 +distDelta: 0.157916 avgGoalDelta: 0.149552 +ArmPlugin - issuing reward 0.448655, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878928 +distDelta: 0.174274 avgGoalDelta: 0.161913 +ArmPlugin - issuing reward 0.485739, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.697405 +distDelta: 0.181523 avgGoalDelta: 0.171718 +ArmPlugin - issuing reward 0.515154, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.517935 +distDelta: 0.179470 avgGoalDelta: 0.175594 +ArmPlugin - issuing reward 0.526782, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.348434 +distDelta: 0.169501 avgGoalDelta: 0.172548 +ArmPlugin - issuing reward 0.517643, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.225517 +distDelta: 0.122917 avgGoalDelta: 0.147732 +ArmPlugin - issuing reward 0.443197, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0213 (001 of 047) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663888 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519289 +distDelta: 0.144598 avgGoalDelta: 0.072299 +ArmPlugin - issuing reward 0.216898, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369433 +distDelta: 0.149856 avgGoalDelta: 0.111078 +ArmPlugin - issuing reward 0.333233, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215592 +distDelta: 0.153841 avgGoalDelta: 0.132459 +ArmPlugin - issuing reward 0.397378, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057916 +distDelta: 0.157676 avgGoalDelta: 0.145068 +ArmPlugin - issuing reward 0.435203, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884065 +distDelta: 0.173851 avgGoalDelta: 0.159459 +ArmPlugin - issuing reward 0.478378, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702551 +distDelta: 0.181514 avgGoalDelta: 0.170486 +ArmPlugin - issuing reward 0.511459, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522944 +distDelta: 0.179607 avgGoalDelta: 0.175047 +ArmPlugin - issuing reward 0.525141, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353202 +distDelta: 0.169741 avgGoalDelta: 0.172394 +ArmPlugin - issuing reward 0.517182, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227533 +distDelta: 0.125669 avgGoalDelta: 0.149032 +ArmPlugin - issuing reward 0.447095, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0208 (001 of 048) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.659754 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.515022 +distDelta: 0.144732 avgGoalDelta: 0.072366 +ArmPlugin - issuing reward 0.217098, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.365038 +distDelta: 0.149984 avgGoalDelta: 0.111175 +ArmPlugin - issuing reward 0.333526, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.211131 +distDelta: 0.153907 avgGoalDelta: 0.132541 +ArmPlugin - issuing reward 0.397623, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.053217 +distDelta: 0.157915 avgGoalDelta: 0.145228 +ArmPlugin - issuing reward 0.435683, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.878934 +distDelta: 0.174283 avgGoalDelta: 0.159755 +ArmPlugin - issuing reward 0.479265, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.697412 +distDelta: 0.181522 avgGoalDelta: 0.170639 +ArmPlugin - issuing reward 0.511916, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.517958 +distDelta: 0.179453 avgGoalDelta: 0.175046 +ArmPlugin - issuing reward 0.525138, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.348448 +distDelta: 0.169510 avgGoalDelta: 0.172278 +ArmPlugin - issuing reward 0.516835, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.225522 +distDelta: 0.122926 avgGoalDelta: 0.147602 +ArmPlugin - issuing reward 0.442806, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0204 (001 of 049) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663899 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519287 +distDelta: 0.144612 avgGoalDelta: 0.072306 +ArmPlugin - issuing reward 0.216919, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369436 +distDelta: 0.149851 avgGoalDelta: 0.111079 +ArmPlugin - issuing reward 0.333236, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215605 +distDelta: 0.153831 avgGoalDelta: 0.132455 +ArmPlugin - issuing reward 0.397365, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057929 +distDelta: 0.157675 avgGoalDelta: 0.145065 +ArmPlugin - issuing reward 0.435196, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884071 +distDelta: 0.173858 avgGoalDelta: 0.159462 +ArmPlugin - issuing reward 0.478385, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.702566 +distDelta: 0.181504 avgGoalDelta: 0.170483 +ArmPlugin - issuing reward 0.511449, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.702559 +distDelta: 0.000007 avgGoalDelta: 0.085245 +ArmPlugin - issuing reward 0.255736, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.702559 +distDelta: 0.000000 avgGoalDelta: 0.042623 +ArmPlugin - issuing reward 0.127868, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522967 +distDelta: 0.179592 avgGoalDelta: 0.111107 +ArmPlugin - issuing reward 0.333322, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353216 +distDelta: 0.169751 avgGoalDelta: 0.140429 +ArmPlugin - issuing reward 0.421288, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.260352 +distDelta: 0.092864 avgGoalDelta: 0.116646 +ArmPlugin - issuing reward 0.349939, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192918 +distDelta: 0.067434 avgGoalDelta: 0.092040 +ArmPlugin - issuing reward 0.276121, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +Current Accuracy: 0.0200 (001 of 050) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663423 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368902 +distDelta: 0.294521 avgGoalDelta: 0.147261 +ArmPlugin - issuing reward 0.441782, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215050 +distDelta: 0.153852 avgGoalDelta: 0.150556 +ArmPlugin - issuing reward 0.451669, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057330 +distDelta: 0.157720 avgGoalDelta: 0.154138 +ArmPlugin - issuing reward 0.462415, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883391 +distDelta: 0.173939 avgGoalDelta: 0.164039 +ArmPlugin - issuing reward 0.492116, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701874 +distDelta: 0.181517 avgGoalDelta: 0.172778 +ArmPlugin - issuing reward 0.518333, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522298 +distDelta: 0.179576 avgGoalDelta: 0.176177 +ArmPlugin - issuing reward 0.528530, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352652 +distDelta: 0.169646 avgGoalDelta: 0.172912 +ArmPlugin - issuing reward 0.518735, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227390 +distDelta: 0.125262 avgGoalDelta: 0.149087 +ArmPlugin - issuing reward 0.447261, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0196 (001 of 051) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664484 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519935 +distDelta: 0.144549 avgGoalDelta: 0.072275 +ArmPlugin - issuing reward 0.216824, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370103 +distDelta: 0.149832 avgGoalDelta: 0.111053 +ArmPlugin - issuing reward 0.333160, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216296 +distDelta: 0.153808 avgGoalDelta: 0.132430 +ArmPlugin - issuing reward 0.397291, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058666 +distDelta: 0.157629 avgGoalDelta: 0.145030 +ArmPlugin - issuing reward 0.435089, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884906 +distDelta: 0.173761 avgGoalDelta: 0.159395 +ArmPlugin - issuing reward 0.478186, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703406 +distDelta: 0.181500 avgGoalDelta: 0.170448 +ArmPlugin - issuing reward 0.511343, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.703389 +distDelta: 0.000017 avgGoalDelta: 0.085232 +ArmPlugin - issuing reward 0.255697, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.703398 +distDelta: -0.000009 avgGoalDelta: 0.042611 +ArmPlugin - issuing reward 0.127834, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 0.884886 +distDelta: -0.181488 avgGoalDelta: -0.069438 +ArmPlugin - issuing reward -0.208315, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703397 +distDelta: 0.181489 avgGoalDelta: 0.056025 +ArmPlugin - issuing reward 0.168076, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.703389 +distDelta: 0.000008 avgGoalDelta: 0.028017 +ArmPlugin - issuing reward 0.084050, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.703398 +distDelta: -0.000009 avgGoalDelta: 0.014004 +ArmPlugin - issuing reward 0.042012, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523777 +distDelta: 0.179621 avgGoalDelta: 0.096813 +ArmPlugin - issuing reward 0.290438, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353897 +distDelta: 0.169880 avgGoalDelta: 0.133346 +ArmPlugin - issuing reward 0.400038, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227728 +distDelta: 0.126170 avgGoalDelta: 0.129758 +ArmPlugin - issuing reward 0.389274, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0192 (001 of 052) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663435 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 1 +distance('gripper_middle', 'tube') = 1.801656 +distDelta: -0.138221 avgGoalDelta: -0.069111 +ArmPlugin - issuing reward -0.207332, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663446 +distDelta: 0.138210 avgGoalDelta: 0.034550 +ArmPlugin - issuing reward 0.103649, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518806 +distDelta: 0.144640 avgGoalDelta: 0.089595 +ArmPlugin - issuing reward 0.268784, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368915 +distDelta: 0.149891 avgGoalDelta: 0.119743 +ArmPlugin - issuing reward 0.359229, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215064 +distDelta: 0.153852 avgGoalDelta: 0.136797 +ArmPlugin - issuing reward 0.410392, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057352 +distDelta: 0.157712 avgGoalDelta: 0.147255 +ArmPlugin - issuing reward 0.441764, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883406 +distDelta: 0.173946 avgGoalDelta: 0.160600 +ArmPlugin - issuing reward 0.481800, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701890 +distDelta: 0.181517 avgGoalDelta: 0.171058 +ArmPlugin - issuing reward 0.513175, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522314 +distDelta: 0.179576 avgGoalDelta: 0.175317 +ArmPlugin - issuing reward 0.525951, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352666 +distDelta: 0.169648 avgGoalDelta: 0.172483 +ArmPlugin - issuing reward 0.517448, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227397 +distDelta: 0.125268 avgGoalDelta: 0.148876 +ArmPlugin - issuing reward 0.446627, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0189 (001 of 053) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664496 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519939 +distDelta: 0.144557 avgGoalDelta: 0.072278 +ArmPlugin - issuing reward 0.216835, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370108 +distDelta: 0.149832 avgGoalDelta: 0.111055 +ArmPlugin - issuing reward 0.333165, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216300 +distDelta: 0.153808 avgGoalDelta: 0.132432 +ArmPlugin - issuing reward 0.397295, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058680 +distDelta: 0.157620 avgGoalDelta: 0.145026 +ArmPlugin - issuing reward 0.435077, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884921 +distDelta: 0.173759 avgGoalDelta: 0.159392 +ArmPlugin - issuing reward 0.478177, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703421 +distDelta: 0.181500 avgGoalDelta: 0.170446 +ArmPlugin - issuing reward 0.511339, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523784 +distDelta: 0.179637 avgGoalDelta: 0.175041 +ArmPlugin - issuing reward 0.525124, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353911 +distDelta: 0.169873 avgGoalDelta: 0.172457 +ArmPlugin - issuing reward 0.517371, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227733 +distDelta: 0.126178 avgGoalDelta: 0.149318 +ArmPlugin - issuing reward 0.447953, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0185 (001 of 054) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663447 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518818 +distDelta: 0.144629 avgGoalDelta: 0.072314 +ArmPlugin - issuing reward 0.216943, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368928 +distDelta: 0.149890 avgGoalDelta: 0.111102 +ArmPlugin - issuing reward 0.333306, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215076 +distDelta: 0.153852 avgGoalDelta: 0.132477 +ArmPlugin - issuing reward 0.397431, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057366 +distDelta: 0.157710 avgGoalDelta: 0.145094 +ArmPlugin - issuing reward 0.435281, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883421 +distDelta: 0.173944 avgGoalDelta: 0.159519 +ArmPlugin - issuing reward 0.478557, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701905 +distDelta: 0.181517 avgGoalDelta: 0.170518 +ArmPlugin - issuing reward 0.511553, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522328 +distDelta: 0.179577 avgGoalDelta: 0.175047 +ArmPlugin - issuing reward 0.525142, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352679 +distDelta: 0.169648 avgGoalDelta: 0.172348 +ArmPlugin - issuing reward 0.517044, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227401 +distDelta: 0.125279 avgGoalDelta: 0.148813 +ArmPlugin - issuing reward 0.446440, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0182 (001 of 055) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664508 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519951 +distDelta: 0.144557 avgGoalDelta: 0.072279 +ArmPlugin - issuing reward 0.216836, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370129 +distDelta: 0.149822 avgGoalDelta: 0.111050 +ArmPlugin - issuing reward 0.333151, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216312 +distDelta: 0.153816 avgGoalDelta: 0.132433 +ArmPlugin - issuing reward 0.397300, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058694 +distDelta: 0.157619 avgGoalDelta: 0.145026 +ArmPlugin - issuing reward 0.435078, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884936 +distDelta: 0.173758 avgGoalDelta: 0.159392 +ArmPlugin - issuing reward 0.478176, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703436 +distDelta: 0.181500 avgGoalDelta: 0.170446 +ArmPlugin - issuing reward 0.511338, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523798 +distDelta: 0.179638 avgGoalDelta: 0.175042 +ArmPlugin - issuing reward 0.525126, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353931 +distDelta: 0.169867 avgGoalDelta: 0.172454 +ArmPlugin - issuing reward 0.517363, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227740 +distDelta: 0.126191 avgGoalDelta: 0.149323 +ArmPlugin - issuing reward 0.447968, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0179 (001 of 056) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663458 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518830 +distDelta: 0.144628 avgGoalDelta: 0.072314 +ArmPlugin - issuing reward 0.216942, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368941 +distDelta: 0.149890 avgGoalDelta: 0.111102 +ArmPlugin - issuing reward 0.333306, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215089 +distDelta: 0.153851 avgGoalDelta: 0.132477 +ArmPlugin - issuing reward 0.397430, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057370 +distDelta: 0.157719 avgGoalDelta: 0.145098 +ArmPlugin - issuing reward 0.435293, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883436 +distDelta: 0.173935 avgGoalDelta: 0.159516 +ArmPlugin - issuing reward 0.478549, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701919 +distDelta: 0.181517 avgGoalDelta: 0.170516 +ArmPlugin - issuing reward 0.511549, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522343 +distDelta: 0.179576 avgGoalDelta: 0.175046 +ArmPlugin - issuing reward 0.525138, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352693 +distDelta: 0.169650 avgGoalDelta: 0.172348 +ArmPlugin - issuing reward 0.517044, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227406 +distDelta: 0.125287 avgGoalDelta: 0.148818 +ArmPlugin - issuing reward 0.446453, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0175 (001 of 057) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664519 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519963 +distDelta: 0.144556 avgGoalDelta: 0.072278 +ArmPlugin - issuing reward 0.216835, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370141 +distDelta: 0.149822 avgGoalDelta: 0.111050 +ArmPlugin - issuing reward 0.333150, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216326 +distDelta: 0.153815 avgGoalDelta: 0.132433 +ArmPlugin - issuing reward 0.397298, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058707 +distDelta: 0.157619 avgGoalDelta: 0.145026 +ArmPlugin - issuing reward 0.435077, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884951 +distDelta: 0.173756 avgGoalDelta: 0.159391 +ArmPlugin - issuing reward 0.478173, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703442 +distDelta: 0.181509 avgGoalDelta: 0.170450 +ArmPlugin - issuing reward 0.511350, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523813 +distDelta: 0.179630 avgGoalDelta: 0.175040 +ArmPlugin - issuing reward 0.525119, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.523812 +distDelta: 0.000000 avgGoalDelta: 0.087520 +ArmPlugin - issuing reward 0.262560, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353938 +distDelta: 0.169875 avgGoalDelta: 0.128697 +ArmPlugin - issuing reward 0.386092, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227744 +distDelta: 0.126194 avgGoalDelta: 0.127445 +ArmPlugin - issuing reward 0.382336, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0172 (001 of 058) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663470 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518842 +distDelta: 0.144628 avgGoalDelta: 0.072314 +ArmPlugin - issuing reward 0.216942, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368953 +distDelta: 0.149890 avgGoalDelta: 0.111102 +ArmPlugin - issuing reward 0.333305, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215102 +distDelta: 0.153851 avgGoalDelta: 0.132476 +ArmPlugin - issuing reward 0.397429, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057385 +distDelta: 0.157717 avgGoalDelta: 0.145097 +ArmPlugin - issuing reward 0.435290, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883451 +distDelta: 0.173934 avgGoalDelta: 0.159515 +ArmPlugin - issuing reward 0.478546, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701935 +distDelta: 0.181516 avgGoalDelta: 0.170516 +ArmPlugin - issuing reward 0.511547, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522357 +distDelta: 0.179578 avgGoalDelta: 0.175047 +ArmPlugin - issuing reward 0.525141, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352706 +distDelta: 0.169651 avgGoalDelta: 0.172349 +ArmPlugin - issuing reward 0.517047, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227411 +distDelta: 0.125294 avgGoalDelta: 0.148822 +ArmPlugin - issuing reward 0.446465, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0169 (001 of 059) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664531 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519975 +distDelta: 0.144556 avgGoalDelta: 0.072278 +ArmPlugin - issuing reward 0.216834, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370154 +distDelta: 0.149821 avgGoalDelta: 0.111050 +ArmPlugin - issuing reward 0.333149, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216347 +distDelta: 0.153806 avgGoalDelta: 0.132428 +ArmPlugin - issuing reward 0.397284, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058721 +distDelta: 0.157627 avgGoalDelta: 0.145027 +ArmPlugin - issuing reward 0.435082, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884968 +distDelta: 0.173753 avgGoalDelta: 0.159390 +ArmPlugin - issuing reward 0.478171, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703458 +distDelta: 0.181510 avgGoalDelta: 0.170450 +ArmPlugin - issuing reward 0.511350, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523827 +distDelta: 0.179631 avgGoalDelta: 0.175040 +ArmPlugin - issuing reward 0.525121, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353952 +distDelta: 0.169875 avgGoalDelta: 0.172458 +ArmPlugin - issuing reward 0.517373, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227749 +distDelta: 0.126203 avgGoalDelta: 0.149330 +ArmPlugin - issuing reward 0.447991, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0167 (001 of 060) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663482 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518855 +distDelta: 0.144627 avgGoalDelta: 0.072313 +ArmPlugin - issuing reward 0.216940, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368974 +distDelta: 0.149881 avgGoalDelta: 0.111097 +ArmPlugin - issuing reward 0.333291, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215115 +distDelta: 0.153859 avgGoalDelta: 0.132478 +ArmPlugin - issuing reward 0.397435, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057398 +distDelta: 0.157717 avgGoalDelta: 0.145098 +ArmPlugin - issuing reward 0.435293, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883467 +distDelta: 0.173931 avgGoalDelta: 0.159514 +ArmPlugin - issuing reward 0.478543, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701959 +distDelta: 0.181508 avgGoalDelta: 0.170511 +ArmPlugin - issuing reward 0.511534, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522372 +distDelta: 0.179587 avgGoalDelta: 0.175049 +ArmPlugin - issuing reward 0.525147, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352720 +distDelta: 0.169652 avgGoalDelta: 0.172351 +ArmPlugin - issuing reward 0.517052, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227417 +distDelta: 0.125303 avgGoalDelta: 0.148827 +ArmPlugin - issuing reward 0.446480, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0164 (001 of 061) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664543 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519988 +distDelta: 0.144556 avgGoalDelta: 0.072278 +ArmPlugin - issuing reward 0.216833, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370157 +distDelta: 0.149830 avgGoalDelta: 0.111054 +ArmPlugin - issuing reward 0.333162, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216352 +distDelta: 0.153805 avgGoalDelta: 0.132430 +ArmPlugin - issuing reward 0.397289, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058735 +distDelta: 0.157617 avgGoalDelta: 0.145023 +ArmPlugin - issuing reward 0.435070, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884981 +distDelta: 0.173754 avgGoalDelta: 0.159389 +ArmPlugin - issuing reward 0.478166, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703472 +distDelta: 0.181509 avgGoalDelta: 0.170449 +ArmPlugin - issuing reward 0.511346, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523842 +distDelta: 0.179630 avgGoalDelta: 0.175040 +ArmPlugin - issuing reward 0.525119, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353965 +distDelta: 0.169877 avgGoalDelta: 0.172458 +ArmPlugin - issuing reward 0.517375, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227757 +distDelta: 0.126208 avgGoalDelta: 0.149333 +ArmPlugin - issuing reward 0.447999, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0161 (001 of 062) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663494 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518867 +distDelta: 0.144626 avgGoalDelta: 0.072313 +ArmPlugin - issuing reward 0.216939, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368979 +distDelta: 0.149889 avgGoalDelta: 0.111101 +ArmPlugin - issuing reward 0.333303, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215128 +distDelta: 0.153851 avgGoalDelta: 0.132476 +ArmPlugin - issuing reward 0.397428, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057412 +distDelta: 0.157715 avgGoalDelta: 0.145096 +ArmPlugin - issuing reward 0.435287, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883481 +distDelta: 0.173931 avgGoalDelta: 0.159514 +ArmPlugin - issuing reward 0.478541, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701964 +distDelta: 0.181516 avgGoalDelta: 0.170515 +ArmPlugin - issuing reward 0.511545, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522387 +distDelta: 0.179578 avgGoalDelta: 0.175046 +ArmPlugin - issuing reward 0.525139, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352733 +distDelta: 0.169653 avgGoalDelta: 0.172350 +ArmPlugin - issuing reward 0.517050, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227423 +distDelta: 0.125311 avgGoalDelta: 0.148830 +ArmPlugin - issuing reward 0.446491, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0159 (001 of 063) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664555 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520000 +distDelta: 0.144555 avgGoalDelta: 0.072277 +ArmPlugin - issuing reward 0.216832, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370170 +distDelta: 0.149830 avgGoalDelta: 0.111054 +ArmPlugin - issuing reward 0.333161, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216364 +distDelta: 0.153806 avgGoalDelta: 0.132430 +ArmPlugin - issuing reward 0.397289, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058749 +distDelta: 0.157615 avgGoalDelta: 0.145023 +ArmPlugin - issuing reward 0.435068, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.884997 +distDelta: 0.173752 avgGoalDelta: 0.159387 +ArmPlugin - issuing reward 0.478161, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703488 +distDelta: 0.181509 avgGoalDelta: 0.170448 +ArmPlugin - issuing reward 0.511344, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.523858 +distDelta: 0.179631 avgGoalDelta: 0.175039 +ArmPlugin - issuing reward 0.525118, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.353980 +distDelta: 0.169878 avgGoalDelta: 0.172459 +ArmPlugin - issuing reward 0.517376, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227761 +distDelta: 0.126219 avgGoalDelta: 0.149339 +ArmPlugin - issuing reward 0.448016, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0156 (001 of 064) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.663506 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518888 +distDelta: 0.144617 avgGoalDelta: 0.072309 +ArmPlugin - issuing reward 0.216926, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.369000 +distDelta: 0.149889 avgGoalDelta: 0.111099 +ArmPlugin - issuing reward 0.333296, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.215141 +distDelta: 0.153859 avgGoalDelta: 0.132479 +ArmPlugin - issuing reward 0.397437, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.057425 +distDelta: 0.157715 avgGoalDelta: 0.145097 +ArmPlugin - issuing reward 0.435292, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.883505 +distDelta: 0.173920 avgGoalDelta: 0.159508 +ArmPlugin - issuing reward 0.478525, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701980 +distDelta: 0.181526 avgGoalDelta: 0.170517 +ArmPlugin - issuing reward 0.511551, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.522401 +distDelta: 0.179578 avgGoalDelta: 0.175048 +ArmPlugin - issuing reward 0.525143, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.352747 +distDelta: 0.169654 avgGoalDelta: 0.172351 +ArmPlugin - issuing reward 0.517053, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.227430 +distDelta: 0.125317 avgGoalDelta: 0.148834 +ArmPlugin - issuing reward 0.446502, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0154 (001 of 065) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.664567 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.519994 +distDelta: 0.144572 avgGoalDelta: 0.072286 +ArmPlugin - issuing reward 0.216859, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370183 +distDelta: 0.149811 avgGoalDelta: 0.111049 +ArmPlugin - issuing reward 0.333146, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216377 +distDelta: 0.153806 avgGoalDelta: 0.132427 +ArmPlugin - issuing reward 0.397282, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.058763 +distDelta: 0.157614 avgGoalDelta: 0.145021 +ArmPlugin - issuing reward 0.435063, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885012 +distDelta: 0.173751 avgGoalDelta: 0.159386 +ArmPlugin - issuing reward 0.478158, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 3 +distance('gripper_middle', 'tube') = 0.980735 +distDelta: -0.095724 avgGoalDelta: 0.031831 +ArmPlugin - issuing reward 0.095494, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.800413 +distDelta: 0.180322 avgGoalDelta: 0.106077 +ArmPlugin - issuing reward 0.318230, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000011 avgGoalDelta: 0.053044 +ArmPlugin - issuing reward 0.159131, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: 0.026521 +ArmPlugin - issuing reward 0.079564, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: 0.013261 +ArmPlugin - issuing reward 0.039782, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.006631 +ArmPlugin - issuing reward 0.019893, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000002 avgGoalDelta: 0.003315 +ArmPlugin - issuing reward 0.009944, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.001657 +ArmPlugin - issuing reward 0.004972, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000829 +ArmPlugin - issuing reward 0.002487, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000414 +ArmPlugin - issuing reward 0.001243, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: 0.000207 +ArmPlugin - issuing reward 0.000621, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000104 +ArmPlugin - issuing reward 0.000311, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000052 +ArmPlugin - issuing reward 0.000156, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: 0.000026 +ArmPlugin - issuing reward 