what does the array [0, -0.005, 0.16] mean?

PaulDanielML / MuJoCo_RL_UR5

A MuJoCo/Gym environment for robot control using Reinforcement Learning. The task of agents in this environment is pixel-wise prediction of grasp success chances.

MIT License

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what does the array [0, -0.005, 0.16] mean? #7

Open whynpt opened 2 years ago

whynpt commented 2 years ago

I want apply MujocoController with kinova jaco2, then got trouble in open_griper(). robot run wrong.In the function move_group_to_joint_target() in MujocoController, there is temp = self.sim.data.body_xpos[self.model.body_name2id('ee_link')] - [0, -0.005, 0.16]. so i want to know what does [0, -0.005, 0.16] mean to UR5?

PaulDanielML commented 2 years ago

Hi,

I just used this temp variable to calculate the rough position where the grippers fingers would touch each other when the gripper closes. I then used this to display a marker in the rendering. It is purely for visualization purposes, the idea was that I can see which height above the table the agents are "targeting".