<jupyter_start><jupyter_text>Action definationact_dim is `8`action `1-7` : joint positonsaction `8` : gripper open state `0`:close, `1`:open<jupyter_code>action = np.array([0,0,0,0,0,0,0,0])
obs = env.step(action)
obs<jupyter_output><empty_output><jupyter_text>Observation definationobs_dim is `40`gripper state `1`,   joint_velocities `7`,            joint positons `7`,  joint_foces `7`,     gripper_pose `7`,    gripper_joint_positions `2`,  gripper_touch_forces `6`, task_low_dim_state `3`gripper pisition is `obs[22:25]`joint position is `obs[8:15]`<jupyter_code>obs = env.reset()
obs
# joint position is obs[8:15]
obs[8:15]
## gripper positon is obs[29:31], one of them
obs[29:31]
# target position is obs[-3:]
obs[-3:]
action = env.action_space.sample()
next_obs, reward, done, info = env.step(action)
next_obs
env.observation_space.shape[0]
env.action_space.shape[0]<jupyter_output><empty_output>
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