Action / State dimensions
Thanks for open-sourcing!
Could you please provide more details about what each of the action dimensions refers to? Eg in the rlds schema it only mentions that the first 6 dimensions are "arm left", but are these absolute joint angles, joint velocities? end-effector poses? More detail for all 26 action dims would be great!
I would also like to understand why the action dimensions for torso and base (6d & 6d) differ from the state dimensions for torso and base (4d & 3d)!
Thanks for open-sourcing!
Could you please provide more details about what each of the action dimensions refers to? Eg in the rlds schema it only mentions that the first 6 dimensions are "arm left", but are these absolute joint angles, joint velocities? end-effector poses? More detail for all 26 action dims would be great!
I would also like to understand why the action dimensions for torso and base (6d & 6d) differ from the state dimensions for torso and base (4d & 3d)!
Thanks for you interest!
The action space for the arm is absolute joint positions.
Proprios:
For the base, the state is 3D representing the heading direction of 3 wheels.
For the torso, the DoF of R1Lite torso is 3 but we add a zero padding to align with R1Pro(4 DoF Torso).
Action space of torso and base are both velocity control:
In ROS, we use Twist topic to control the robot. So we simply concat 3D linear and 3D angular as torso action and base action respectively.
got it, thanks!