query
stringlengths 1.77k
1.8k
| completion
stringlengths 671
671
|
|---|---|
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.12
0.21
0.83
0.01
-0.00
0.79
0.61
0.08
0.01
0.02
0.02
1.00
-0.04
0.08
## Robot End Effector Position
-0.13
0.29
0.83
## Robot End Effector Orientation
0.78
-0.62
0.09
0.01
## Robot Gripper Position
0.03
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.83
0.00
-0.00
0.79
0.61
0.08
0.02
0.02
0.01
1.00
-0.05
0.08
## Robot End Effector Position
-0.12
0.29
0.83
## Robot End Effector Orientation
0.78
-0.62
0.09
0.01
## Robot Gripper Position
0.04
-0.00
---
# Predicted Action | <|act1302|> <|act1992|> <|act1188|> <|act2017|> <|act1574|> <|act1640|> <|act2047|> <|act1310|> <|act1974|> <|act1202|> <|act2017|> <|act1573|> <|act1639|> <|act2047|> <|act1320|> <|act1965|> <|act1223|> <|act2016|> <|act1573|> <|act1644|> <|act2047|> <|act1346|> <|act1957|> <|act1222|> <|act2016|> <|act1572|> <|act1653|> <|act2047|> <|act1356|> <|act1953|> <|act1237|> <|act2016|> <|act1571|> <|act1664|> <|act2047|> <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.12
0.21
0.83
0.00
-0.00
0.79
0.61
0.08
0.02
0.02
0.01
1.00
-0.05
0.08
## Robot End Effector Position
-0.12
0.29
0.83
## Robot End Effector Orientation
0.78
-0.62
0.09
0.01
## Robot Gripper Position
0.04
-0.00
---
# Current Observation
## Object Position
-0.12
0.21
0.83
0.00
-0.00
0.79
0.61
0.08
0.02
0.02
0.01
1.00
-0.04
0.08
## Robot End Effector Position
-0.12
0.29
0.83
## Robot End Effector Orientation
0.78
-0.62
0.09
0.02
## Robot Gripper Position
0.04
-0.00
---
# Predicted Action | <|act1310|> <|act1974|> <|act1202|> <|act2017|> <|act1573|> <|act1639|> <|act2047|> <|act1320|> <|act1965|> <|act1223|> <|act2016|> <|act1573|> <|act1644|> <|act2047|> <|act1346|> <|act1957|> <|act1222|> <|act2016|> <|act1572|> <|act1653|> <|act2047|> <|act1356|> <|act1953|> <|act1237|> <|act2016|> <|act1571|> <|act1664|> <|act2047|> <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.12
0.21
0.83
0.00
-0.00
0.79
0.61
0.08
0.02
0.02
0.01
1.00
-0.04
0.08
## Robot End Effector Position
-0.12
0.29
0.83
## Robot End Effector Orientation
0.78
-0.62
0.09
0.02
## Robot Gripper Position
0.04
-0.00
---
# Current Observation
## Object Position
-0.12
0.21
0.83
-0.00
-0.00
0.78
0.62
0.07
0.02
0.02
-0.00
1.00
-0.05
0.08
## Robot End Effector Position
-0.11
0.29
0.84
## Robot End Effector Orientation
0.78
-0.62
0.09
0.02
## Robot Gripper Position
0.04
-0.00
---
# Predicted Action | <|act1320|> <|act1965|> <|act1223|> <|act2016|> <|act1573|> <|act1644|> <|act2047|> <|act1346|> <|act1957|> <|act1222|> <|act2016|> <|act1572|> <|act1653|> <|act2047|> <|act1356|> <|act1953|> <|act1237|> <|act2016|> <|act1571|> <|act1664|> <|act2047|> <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.12
0.21
0.83
-0.00
-0.00
0.78
0.62
0.07
0.02
0.02
-0.00
1.00
-0.05
0.08
## Robot End Effector Position
-0.11
0.29
0.84
## Robot End Effector Orientation
0.78
-0.62
0.09
0.02
## Robot Gripper Position
0.04
-0.00
---
# Current Observation
## Object Position
-0.10
0.21
0.83
-0.00
0.00
0.76
0.66
0.07
0.02
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.10
0.29
0.84
## Robot End Effector Orientation
0.78
-0.62
0.10
0.02
## Robot Gripper Position
0.03
-0.00
---
# Predicted Action | <|act1346|> <|act1957|> <|act1222|> <|act2016|> <|act1572|> <|act1653|> <|act2047|> <|act1356|> <|act1953|> <|act1237|> <|act2016|> <|act1571|> <|act1664|> <|act2047|> <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.10
0.21
0.83
-0.00
0.00
0.76
0.66
0.07
0.02
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.10
0.29
0.84
## Robot End Effector Orientation
0.78
-0.62
0.10
0.02
## Robot Gripper Position
0.03
-0.00
---
# Current Observation
## Object Position
-0.09
0.21
0.83
-0.01
-0.00
0.75
0.66
0.07
0.02
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.09
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.10
0.01
## Robot Gripper Position
0.03
-0.00
---
# Predicted Action | <|act1356|> <|act1953|> <|act1237|> <|act2016|> <|act1571|> <|act1664|> <|act2047|> <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.09
0.21
0.83
-0.01
-0.00
0.75
0.66
0.07
0.02
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.09
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.10
0.01
## Robot Gripper Position
0.03
-0.00
---
# Current Observation
## Object Position
-0.08
0.20
0.84
-0.01
-0.00
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.08
0.28
0.84
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1392|> <|act1952|> <|act1247|> <|act2016|> <|act1570|> <|act1673|> <|act2047|> <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.08
0.20
0.84
-0.01
-0.00
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.08
0.28
0.84
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.06
0.20
0.84
-0.01
-0.01
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.07
0.28
0.84
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1398|> <|act1926|> <|act1276|> <|act2017|> <|act1570|> <|act1684|> <|act2047|> <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.06
0.20
0.84
-0.01
-0.01
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.07
0.28
0.84
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.05
0.20
0.84
-0.02
-0.01
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.06
0.28
0.85
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1424|> <|act1930|> <|act1298|> <|act2017|> <|act1569|> <|act1689|> <|act2047|> <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.05
