Adding end effector's positional and rotational velocity as default observations?

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

https://robosuite.ai

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Adding end effector's positional and rotational velocity as default observations? #175

Closed zhuyifengzju closed 3 years ago

zhuyifengzju commented 3 years ago

I found that there is no default observations on end effector's velocities. Should we add such them as default?

yukezhu commented 3 years ago

@zhuyifengzju did you find that the end-effector's velocities useful in any of your learning tasks? It can be easily added to the observables from here: https://github.com/ARISE-Initiative/robosuite/blob/779a3b7c91e8faab4a4f1285acae3e8c9b63faaf/robosuite/robots/single_arm.py#L316

zhuyifengzju commented 3 years ago

Currently I am not using any velocity information in my tasks. Yeah I realize it's easier to add a sensor observation in an environment. We can close this issue now.