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# 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
0.18
1.03
0.01
-0.00
1.00
0.06
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.06
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.01
-0.00
1.00
0.06
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.06
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1912|> <|act1883|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1910|> <|act1885|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1909|> <|act1886|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1907|> <|act1888|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1905|> <|act1890|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|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
0.18
1.03
0.01
-0.00
1.00
0.06
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.06
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.01
-0.00
1.00
0.05
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.05
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1910|> <|act1885|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1909|> <|act1886|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1907|> <|act1888|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1905|> <|act1890|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|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
0.18
1.03
0.01
-0.00
1.00
0.05
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.05
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.01
-0.00
1.00
0.05
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.05
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1909|> <|act1886|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1907|> <|act1888|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1905|> <|act1890|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.01
-0.00
1.00
0.05
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.05
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.01
-0.00
1.00
0.04
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1907|> <|act1888|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1905|> <|act1890|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.01
-0.00
1.00
0.04
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.04
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1905|> <|act1890|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.04
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1904|> <|act1891|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.04
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1902|> <|act1893|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1901|> <|act1894|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.03
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.03
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.02
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1899|> <|act1896|> <|act1409|> <|act2047|> <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.02
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
0.00
1.00
0.02
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1233|> <|act1575|> <|act1815|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.02
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.02
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.18
1.03
0.00
0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1250|> <|act1569|> <|act1821|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
-0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1267|> <|act1564|> <|act1826|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
-0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
-0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1284|> <|act1558|> <|act1832|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
-0.00
1.00
0.01
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.12
0.15
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.18
1.03
0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.14
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1302|> <|act1553|> <|act1838|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.14
1.03
## Robot End Effector Orientation
1.00
-0.01
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.10
0.18
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1319|> <|act1547|> <|act1844|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|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
0.18
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.11
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.10
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.10
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1336|> <|act1542|> <|act1849|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|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
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.10
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.09
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1353|> <|act1536|> <|act1855|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|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
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.08
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1370|> <|act1531|> <|act1861|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|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
0.17
1.03
-0.00
-0.00
1.00
0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.08
0.17
1.03
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.13
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1387|> <|act1525|> <|act1866|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|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
0.17
1.03
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.13
1.03
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.07
0.17
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.07
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1404|> <|act1520|> <|act1872|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|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
0.17
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.07
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.06
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.06
