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NVlabs / RVT

Official Code for RVT-2 and RVT
https://robotic-view-transformer-2.github.io/
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proprioception dimension #20

Closed Harimus closed 1 year ago

Harimus commented 1 year ago

Hi first of all thank you for the amazing work of RVT.

I have a question. I'm trying to reproduce some of the results on the real-robot setting with a Franka robot, and I'm trying to understand the proprioception data. According to the MTV config the proprioception_dim is 4. What does those 4dim represent? If it's the joint position I assume it should bigger, and if it was cartesian position of the end-effector I assume it is either 3 or 6 (or 7 if quaternion).

Thank you in advance

imankgoyal commented 1 year ago

Hi @Harimus,

I think #19 should address your question. Let me know if any questions still remain.

Best, Ankit

Harimus commented 1 year ago

ah wow I missed that one somehow, thank you!