0.000078, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000013 +ArmPlugin - issuing reward 0.000040, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000007 +ArmPlugin - issuing reward 0.000020, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800411 +distDelta: -0.000007 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800403 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.800402 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.619151 +distDelta: 0.181251 avgGoalDelta: 0.090625 +ArmPlugin - issuing reward 0.271876, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: 0.000005 avgGoalDelta: 0.045315 +ArmPlugin - issuing reward 0.135945, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000001 avgGoalDelta: 0.022658 +ArmPlugin - issuing reward 0.067974, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: -0.000000 avgGoalDelta: 0.011329 +ArmPlugin - issuing reward 0.033987, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000001 avgGoalDelta: 0.005664 +ArmPlugin - issuing reward 0.016991, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000000 avgGoalDelta: 0.002832 +ArmPlugin - issuing reward 0.008495, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: 0.000000 avgGoalDelta: 0.001416 +ArmPlugin - issuing reward 0.004248, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 83 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000002 avgGoalDelta: 0.000709 +ArmPlugin - issuing reward 0.002126, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 84 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000000 avgGoalDelta: 0.000354 +ArmPlugin - issuing reward 0.001063, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 85 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: -0.000000 avgGoalDelta: 0.000177 +ArmPlugin - issuing reward 0.000531, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 86 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000000 avgGoalDelta: 0.000089 +ArmPlugin - issuing reward 0.000266, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 87 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000001 avgGoalDelta: 0.000044 +ArmPlugin - issuing reward 0.000131, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 88 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000001 avgGoalDelta: 0.000022 +ArmPlugin - issuing reward 0.000067, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 89 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: -0.000000 avgGoalDelta: 0.000011 +ArmPlugin - issuing reward 0.000034, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 90 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000000 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000017, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 91 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 92 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 93 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 94 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 95 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 96 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 97 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619147 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 98 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 99 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.619146 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 100 +ArmPlugin - agent selected action 0 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 101 +ArmPlugin - agent selected action 0 +ArmPlugin - triggering EOE, episode has exceeded 100 frames +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0152 (001 of 066) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.662691 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.518071 +distDelta: 0.144620 avgGoalDelta: 0.072310 +ArmPlugin - issuing reward 0.216930, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.368191 +distDelta: 0.149880 avgGoalDelta: 0.111095 +ArmPlugin - issuing reward 0.333285, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.214360 +distDelta: 0.153831 avgGoalDelta: 0.132463 +ArmPlugin - issuing reward 0.397388, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.056641 +distDelta: 0.157720 avgGoalDelta: 0.145091 +ArmPlugin - issuing reward 0.435274, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.882686 +distDelta: 0.173954 avgGoalDelta: 0.159523 +ArmPlugin - issuing reward 0.478569, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.701181 +distDelta: 0.181505 avgGoalDelta: 0.170514 +ArmPlugin - issuing reward 0.511542, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.521602 +distDelta: 0.179579 avgGoalDelta: 0.175047 +ArmPlugin - issuing reward 0.525140, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.521609 +distDelta: -0.000007 avgGoalDelta: 0.087520 +ArmPlugin - issuing reward 0.262559, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.351835 +distDelta: 0.169773 avgGoalDelta: 0.128647 +ArmPlugin - issuing reward 0.385940, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226823 +distDelta: 0.125012 avgGoalDelta: 0.126829 +ArmPlugin - issuing reward 0.380488, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0149 (001 of 067) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661641 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516950 +distDelta: 0.144691 avgGoalDelta: 0.072345 +ArmPlugin - issuing reward 0.217036, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.367012 +distDelta: 0.149938 avgGoalDelta: 0.111142 +ArmPlugin - issuing reward 0.333426, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213128 +distDelta: 0.153884 avgGoalDelta: 0.132513 +ArmPlugin - issuing reward 0.397538, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055315 +distDelta: 0.157813 avgGoalDelta: 0.145163 +ArmPlugin - issuing reward 0.435489, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881186 +distDelta: 0.174129 avgGoalDelta: 0.159646 +ArmPlugin - issuing reward 0.478938, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699674 +distDelta: 0.181512 avgGoalDelta: 0.170579 +ArmPlugin - issuing reward 0.511737, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520148 +distDelta: 0.179526 avgGoalDelta: 0.175053 +ArmPlugin - issuing reward 0.525158, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350610 +distDelta: 0.169538 avgGoalDelta: 0.172295 +ArmPlugin - issuing reward 0.516886, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000005 avgGoalDelta: 0.086145 +ArmPlugin - issuing reward 0.258436, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: 0.000007 avgGoalDelta: 0.043076 +ArmPlugin - issuing reward 0.129229, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000007 avgGoalDelta: 0.021535 +ArmPlugin - issuing reward 0.064604, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: 0.000007 avgGoalDelta: 0.010771 +ArmPlugin - issuing reward 0.032312, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000007 avgGoalDelta: 0.005382 +ArmPlugin - issuing reward 0.016146, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: 0.000007 avgGoalDelta: 0.002694 +ArmPlugin - issuing reward 0.008083, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000007 avgGoalDelta: 0.001344 +ArmPlugin - issuing reward 0.004031, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: 0.000000 avgGoalDelta: 0.000672 +ArmPlugin - issuing reward 0.002016, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000000 avgGoalDelta: 0.000336 +ArmPlugin - issuing reward 0.001008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: 0.000000 avgGoalDelta: 0.000168 +ArmPlugin - issuing reward 0.000504, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350614 +distDelta: -0.000000 avgGoalDelta: 0.000084 +ArmPlugin - issuing reward 0.000252, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: 0.000007 avgGoalDelta: 0.000046 +ArmPlugin - issuing reward 0.000137, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350615 +distDelta: -0.000007 avgGoalDelta: 0.000019 +ArmPlugin - issuing reward 0.000057, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: 0.000007 avgGoalDelta: 0.000013 +ArmPlugin - issuing reward 0.000039, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.350607 +distDelta: -0.000000 avgGoalDelta: 0.000007 +ArmPlugin - issuing reward 0.000020, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.258234 +distDelta: 0.092374 avgGoalDelta: 0.046190 +ArmPlugin - issuing reward 0.138570, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.192466 +distDelta: 0.065768 avgGoalDelta: 0.055979 +ArmPlugin - issuing reward 0.167937, EOE=false POS+ +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0147 (001 of 068) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.666357 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521849 +distDelta: 0.144508 avgGoalDelta: 0.072254 +ArmPlugin - issuing reward 0.216762, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.372054 +distDelta: 0.149795 avgGoalDelta: 0.111025 +ArmPlugin - issuing reward 0.333074, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.218269 +distDelta: 0.153784 avgGoalDelta: 0.132405 +ArmPlugin - issuing reward 0.397214, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.060734 +distDelta: 0.157535 avgGoalDelta: 0.144970 +ArmPlugin - issuing reward 0.434909, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.887141 +distDelta: 0.173594 avgGoalDelta: 0.159282 +ArmPlugin - issuing reward 0.477845, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.705635 +distDelta: 0.181506 avgGoalDelta: 0.170394 +ArmPlugin - issuing reward 0.511181, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525954 +distDelta: 0.179680 avgGoalDelta: 0.175037 +ArmPlugin - issuing reward 0.525111, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.525954 +distDelta: 0.000001 avgGoalDelta: 0.087519 +ArmPlugin - issuing reward 0.262557, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.426546 +distDelta: 0.099408 avgGoalDelta: 0.093463 +ArmPlugin - issuing reward 