0.20
0.84
-0.02
-0.01
0.75
0.66
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.06
0.28
0.85
## Robot End Effector Orientation
0.77
-0.63
0.11
0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.04
0.20
0.85
-0.02
-0.01
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.05
0.27
0.85
## Robot End Effector Orientation
0.76
-0.63
0.12
0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1420|> <|act1913|> <|act1347|> <|act2018|> <|act1569|> <|act1694|> <|act2047|> <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.04
0.20
0.85
-0.02
-0.01
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.05
0.27
0.85
## Robot End Effector Orientation
0.76
-0.63
0.12
0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.03
0.19
0.85
-0.02
-0.02
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.04
0.27
0.86
## Robot End Effector Orientation
0.76
-0.64
0.12
0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1454|> <|act1914|> <|act1408|> <|act2019|> <|act1569|> <|act1693|> <|act2047|> <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.03
0.19
0.85
-0.02
-0.02
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.04
0.27
0.86
## Robot End Effector Orientation
0.76
-0.64
0.12
0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.02
0.19
0.86
-0.02
-0.02
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.03
0.27
0.87
## Robot End Effector Orientation
0.76
-0.64
0.12
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1472|> <|act1910|> <|act1463|> <|act2021|> <|act1568|> <|act1694|> <|act2047|> <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.02
0.19
0.86
-0.02
-0.02
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.03
0.27
0.87
## Robot End Effector Orientation
0.76
-0.64
0.12
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.02
0.19
0.87
-0.02
-0.03
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.02
0.27
0.88
## Robot End Effector Orientation
0.76
-0.64
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1498|> <|act1903|> <|act1501|> <|act2023|> <|act1567|> <|act1689|> <|act2047|> <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.02
0.19
0.87
-0.02
-0.03
0.74
0.67
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.02
0.27
0.88
## Robot End Effector Orientation
0.76
-0.64
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.01
0.19
0.88
-0.02
-0.03
0.74
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.01
0.27
0.89
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1521|> <|act1874|> <|act1528|> <|act2025|> <|act1565|> <|act1684|> <|act2047|> <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.01
0.19
0.88
-0.02
-0.03
0.74
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.01
0.27
0.89
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.00
0.19
0.90
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.01
0.26
0.90
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1542|> <|act1857|> <|act1570|> <|act2026|> <|act1564|> <|act1679|> <|act2047|> <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.00
0.19
0.90
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
-0.01
0.26
0.90
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.01
0.18
0.91
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.00
0.26
0.91
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1570|> <|act1834|> <|act1595|> <|act2027|> <|act1563|> <|act1676|> <|act2047|> <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.01
0.18
0.91
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.00
0.26
0.91
## Robot End Effector Orientation
0.75
-0.65
0.12
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.02
0.18
0.92
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.01
0.26
0.93
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1589|> <|act1820|> <|act1615|> <|act2028|> <|act1563|> <|act1669|> <|act2047|> <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.02
0.18
0.92
-0.02
-0.04
0.73
0.68
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.01
0.26
0.93
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.03
0.17
0.93
-0.02
-0.05
0.73
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.02
0.25
0.94
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1609|> <|act1791|> <|act1630|> <|act2029|> <|act1563|> <|act1662|> <|act2047|> <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.03
0.17
0.93
-0.02
-0.05
0.73
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.02
0.25
0.94
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.04
0.17
0.93
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.03
0.24
0.94
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1630|> <|act1787|> <|act1645|> <|act2030|> <|act1562|> <|act1657|> <|act2047|> <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.04
0.17
0.93
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.03
0.24
0.94
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.05
0.16
0.94
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.04
0.24
0.95
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1646|> <|act1766|> <|act1636|> <|act2030|> <|act1562|> <|act1652|> <|act2047|> <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.05
0.16
0.94
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.04
0.24
0.95
## Robot End Effector Orientation
0.74
-0.66
0.11
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.06
0.16
0.95
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.05
0.23
