Can you help explain what are the two dimension of parameter 'robot0_gripper_qpos' stand for?

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[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

https://diffusion-policy.cs.columbia.edu/

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Open YanJiaHuan opened 1 month ago

YanJiaHuan commented 1 month ago

https://www.universal-robots.com/media/1800257/rg6-gripper-datasheet.pdf Will it be the opening angle of the gripper? As shown in this demonstration, there are two movable part in the end of gripper.

Also, what does the last element of action (e.g., x, y, z, r, p, y, -1/1) stand for? -1 means closing or opening? 1715323218781