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google-deepmind / open_x_embodiment

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Orientation of axes #48

Open safsin opened 6 months ago

safsin commented 6 months ago

What's the orientation of axes for the base? I'm assuming it's x to the front, y to left and z upwards.

kpertsch commented 6 months ago

Hi, thanks for reaching out! We do not align axes orientations between the datasets, i.e. each dataset is using the axes definitions that were originally defined by the authors. If you have questions about a particular dataset's used axes definitions, please reach out to the authors of the respective dataset for details!

safsin commented 6 months ago

Thanks for the reply! Which orientation was followed for fractal20220817_data dataset? Also, does it mean that you took the datasets as-is for training RT-X models?

kpertsch commented 6 months ago

Yes, that's correct. I am not sure about the Fractal conventions -- easiest probably to just look at a few videos from the dataset and corresponding state / action info to figure out the mapping.