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1670|> <|act1745|> <|act1647|> <|act2031|> <|act1563|> <|act1648|> <|act2047|> <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.06
0.16
0.95
-0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.05
0.23
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.07
0.15
0.95
-0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.07
0.22
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1695|> <|act1736|> <|act1643|> <|act2032|> <|act1562|> <|act1641|> <|act2047|> <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.07
0.15
0.95
-0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.07
0.22
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.08
0.14
0.95
0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.08
0.22
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1719|> <|act1697|> <|act1653|> <|act2033|> <|act1562|> <|act1633|> <|act2047|> <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.08
0.14
0.95
0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.08
0.22
0.96
## Robot End Effector Orientation
0.74
-0.66
0.10
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.09
0.13
0.95
0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.09
0.21
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1742|> <|act1692|> <|act1631|> <|act2032|> <|act1562|> <|act1627|> <|act2047|> <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.09
0.13
0.95
0.00
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.09
0.21
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.11
0.13
0.95
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.10
0.20
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1766|> <|act1669|> <|act1640|> <|act2032|> <|act1561|> <|act1626|> <|act2047|> <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.11
0.13
0.95
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.10
0.20
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.12
0.12
0.95
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.11
0.19
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1779|> <|act1664|> <|act1643|> <|act2033|> <|act1560|> <|act1622|> <|act2047|> <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.12
0.12
0.95
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.11
0.19
0.97
## Robot End Effector Orientation
0.74
-0.66
0.09
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.13
0.11
0.96
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.13
0.19
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1810|> <|act1643|> <|act1656|> <|act2033|> <|act1560|> <|act1618|> <|act2047|> <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.13
0.11
0.96
0.01
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.13
0.19
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.14
0.10
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.14
0.18
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1822|> <|act1645|> <|act1656|> <|act2033|> <|act1560|> <|act1614|> <|act2047|> <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.14
0.10
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.14
0.18
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.15
0.10
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.15
0.17
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1844|> <|act1626|> <|act1645|> <|act2033|> <|act1559|> <|act1612|> <|act2047|> <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.15
0.10
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.15
0.17
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.16
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.16
0.17
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1840|> <|act1623|> <|act1637|> <|act2034|> <|act1558|> <|act1608|> <|act2047|> <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.16
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.16
0.17
0.97
## Robot End Effector Orientation
0.74
-0.67
0.08
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.17
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.17
0.16
0.97
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1849|> <|act1620|> <|act1627|> <|act2034|> <|act1558|> <|act1604|> <|act2047|> <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.17
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.17
0.16
0.97
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.18
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.18
0.16
0.97
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1835|> <|act1643|> <|act1656|> <|act2033|> <|act1558|> <|act1607|> <|act2047|> <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.18
0.09
0.96
0.02
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.18
0.16
0.97
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.03
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.18
0.09
0.96
0.03
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.18
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1860|> <|act1611|> <|act1662|> <|act2032|> <|act1559|> <|act1613|> <|act2047|> <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.18
0.09
0.96
0.03
-0.05
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.18
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.19
0.09
0.96
0.03
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.19
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1870|> <|act1607|> <|act1687|> <|act2031|> <|act1559|> <|act1607|> <|act2047|> <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.19
0.09
0.96
0.03
