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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
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
## Robot End Effector Position
0.00
0.00
0.00
## Robot End Effector Orientation
0.00
0.00
0.00
0.00
## Robot Gripper Position
0.00
0.00
---
# Current Observation
## Object Position
-0.11
0.21
0.89
0.00
0.00
0.79
0.61
0.00
-0.21
0.10
-0.60
0.80
-0.01
0.02
## Robot End Effector Position
-0.13
-0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1258|> <|act1193|> <|act1748|> <|act1874|> <|act1902|> <|act1510|> <|act1024|> <|act1209|> <|act1219|> <|act1650|> <|act1899|> <|act1891|> <|act1454|> <|act1024|> <|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.89
0.00
0.00
0.79
0.61
0.00
-0.21
0.10
-0.60
0.80
-0.01
0.02
## Robot End Effector Position
-0.13
-0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.88
-0.00
0.00
0.79
0.61
-0.00
-0.21
0.12
-0.61
0.80
-0.02
0.02
## Robot End Effector Position
-0.12
-0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1209|> <|act1219|> <|act1650|> <|act1899|> <|act1891|> <|act1454|> <|act1024|> <|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.88
-0.00
0.00
0.79
0.61
-0.00
-0.21
0.12
-0.61
0.80
-0.02
0.02
## Robot End Effector Position
-0.12
-0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.84
-0.00
0.00
0.79
0.61
-0.00
-0.21
0.15
-0.61
0.79
-0.02
0.02
## Robot End Effector Position
-0.12
0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.84
-0.00
0.00
0.79
0.61
-0.00
-0.21
0.15
-0.61
0.79
-0.02
0.02
## Robot End Effector Position
-0.12
0.00
0.99
## Robot End Effector Orientation
1.00
-0.01
0.03
-0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
-0.11
0.21
0.82
-0.00
0.00
0.79
0.61
-0.00
-0.20
0.17
-0.61
0.79
-0.02
0.01
## Robot End Effector Position
-0.12
0.01
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.00
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.82
-0.00
0.00
0.79
0.61
-0.00
-0.20
0.17
-0.61
0.79
-0.02
0.01
## Robot End Effector Position
-0.12
0.01
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.00
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.19
0.16
-0.60
0.80
-0.02
0.01
## Robot End Effector Position
-0.13
0.02
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.01
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.19
0.16
-0.60
0.80
-0.02
0.01
## Robot End Effector Position
-0.13
0.02
0.99
## Robot End Effector Orientation
1.00
-0.01
0.02
-0.01
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.18
0.16
-0.60
0.80
-0.02
0.01
## Robot End Effector Position
-0.13
0.03
0.99
## Robot End Effector Orientation
1.00
-0.02
0.02
-0.01
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.18
0.16
-0.60
0.80
-0.02
0.01
## Robot End Effector Position
-0.13
0.03
0.99
## Robot End Effector Orientation
1.00
-0.02
0.02
-0.01
## Robot Gripper Position
0.03
-0.03
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.17
0.16
-0.59
0.81
-0.02
0.00
## Robot End Effector Position
-0.13
0.04
0.98
## Robot End Effector Orientation
1.00
-0.03
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.17
0.16
-0.59
0.81
-0.02
0.00
## Robot End Effector Position
-0.13
0.04
0.98
## Robot End Effector Orientation
1.00
-0.03
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.15
0.16
0.57
-0.82
0.02
0.00
## Robot End Effector Position
-0.14
0.05
0.98
## Robot End Effector Orientation
1.00
-0.05
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.15
0.16
0.57
-0.82
0.02
0.00
## Robot End Effector Position
-0.14
0.05
0.98
## Robot End Effector Orientation
1.00
-0.05
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.14
0.16
0.56
-0.83
0.03
0.01
## Robot End Effector Position
-0.14
0.06
0.98
## Robot End Effector Orientation
1.00
-0.07
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.14
0.16
0.56
-0.83
0.03
0.01
## Robot End Effector Position
-0.14
0.06
0.98
## Robot End Effector Orientation
1.00
-0.07
0.01
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.13
0.15
0.54
-0.84
0.03
0.01
## Robot End Effector Position
-0.14
0.07
0.97
## Robot End Effector Orientation
1.00
-0.09
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.13
0.15
0.54
-0.84
0.03
0.01
## Robot End Effector Position
-0.14
0.07
0.97
## Robot End Effector Orientation
1.00
-0.09
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.12
0.15
0.52
-0.85
0.03
0.01
## Robot End Effector Position
-0.14
0.08
0.97
## Robot End Effector Orientation
0.99
-0.11
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.12
0.15
0.52
-0.85
0.03
0.01
## Robot End Effector Position
-0.14
0.08
0.97
## Robot End Effector Orientation
0.99
-0.11
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.11
0.15
0.50
-0.86
0.03
0.01
## Robot End Effector Position
-0.14
0.09
0.97
## Robot End Effector Orientation
0.99
-0.13
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.11
0.15
0.50
-0.86
0.03
0.01
## Robot End Effector Position
-0.14
0.09
0.97
## Robot End Effector Orientation
0.99
-0.13
0.01
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.10
0.15
0.48
-0.88
0.04
0.01
## Robot End Effector Position
-0.15
0.10
0.97
## Robot End Effector Orientation
0.99
-0.15
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.01
-0.10
0.15
0.48
-0.88
0.04
0.01
## Robot End Effector Position
-0.15
0.10
0.97
