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rh20t / rh20t_api

MIT License
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Joint info does not match with the robot DOF #12

Open motor-x opened 3 days ago

motor-x commented 3 days ago

Hi,

I noticed that the robot you were using had either 6 or 7 DOF. However, when loading the joint.npy file for cfg1 and cfg5, the dim of each vector is 14. Could you please let me know why it is not 7?

Best regards, Yuchen

motor-x commented 3 days ago

Also, for cfg6 and cfg7, the dim is 21. Are these three step actions?

Vladimirovich2019 commented 3 days ago

Hi, Yuchen. Thank you for your attention. Each vector corresponds to a single step of action. We have provided the interval to fetch the joint angles for each robot in configs/configs.json, stored with the key "robot_joint_field". For example, for cfg1, simply index the vector with [0, 7]. To use them properly, you may refer to the updating function called from this line of our visualization script, which loads joint.npy with get_joint_angles_aligned().

motor-x commented 3 days ago

Thank you for the quick reply! If I understand correctly, for example, in cfg7, the joint.npy has vector with dim 21, I can just use the range based on the "robot_joint_field", right?

Vladimirovich2019 commented 3 days ago

Yes, you can just use [0:7] as the corresponding "robot_joint_field" is [0, 7].