Open Soha18 opened 10 months ago
Hi, the positions and orientations of objects and end effectors are considered in the world frame. For osc controllers, we the default action space is the delta poses. If you do not set is_delta
to false, you do not need to consider the transformation of coordinates for the action space. If you are doing motion planning and needs to following a certain trajectory in the world frame, you can first compute the trajectory of waypoints in the world frame, and compute the delta poses, which will be the action for your robot follow.
Hi,
Thanks for opening this repository.
I'm trying to implement lift task on real Panda robot after training a model on the simulator (robosuite), and need to know for sure about the observations and actions coordinates in the simulator. (I'm using OSC-POSE controller)
the output is like this:
Please consider my query.. Thanks a lot and I appreciate any help