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OSUrobotics / KinovaGrasping

This contains the simulation of a kinova robot and the code for collecting data and training both a grasp classifier and a RL agent
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MARKER: quaternion + distance calculation #44

Open jimzers opened 3 years ago

jimzers commented 3 years ago

self contained in the marked loop.

https://github.com/OSUrobotics/KinovaGrasping/blob/e454bace14c56b13560786bdc22f29a6bce12f9e/gym-kinova-gripper/boundary_detection.py#L273

jimzers commented 3 years ago

NOTE: IT GOES TO LINE 309. TODO: Figure out what Quaternion_distance means

Translation_error: The distance off the center (the "ideal" grasp location) Quaternion_distance: Not sure... Based on dot product distance stuff.

jimzers commented 3 years ago

Quaternion_distance corresponds to the angle in degrees between the two orientations (starting grasp vs perturbed grasp)

It is calculated by 1. getting dot product of both quaternions, 2. arccos => radians, 3. rad2deg => degrees