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1422|> <|act1514|> <|act1878|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|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
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.06
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.05
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.05
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1439|> <|act1509|> <|act1884|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|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
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.05
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.04
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.04
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1456|> <|act1503|> <|act1889|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|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
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.04
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.03
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.03
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1473|> <|act1498|> <|act1895|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|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
0.16
1.04
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.03
0.13
1.04
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.02
0.16
1.05
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.03
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1490|> <|act1492|> <|act1901|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|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
0.16
1.05
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.03
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.01
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.02
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1507|> <|act1487|> <|act1907|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
-0.02
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.00
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.01
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1524|> <|act1481|> <|act1912|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
-0.01
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.01
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.00
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1542|> <|act1476|> <|act1918|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.00
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.01
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.01
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1559|> <|act1470|> <|act1924|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.05
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.01
0.12
1.05
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.02
0.15
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.02
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1576|> <|act1465|> <|act1929|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.02
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.03
0.15
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.03
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1593|> <|act1459|> <|act1935|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|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
0.15
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.03
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.04
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.04
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1610|> <|act1454|> <|act1941|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|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
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.04
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.05
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.05
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1627|> <|act1448|> <|act1947|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|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
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.05
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.06
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.06
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1645|> <|act1443|> <|act1952|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|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
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.06
0.11
1.06
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.07
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.06
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1662|> <|act1437|> <|act1958|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|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
0.14
1.06
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.06
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.08
0.14
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.07
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1679|> <|act1432|> <|act1964|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|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
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.07
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.08
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.08
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1696|> <|act1426|> <|act1969|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|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
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.08
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.09
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.09
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1713|> <|act1421|> <|act1975|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|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
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.09
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.10
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.10
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1730|> <|act1415|> <|act1981|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|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