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.19
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.20
0.08
0.97
0.03
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.19
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1880|> <|act1598|> <|act1714|> <|act2030|> <|act1560|> <|act1600|> <|act2047|> <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.20
0.08
0.97
0.03
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.05
0.08
## Robot End Effector Position
0.19
0.16
0.98
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.20
0.08
0.97
0.02
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.20
0.16
0.99
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1881|> <|act1602|> <|act1745|> <|act2030|> <|act1560|> <|act1592|> <|act2047|> <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.20
0.08
0.97
0.02
-0.04
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.20
0.16
0.99
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.21
0.08
0.98
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.20
0.16
0.99
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1899|> <|act1605|> <|act1758|> <|act2030|> <|act1560|> <|act1581|> <|act2047|> <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.21
0.08
0.98
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.20
0.16
0.99
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.21
0.08
0.98
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.21
0.16
1.00
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1904|> <|act1618|> <|act1791|> <|act2030|> <|act1559|> <|act1572|> <|act2047|> <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.21
0.08
0.98
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.21
0.16
1.00
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.21
0.08
0.99
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.21
0.16
1.00
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1913|> <|act1611|> <|act1809|> <|act2030|> <|act1559|> <|act1562|> <|act2047|> <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.21
0.08
0.99
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.21
0.16
1.00
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.22
0.08
1.00
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1918|> <|act1608|> <|act1814|> <|act2031|> <|act1558|> <|act1556|> <|act2047|> <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.08
1.00
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.22
0.08
1.00
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1933|> <|act1621|> <|act1818|> <|act2032|> <|act1557|> <|act1551|> <|act2047|> <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.08
1.00
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.08
1.01
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1944|> <|act1637|> <|act1779|> <|act2032|> <|act1556|> <|act1552|> <|act2047|> <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.08
1.01
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.09
1.01
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1944|> <|act1645|> <|act1739|> <|act2032|> <|act1555|> <|act1561|> <|act2047|> <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.09
1.01
0.02
-0.03
0.72
0.69
0.07
0.01
0.02
-0.03
0.99
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.09
1.00
0.02
-0.03
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1945|> <|act1659|> <|act1689|> <|act2032|> <|act1554|> <|act1573|> <|act2047|> <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.09
1.00
0.02
-0.03
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.02
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.24
0.09
1.00
0.02
-0.04
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1934|> <|act1650|> <|act1645|> <|act2032|> <|act1553|> <|act1585|> <|act2047|> <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.24
0.09
1.00
0.02
-0.04
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.16
1.01
## Robot End Effector Orientation
0.74
-0.67
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.24
0.09
0.99
0.02
-0.04
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
1.00
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1918|> <|act1648|> <|act1609|> <|act2032|> <|act1552|> <|act1596|> <|act2047|> <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.24
0.09
0.99
0.02
-0.04
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
1.00
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.24
0.09
0.98
0.02
-0.04
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.24
0.17
0.99
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1911|> <|act1648|> <|act1567|> <|act2032|> <|act1552|> <|act1600|> <|act2047|> <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.24
0.09
0.98
0.02
-0.04
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.24
0.17
0.99
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.24
0.09
0.97
0.02
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.98
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1899|> <|act1662|> <|act1513|> <|act2031|> <|act1552|> <|act1605|> <|act2047|> <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.24
0.09
0.97
0.02
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.98
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.10
0.96
0.02
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.97
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1874|> <|act1672|> <|act1480|> <|act2030|> <|act1552|> <|act1598|> <|act2047|> <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.10
0.96
0.02
