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ARISE-Initiative / robomimic

robomimic: A Modular Framework for Robot Learning from Demonstration
MIT License
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How to transform actions to local robot end effector frame? #148

Closed TongZhangTHU closed 5 months ago

TongZhangTHU commented 5 months ago

Hi,

Thanks for your great work! I've observed that the actions in the data utilize the "OSC_POSE" controller type, indicating they are defined in the global coordinate frame. However, I'm currently exploring the possibility of obtaining actions relative to the local frame of the robot's end effector, (which might align more closely with the "IK_POSE" controller type, see https://github.com/ARISE-Initiative/robosuite/blob/48c1b8a6c077d04399a00db05694d7f9f876ffc9/docs/demos.md?plain=1#L37 ）

I understand that I could potentially implement the coordinate transformation myself, but for the sake of accuracy and convenience, I'm curious if there are any existing methods or tools available to achieve this.

Thank you very much in advance!

amandlek commented 5 months ago

I am not aware of an existing implementation of this for OSC in robosuite, but it should be straightforward to do this conversion.

sarthakdas commented 2 months ago

Hi, did you get anything working for this? would be really helpful if you could share