TidyBot3D-Shelf3D-cupboard_real-o1
Initial State Distribution
Random Action Behavior
Usage
import kinder
env = kinder.make("kinder/TidyBot3D-Shelf3D-cupboard_real-o1-v0")
Description
This variant uses the 'cupboard_real' scene type with 1 object.
Observation Space
The entries of an array in this Box space correspond to the following object features:
| Index | Object | Feature |
|---|---|---|
| 0 | cube1 | x |
| 1 | cube1 | y |
| 2 | cube1 | z |
| 3 | cube1 | qw |
| 4 | cube1 | qx |
| 5 | cube1 | qy |
| 6 | cube1 | qz |
| 7 | cube1 | vx |
| 8 | cube1 | vy |
| 9 | cube1 | vz |
| 10 | cube1 | wx |
| 11 | cube1 | wy |
| 12 | cube1 | wz |
| 13 | cube1 | bb_x |
| 14 | cube1 | bb_y |
| 15 | cube1 | bb_z |
| 16 | cupboard_1 | x |
| 17 | cupboard_1 | y |
| 18 | cupboard_1 | z |
| 19 | cupboard_1 | qw |
| 20 | cupboard_1 | qx |
| 21 | cupboard_1 | qy |
| 22 | cupboard_1 | qz |
| 23 | robot | pos_base_x |
| 24 | robot | pos_base_y |
| 25 | robot | pos_base_rot |
| 26 | robot | pos_arm_joint1 |
| 27 | robot | pos_arm_joint2 |
| 28 | robot | pos_arm_joint3 |
| 29 | robot | pos_arm_joint4 |
| 30 | robot | pos_arm_joint5 |
| 31 | robot | pos_arm_joint6 |
| 32 | robot | pos_arm_joint7 |
| 33 | robot | pos_gripper |
| 34 | robot | vel_base_x |
| 35 | robot | vel_base_y |
| 36 | robot | vel_base_rot |
| 37 | robot | vel_arm_joint1 |
| 38 | robot | vel_arm_joint2 |
| 39 | robot | vel_arm_joint3 |
| 40 | robot | vel_arm_joint4 |
| 41 | robot | vel_arm_joint5 |
| 42 | robot | vel_arm_joint6 |
| 43 | robot | vel_arm_joint7 |
| 44 | robot | vel_gripper |