Variables Spaces Definition¶
Please note that the spaces below are still preliminary, not refined yet, subject to changing.
Reaching Variable Spaces¶
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
goal_60 |
cylindrical_position |
[[0.0, - math.pi, 0.0075], |
[[0.11, - math.pi, 0.0075] |
goal_60 |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
goal_60 |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
number_of_obstacles |
None |
[1, 5] |
[1, 5] |
Pushing Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_block |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, h/2] |
tool_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
tool_block |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
goal_block |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, h/2] |
goal_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
goal_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
goal_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
Picking Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_block |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, 0.15] |
tool_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
tool_block |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
goal_block |
cylindrical_position |
[[0.0, - math.pi, 0.08], |
[[0.11, - math.pi, 0.20] |
goal_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
goal_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
goal_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
PickAndPlace Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_block |
cylindrical_position |
[[0.07, np.pi/6, h/2], |
[[0.12, np.pi / 6, h/2] |
tool_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
tool_block |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
goal_block |
cylindrical_position |
[[0.07, np.pi/6, h/2], |
[[0.12, np.pi / 6, h/2] |
goal_block |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
goal_block |
size |
[[0.055, 0.055, 0.055], |
[[0.075, 0.075, 0.075], |
goal_block |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
obstacle |
size |
[[0.5, 0.015, 0.02] |
[[0.5, 0.015, 0.065] |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
Stacking2 Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_block_1 |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, h/2] |
tool_block_1 |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_block_1 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_block_1 |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
goal_block_1 |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
goal_tower |
cylindrical_position |
[[0.07, np.pi/6, h/2], |
[[0.12, np.pi / 6, h/2] |
goal_tower |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
Towers Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_level_l_col_c_row_r |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, 0.15] |
tool_level_l_col_c_row_r |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_level_l_col_c_row_r |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_level_l_col_c_row_r |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
number_of_blocks_in_tower |
None |
[[1, 1, 1], |
[[4, 4, 4], |
blocks_mass |
None |
[0.02, 0.06] |
[0.06, 0.08] |
tower_dims |
None |
[[0.08, 0.08, 0.08], |
[[0.12, 0.12, 0.12], |
tower_center |
None |
[[-0.1, -0.1], |
[[0.05, 0.05], |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
StackedBlocks Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_level_l_num_n |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, 0.15] |
tool_level_l_num_n |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_level_l_num_n |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_level_l_num_n |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stack_levels |
None |
[1, 5] |
[6, 8] |
blocks_mass |
None |
[0.02, 0.06] |
[0.06, 0.08] |
blocks_min_size |
None |
[0.035, 0.065] |
[0.065, 0.075] |
max_level_width |
None |
[0.035, 0.12] |
[0.12, 0.15] |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
CreativeStackedBlocks Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_level_l_num_n |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, 0.15] |
tool_level_l_num_n |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_level_l_num_n |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_level_l_num_n |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stack_levels |
None |
[1, 5] |
[6, 8] |
blocks_mass |
None |
[0.02, 0.06] |
[0.06, 0.08] |
blocks_min_size |
None |
[0.035, 0.065] |
[0.065, 0.075] |
max_level_width |
None |
[0.035, 0.12] |
[0.12, 0.15] |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
General Variable Spaces¶
Notation: h refers to the height of the block.
Variable |
SubVariable |
Space A |
Space B |
---|---|---|---|
joint_positions |
None |
[[-1.57, -1.2, -3.0] * 3, |
[[-0.69, 0, 0] * 3, |
tool_n |
cylindrical_position |
[[0.0, - math.pi, h/2], |
[[0.11, - math.pi, 0.15] |
tool_n |
euler_orientation |
[[0, 0, -math.pi], |
[[0, 0, -math.pi], |
tool_n |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
tool_n |
color |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
nums_objects |
None |
[1, 5] |
[6, 9] |
blocks_mass |
None |
[0.02, 0.06] |
[0.06, 0.08] |
tool_block_size |
None |
[0.05, 0.07] |
[0.04, 0.05] |
floor_color |
None |
[[0.5, 0.5, 0.5] |
[[0, 0, 0], |
stage_color |
None |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
floor_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
stage_friction |
None |
[0.3, 0.6] |
[0.6, 0.8] |
robot_finger_60_link_0 |
color |
[[0, 0, 0], |
[[0.5, 0.5, 0.5], |
robot_finger_60_link_0 |
mass |
[0.015, 0.045] |
[0.045, 0.1] |
Variables Without Spaces Yet¶
robot_height
gravity
velocities in general
others in a followup version including shape for instance.