0.280390, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426560 +distDelta: -0.000014 avgGoalDelta: 0.046725 +ArmPlugin - issuing reward 0.140174, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426552 +distDelta: 0.000008 avgGoalDelta: 0.023366 +ArmPlugin - issuing reward 0.070099, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426560 +distDelta: -0.000008 avgGoalDelta: 0.011679 +ArmPlugin - issuing reward 0.035037, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426552 +distDelta: 0.000008 avgGoalDelta: 0.005844 +ArmPlugin - issuing reward 0.017531, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426553 +distDelta: -0.000001 avgGoalDelta: 0.002921 +ArmPlugin - issuing reward 0.008764, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426560 +distDelta: -0.000007 avgGoalDelta: 0.001457 +ArmPlugin - issuing reward 0.004371, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426552 +distDelta: 0.000008 avgGoalDelta: 0.000733 +ArmPlugin - issuing reward 0.002198, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426552 +distDelta: -0.000000 avgGoalDelta: 0.000366 +ArmPlugin - issuing reward 0.001099, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.426552 +distDelta: 0.000000 avgGoalDelta: 0.000183 +ArmPlugin - issuing reward 0.000550, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.262756 +distDelta: 0.163797 avgGoalDelta: 0.081990 +ArmPlugin - issuing reward 0.245970, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.262757 +distDelta: -0.000002 avgGoalDelta: 0.040994 +ArmPlugin - issuing reward 0.122983, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.262757 +distDelta: 0.000000 avgGoalDelta: 0.020497 +ArmPlugin - issuing reward 0.061492, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.262757 +distDelta: 0.000000 avgGoalDelta: 0.010249 +ArmPlugin - issuing reward 0.030746, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.184358 +distDelta: 0.078399 avgGoalDelta: 0.044324 +ArmPlugin - issuing reward 0.132971, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: -0.000012 avgGoalDelta: 0.022156 +ArmPlugin - issuing reward 0.066468, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: 0.011077 +ArmPlugin - issuing reward 0.033230, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.005540 +ArmPlugin - issuing reward 0.016619, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: 0.002769 +ArmPlugin - issuing reward 0.008306, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: 0.001384 +ArmPlugin - issuing reward 0.004153, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: 0.000000 avgGoalDelta: 0.000692 +ArmPlugin - issuing reward 0.002077, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: 0.000346 +ArmPlugin - issuing reward 0.001038, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000003 avgGoalDelta: 0.000174 +ArmPlugin - issuing reward 0.000523, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000003 avgGoalDelta: 0.000086 +ArmPlugin - issuing reward 0.000258, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: 0.000000 avgGoalDelta: 0.000043 +ArmPlugin - issuing reward 0.000129, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: 0.000021 +ArmPlugin - issuing reward 0.000064, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: 0.000011 +ArmPlugin - issuing reward 0.000032, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000019, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000003 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184369 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000003 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184369 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 74 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184369 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 75 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 76 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 77 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184370 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 78 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 79 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184369 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 80 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184372 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 81 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.184371 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 82 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0145 (001 of 069) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +camera 64 x 64 24 bpp 12288 bytes +distance('gripper_middle', 'tube') = 1.665042 +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520467 +distDelta: 0.144575 avgGoalDelta: 0.072288 +ArmPlugin - issuing reward 0.216863, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370645 +distDelta: 0.149822 avgGoalDelta: 0.111055 +ArmPlugin - issuing reward 0.333165, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216842 +distDelta: 0.153803 avgGoalDelta: 0.132429 +ArmPlugin - issuing reward 0.397287, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059218 +distDelta: 0.157624 avgGoalDelta: 0.145026 +ArmPlugin - issuing reward 0.435079, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885474 +distDelta: 0.173744 avgGoalDelta: 0.159385 +ArmPlugin - issuing reward 0.478156, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703963 +distDelta: 0.181511 avgGoalDelta: 0.170448 +ArmPlugin - issuing reward 0.511344, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524328 +distDelta: 0.179635 avgGoalDelta: 0.175041 +ArmPlugin - issuing reward 0.525124, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.354527 +distDelta: 0.169802 avgGoalDelta: 0.172422 +ArmPlugin - issuing reward 0.517264, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354532 +distDelta: -0.000006 avgGoalDelta: 0.086208 +ArmPlugin - issuing reward 0.258623, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354531 +distDelta: 0.000001 avgGoalDelta: 0.043105 +ArmPlugin - issuing reward 0.129314, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354531 +distDelta: -0.000000 avgGoalDelta: 0.021552 +ArmPlugin - issuing reward 0.064656, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354538 +distDelta: -0.000007 avgGoalDelta: 0.010773 +ArmPlugin - issuing reward 0.032318, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228132 +distDelta: 0.126406 avgGoalDelta: 0.068589 +ArmPlugin - issuing reward 0.205768, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0143 (001 of 070) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.660910 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516216 +distDelta: 0.144694 avgGoalDelta: 0.072347 +ArmPlugin - issuing reward 0.217041, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366261 +distDelta: 0.149955 avgGoalDelta: 0.111151 +ArmPlugin - issuing reward 0.333454, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.212382 +distDelta: 0.153879 avgGoalDelta: 0.132515 +ArmPlugin - issuing reward 0.397545, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.054523 +distDelta: 0.157859 avgGoalDelta: 0.145187 +ArmPlugin - issuing reward 0.435561, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.880362 +distDelta: 0.174161 avgGoalDelta: 0.159674 +ArmPlugin - issuing reward 0.479022, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.698842 +distDelta: 0.181520 avgGoalDelta: 0.170597 +ArmPlugin - issuing reward 0.511792, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.519333 +distDelta: 0.179508 avgGoalDelta: 0.175053 +ArmPlugin - issuing reward 0.525158, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.349778 +distDelta: 0.169555 avgGoalDelta: 0.172304 +ArmPlugin - issuing reward 0.516912, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349777 +distDelta: 0.000001 avgGoalDelta: 0.086153 +ArmPlugin - issuing reward 0.258458, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349776 +distDelta: 0.000001 avgGoalDelta: 0.043077 +ArmPlugin - issuing reward 0.129230, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349783 +distDelta: -0.000007 avgGoalDelta: 0.021535 +ArmPlugin - issuing reward 0.064605, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226084 +distDelta: 0.123699 avgGoalDelta: 0.072617 +ArmPlugin - issuing reward 0.217851, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0141 (001 of 071) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665054 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520494 +distDelta: 0.144560 avgGoalDelta: 0.072280 +ArmPlugin - issuing reward 0.216840, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370658 +distDelta: 0.149836 avgGoalDelta: 0.111058 +ArmPlugin - issuing reward 0.333173, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216845 +distDelta: 0.153813 avgGoalDelta: 0.132435 +ArmPlugin - issuing reward 0.397306, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059231 +distDelta: 0.157614 avgGoalDelta: 0.145025 +ArmPlugin - issuing reward 0.435074, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885489 +distDelta: 0.173743 avgGoalDelta: 0.159384 +ArmPlugin - issuing reward 0.478151, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703978 +distDelta: 0.181511 avgGoalDelta: 0.170447 +ArmPlugin - issuing reward 0.511342, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524343 +distDelta: 0.179635 avgGoalDelta: 0.175041 +ArmPlugin - issuing reward 0.525124, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.354541 +distDelta: 0.169802 avgGoalDelta: 0.172422 +ArmPlugin - issuing reward 0.517265, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228138 +distDelta: 0.126403 avgGoalDelta: 0.149412 +ArmPlugin - issuing reward 0.448237, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0139 (001 of 072) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.660922 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516220 +distDelta: 0.144703 avgGoalDelta: 0.072351 +ArmPlugin - issuing reward 0.217054, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366273 +distDelta: 