Shelf3D-o3
Initial State Distribution
Random Action Behavior
Example Demonstration
Usage
import kinder
env = kinder.make("kinder/Shelf3D-o3-v0")
Description
This variant has 3 objects to place on the shelf.
Observation Space
The entries of an array in this Box space correspond to the following object features:
| Index | Object | Feature |
|---|---|---|
| 0 | robot | pos_base_x |
| 1 | robot | pos_base_y |
| 2 | robot | pos_base_rot |
| 3 | robot | joint_1 |
| 4 | robot | joint_2 |
| 5 | robot | joint_3 |
| 6 | robot | joint_4 |
| 7 | robot | joint_5 |
| 8 | robot | joint_6 |
| 9 | robot | joint_7 |
| 10 | robot | finger_state |
| 11 | robot | grasp_active |
| 12 | robot | grasp_tf_x |
| 13 | robot | grasp_tf_y |
| 14 | robot | grasp_tf_z |
| 15 | robot | grasp_tf_qx |
| 16 | robot | grasp_tf_qy |
| 17 | robot | grasp_tf_qz |
| 18 | robot | grasp_tf_qw |
| 19 | shelf | pose_x |
| 20 | shelf | pose_y |
| 21 | shelf | pose_z |
| 22 | shelf | pose_qx |
| 23 | shelf | pose_qy |
| 24 | shelf | pose_qz |
| 25 | shelf | pose_qw |
| 26 | cube0 | pose_x |
| 27 | cube0 | pose_y |
| 28 | cube0 | pose_z |
| 29 | cube0 | pose_qx |
| 30 | cube0 | pose_qy |
| 31 | cube0 | pose_qz |
| 32 | cube0 | pose_qw |
| 33 | cube0 | grasp_active |
| 34 | cube0 | object_type |
| 35 | cube0 | half_extent_x |
| 36 | cube0 | half_extent_y |
| 37 | cube0 | half_extent_z |
| 38 | cube1 | pose_x |
| 39 | cube1 | pose_y |
| 40 | cube1 | pose_z |
| 41 | cube1 | pose_qx |
| 42 | cube1 | pose_qy |
| 43 | cube1 | pose_qz |
| 44 | cube1 | pose_qw |
| 45 | cube1 | grasp_active |
| 46 | cube1 | object_type |
| 47 | cube1 | half_extent_x |
| 48 | cube1 | half_extent_y |
| 49 | cube1 | half_extent_z |
| 50 | cube2 | pose_x |
| 51 | cube2 | pose_y |
| 52 | cube2 | pose_z |
| 53 | cube2 | pose_qx |
| 54 | cube2 | pose_qy |
| 55 | cube2 | pose_qz |
| 56 | cube2 | pose_qw |
| 57 | cube2 | grasp_active |
| 58 | cube2 | object_type |
| 59 | cube2 | half_extent_x |
| 60 | cube2 | half_extent_y |
| 61 | cube2 | half_extent_z |