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ARISE-Initiative / robomimic

robomimic: A Modular Framework for Robot Learning from Demonstration
MIT License
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Object Representation #171

Closed sarthakdas closed 2 months ago

sarthakdas commented 2 months ago

HI, Was wondering what exactly is being represented in objects in the array for the low dim:

[0.017, -0.11, 0.86, 0.0, 0.0, 0.5, -0.866, 0.002, 0.011, 0.174, 0.86, 0.502, 0.08, 0.045] for the can task.

What is the meaning behind these numbers?

sarthakdas commented 2 months ago

('Can_pos', array([ 0.0504674 , -0.32215638, 0.86 ])), ('Can_quat', array([0. , 0. , 0.39723027, 0.91771897])), ('Can_to_robot0_eef_pos', array([0.09101279, 0.21764788, 0.15588384])), ('Can_to_robot0_eef_quat', array([-0.90876 , 0.41279432, -0.05773823, 0.02055436], dtype=float32)), the values are listed in this order