About ‘object_position’: I mean ‘object_position’ space.shape vs ‘object_position’ observation.shape.
Environment observation space is taken from ‘robot’ attribute - Kuka class. Kukas observation space is Dict space. There is key ‘object_position’ and it corresponds to Dict space with keys [‘tomato’, …]. This spaces (‘tomato’-space and etc.) are Box spaces with shape (7,) (real_robots/envs/robot.py, line 75). But environments [‘step’, ‘reset’] methods returns observation where observation[‘object_position’][‘tomato’].shape is (3,), because get_position() is called instead of get_pose() (real_robots/envs/env.py, line 234).
You are right @ermekaitygulov , the observation space definition should be amended too to reflect what step and reset currently return!
Thanks for pointing it out 