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.10
0.10
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.11
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.11
0.09
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1747|> <|act1410|> <|act1987|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|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
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.11
0.09
1.07
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.12
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.12
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1765|> <|act1404|> <|act1992|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|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
0.13
1.07
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.12
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.13
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.12
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1782|> <|act1398|> <|act1998|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|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
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.12
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.14
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.13
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1799|> <|act1393|> <|act2004|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.13
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.14
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.14
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1816|> <|act1387|> <|act2010|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.14
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.15
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.15
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1833|> <|act1382|> <|act2015|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.15
0.09
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.16
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.16
0.08
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1850|> <|act1376|> <|act2021|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.12
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.16
0.08
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.17
0.11
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.17
0.08
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1867|> <|act1371|> <|act2027|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.11
1.08
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.17
0.08
1.08
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.18
0.11
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.17
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1885|> <|act1365|> <|act2032|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.11
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.17
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.19
0.11
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.18
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1902|> <|act1360|> <|act2038|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> |
# 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
0.11
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.18
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.19
0.11
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.19
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> |
# 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
0.11
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.19
0.08
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.20
0.11
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.20
0.07
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> |
# 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
0.11
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.20
0.07
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.21
0.10
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.21
0.07
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> |
# 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
0.10
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.21
0.07
1.09
## Robot End Effector Orientation
1.00
-0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.22
0.10
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.21
0.07
1.09
## Robot End Effector Orientation
1.00
0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.09
-0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.21
0.07
1.09
## Robot End Effector Orientation
1.00
0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.22
0.10
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.22
0.07
1.09
## Robot End Effector Orientation
1.00
0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.09
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.22
0.07
1.09
## Robot End Effector Orientation
1.00
0.00
0.01
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.23
0.10
1.10
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.22
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act2047|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.10
-0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.22
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.23
0.10
1.10
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.22
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1843|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.10
0.00
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
0.00
0.00
## Robot End Effector Position
0.22
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.23
0.10
1.10
0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1638|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.10
0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.23
0.10
1.10
0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1433|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
1.10
0.01
-0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.10
0.01
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1229|> <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.10
0.01
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.10
0.01
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1919|> <|act1354|> <|act2044|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.10
0.01