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.97
## Robot End Effector Orientation
0.73
-0.68
0.07
-0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.10
0.95
0.03
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.96
## Robot End Effector Orientation
0.73
-0.68
0.06
0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1857|> <|act1701|> <|act1447|> <|act2028|> <|act1552|> <|act1581|> <|act2047|> <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.10
0.95
0.03
-0.03
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.17
0.96
## Robot End Effector Orientation
0.73
-0.68
0.06
0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.23
0.10
0.94
0.03
-0.02
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.18
0.95
## Robot End Effector Orientation
0.73
-0.68
0.06
0.01
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1829|> <|act1694|> <|act1416|> <|act2028|> <|act1552|> <|act1568|> <|act2047|> <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.10
0.94
0.03
-0.02
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.23
0.18
0.95
## Robot End Effector Orientation
0.73
-0.68
0.06
0.01
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.22
0.11
0.93
0.03
-0.01
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.94
## Robot End Effector Orientation
0.73
-0.68
0.06
0.02
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1809|> <|act1686|> <|act1388|> <|act2026|> <|act1552|> <|act1561|> <|act2047|> <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.93
0.03
-0.01
0.71
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.94
## Robot End Effector Orientation
0.73
-0.68
0.06
0.02
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
0.22
0.11
0.93
0.02
-0.01
0.72
0.69
0.07
0.00
0.02
-0.02
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.94
## Robot End Effector Orientation
0.73
-0.68
0.06
0.03
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1822|> <|act1669|> <|act1370|> <|act2023|> <|act1552|> <|act1547|> <|act2047|> <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.93
0.02
-0.01
0.72
0.69
0.07
0.00
0.02
-0.02
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.94
## Robot End Effector Orientation
0.73
-0.68
0.06
0.03
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.02
-0.01
0.72
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.03
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1831|> <|act1672|> <|act1421|> <|act2023|> <|act1553|> <|act1546|> <|act2047|> <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.02
-0.01
0.72
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.03
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.04
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1842|> <|act1670|> <|act1442|> <|act2023|> <|act1553|> <|act1545|> <|act2047|> <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.04
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.04
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1851|> <|act1672|> <|act1451|> <|act2022|> <|act1554|> <|act1543|> <|act2047|> <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.04
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1858|> <|act1675|> <|act1487|> <|act2022|> <|act1555|> <|act1542|> <|act2047|> <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.68
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1875|> <|act1682|> <|act1504|> <|act2023|> <|act1555|> <|act1542|> <|act2047|> <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.68
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.08
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.09
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1879|> <|act1681|> <|act1498|> <|act2023|> <|act1556|> <|act1540|> <|act2047|> <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
0.00
0.73
0.69
0.07
-0.00
0.02
-0.00
1.00
-0.02
0.09
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.06
0.05
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.09
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1890|> <|act1675|> <|act1492|> <|act2024|> <|act1556|> <|act1544|> <|act1024|> <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.09
## Robot End Effector Position
0.21
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1904|> <|act1685|> <|act1486|> <|act2024|> <|act1557|> <|act1548|> <|act1024|> <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.73
0.69
0.07
-0.00
0.02
-0.01
1.00
-0.02
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.69
0.07
0.00
0.02
-0.01
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Predicted Action | <|act1905|> <|act1679|> <|act1482|> <|act2024|> <|act1557|> <|act1565|> <|act1024|> <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.69
0.07
0.00
0.02
-0.01
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.04
## Robot Gripper Position
0.01
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.69
0.07
0.00
0.02
-0.02
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.03
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1910|> <|act1681|> <|act1498|> <|act2024|> <|act1557|> <|act1574|> <|act1024|> <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.69
0.07
0.00
0.02
-0.02
1.00
-0.03
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.07
0.03
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.08
0.03
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1910|> <|act1677|> <|act1511|> <|act2024|> <|act1557|> <|act1584|> <|act1024|> <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.22
0.11