## Robot End Effector Orientation
0.99
-0.15
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.10
0.14
0.46
-0.89
0.04
0.01
## Robot End Effector Position
-0.15
0.11
0.96
## Robot End Effector Orientation
0.98
-0.18
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.10
0.14
0.46
-0.89
0.04
0.01
## Robot End Effector Position
-0.15
0.11
0.96
## Robot End Effector Orientation
0.98
-0.18
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.09
0.14
0.44
-0.89
0.04
0.02
## Robot End Effector Position
-0.15
0.12
0.96
## Robot End Effector Orientation
0.98
-0.20
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
-0.00
-0.09
0.14
0.44
-0.89
0.04
0.02
## Robot End Effector Position
-0.15
0.12
0.96
## Robot End Effector Orientation
0.98
-0.20
0.01
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.08
0.14
0.43
-0.90
0.04
0.02
## Robot End Effector Position
-0.15
0.13
0.96
## Robot End Effector Orientation
0.98
-0.22
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.08
0.14
0.43
-0.90
0.04
0.02
## Robot End Effector Position
-0.15
0.13
0.96
## Robot End Effector Orientation
0.98
-0.22
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.06
0.14
0.41
-0.91
0.05
0.02
## Robot End Effector Position
-0.15
0.14
0.96
## Robot End Effector Orientation
0.97
-0.24
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.00
-0.06
0.14
0.41
-0.91
0.05
0.02
## Robot End Effector Position
-0.15
0.14
0.96
## Robot End Effector Orientation
0.97
-0.24
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.06
0.13
0.39
-0.92
0.05
0.03
## Robot End Effector Position
-0.15
0.15
0.95
## Robot End Effector Orientation
0.96
-0.26
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.06
0.13
0.39
-0.92
0.05
0.03
## Robot End Effector Position
-0.15
0.15
0.95
## Robot End Effector Orientation
0.96
-0.26
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.05
0.12
0.37
-0.93
0.05
0.03
## Robot End Effector Position
-0.15
0.16
0.95
## Robot End Effector Orientation
0.96
-0.28
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.05
0.12
0.37
-0.93
0.05
0.03
## Robot End Effector Position
-0.15
0.16
0.95
## Robot End Effector Orientation
0.96
-0.28
0.01
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.04
0.12
0.35
-0.94
0.05
0.03
## Robot End Effector Position
-0.15
0.17
0.94
## Robot End Effector Orientation
0.95
-0.30
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.04
0.12
0.35
-0.94
0.05
0.03
## Robot End Effector Position
-0.15
0.17
0.94
## Robot End Effector Orientation
0.95
-0.30
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.03
0.11
0.33
-0.94
0.05
0.03
## Robot End Effector Position
-0.15
0.18
0.94
## Robot End Effector Orientation
0.95
-0.32
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.03
0.11
0.33
-0.94
0.05
0.03
## Robot End Effector Position
-0.15
0.18
0.94
## Robot End Effector Orientation
0.95
-0.32
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.03
0.11
0.30
-0.95
0.05
0.03
## Robot End Effector Position
-0.15
0.19
0.94
## Robot End Effector Orientation
0.94
-0.34
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.01
-0.03
0.11
0.30
-0.95
0.05
0.03
## Robot End Effector Position
-0.15
0.19
0.94
## Robot End Effector Orientation
0.94
-0.34
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.02
-0.02
0.11
0.28
-0.96
0.05
0.03
## Robot End Effector Position
-0.15
0.20
0.94
## Robot End Effector Orientation
0.93
-0.36
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.02
-0.02
0.11
0.28
-0.96
0.05
0.03
## Robot End Effector Position
-0.15
0.20
0.94
## Robot End Effector Orientation
0.93
-0.36
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.02
-0.02
0.10
0.26
-0.96
0.05
0.03
## Robot End Effector Position
-0.15
0.20
0.93
## Robot End Effector Orientation
0.92
-0.38
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.02
-0.02
0.10
0.26
-0.96
0.05
0.03
## Robot End Effector Position
-0.15
0.20
0.93
## Robot End Effector Orientation
0.92
-0.38
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.02
0.10
0.25
-0.97
0.04
0.03
## Robot End Effector Position
-0.15
0.21
0.93
## Robot End Effector Orientation
0.92
-0.40
-0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.02
0.10
0.25
-0.97
0.04
0.03
## Robot End Effector Position
-0.15
0.21
0.93
## Robot End Effector Orientation
0.92
-0.40
-0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.02
0.10
0.23
-0.97
0.04
0.03
## Robot End Effector Position
-0.15
0.21
0.92
## Robot End Effector Orientation
0.91
-0.41
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.02
0.10
0.23
-0.97
0.04
0.03
## Robot End Effector Position
-0.15
0.21
0.92
## Robot End Effector Orientation
0.91
-0.41
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.01
0.09
0.21
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.22
0.92
## Robot End Effector Orientation
0.90
-0.43
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.01
0.09
0.21
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.22
0.92
## Robot End Effector Orientation
0.90
-0.43
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.01
0.09
0.20
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.22
0.92
## Robot End Effector Orientation
0.89
-0.44
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.03
-0.01
0.09
0.20
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.22
0.92