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.10
0.02
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1917|> <|act1355|> <|act2043|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.10
0.02
0.00
1.00
-0.00
0.00
-0.03
0.00
0.00
1.00
-0.00
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.09
0.02
0.04
1.00
0.00
0.01
-0.03
0.01
-0.00
1.00
-0.04
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1914|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.09
0.02
0.04
1.00
0.00
0.01
-0.03
0.01
-0.00
1.00
-0.04
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.06
0.02
0.05
1.00
0.00
0.01
-0.03
0.05
-0.00
1.00
-0.05
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1912|> <|act1356|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.06
0.02
0.05
1.00
0.00
0.01
-0.03
0.05
-0.00
1.00
-0.05
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.24
0.10
1.00
0.02
0.05
1.00
0.00
0.01
-0.03
0.10
-0.00
1.00
-0.05
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1910|> <|act1357|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.00
0.02
0.05
1.00
0.00
0.01
-0.03
0.10
-0.00
1.00
-0.05
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.24
0.10
0.94
0.09
0.03
1.00
0.00
0.01
-0.03
0.17
-0.00
1.00
-0.03
0.08
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1908|> <|act1358|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
0.94
0.09
0.03
1.00
0.00
0.01
-0.03
0.17
-0.00
1.00
-0.03
0.08
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.22
0.10
0.91
0.03
0.02
1.00
-0.00
-0.01
-0.03
0.19
0.00
1.00
-0.02
0.01
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1906|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.10
0.91
0.03
0.02
1.00
-0.00
-0.01
-0.03
0.19
0.00
1.00
-0.02
0.01
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
0.23
0.10
0.89
-0.15
0.02
0.99
-0.00
0.01
-0.03
0.21
-0.00
-0.99
0.02
0.17
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1903|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.21
0.89
0.00
0.00
0.56
0.83
-0.04
-0.22
0.13
-0.81
0.58
-0.06
0.04
## Robot End Effector Position
-0.10
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.03
0.07
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1272|> <|act1128|> <|act1792|> <|act1898|> <|act1898|> <|act1409|> <|act1536|> <|act1273|> <|act1149|> <|act1793|> <|act1890|> <|act1905|> <|act1409|> <|act1536|> <|act1274|> <|act1169|> <|act1794|> <|act1883|> <|act1912|> <|act1409|> <|act1536|> <|act1275|> <|act1189|> <|act1794|> <|act1876|> <|act1918|> <|act1409|> <|act1536|> <|act1276|> <|act1209|> <|act1795|> <|act1868|> <|act1925|> <|act1409|> <|act1536|> <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|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
0.21
0.89
0.00
0.00
0.56
0.83
-0.04
-0.22
0.13
-0.81
0.58
-0.06
0.04
## Robot End Effector Position
-0.10
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.03
0.07
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.88
-0.00
0.00
0.56
0.83
-0.04
-0.22
0.13
-0.81
0.58
-0.05
0.04
## Robot End Effector Position
-0.10
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.03
0.06
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1273|> <|act1149|> <|act1793|> <|act1890|> <|act1905|> <|act1409|> <|act1536|> <|act1274|> <|act1169|> <|act1794|> <|act1883|> <|act1912|> <|act1409|> <|act1536|> <|act1275|> <|act1189|> <|act1794|> <|act1876|> <|act1918|> <|act1409|> <|act1536|> <|act1276|> <|act1209|> <|act1795|> <|act1868|> <|act1925|> <|act1409|> <|act1536|> <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|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
0.21
0.88
-0.00
0.00
0.56
0.83
-0.04
-0.22
0.13
-0.81
0.58
-0.05
0.04
## Robot End Effector Position
-0.10
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.03
0.06
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.85
-0.00
0.00
0.56
0.83
-0.03
-0.22
0.17
-0.82
0.57
-0.04
0.03
## Robot End Effector Position
-0.11
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.02
0.05
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1274|> <|act1169|> <|act1794|> <|act1883|> <|act1912|> <|act1409|> <|act1536|> <|act1275|> <|act1189|> <|act1794|> <|act1876|> <|act1918|> <|act1409|> <|act1536|> <|act1276|> <|act1209|> <|act1795|> <|act1868|> <|act1925|> <|act1409|> <|act1536|> <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|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
0.21
0.85
-0.00
0.00
0.56
0.83
-0.03
-0.22
0.17
-0.82
0.57
-0.04
0.03
## Robot End Effector Position
-0.11
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.02
0.05
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.82
-0.00
0.00
0.56
0.83
-0.03
-0.22
0.19
-0.82
0.56
-0.04
0.03
## Robot End Effector Position
-0.11
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.01
0.04
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1275|> <|act1189|> <|act1794|> <|act1876|> <|act1918|> <|act1409|> <|act1536|> <|act1276|> <|act1209|> <|act1795|> <|act1868|> <|act1925|> <|act1409|> <|act1536|> <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|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
0.21
0.82
-0.00
0.00
0.56
0.83
-0.03
-0.22
0.19
-0.82
0.56
-0.04
0.03
## Robot End Effector Position
-0.11
-0.01
1.02
## Robot End Effector Orientation
1.00
-0.01
0.04
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
-0.02
-0.22
0.19
-0.83
0.55
-0.03
0.02
## Robot End Effector Position
-0.11
-0.00
1.02
## Robot End Effector Orientation
1.00
0.01
0.04
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1276|> <|act1209|> <|act1795|> <|act1868|> <|act1925|> <|act1409|> <|act1536|> <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
-0.02
-0.22
0.19
-0.83
0.55
-0.03
0.02
## Robot End Effector Position
-0.11
-0.00
1.02
## Robot End Effector Orientation
1.00
0.01
0.04
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
-0.01
-0.21
0.19
-0.84
0.54
-0.02
0.02
## Robot End Effector Position
-0.10
0.00
1.02
## Robot End Effector Orientation
1.00
0.02
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1277|> <|act1229|> <|act1796|> <|act1860|> <|act1931|> <|act1409|> <|act1536|> <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
-0.01
-0.21
0.19
-0.84
0.54
-0.02
0.02
## Robot End Effector Position
-0.10
0.00
1.02
## Robot End Effector Orientation
1.00
0.02