0.92
0.01
-0.00
0.72
0.70
0.07
0.01
0.02
-0.03
1.00
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.08
0.03
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.23
0.11
0.91
0.01
-0.00
0.71
0.70
0.07
0.01
0.03
-0.04
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.08
0.03
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1907|> <|act1670|> <|act1513|> <|act2024|> <|act1558|> <|act1590|> <|act1024|> <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.11
0.91
0.01
-0.00
0.71
0.70
0.07
0.01
0.03
-0.04
0.99
-0.04
0.08
## Robot End Effector Position
0.22
0.18
0.93
## Robot End Effector Orientation
0.73
-0.68
0.08
0.03
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.23
0.11
0.88
0.01
-0.00
0.71
0.71
0.07
0.01
0.06
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1910|> <|act1675|> <|act1512|> <|act2024|> <|act1558|> <|act1595|> <|act1024|> <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.11
0.88
0.01
-0.00
0.71
0.71
0.07
0.01
0.06
-0.04
0.99
-0.05
0.08
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.23
0.11
0.83
0.01
-0.00
0.71
0.71
0.06
0.01
0.12
-0.05
0.99
-0.04
0.08
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1908|> <|act1660|> <|act1509|> <|act2023|> <|act1558|> <|act1595|> <|act1024|> <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.11
0.83
0.01
-0.00
0.71
0.71
0.06
0.01
0.12
-0.05
0.99
-0.04
0.08
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
0.23
0.11
0.82
-0.00
-0.00
0.71
0.71
0.06
0.02
0.12
-0.05
1.00
-0.04
0.07
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1910|> <|act1670|> <|act1502|> <|act2023|> <|act1559|> <|act1598|> <|act1024|> <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.11
0.82
-0.00
-0.00
0.71
0.71
0.06
0.02
0.12
-0.05
1.00
-0.04
0.07
## Robot End Effector Position
0.23
0.18
0.93
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
0.23
0.11
0.83
-0.00
-0.00
0.71
0.71
0.06
0.02
0.12
-0.05
1.00
-0.04
0.07
## Robot End Effector Position
0.23
0.18
0.94
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1904|> <|act1648|> <|act1498|> <|act2023|> <|act1559|> <|act1601|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.23
0.11
0.83
-0.00
-0.00
0.71
0.71
0.06
0.02
0.12
-0.05
1.00
-0.04
0.07
## Robot End Effector Position
0.23
0.18
0.94
## Robot End Effector Orientation
0.73
-0.67
0.08
0.02
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
0.23
0.11
0.83
-0.00
-0.00
0.71
0.71
0.06
0.02
0.12
-0.05
1.00
-0.04
0.07
## Robot End Effector Position
0.23
0.18
0.94
## Robot End Effector Orientation
0.74
-0.67
0.08
0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> <|act1898|> <|act1653|> <|act1485|> <|act2022|> <|act1561|> <|act1600|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
## Robot End Effector Position
0.00
0.00
0.00
## Robot End Effector Orientation
0.00
0.00
0.00
0.00
## Robot Gripper Position
0.00
0.00
---
# Current Observation
## Object Position
-0.11
0.17
0.89
0.00
0.00
1.00
0.09
-0.01
-0.17
0.12
-0.09
0.99
-0.01
0.05
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.05
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1240|> <|act1184|> <|act1755|> <|act1898|> <|act1898|> <|act1409|> <|act1536|> <|act1240|> <|act1197|> <|act1757|> <|act1899|> <|act1897|> <|act1409|> <|act1536|> <|act1240|> <|act1210|> <|act1759|> <|act1900|> <|act1895|> <|act1409|> <|act1536|> <|act1240|> <|act1223|> <|act1761|> <|act1901|> <|act1894|> <|act1409|> <|act1536|> <|act1239|> <|act1236|> <|act1763|> <|act1902|> <|act1893|> <|act1409|> <|act1536|> <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.89
0.00
0.00
1.00
0.09
-0.01
-0.17
0.12
-0.09
0.99
-0.01
0.05
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.05
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.88
-0.00
0.00
1.00
0.09
-0.01
-0.17
0.13
-0.09
1.00
-0.01
0.04
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.04
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1240|> <|act1197|> <|act1757|> <|act1899|> <|act1897|> <|act1409|> <|act1536|> <|act1240|> <|act1210|> <|act1759|> <|act1900|> <|act1895|> <|act1409|> <|act1536|> <|act1240|> <|act1223|> <|act1761|> <|act1901|> <|act1894|> <|act1409|> <|act1536|> <|act1239|> <|act1236|> <|act1763|> <|act1902|> <|act1893|> <|act1409|> <|act1536|> <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.88
-0.00
0.00
1.00
0.09
-0.01
-0.17
0.13
-0.09
1.00
-0.01
0.04
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.04
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.85
-0.00
0.00
1.00
0.09
-0.01
-0.17
0.16
-0.09
1.00
-0.01
0.03
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1240|> <|act1210|> <|act1759|> <|act1900|> <|act1895|> <|act1409|> <|act1536|> <|act1240|> <|act1223|> <|act1761|> <|act1901|> <|act1894|> <|act1409|> <|act1536|> <|act1239|> <|act1236|> <|act1763|> <|act1902|> <|act1893|> <|act1409|> <|act1536|> <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.85
-0.00
0.00
1.00
0.09
-0.01
-0.17
0.16
-0.09
1.00
-0.01
0.03
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.82
-0.00
0.00
1.00
0.09
-0.00
-0.17
0.18
-0.09
1.00
-0.00
0.03
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1240|> <|act1223|> <|act1761|> <|act1901|> <|act1894|> <|act1409|> <|act1536|> <|act1239|> <|act1236|> <|act1763|> <|act1902|> <|act1893|> <|act1409|> <|act1536|> <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.82
-0.00
0.00
1.00
0.09
-0.00
-0.17
0.18
-0.09
1.00
-0.00
0.03
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
0.00
