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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
0.21
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
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.01
-0.03
0.19
1.00
-0.05
0.00
0.00
## Robot End Effector Position
-0.09
0.19
1.02
## Robot End Effector Orientation
0.85
0.52
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|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|> <|act1300|> <|act1735|> <|act1603|> <|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
-0.03
0.19
1.00
-0.05
0.00
0.00
## Robot End Effector Position
-0.09
0.19
1.02
## Robot End Effector Orientation
0.85
0.52
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
0.00
-0.03
0.19
1.00
-0.03
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.02
## Robot End Effector Orientation
0.85
0.53
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|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|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|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
0.00
-0.03
0.19
1.00
-0.03
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.02
## Robot End Effector Orientation
0.85
0.53
-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
0.00
-0.03
0.19
1.00
-0.03
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.54
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|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|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|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
0.00
-0.03
0.19
1.00
-0.03
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.54
-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
0.00
-0.03
0.18
1.00
-0.02
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.01
## Robot End Effector Orientation
0.84
0.54
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|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|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|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
0.00
-0.03
0.18
1.00
-0.02
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.01
## Robot End Effector Orientation
0.84
0.54
-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
0.00
-0.03
0.18
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.01
## Robot End Effector Orientation
0.84
0.55
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|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
0.00
-0.03
0.18
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.01
## Robot End Effector Orientation
0.84
0.55
-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
0.00
-0.03
0.17
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.00
## Robot End Effector Orientation
0.83
0.55
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|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
0.00
-0.03
0.17
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.00
## Robot End Effector Orientation
0.83
0.55
-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
0.00
-0.03
0.17
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.00
## Robot End Effector Orientation
0.83
0.55
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|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
0.00
-0.03
0.17
1.00
-0.01
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.00
## Robot End Effector Orientation
0.83
0.55
-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
0.00
-0.03
0.16
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.99
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|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
0.00
-0.03
0.16
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.99
## Robot End Effector Orientation
0.83
0.56
-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
-0.00
-0.03
0.15
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|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
-0.00
-0.03
0.15
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
-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
-0.00
-0.03
0.15
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|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
-0.00
-0.03
0.15
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
-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
-0.00
-0.03
0.14
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|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
-0.00
-0.03
0.14
1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
-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
0.00
-0.03
0.13
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.96
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|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
0.00
-0.03
0.13
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.96
## Robot End Effector Orientation
0.83
0.56
-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
0.00
-0.03
0.12
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|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
0.00
-0.03
0.12
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
-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
0.00
-0.03
0.12
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|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
0.00
-0.03
0.12
1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
-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
0.00
-0.03
0.11
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.94
## Robot End Effector Orientation
0.83
0.56
-0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|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
0.00
-0.03
0.11
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.94
## Robot End Effector Orientation
0.83
0.56
-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
0.00
-0.03
0.10
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|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
0.00
-0.03
0.10
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.10
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|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
0.00
-0.03
0.10
1.00
0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.09
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.92
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|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
0.00
-0.03
0.09
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.92
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.08
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|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
0.00
-0.03
0.08
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.08
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|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
0.00
-0.03
0.08
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.07
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.90
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|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
0.00
-0.03
0.07
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.90
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.06
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> |
# 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
-0.03
0.06
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.06
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> |
# 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
-0.03
0.06
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.05
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.88
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> |
# 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
-0.03
0.05
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.88
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.04
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> |
# 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
-0.03
0.04
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.04
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> |
# 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
-0.03
0.04
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.03
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|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
-0.11
0.21
0.83
-0.00
0.00
0.56
0.83
0.00
-0.03
0.03
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.02
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1536|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> |
# 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
-0.03
0.02
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.02
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1553|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> |
# 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
-0.03
0.02
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.01
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1570|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> |
# 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
-0.03
0.01
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
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
0.00
-0.03
0.01
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1587|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> |
# 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
-0.03
0.01
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.09
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1604|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.09
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.02
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.09
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1621|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> |
# 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
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.09
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1638|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> |
# 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
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1655|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> |
# 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
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1672|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> |
# 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
0.01
0.01
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1689|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.02
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1706|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1723|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|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
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1740|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1758|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1775|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1792|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1809|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1826|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> |
# 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
0.01
0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1843|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> |
# 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
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1860|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> |
# 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
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1877|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> |
# 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
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1894|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> |
# 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
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1911|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> |
# 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
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1928|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1945|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1962|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1979|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act1996|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2013|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2030|> <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1179|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.01
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1200|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1222|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.01
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1243|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
-0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.83
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1264|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|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
0.21
0.83
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
0.84
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1285|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|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
0.21
0.84
