ConstrainedCupboard3D-o6

Initial State Distribution

Random Action Behavior

Usage

import kinder
kinder.register_all_environments()
env = kinder.make("kinder/ConstrainedCupboard3D-o6-v0")

Description

Place six rods onto open shelves across eleven small cupboards with varying shelf configurations.

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	cuboid_1	x
17	cuboid_1	y
18	cuboid_1	z
19	cuboid_1	qw
20	cuboid_1	qx
21	cuboid_1	qy
22	cuboid_1	qz
23	cuboid_1	vx
24	cuboid_1	vy
25	cuboid_1	vz
26	cuboid_1	wx
27	cuboid_1	wy
28	cuboid_1	wz
29	cuboid_1	bb_x
30	cuboid_1	bb_y
31	cuboid_1	bb_z
32	cuboid_2	x
33	cuboid_2	y
34	cuboid_2	z
35	cuboid_2	qw
36	cuboid_2	qx
37	cuboid_2	qy
38	cuboid_2	qz
39	cuboid_2	vx
40	cuboid_2	vy
41	cuboid_2	vz
42	cuboid_2	wx
43	cuboid_2	wy
44	cuboid_2	wz
45	cuboid_2	bb_x
46	cuboid_2	bb_y
47	cuboid_2	bb_z
48	cuboid_3	x
49	cuboid_3	y
50	cuboid_3	z
51	cuboid_3	qw
52	cuboid_3	qx
53	cuboid_3	qy
54	cuboid_3	qz
55	cuboid_3	vx
56	cuboid_3	vy
57	cuboid_3	vz
58	cuboid_3	wx
59	cuboid_3	wy
60	cuboid_3	wz
61	cuboid_3	bb_x
62	cuboid_3	bb_y
63	cuboid_3	bb_z
64	cuboid_4	x
65	cuboid_4	y
66	cuboid_4	z
67	cuboid_4	qw
68	cuboid_4	qx
69	cuboid_4	qy
70	cuboid_4	qz
71	cuboid_4	vx
72	cuboid_4	vy
73	cuboid_4	vz
74	cuboid_4	wx
75	cuboid_4	wy
76	cuboid_4	wz
77	cuboid_4	bb_x
78	cuboid_4	bb_y
79	cuboid_4	bb_z
80	cuboid_5	x
81	cuboid_5	y
82	cuboid_5	z
83	cuboid_5	qw
84	cuboid_5	qx
85	cuboid_5	qy
86	cuboid_5	qz
87	cuboid_5	vx
88	cuboid_5	vy
89	cuboid_5	vz
90	cuboid_5	wx
91	cuboid_5	wy
92	cuboid_5	wz
93	cuboid_5	bb_x
94	cuboid_5	bb_y
95	cuboid_5	bb_z
96	cupboard_0	x
97	cupboard_0	y
98	cupboard_0	z
99	cupboard_0	qw
100	cupboard_0	qx
101	cupboard_0	qy
102	cupboard_0	qz
103	cupboard_1	x
104	cupboard_1	y
105	cupboard_1	z
106	cupboard_1	qw
107	cupboard_1	qx
108	cupboard_1	qy
109	cupboard_1	qz
110	cupboard_10	x
111	cupboard_10	y
112	cupboard_10	z
113	cupboard_10	qw
114	cupboard_10	qx
115	cupboard_10	qy
116	cupboard_10	qz
117	cupboard_2	x
118	cupboard_2	y
119	cupboard_2	z
120	cupboard_2	qw
121	cupboard_2	qx
122	cupboard_2	qy
123	cupboard_2	qz
124	cupboard_3	x
125	cupboard_3	y
126	cupboard_3	z
127	cupboard_3	qw
128	cupboard_3	qx
129	cupboard_3	qy
130	cupboard_3	qz
131	cupboard_4	x
132	cupboard_4	y
133	cupboard_4	z
134	cupboard_4	qw
135	cupboard_4	qx
136	cupboard_4	qy
137	cupboard_4	qz
138	cupboard_5	x
139	cupboard_5	y
140	cupboard_5	z
141	cupboard_5	qw
142	cupboard_5	qx
143	cupboard_5	qy
144	cupboard_5	qz
145	cupboard_6	x
146	cupboard_6	y
147	cupboard_6	z
148	cupboard_6	qw
149	cupboard_6	qx
150	cupboard_6	qy
151	cupboard_6	qz
152	cupboard_7	x
153	cupboard_7	y
154	cupboard_7	z
155	cupboard_7	qw
156	cupboard_7	qx
157	cupboard_7	qy
158	cupboard_7	qz
159	cupboard_8	x
160	cupboard_8	y
161	cupboard_8	z
162	cupboard_8	qw
163	cupboard_8	qx
164	cupboard_8	qy
165	cupboard_8	qz
166	cupboard_9	x
167	cupboard_9	y
168	cupboard_9	z
169	cupboard_9	qw
170	cupboard_9	qx
171	cupboard_9	qy
172	cupboard_9	qz
173	robot	pos_base_x
174	robot	pos_base_y
175	robot	pos_base_rot
176	robot	pos_arm_joint1
177	robot	pos_arm_joint2
178	robot	pos_arm_joint3
179	robot	pos_arm_joint4
180	robot	pos_arm_joint5
181	robot	pos_arm_joint6
182	robot	pos_arm_joint7
183	robot	pos_gripper
184	robot	vel_base_x
185	robot	vel_base_y
186	robot	vel_base_rot
187	robot	vel_arm_joint1
188	robot	vel_arm_joint2
189	robot	vel_arm_joint3
190	robot	vel_arm_joint4
191	robot	vel_arm_joint5
192	robot	vel_arm_joint6
193	robot	vel_arm_joint7
194	robot	vel_gripper

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