## Robot End Effector Orientation
0.89
-0.44
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.04
-0.01
0.08
0.18
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.23
0.91
## Robot End Effector Orientation
0.89
-0.46
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.04
-0.01
0.08
0.18
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.23
0.91
## Robot End Effector Orientation
0.89
-0.46
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.04
-0.01
0.08
0.17
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.23
0.91
## Robot End Effector Orientation
0.88
-0.47
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.04
-0.01
0.08
0.17
-0.98
0.04
0.03
## Robot End Effector Position
-0.15
0.23
0.91
## Robot End Effector Orientation
0.88
-0.47
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.08
0.15
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.91
## Robot End Effector Orientation
0.87
-0.48
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.08
0.15
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.91
## Robot End Effector Orientation
0.87
-0.48
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.08
0.14
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.91
## Robot End Effector Orientation
0.87
-0.49
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.08
0.14
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.91
## Robot End Effector Orientation
0.87
-0.49
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.07
0.13
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.90
## Robot End Effector Orientation
0.86
-0.51
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.07
0.13
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.90
## Robot End Effector Orientation
0.86
-0.51
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.07
0.12
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.90
## Robot End Effector Orientation
0.86
-0.52
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.07
0.12
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.24
0.90
## Robot End Effector Orientation
0.86
-0.52
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.06
0.10
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.90
## Robot End Effector Orientation
0.85
-0.53
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.05
-0.01
0.06
0.10
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.90
## Robot End Effector Orientation
0.85
-0.53
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.06
0.09
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.89
## Robot End Effector Orientation
0.84
-0.53
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.06
0.09
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.89
## Robot End Effector Orientation
0.84
-0.53
-0.00
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.06
0.08
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.89
## Robot End Effector Orientation
0.84
-0.54
-0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.06
0.08
-0.99
0.04
0.03
## Robot End Effector Position
-0.16
0.25
0.89
## Robot End Effector Orientation
0.84
-0.54
-0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.07
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.89
## Robot End Effector Orientation
0.83
-0.55
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.07
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.89
## Robot End Effector Orientation
0.83
-0.55
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.07
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.83
-0.56
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.07
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.83
-0.56
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.06
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.82
-0.56
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.05
0.06
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.82
-0.56
0.00
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.04
0.05
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.82
-0.57
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.06
-0.01
0.04
0.05
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.26
0.88
## Robot End Effector Orientation
0.82
-0.57
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.04
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.82
-0.58
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.04
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.82
-0.58
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.04
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.81
-0.58
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.04
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.81
-0.58
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.03
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.81
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.04
0.03
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.81
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.03
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.80
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.03
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.80
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.02
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.80
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.02