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.09
1.00
-0.00
0.02
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
-0.00
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1239|> <|act1236|> <|act1763|> <|act1902|> <|act1893|> <|act1409|> <|act1536|> <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.09
1.00
-0.00
0.02
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
-0.00
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.09
1.00
-0.00
0.02
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
-0.00
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1239|> <|act1249|> <|act1765|> <|act1903|> <|act1892|> <|act1409|> <|act1536|> <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.09
1.00
-0.00
0.02
## Robot End Effector Position
-0.12
0.01
1.01
## Robot End Effector Orientation
1.00
-0.00
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.08
1.00
-0.00
0.01
## Robot End Effector Position
-0.12
0.02
1.01
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1239|> <|act1262|> <|act1767|> <|act1904|> <|act1891|> <|act1409|> <|act1536|> <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.16
0.18
-0.08
1.00
-0.00
0.01
## Robot End Effector Position
-0.12
0.02
1.01
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.15
0.18
-0.08
1.00
-0.00
0.01
## Robot End Effector Position
-0.12
0.02
1.01
## Robot End Effector Orientation
1.00
-0.01
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1239|> <|act1275|> <|act1769|> <|act1905|> <|act1890|> <|act1409|> <|act1536|> <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.15
0.18
-0.08
1.00
-0.00
0.01
## Robot End Effector Position
-0.12
0.02
1.01
## Robot End Effector Orientation
1.00
-0.01
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.15
0.18
-0.08
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.03
1.01
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1238|> <|act1288|> <|act1771|> <|act1906|> <|act1889|> <|act1409|> <|act1536|> <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.15
0.18
-0.08
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.03
1.01
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.14
0.18
-0.07
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.03
1.01
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1238|> <|act1301|> <|act1773|> <|act1907|> <|act1888|> <|act1409|> <|act1536|> <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.14
0.18
-0.07
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.03
1.01
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.14
0.18
-0.07
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.04
1.01
## Robot End Effector Orientation
1.00
-0.02
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1238|> <|act1314|> <|act1775|> <|act1908|> <|act1887|> <|act1409|> <|act1536|> <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.14
0.18
-0.07
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.04
1.01
## Robot End Effector Orientation
1.00
-0.02
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.13
0.18
0.07
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.04
1.01
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1238|> <|act1327|> <|act1777|> <|act1909|> <|act1886|> <|act1409|> <|act1536|> <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.13
0.18
0.07
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.04
1.01
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.13
0.19
0.07
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.04
1.02
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1237|> <|act1340|> <|act1779|> <|act1910|> <|act1885|> <|act1409|> <|act1536|> <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.13
0.19
0.07
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.04
1.02
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.05
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1237|> <|act1353|> <|act1781|> <|act1911|> <|act1884|> <|act1409|> <|act1536|> <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.05
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.05
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1237|> <|act1366|> <|act1783|> <|act1912|> <|act1882|> <|act1409|> <|act1536|> <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.05
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.06
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1237|> <|act1379|> <|act1785|> <|act1913|> <|act1881|> <|act1409|> <|act1536|> <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.12
0.19
0.06
-1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.06
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.11
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.06
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1236|> <|act1392|> <|act1787|> <|act1914|> <|act1880|> <|act1409|> <|act1536|> <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.11
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.06
1.02
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.11
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.07
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1236|> <|act1405|> <|act1789|> <|act1915|> <|act1879|> <|act1409|> <|act1536|> <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.11
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.07
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.10
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.07
