Open youliangtan opened 9 months ago
The text description in bridge_dataset/1.0.0/features.json is incorrect.
"action": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { "shape": { "dimensions": [ "7" ] }, "dtype": "float32", "encoding": "none" }, "description": "Robot action, consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]." },
"state": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { "shape": { "dimensions": [ "7" ] }, "dtype": "float32", "encoding": "none" }, "description": "Robot state, consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]." },
Both should be in cartesian space reference to base_link. with state: [x, y, z, roll, pitch, yaw, gripperstate] and action: [dx, dy, dz, droll, dpitch, dyaw, gripperstate]
base_link
[x, y, z, roll, pitch, yaw, gripperstate]
[dx, dy, dz, droll, dpitch, dyaw, gripperstate]
Still not be corrected in the features.json file...
The text description in bridge_dataset/1.0.0/features.json is incorrect.
Both should be in cartesian space reference to
base_link
. with state:[x, y, z, roll, pitch, yaw, gripperstate]
and action:[dx, dy, dz, droll, dpitch, dyaw, gripperstate]