TidyBot3D-Shelf3D-cupboard_real-o8

Initial State Distribution

Random Action Behavior

Usage

import kinder
env = kinder.make("kinder/TidyBot3D-Shelf3D-cupboard_real-o8-v0")

Description

This variant uses the 'cupboard_real' scene type with 8 objects.

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	cube2	x
17	cube2	y
18	cube2	z
19	cube2	qw
20	cube2	qx
21	cube2	qy
22	cube2	qz
23	cube2	vx
24	cube2	vy
25	cube2	vz
26	cube2	wx
27	cube2	wy
28	cube2	wz
29	cube2	bb_x
30	cube2	bb_y
31	cube2	bb_z
32	cube3	x
33	cube3	y
34	cube3	z
35	cube3	qw
36	cube3	qx
37	cube3	qy
38	cube3	qz
39	cube3	vx
40	cube3	vy
41	cube3	vz
42	cube3	wx
43	cube3	wy
44	cube3	wz
45	cube3	bb_x
46	cube3	bb_y
47	cube3	bb_z
48	cube4	x
49	cube4	y
50	cube4	z
51	cube4	qw
52	cube4	qx
53	cube4	qy
54	cube4	qz
55	cube4	vx
56	cube4	vy
57	cube4	vz
58	cube4	wx
59	cube4	wy
60	cube4	wz
61	cube4	bb_x
62	cube4	bb_y
63	cube4	bb_z
64	cube5	x
65	cube5	y
66	cube5	z
67	cube5	qw
68	cube5	qx
69	cube5	qy
70	cube5	qz
71	cube5	vx
72	cube5	vy
73	cube5	vz
74	cube5	wx
75	cube5	wy
76	cube5	wz
77	cube5	bb_x
78	cube5	bb_y
79	cube5	bb_z
80	cube6	x
81	cube6	y
82	cube6	z
83	cube6	qw
84	cube6	qx
85	cube6	qy
86	cube6	qz
87	cube6	vx
88	cube6	vy
89	cube6	vz
90	cube6	wx
91	cube6	wy
92	cube6	wz
93	cube6	bb_x
94	cube6	bb_y
95	cube6	bb_z
96	cube7	x
97	cube7	y
98	cube7	z
99	cube7	qw
100	cube7	qx
101	cube7	qy
102	cube7	qz
103	cube7	vx
104	cube7	vy
105	cube7	vz
106	cube7	wx
107	cube7	wy
108	cube7	wz
109	cube7	bb_x
110	cube7	bb_y
111	cube7	bb_z
112	cube8	x
113	cube8	y
114	cube8	z
115	cube8	qw
116	cube8	qx
117	cube8	qy
118	cube8	qz
119	cube8	vx
120	cube8	vy
121	cube8	vz
122	cube8	wx
123	cube8	wy
124	cube8	wz
125	cube8	bb_x
126	cube8	bb_y
127	cube8	bb_z
128	cupboard_1	x
129	cupboard_1	y
130	cupboard_1	z
131	cupboard_1	qw
132	cupboard_1	qx
133	cupboard_1	qy
134	cupboard_1	qz
135	robot	pos_base_x
136	robot	pos_base_y
137	robot	pos_base_rot
138	robot	pos_arm_joint1
139	robot	pos_arm_joint2
140	robot	pos_arm_joint3
141	robot	pos_arm_joint4
142	robot	pos_arm_joint5
143	robot	pos_arm_joint6
144	robot	pos_arm_joint7
145	robot	pos_gripper
146	robot	vel_base_x
147	robot	vel_base_y
148	robot	vel_base_rot
149	robot	vel_arm_joint1
150	robot	vel_arm_joint2
151	robot	vel_arm_joint3
152	robot	vel_arm_joint4
153	robot	vel_arm_joint5
154	robot	vel_arm_joint6
155	robot	vel_arm_joint7
156	robot	vel_gripper

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