Twin classroom

You are in the browser. This page is the 3D room. Drag anywhere on the picture to move the RGB sticks — you cannot grab the can with the mouse. The claw follows. This is practice, not a license.

connecting…

Click the picture, then:
Hold   W A S D  or arrows     move the marker
       Q / E  or  [ / ]       down / up
Tap    K                      start or stop RECORD
       G / O                  close / open claw
       Enter                  write the demo
       R                      reset room
       + / − / 0              zoom

Live positions

idle

Joints (deg)

World (m)

marker	—
claw	—
can	—
goal pad	—
fence top	—

Train

K starts record. Hold WASD to lift. K stops. Enter writes the demo.
Reset room and do it again from a new start. A few good lifts beat one long recording.
On the Linux box: .venv/bin/python -m twin train --skill barrier --steps 50000
Exam: .venv/bin/python -m twin eval --skill barrier --policy ppo --model <zip> --episodes 50 --emit-eval. Promote only at ≥ 80%.

If you move the object (e.g. up)

The old demos no longer match. Reset, then record new lifts that actually go to the new height.
Train further on the last zip: .venv/bin/python -m twin train --skill barrier --resume <zip> --steps 30000
Run the 50-try exam again. A higher can is a new job until the exam passes.