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.84
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1306|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|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
0.21
0.84
0.00
0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.84
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.85
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1328|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|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
0.21
0.85
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.85
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.85
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1349|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|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
0.21
0.85
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.86
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1370|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|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
0.22
0.86
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.86
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.87
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1391|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|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
0.22
0.87
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.87
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1412|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|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
0.22
0.87
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.87
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.88
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.88
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1434|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|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
0.22
0.88
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.88
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.88
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1455|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|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
0.22
0.88
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.89
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1476|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|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
0.22
0.89
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.89
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.90
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.90
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1497|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|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
0.22
0.90
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.90
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.90
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1518|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|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
0.22
0.90
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.91
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1539|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|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
0.22
0.91
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.91
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.92
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.92
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1561|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|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
0.22
0.92
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.92
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.22
0.92
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1582|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|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
0.22
0.92
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.93
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1603|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|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
0.21
0.93
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.93
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.94
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.94
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1624|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|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
0.21
0.94
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.94
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.95
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1645|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|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
0.21
0.95
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.95
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1667|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|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
0.21
0.95
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.95
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.96
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.96
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1688|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|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
0.21
0.96
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.96
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.97
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1709|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|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
0.21
0.97
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.97
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1730|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|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
0.21
0.97
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.97
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.98
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1751|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|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
0.21
0.98
-0.00
-0.00
0.56
0.83
-0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.98
## Robot End Effector Orientation
0.83
0.56
0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.99
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.99
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1773|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|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
0.21
0.99
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
0.99
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
0.99
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.00
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1794|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|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
0.21
0.99
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.00
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
1.00
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.00
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1634|> <|act2038|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|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
0.21
1.00
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.00
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
1.01
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.01
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1649|> <|act2035|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|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
0.21
1.01
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.01
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.12
0.21
1.01
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.01
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1664|> <|act2031|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|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
0.21
1.01
-0.00
-0.00
0.56
0.83
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.09
0.20
1.01
## Robot End Effector Orientation
0.83
0.56
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
1.02
0.00
0.00
0.55
0.84
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.55
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1678|> <|act2027|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|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
0.21
1.02
0.00
0.00
0.55
0.84
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.55
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
1.02
0.00
0.00
0.54
0.84
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.54
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1693|> <|act2023|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|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
0.21
1.02
0.00
0.00
0.54
0.84
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.02
## Robot End Effector Orientation
0.84
0.54
0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
1.02
0.00
0.00
0.52
0.85
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.85
0.52
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1707|> <|act2018|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|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
0.21
1.02
0.00
0.00
0.52
0.85
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.85
0.52
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.21
1.02
0.00
0.00
0.51
0.86
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.86
0.51
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1721|> <|act2013|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|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
0.21
1.02
0.00
0.00
0.51
0.86
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.86
0.51
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
0.00
0.00
0.49
0.87
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.87
0.49
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1735|> <|act2007|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|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
0.22
1.03
0.00
0.00
0.49
0.87
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.87
0.49
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
0.00
0.00
0.47
0.88
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.88
0.47
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1749|> <|act2001|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1840|> <|act1947|> <|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
0.22
1.03
0.00
0.00
0.47
0.88
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.88
0.47
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
0.00
0.00
0.45
0.89
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.90
0.45
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1763|> <|act1994|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1840|> <|act1947|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1852|> <|act1938|> <|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
0.22
1.03
0.00
0.00
0.45
0.89
0.00
-0.03
0.00
1.00
-0.00
0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.90
0.45
-0.00
-0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
-0.00
0.00
0.42
0.91
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.91
0.42
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1776|> <|act1987|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1840|> <|act1947|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1852|> <|act1938|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1864|> <|act1928|> <|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
0.22
1.03
-0.00
0.00
0.42
0.91
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.91
0.42
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
-0.00
0.00
0.40
0.92
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.92
0.40
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1790|> <|act1980|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1840|> <|act1947|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1852|> <|act1938|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1864|> <|act1928|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1876|> <|act1918|> <|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
0.22
1.03
-0.00
0.00
0.40
0.92
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.92
0.40
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
-0.11
0.22
1.03
-0.00
0.00
0.38
0.93
0.00
-0.03
0.00
-1.00
0.00
-0.00
0.00
## Robot End Effector Position
-0.08
0.20
1.03
## Robot End Effector Orientation
0.93
0.38
-0.00
0.00
## Robot Gripper Position
0.01
-0.01
---
# Predicted Action | <|act1300|> <|act1735|> <|act1815|> <|act1803|> <|act1972|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1815|> <|act1964|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1828|> <|act1956|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1840|> <|act1947|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1852|> <|act1938|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1864|> <|act1928|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1876|> <|act1918|> <|act1409|> <|act2047|> <|act1300|> <|act1735|> <|act1815|> <|act1887|> <|act1908|> <|act1409|> <|act2047|> |
Subsets and Splits