ConstrainedCupboard3D-o1
Initial State Distribution
Random Action Behavior
Usage
import kinder
kinder.register_all_environments()
env = kinder.make("kinder/ConstrainedCupboard3D-o1-v0")
Description
Place one rod onto an open shelf across three small cupboards with varying shelf heights.
Observation Space
The entries of an array in this Box space correspond to the following object features:
| Index | Object | Feature |
|---|---|---|
| 0 | cuboid_0 | x |
| 1 | cuboid_0 | y |
| 2 | cuboid_0 | z |
| 3 | cuboid_0 | qw |
| 4 | cuboid_0 | qx |
| 5 | cuboid_0 | qy |
| 6 | cuboid_0 | qz |
| 7 | cuboid_0 | vx |
| 8 | cuboid_0 | vy |
| 9 | cuboid_0 | vz |
| 10 | cuboid_0 | wx |
| 11 | cuboid_0 | wy |
| 12 | cuboid_0 | wz |
| 13 | cuboid_0 | bb_x |
| 14 | cuboid_0 | bb_y |
| 15 | cuboid_0 | bb_z |
| 16 | cupboard_0 | x |
| 17 | cupboard_0 | y |
| 18 | cupboard_0 | z |
| 19 | cupboard_0 | qw |
| 20 | cupboard_0 | qx |
| 21 | cupboard_0 | qy |
| 22 | cupboard_0 | qz |
| 23 | cupboard_1 | x |
| 24 | cupboard_1 | y |
| 25 | cupboard_1 | z |
| 26 | cupboard_1 | qw |
| 27 | cupboard_1 | qx |
| 28 | cupboard_1 | qy |
| 29 | cupboard_1 | qz |
| 30 | cupboard_2 | x |
| 31 | cupboard_2 | y |
| 32 | cupboard_2 | z |
| 33 | cupboard_2 | qw |
| 34 | cupboard_2 | qx |
| 35 | cupboard_2 | qy |
| 36 | cupboard_2 | qz |
| 37 | robot | pos_base_x |
| 38 | robot | pos_base_y |
| 39 | robot | pos_base_rot |
| 40 | robot | pos_arm_joint1 |
| 41 | robot | pos_arm_joint2 |
| 42 | robot | pos_arm_joint3 |
| 43 | robot | pos_arm_joint4 |
| 44 | robot | pos_arm_joint5 |
| 45 | robot | pos_arm_joint6 |
| 46 | robot | pos_arm_joint7 |
| 47 | robot | pos_gripper |
| 48 | robot | vel_base_x |
| 49 | robot | vel_base_y |
| 50 | robot | vel_base_rot |
| 51 | robot | vel_arm_joint1 |
| 52 | robot | vel_arm_joint2 |
| 53 | robot | vel_arm_joint3 |
| 54 | robot | vel_arm_joint4 |
| 55 | robot | vel_arm_joint5 |
| 56 | robot | vel_arm_joint6 |
| 57 | robot | vel_arm_joint7 |
| 58 | robot | vel_gripper |