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
-0.00
-0.21
0.19
-0.85
0.53
-0.02
0.01
## Robot End Effector Position
-0.10
0.01
1.02
## Robot End Effector Orientation
1.00
0.04
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1278|> <|act1250|> <|act1797|> <|act1852|> <|act1938|> <|act1409|> <|act1536|> <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
-0.00
-0.21
0.19
-0.85
0.53
-0.02
0.01
## Robot End Effector Position
-0.10
0.01
1.02
## Robot End Effector Orientation
1.00
0.04
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.00
-0.20
0.19
-0.86
0.51
-0.01
0.01
## Robot End Effector Position
-0.10
0.01
1.02
## Robot End Effector Orientation
1.00
0.05
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1279|> <|act1270|> <|act1797|> <|act1844|> <|act1944|> <|act1409|> <|act1536|> <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.00
-0.20
0.19
-0.86
0.51
-0.01
0.01
## Robot End Effector Position
-0.10
0.01
1.02
## Robot End Effector Orientation
1.00
0.05
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.19
0.19
-0.87
0.50
-0.01
0.00
## Robot End Effector Position
-0.10
0.02
1.02
## Robot End Effector Orientation
1.00
0.07
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1280|> <|act1290|> <|act1798|> <|act1836|> <|act1950|> <|act1409|> <|act1536|> <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.19
0.19
-0.87
0.50
-0.01
0.00
## Robot End Effector Position
-0.10
0.02
1.02
## Robot End Effector Orientation
1.00
0.07
0.01
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.19
0.19
-0.88
0.48
-0.00
0.00
## Robot End Effector Position
-0.10
0.03
1.02
## Robot End Effector Orientation
1.00
0.09
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1281|> <|act1310|> <|act1799|> <|act1828|> <|act1956|> <|act1409|> <|act1536|> <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.19
0.19
-0.88
0.48
-0.00
0.00
## Robot End Effector Position
-0.10
0.03
1.02
## Robot End Effector Orientation
1.00
0.09
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.18
0.19
0.88
-0.47
0.00
0.00
## Robot End Effector Position
-0.09
0.03
1.02
## Robot End Effector Orientation
0.99
0.11
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1282|> <|act1331|> <|act1800|> <|act1820|> <|act1962|> <|act1409|> <|act1536|> <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.18
0.19
0.88
-0.47
0.00
0.00
## Robot End Effector Position
-0.09
0.03
1.02
## Robot End Effector Orientation
0.99
0.11
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.17
0.20
0.89
-0.45
0.00
0.00
## Robot End Effector Position
-0.09
0.04
1.02
## Robot End Effector Orientation
0.99
0.12
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1283|> <|act1351|> <|act1801|> <|act1811|> <|act1967|> <|act1409|> <|act1536|> <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.17
0.20
0.89
-0.45
0.00
0.00
## Robot End Effector Position
-0.09
0.04
1.02
## Robot End Effector Orientation
0.99
0.12
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.16
0.20
0.90
-0.43
-0.00
0.00
## Robot End Effector Position
-0.09
0.05
1.03
## Robot End Effector Orientation
0.99
0.14
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1284|> <|act1371|> <|act1801|> <|act1803|> <|act1972|> <|act1409|> <|act1536|> <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.16
0.20
0.90
-0.43
-0.00
0.00
## Robot End Effector Position
-0.09
0.05
1.03
## Robot End Effector Orientation
0.99
0.14
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.16
0.20
0.91
-0.42
-0.00
0.00
## Robot End Effector Position
-0.09
0.05
1.03
## Robot End Effector Orientation
0.99
0.16
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1284|> <|act1391|> <|act1802|> <|act1794|> <|act1978|> <|act1409|> <|act1536|> <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.16
0.20
0.91
-0.42
-0.00
0.00
## Robot End Effector Position
-0.09
0.05
1.03
## Robot End Effector Orientation
0.99
0.16
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.15
0.20
0.92
-0.40
-0.00
0.00
## Robot End Effector Position
-0.09
0.06
1.03
## Robot End Effector Orientation
0.98
0.18
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1285|> <|act1411|> <|act1803|> <|act1785|> <|act1983|> <|act1409|> <|act1536|> <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.15
0.20
0.92
-0.40
-0.00
0.00
## Robot End Effector Position
-0.09
0.06
1.03
## Robot End Effector Orientation
0.98
0.18
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.14
0.20
0.92
-0.38
-0.00
0.00
## Robot End Effector Position
-0.09
0.07
1.03
## Robot End Effector Orientation
0.98
0.20
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1286|> <|act1432|> <|act1804|> <|act1776|> <|act1987|> <|act1409|> <|act1536|> <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.14
0.20
0.92
-0.38
-0.00
0.00
## Robot End Effector Position
-0.09
0.07
1.03
## Robot End Effector Orientation
0.98
0.20
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.13
0.20
0.93
-0.36
-0.00
0.00
## Robot End Effector Position
-0.09
0.08
1.03
## Robot End Effector Orientation
0.98
0.22
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1287|> <|act1452|> <|act1804|> <|act1767|> <|act1992|> <|act1409|> <|act1536|> <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.13
0.20
0.93
-0.36
-0.00
0.00
## Robot End Effector Position
-0.09
0.08
1.03
## Robot End Effector Orientation
0.98
0.22
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.12
0.20
0.94
-0.35
-0.00
0.00
## Robot End Effector Position
-0.09
0.08
1.03
## Robot End Effector Orientation
0.97
0.24
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1288|> <|act1472|> <|act1805|> <|act1758|> <|act1997|> <|act1409|> <|act1536|> <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.12
0.20
0.94
-0.35
-0.00
0.00
## Robot End Effector Position
-0.09
0.08
1.03
## Robot End Effector Orientation
0.97
0.24
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.12
0.20
0.94
-0.33
-0.00
0.00
## Robot End Effector Position
-0.09
0.09
1.03
## Robot End Effector Orientation
0.97
0.25
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1289|> <|act1492|> <|act1806|> <|act1749|> <|act2001|> <|act1409|> <|act1536|> <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.12
0.20
0.94
-0.33
-0.00
0.00
## Robot End Effector Position
-0.09
0.09
1.03
## Robot End Effector Orientation
0.97
0.25
