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