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1236|> <|act1418|> <|act1791|> <|act1916|> <|act1878|> <|act1409|> <|act1536|> <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.10
0.19
0.05
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.07
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.10
0.19
0.04
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.08
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1236|> <|act1432|> <|act1793|> <|act1917|> <|act1877|> <|act1409|> <|act1536|> <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.10
0.19
0.04
-1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.08
1.02
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.09
0.19
0.04
-1.00
0.00
0.00
## Robot End Effector Position
-0.12
0.08
1.02
## Robot End Effector Orientation
1.00
-0.05
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1235|> <|act1445|> <|act1795|> <|act1918|> <|act1876|> <|act1409|> <|act1536|> <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.09
0.19
0.04
-1.00
0.00
0.00
## Robot End Effector Position
-0.12
0.08
1.02
## Robot End Effector Orientation
1.00
-0.05
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.09
0.19
-0.04
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.09
1.02
## Robot End Effector Orientation
1.00
-0.05
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1235|> <|act1458|> <|act1797|> <|act1919|> <|act1875|> <|act1409|> <|act1536|> <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.01
-0.09
0.19
-0.04
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.09
1.02
## Robot End Effector Orientation
1.00
-0.05
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.08
0.19
-0.04
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.09
1.02
## Robot End Effector Orientation
1.00
-0.05
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1235|> <|act1471|> <|act1799|> <|act1920|> <|act1874|> <|act1409|> <|act1536|> <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.08
0.19
-0.04
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.09
1.02
## Robot End Effector Orientation
1.00
-0.05
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.08
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1235|> <|act1484|> <|act1801|> <|act1921|> <|act1872|> <|act1409|> <|act1536|> <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.08
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1234|> <|act1497|> <|act1803|> <|act1922|> <|act1871|> <|act1409|> <|act1536|> <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1234|> <|act1510|> <|act1805|> <|act1923|> <|act1870|> <|act1409|> <|act1536|> <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.03
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.10
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.11
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1234|> <|act1523|> <|act1807|> <|act1924|> <|act1869|> <|act1409|> <|act1536|> <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1751|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.07
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.11
1.02
## Robot End Effector Orientation
1.00
-0.06
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.06
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.11
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1234|> <|act1536|> <|act1809|> <|act1925|> <|act1868|> <|act1409|> <|act1536|> <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1751|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1730|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.06
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.11
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.06
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.12
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1234|> <|act1549|> <|act1811|> <|act1926|> <|act1867|> <|act1409|> <|act1536|> <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1751|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1730|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1709|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.06
0.19
-0.02
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.12
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.05
0.19
-0.01
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.12
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1233|> <|act1562|> <|act1813|> <|act1927|> <|act1866|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1751|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1730|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1709|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1688|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.05
0.19
-0.01
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.12
1.02
## Robot End Effector Orientation
1.00
-0.07
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.17
0.83
-0.00
0.00
1.00
0.09
-0.00
-0.05
0.20
-0.01
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.13
1.02
## Robot End Effector Orientation
1.00
-0.08
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1794|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1773|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1751|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1730|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1709|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1688|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> <|act1233|> <|act1575|> <|act1667|> <|act1928|> <|act1864|> <|act1409|> <|act1536|> |
Subsets and Splits