0.149947 avgGoalDelta: 0.111149 +ArmPlugin - issuing reward 0.333447, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.212386 +distDelta: 0.153887 avgGoalDelta: 0.132518 +ArmPlugin - issuing reward 0.397554, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.054546 +distDelta: 0.157839 avgGoalDelta: 0.145179 +ArmPlugin - issuing reward 0.435536, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.880369 +distDelta: 0.174178 avgGoalDelta: 0.159678 +ArmPlugin - issuing reward 0.479035, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.698848 +distDelta: 0.181521 avgGoalDelta: 0.170600 +ArmPlugin - issuing reward 0.511799, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.519349 +distDelta: 0.179499 avgGoalDelta: 0.175049 +ArmPlugin - issuing reward 0.525148, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.349786 +distDelta: 0.169563 avgGoalDelta: 0.172306 +ArmPlugin - issuing reward 0.516919, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226089 +distDelta: 0.123697 avgGoalDelta: 0.148001 +ArmPlugin - issuing reward 0.444004, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0137 (001 of 073) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665066 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520506 +distDelta: 0.144559 avgGoalDelta: 0.072280 +ArmPlugin - issuing reward 0.216839, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370671 +distDelta: 0.149835 avgGoalDelta: 0.111057 +ArmPlugin - issuing reward 0.333172, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216858 +distDelta: 0.153813 avgGoalDelta: 0.132435 +ArmPlugin - issuing reward 0.397305, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059246 +distDelta: 0.157613 avgGoalDelta: 0.145024 +ArmPlugin - issuing reward 0.435071, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885504 +distDelta: 0.173742 avgGoalDelta: 0.159383 +ArmPlugin - issuing reward 0.478148, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.703993 +distDelta: 0.181511 avgGoalDelta: 0.170447 +ArmPlugin - issuing reward 0.511340, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524357 +distDelta: 0.179636 avgGoalDelta: 0.175041 +ArmPlugin - issuing reward 0.525124, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524364 +distDelta: -0.000007 avgGoalDelta: 0.087517 +ArmPlugin - issuing reward 0.262551, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524356 +distDelta: 0.000008 avgGoalDelta: 0.043763 +ArmPlugin - issuing reward 0.131288, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524357 +distDelta: -0.000001 avgGoalDelta: 0.021881 +ArmPlugin - issuing reward 0.065643, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524357 +distDelta: 0.000000 avgGoalDelta: 0.010941 +ArmPlugin - issuing reward 0.032822, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.524356 +distDelta: 0.000001 avgGoalDelta: 0.005471 +ArmPlugin - issuing reward 0.016412, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.354554 +distDelta: 0.169802 avgGoalDelta: 0.087636 +ArmPlugin - issuing reward 0.262909, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354560 +distDelta: -0.000006 avgGoalDelta: 0.043815 +ArmPlugin - issuing reward 0.131446, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000001 avgGoalDelta: 0.021908 +ArmPlugin - issuing reward 0.065724, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000000 avgGoalDelta: 0.010954 +ArmPlugin - issuing reward 0.032862, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000001 avgGoalDelta: 0.005477 +ArmPlugin - issuing reward 0.016430, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000001 avgGoalDelta: 0.002739 +ArmPlugin - issuing reward 0.008216, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000001 avgGoalDelta: 0.001369 +ArmPlugin - issuing reward 0.004107, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000000 avgGoalDelta: 0.000685 +ArmPlugin - issuing reward 0.002054, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000342 +ArmPlugin - issuing reward 0.001027, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354566 +distDelta: -0.000007 avgGoalDelta: 0.000168 +ArmPlugin - issuing reward 0.000503, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354566 +distDelta: -0.000000 avgGoalDelta: 0.000084 +ArmPlugin - issuing reward 0.000252, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000007 avgGoalDelta: 0.000046 +ArmPlugin - issuing reward 0.000137, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000023 +ArmPlugin - issuing reward 0.000068, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000000 avgGoalDelta: 0.000011 +ArmPlugin - issuing reward 0.000034, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000017, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354559 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354558 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228144 +distDelta: 0.126415 avgGoalDelta: 0.063208 +ArmPlugin - issuing reward 0.189623, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0135 (001 of 074) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.660934 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516232 +distDelta: 0.144703 avgGoalDelta: 0.072351 +ArmPlugin - issuing reward 0.217054, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366286 +distDelta: 0.149946 avgGoalDelta: 0.111149 +ArmPlugin - issuing reward 0.333446, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.212399 +distDelta: 0.153887 avgGoalDelta: 0.132518 +ArmPlugin - issuing reward 0.397553, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.054551 +distDelta: 0.157848 avgGoalDelta: 0.145183 +ArmPlugin - issuing reward 0.435548, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.880392 +distDelta: 0.174159 avgGoalDelta: 0.159671 +ArmPlugin - issuing reward 0.479012, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.698863 +distDelta: 0.181529 avgGoalDelta: 0.170600 +ArmPlugin - issuing reward 0.511800, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.519363 +distDelta: 0.179501 avgGoalDelta: 0.175050 +ArmPlugin - issuing reward 0.525151, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.349806 +distDelta: 0.169557 avgGoalDelta: 0.172304 +ArmPlugin - issuing reward 0.516911, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000005 avgGoalDelta: 0.086150 +ArmPlugin - issuing reward 0.258449, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.043078 +ArmPlugin - issuing reward 0.129235, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.021539 +ArmPlugin - issuing reward 0.064618, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: -0.000000 avgGoalDelta: 0.010770 +ArmPlugin - issuing reward 0.032309, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: 0.005381 +ArmPlugin - issuing reward 0.016144, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.002694 +ArmPlugin - issuing reward 0.008082, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.001347 +ArmPlugin - issuing reward 0.004041, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: -0.000000 avgGoalDelta: 0.000674 +ArmPlugin - issuing reward 0.002021, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000337 +ArmPlugin - issuing reward 0.001010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000168 +ArmPlugin - issuing reward 0.000505, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: -0.000000 avgGoalDelta: 0.000084 +ArmPlugin - issuing reward 0.000253, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000042 +ArmPlugin - issuing reward 0.000127, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: 0.000017 +ArmPlugin - issuing reward 0.000052, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000000 avgGoalDelta: 0.000009 +ArmPlugin - issuing reward 0.000026, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000000 avgGoalDelta: 0.000004 +ArmPlugin - issuing reward 0.000013, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000014, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349804 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349804 +distDelta: 0.000006 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000006 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000006, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000003, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349804 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000006 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: 0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000004, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000009, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349803 +distDelta: 0.000007 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.349810 +distDelta: -0.000007 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000007, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226094 +distDelta: 0.123716 avgGoalDelta: 0.061857 +ArmPlugin - issuing reward 0.185570, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0133 (001 of 075) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803202 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803204 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803212 +distDelta: -0.000009 avgGoalDelta: -0.000005 +ArmPlugin - issuing reward -0.000014, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665080 +distDelta: 0.138133 avgGoalDelta: 0.069064 +ArmPlugin - issuing reward 0.207192, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.520528 +distDelta: 0.144552 avgGoalDelta: 0.106808 +ArmPlugin - issuing reward 0.320423, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.370692 +distDelta: 0.149836 avgGoalDelta: 0.128322 +ArmPlugin - issuing reward 0.384965, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.216881 +distDelta: 0.153812 avgGoalDelta: 0.141067 +ArmPlugin - issuing reward 0.423200, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059259 +distDelta: 0.157622 avgGoalDelta: 0.149344 +ArmPlugin - issuing reward 0.448033, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.885528 +distDelta: 0.173731 avgGoalDelta: 0.161537 +ArmPlugin - issuing reward 0.484612, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.885507 +distDelta: 0.000021 avgGoalDelta: 0.080779 +ArmPlugin - issuing reward 0.242337, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704010 +distDelta: 0.181497 avgGoalDelta: 0.131138 +ArmPlugin - issuing reward 0.393415, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.524381 +distDelta: 0.179629 avgGoalDelta: 0.155384 +ArmPlugin - issuing reward 0.466151, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.354568 +distDelta: 0.169813 avgGoalDelta: 0.162598 +ArmPlugin - issuing reward 0.487795, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354573 +distDelta: -0.000005 avgGoalDelta: 0.081297 +ArmPlugin - issuing reward 0.243890, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: -0.000007 avgGoalDelta: 0.040645 +ArmPlugin - issuing reward 0.121935, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: 0.000000 avgGoalDelta: 0.020322 +ArmPlugin - issuing reward 0.060967, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000007 avgGoalDelta: 0.010165 +ArmPlugin - issuing reward 0.030494, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354580 +distDelta: -0.000007 avgGoalDelta: 0.005079 +ArmPlugin - issuing reward 0.015237, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000007 avgGoalDelta: 0.002543 +ArmPlugin - issuing reward 0.007629, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: -0.000000 avgGoalDelta: 0.001271 +ArmPlugin - issuing reward 0.003814, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: -0.000007 avgGoalDelta: 0.000632 +ArmPlugin - issuing reward 0.001897, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354573 +distDelta: 0.000006 avgGoalDelta: 0.000319 +ArmPlugin - issuing reward 0.000958, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000001 avgGoalDelta: 0.000160 +ArmPlugin - issuing reward 0.000480, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354580 +distDelta: -0.000007 avgGoalDelta: 0.000076 +ArmPlugin - issuing reward 0.000229, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354580 +distDelta: 0.000000 avgGoalDelta: 0.000038 +ArmPlugin - issuing reward 0.000115, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000007 avgGoalDelta: 0.000023 +ArmPlugin - issuing reward 0.000068, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354580 +distDelta: -0.000008 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000023, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000008 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000023, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354573 +distDelta: -0.000001 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: -0.000006 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354580 +distDelta: -0.000000 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: 0.000007 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000010, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354572 +distDelta: -0.000000 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: -0.000007 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354573 +distDelta: 0.000006 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354573 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.354579 +distDelta: -0.000006 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000008, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228151 +distDelta: 0.126429 avgGoalDelta: 0.063213 +ArmPlugin - issuing reward 0.189639, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000012 avgGoalDelta: 0.031600 +ArmPlugin - issuing reward 0.094801, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000003 avgGoalDelta: 0.015801 +ArmPlugin - issuing reward 0.047404, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: 0.007900 +ArmPlugin - issuing reward 0.023699, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000000 avgGoalDelta: 0.003950 +ArmPlugin - issuing reward 0.011849, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.001976 +ArmPlugin - issuing reward 0.005928, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: 0.000987 +ArmPlugin - issuing reward 0.002961, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000495 +ArmPlugin - issuing reward 0.001484, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: 0.000246 +ArmPlugin - issuing reward 0.000739, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000000 avgGoalDelta: 0.000123 +ArmPlugin - issuing reward 0.000369, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000000 avgGoalDelta: 0.000062 +ArmPlugin - issuing reward 0.000185, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: 0.000000 avgGoalDelta: 0.000031 +ArmPlugin - issuing reward 0.000092, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000000 avgGoalDelta: 0.000015 +ArmPlugin - issuing reward 0.000046, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: 0.000000 avgGoalDelta: 0.000008 +ArmPlugin - issuing reward 0.000023, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000005 +ArmPlugin - issuing reward 0.000015, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228160 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228163 +distDelta: -0.000002 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.228161 +distDelta: 0.000002 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 2 +distance('gripper_middle', 'tube') = 0.193278 +distDelta: 0.034883 avgGoalDelta: 0.017442 +ArmPlugin - issuing reward 0.052325, EOE=false POS +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Collision between[tube::tube_link::tube_collision] and [arm::link2::collision2] +Current Accuracy: 0.0132 (001 of 076) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661520 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516858 +distDelta: 0.144662 avgGoalDelta: 0.072331 +ArmPlugin - issuing reward 0.216994, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366944 +distDelta: 0.149914 avgGoalDelta: 0.111123 +ArmPlugin - issuing reward 0.333368, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213089 +distDelta: 0.153854 avgGoalDelta: 0.132489 +ArmPlugin - issuing reward 0.397466, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055289 +distDelta: 0.157800 avgGoalDelta: 0.145144 +ArmPlugin - issuing reward 0.435433, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881219 +distDelta: 0.174070 avgGoalDelta: 0.159607 +ArmPlugin - issuing reward 0.478822, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699702 +distDelta: 0.181517 avgGoalDelta: 0.170562 +ArmPlugin - issuing reward 0.511686, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520171 +distDelta: 0.179531 avgGoalDelta: 0.175046 +ArmPlugin - issuing reward 0.525139, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 5 +distance('gripper_middle', 'tube') = 0.520171 +distDelta: 0.000000 avgGoalDelta: 0.087523 +ArmPlugin - issuing reward 0.262570, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350480 +distDelta: 0.169691 avgGoalDelta: 0.128607 +ArmPlugin - issuing reward 0.385821, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226265 +distDelta: 0.124215 avgGoalDelta: 0.126411 +ArmPlugin - issuing reward 0.379234, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0130 (001 of 077) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803743 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803744 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803745 +distDelta: -0.000001 avgGoalDelta: -0.000001 +ArmPlugin - issuing reward -0.000002, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803745 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000001, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803753 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000013, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803745 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 1.803753 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000009, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665665 +distDelta: 0.138088 avgGoalDelta: 0.069042 +ArmPlugin - issuing reward 0.207127, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521144 +distDelta: 0.144521 avgGoalDelta: 0.106782 +ArmPlugin - issuing reward 0.320345, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371342 +distDelta: 0.149802 avgGoalDelta: 0.128292 +ArmPlugin - issuing reward 0.384876, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217554 +distDelta: 0.153788 avgGoalDelta: 0.141040 +ArmPlugin - issuing reward 0.423119, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 12 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.059995 +distDelta: 0.157559 avgGoalDelta: 0.149299 +ArmPlugin - issuing reward 0.447898, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 13 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886354 +distDelta: 0.173641 avgGoalDelta: 0.161470 +ArmPlugin - issuing reward 0.484411, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 14 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704848 +distDelta: 0.181506 avgGoalDelta: 0.171488 +ArmPlugin - issuing reward 0.514465, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 15 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.179664 avgGoalDelta: 0.175576 +ArmPlugin - issuing reward 0.526729, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 16 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000001 avgGoalDelta: 0.087789 +ArmPlugin - issuing reward 0.263366, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 17 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: -0.000000 avgGoalDelta: 0.043894 +ArmPlugin - issuing reward 0.131683, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 18 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.021948 +ArmPlugin - issuing reward 0.065843, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 19 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.010974 +ArmPlugin - issuing reward 0.032922, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 20 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000001 