Pick up the red cube from the table with a Sawyer arm

A Rethink Robotics Sawyer (7-DoF) with the Rethink electric parallel gripper works at a table; its base is at the -x end, facing +x. The scene is robosuite's Lift environment (MuJoCo).

Goal: Pick up the red cube from the table and lift it. The task is solved the moment the cube's centre is more than 4 cm above the table top (robosuite's Lift check); the episode then ends by itself.

The episode ends as solved the moment the check first passes (you do not need to call robo done then).

This robot

• The action has 7 numbers, not 4: robo act DX DY DZ DROLL DPITCH DYAW GRIP, each in [-1, 1]: robosuite's OSC_POSE end-effector command plus the gripper, 20 steps per second, in the world frame. DX/DY/DZ = 1.0 asks for a 5 cm move (held at 1.0 the hand travels about 1.1 cm per step); DROLL/DPITCH/DYAW rotate the hand about the world x/y/z axes (1.0 asks for 0.5 rad; leave them at 0 unless you need to turn the hand, e.g. DYAW to line the fingers up with an object); GRIP +1 closes, -1 opens, 0 keeps the fingers as they are (they move over about 5 steps).
• robo move-to X Y Z [--grip G] and robo grip G are available; they move only the position and keep the hand's orientation (it can drift slowly under load; correct it with DROLL/DPITCH/DYAW).
• World frame, metres: +x points away from the robot's base, +y to the robot's left, +z up.
• robo observe fields: hand_pos (the gripper's grasp point between the fingertips, metres), hand_quat (hand orientation quaternion x, y, z, w; about [1, 0, 0, 0] when the gripper points straight down), gripper_open (distance between the two finger pads in metres: largest when open, smallest when closed on nothing, in between when holding something), gripper_yaw_deg (direction of the line through the two fingertips in the table plane, degrees from +x, in [-90, 90); the fingers close along this line); cube_pos, cube_quat, cube_yaw_deg (the cube, about 4 cm on a side); table_height (z of the table top). Every <object>_quat (x, y, z, w) comes with <object>_yaw_deg, the object's heading about the vertical axis (its local x axis, degrees from +x).
• robo observe --image saves the agentview camera; add --camera robot0_eye_in_hand for the wrist camera. Images are 320x320.
• The step budget is 400 steps.
• Grasp the cube from above with the fingers closing on two opposite faces; a lift of a few centimetres is enough. This Sawyer's hand does not point exactly straight down at rest; aggressive orientation commands can drive its wrist into an awkward pose.