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.87
## Robot End Effector Orientation
0.80
-0.59
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.02
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.86
## Robot End Effector Orientation
0.80
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.02
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.27
0.86
## Robot End Effector Orientation
0.80
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.01
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.28
0.86
## Robot End Effector Orientation
0.80
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.03
0.01
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.28
0.86
## Robot End Effector Orientation
0.80
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.01
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.28
0.86
## Robot End Effector Orientation
0.79
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.01
-1.00
0.05
0.03
## Robot End Effector Position
-0.15
0.28
0.86
## Robot End Effector Orientation
0.79
-0.60
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.00
-1.00
0.05
0.02
## Robot End Effector Position
-0.15
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.00
-1.00
0.05
0.02
## Robot End Effector Position
-0.15
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.01
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.15
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.15
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
-0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.02
-0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.28
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.27
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.00
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.27
0.85
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.02
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.79
-0.61
0.02
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.79
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.79
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.27
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.06
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.84
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.06
0.01
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.01
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.01
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.05
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.01
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.02
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.02
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.02
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
-0.02
-1.00
0.05
0.00
## Robot End Effector Position
-0.14
0.28
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.05
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.05
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.62
0.03
-0.04
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.00
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.00
0.02
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.02
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.02
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.78
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.03
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.77
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.03
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.77
-0.63
0.03
-0.03
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.03
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.77
-0.63
0.04
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|> <|act1187|> <|act1962|> <|act1166|> <|act2038|> <|act1570|> <|act1587|> <|act1024|> |
# Task
The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take.
The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper.
## Observation Space
The observation space is broken into four subspaces.
- **Object Pose**: The pose of the square-shaped object.
- **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector.
- **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end
- **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between.
## Action Space
Actions in this environment consist of seven numbers.
- The first three are target x, y, z coordinates of the end effector
- The next three numbers are an axis angle representation of the target orientation of the end effector.
- The last number indicates whether to open or close the gripper.
---
# Previous Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.03
1.00
-0.04
0.01
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.77
-0.63
0.04
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Current Observation
## Object Position
-0.11
0.21
0.83
-0.00
0.00
0.79
0.61
0.07
-0.01
0.01
0.03
1.00
-0.04
0.02
## Robot End Effector Position
-0.14
0.27
0.83
## Robot End Effector Orientation
0.77
-0.64
0.04
-0.02
## Robot Gripper Position
0.04
-0.04
---
# Predicted Action | <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|> <|act1187|> <|act1962|> <|act1166|> <|act2038|> <|act1570|> <|act1587|> <|act1024|> <|act1177|> <|act1954|> <|act1141|> <|act2038|> <|act1569|> <|act1596|> <|act1024|> |
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