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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
0.24
0.10
1.09
0.01
0.04
1.00
0.00
0.00
-0.03
0.01
-0.00
1.00
-0.04
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.01
-0.01
---
# Current Observation
## Object Position
0.24
0.10
1.05
0.01
0.04
1.00
0.00
0.00
-0.03
0.05
0.00
-1.00
0.04
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1913|> <|act1357|> <|act2042|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1911|> <|act1358|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1909|> <|act1359|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.05
0.01
0.04
1.00
0.00
0.00
-0.03
0.05
0.00
-1.00
0.04
0.00
## Robot End Effector Position
0.23
0.07
1.10
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.24
0.10
1.00
0.01
0.04
1.00
0.00
0.01
-0.03
0.11
0.00
-1.00
0.04
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1911|> <|act1358|> <|act2041|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1909|> <|act1359|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.24
0.10
1.00
0.01
0.04
1.00
0.00
0.01
-0.03
0.11
0.00
-1.00
0.04
0.00
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.01
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.23
0.10
0.93
0.08
0.02
1.00
0.00
0.00
-0.03
0.18
-0.00
1.00
-0.02
0.07
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Predicted Action | <|act1909|> <|act1359|> <|act2040|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|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
0.23
0.10
0.93
0.08
0.02
1.00
0.00
0.00
-0.03
0.18
-0.00
1.00
-0.02
0.07
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.02
-0.02
---
# Current Observation
## Object Position
0.23
0.10
0.88
-0.04
0.01
1.00
-0.00
0.00
-0.03
0.23
-0.00
-1.00
0.01
0.06
## Robot End Effector Position
0.23
0.07
1.11
## Robot End Effector Orientation
1.00
-0.00
-0.02
0.00
## Robot Gripper Position
0.03
-0.03
---
# Predicted Action | <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> <|act1907|> <|act1359|> <|act2039|> <|act1898|> <|act1898|> <|act1409|> <|act1024|> |
Subsets and Splits