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.11
0.20
0.95
-0.31
0.00
0.00
## Robot End Effector Position
-0.09
0.10
1.03
## Robot End Effector Orientation
0.96
0.27
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1290|> <|act1512|> <|act1807|> <|act1740|> <|act2005|> <|act1409|> <|act1536|> <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.11
0.20
0.95
-0.31
0.00
0.00
## Robot End Effector Position
-0.09
0.10
1.03
## Robot End Effector Orientation
0.96
0.27
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.10
0.20
0.96
-0.29
0.00
0.00
## Robot End Effector Position
-0.09
0.10
1.03
## Robot End Effector Orientation
0.96
0.29
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1291|> <|act1533|> <|act1807|> <|act1731|> <|act2009|> <|act1409|> <|act1536|> <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.10
0.20
0.96
-0.29
0.00
0.00
## Robot End Effector Position
-0.09
0.10
1.03
## Robot End Effector Orientation
0.96
0.29
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.09
0.20
0.96
-0.27
0.00
0.00
## Robot End Effector Position
-0.09
0.11
1.02
## Robot End Effector Orientation
0.95
0.31
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1292|> <|act1553|> <|act1808|> <|act1721|> <|act2013|> <|act1409|> <|act1536|> <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.09
0.20
0.96
-0.27
0.00
0.00
## Robot End Effector Position
-0.09
0.11
1.02
## Robot End Effector Orientation
0.95
0.31
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.09
0.20
0.97
-0.25
0.00
0.00
## Robot End Effector Position
-0.09
0.12
1.02
## Robot End Effector Orientation
0.94
0.33
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1293|> <|act1573|> <|act1809|> <|act1712|> <|act2016|> <|act1409|> <|act1536|> <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.09
0.20
0.97
-0.25
0.00
0.00
## Robot End Effector Position
-0.09
0.12
1.02
## Robot End Effector Orientation
0.94
0.33
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.08
0.20
0.97
-0.23
0.00
0.00
## Robot End Effector Position
-0.09
0.12
1.02
## Robot End Effector Orientation
0.94
0.35
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1294|> <|act1593|> <|act1810|> <|act1702|> <|act2020|> <|act1409|> <|act1536|> <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.08
0.20
0.97
-0.23
0.00
0.00
## Robot End Effector Position
-0.09
0.12
1.02
## Robot End Effector Orientation
0.94
0.35
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.07
0.20
0.98
-0.22
0.00
0.00
## Robot End Effector Position
-0.09
0.13
1.02
## Robot End Effector Orientation
0.93
0.37
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1295|> <|act1614|> <|act1810|> <|act1693|> <|act2023|> <|act1409|> <|act1536|> <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.07
0.20
0.98
-0.22
0.00
0.00
## Robot End Effector Position
-0.09
0.13
1.02
## Robot End Effector Orientation
0.93
0.37
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.07
0.20
0.98
-0.20
0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
0.92
0.38
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1296|> <|act1634|> <|act1811|> <|act1683|> <|act2026|> <|act1409|> <|act1536|> <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.04
-0.07
0.20
0.98
-0.20
0.00
0.00
## Robot End Effector Position
-0.09
0.14
1.03
## Robot End Effector Orientation
0.92
0.38
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.06
0.20
0.98
-0.18
0.00
0.00
## Robot End Effector Position
-0.09
0.15
1.03
## Robot End Effector Orientation
0.92
0.40
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1297|> <|act1654|> <|act1812|> <|act1673|> <|act2029|> <|act1409|> <|act1536|> <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.06
0.20
0.98
-0.18
0.00
0.00
## Robot End Effector Position
-0.09
0.15
1.03
## Robot End Effector Orientation
0.92
0.40
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.06
0.20
0.99
-0.16
0.00
0.00
## Robot End Effector Position
-0.09
0.15
1.03
## Robot End Effector Orientation
0.91
0.42
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1297|> <|act1674|> <|act1813|> <|act1664|> <|act2031|> <|act1409|> <|act1536|> <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.06
0.20
0.99
-0.16
0.00
0.00
## Robot End Effector Position
-0.09
0.15
1.03
## Robot End Effector Orientation
0.91
0.42
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.05
0.20
0.99
-0.14
0.00
0.00
## Robot End Effector Position
-0.09
0.16
1.03
## Robot End Effector Orientation
0.90
0.44
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1298|> <|act1694|> <|act1813|> <|act1654|> <|act2034|> <|act1409|> <|act1536|> <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.03
-0.05
0.20
0.99
-0.14
0.00
0.00
## Robot End Effector Position
-0.09
0.16
1.03
## Robot End Effector Orientation
0.90
0.44
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.05
0.20
0.99
-0.12
0.00
0.00
## Robot End Effector Position
-0.09
0.17
1.03
## Robot End Effector Orientation
0.89
0.46
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1299|> <|act1715|> <|act1814|> <|act1644|> <|act2036|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.05
0.20
0.99
-0.12
0.00
0.00
## Robot End Effector Position
-0.09
0.17
1.03
## Robot End Effector Orientation
0.89
0.46
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.04
0.20
1.00
-0.10
0.00
0.00
## Robot End Effector Position
-0.09
0.17
1.03
## Robot End Effector Orientation
0.88
0.47
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.02
-0.04
0.20
1.00
-0.10
0.00
0.00
## Robot End Effector Position
-0.09
0.17
1.03
## Robot End Effector Orientation
0.88
0.47
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.04
0.20
1.00
-0.08
0.00
0.00
## Robot End Effector Position
-0.09
0.18
1.03
## Robot End Effector Orientation
0.87
0.49
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|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
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.04
0.20
1.00
-0.08
0.00
0.00
## Robot End Effector Position
-0.09
0.18
1.03
## Robot End Effector Orientation
0.87
0.49
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.03
0.20
1.00
-0.06
0.00
0.00
## Robot End Effector Position
-0.09
0.19
1.03
## Robot End Effector Orientation
0.86
0.51
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> |
Subsets and Splits