avgGoalDelta: 0.005487 +ArmPlugin - issuing reward 0.016460, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 21 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.002744 +ArmPlugin - issuing reward 0.008231, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 22 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.001372 +ArmPlugin - issuing reward 0.004115, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 23 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000686 +ArmPlugin - issuing reward 0.002058, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 24 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525191 +distDelta: -0.000009 avgGoalDelta: 0.000339 +ArmPlugin - issuing reward 0.001016, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 25 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000009 avgGoalDelta: 0.000174 +ArmPlugin - issuing reward 0.000521, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 26 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525191 +distDelta: -0.000009 avgGoalDelta: 0.000082 +ArmPlugin - issuing reward 0.000247, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 27 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000009 avgGoalDelta: 0.000046 +ArmPlugin - issuing reward 0.000137, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 28 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000023 +ArmPlugin - issuing reward 0.000069, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 29 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000011 +ArmPlugin - issuing reward 0.000034, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 30 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000006 +ArmPlugin - issuing reward 0.000017, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 31 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 32 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000004, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 33 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 34 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 35 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 36 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 37 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 38 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 39 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525190 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 40 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000008 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 41 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 42 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525190 +distDelta: -0.000008 avgGoalDelta: -0.000003 +ArmPlugin - issuing reward -0.000010, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 43 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525190 +distDelta: 0.000000 avgGoalDelta: -0.000002 +ArmPlugin - issuing reward -0.000005, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 44 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000007 avgGoalDelta: 0.000003 +ArmPlugin - issuing reward 0.000008, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 45 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000006, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 46 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: -0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 47 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 48 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 49 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 50 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 51 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000001 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 52 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 53 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 54 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: -0.000000 +ArmPlugin - issuing reward -0.000000, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 55 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525190 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 56 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000009 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000007, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 57 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 58 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 59 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 60 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 61 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 62 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 63 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 64 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525190 +distDelta: -0.000008 avgGoalDelta: -0.000004 +ArmPlugin - issuing reward -0.000012, EOE=false NEG +camera 64 x 64 24 bpp 12288 bytes +episode frame = 65 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000007 avgGoalDelta: 0.000002 +ArmPlugin - issuing reward 0.000005, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 66 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525183 +distDelta: 0.000000 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000002, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 67 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000001 avgGoalDelta: 0.000001 +ArmPlugin - issuing reward 0.000003, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 68 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 69 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: 0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000001, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 70 +ArmPlugin - agent selected action 4 +distance('gripper_middle', 'tube') = 0.525182 +distDelta: -0.000000 avgGoalDelta: 0.000000 +ArmPlugin - issuing reward 0.000000, EOE=false POS +camera 64 x 64 24 bpp 12288 bytes +episode frame = 71 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355258 +distDelta: 0.169923 avgGoalDelta: 0.084962 +ArmPlugin - issuing reward 0.254885, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 72 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228344 +distDelta: 0.126914 avgGoalDelta: 0.105938 +ArmPlugin - issuing reward 0.317814, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 73 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0128 (001 of 078) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.661531 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.516869 +distDelta: 0.144662 avgGoalDelta: 0.072331 +ArmPlugin - issuing reward 0.216993, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.366965 +distDelta: 0.149904 avgGoalDelta: 0.111118 +ArmPlugin - issuing reward 0.333353, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.213102 +distDelta: 0.153863 avgGoalDelta: 0.132490 +ArmPlugin - issuing reward 0.397471, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.055312 +distDelta: 0.157790 avgGoalDelta: 0.145140 +ArmPlugin - issuing reward 0.435420, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.881242 +distDelta: 0.174070 avgGoalDelta: 0.159605 +ArmPlugin - issuing reward 0.478815, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.699717 +distDelta: 0.181525 avgGoalDelta: 0.170565 +ArmPlugin - issuing reward 0.511695, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.520186 +distDelta: 0.179531 avgGoalDelta: 0.175048 +ArmPlugin - issuing reward 0.525144, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.350495 +distDelta: 0.169691 avgGoalDelta: 0.172370 +ArmPlugin - issuing reward 0.517109, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.226270 +distDelta: 0.124224 avgGoalDelta: 0.148297 +ArmPlugin - issuing reward 0.444891, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 11 +ArmPlugin - agent selected action 0 +GROUND CONTACT, EOE +ArmPlugin - issuing reward -15.000000, EOE=true NEG +Current Accuracy: 0.0127 (001 of 079) (reward=-15.00 LOSS) +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +camera 64 x 64 24 bpp 12288 bytes +episode frame = 1 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.665675 +camera 64 x 64 24 bpp 12288 bytes +episode frame = 2 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.521156 +distDelta: 0.144519 avgGoalDelta: 0.072259 +ArmPlugin - issuing reward 0.216778, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 3 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.371354 +distDelta: 0.149802 avgGoalDelta: 0.111031 +ArmPlugin - issuing reward 0.333092, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 4 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.217575 +distDelta: 0.153778 avgGoalDelta: 0.132405 +ArmPlugin - issuing reward 0.397214, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 5 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 1.060009 +distDelta: 0.157566 avgGoalDelta: 0.144985 +ArmPlugin - issuing reward 0.434956, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 6 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.886369 +distDelta: 0.173640 avgGoalDelta: 0.159313 +ArmPlugin - issuing reward 0.477938, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 7 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.704864 +distDelta: 0.181506 avgGoalDelta: 0.170409 +ArmPlugin - issuing reward 0.511227, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 8 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.525199 +distDelta: 0.179665 avgGoalDelta: 0.175037 +ArmPlugin - issuing reward 0.525111, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 9 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.355272 +distDelta: 0.169927 avgGoalDelta: 0.172482 +ArmPlugin - issuing reward 0.517446, EOE=false POS+ +camera 64 x 64 24 bpp 12288 bytes +episode frame = 10 +ArmPlugin - agent selected action 0 +distance('gripper_middle', 'tube') = 0.228350 +distDelta: 0.126922 avgGoalDelta: 0.149702 +ArmPlugin - issuing reward 0.449106, EOE=false POS+