Closed ssvision closed 1 month ago
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Hello, they are relative in the world frame for pose and absolute for gripper. This is the reason I made https://github.com/mbodiai/embodied-agents. Much clearer and smoother to interact with robotic transformers!
my current setup consists of a universal robot 6dof UR5e arm along with a onRobot gripper. There is a Intel Real Sense mounted on the head which is static. (assume it's a single arm humanoid robot with camera mounted on the head). Now when i run the model i.e pass an image and an instruction the model is supposed to output 7 values for the action space which are (x, y, z, roll, pitch, yaw, gripper state). My questions are as follows