max and min value of action
I found that the max and min value of action is closed to 1 and -1. This is not normal.
What do you mean by ‘not normal’?”
The range of action[0:6] is not changed, see droid_baseact_transform for details.
What I mean is that all the values of the action are constrained between -1 and 1, which seems abnormal. If the change in radians is close to 1, that would correspond to a large angle. Is this the problem of the droid?
You could check the script yourself. NO changes in action[0:6]
So have your checked the official droid dataset to see whether the action representation is cartesian_velocity ?
Double checked:
- official dataset: eef vel (https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/controllers/oculus_controller.py#L170)
- openx rlds dataset: eef position (https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g/edit?gid=0#gid=0)
- lerobot dataset: same as 2.
Hi, I want to make sure again that the state and action value in this provided dataset is eef position rather than eef velocity, is it right? Besides, what's the coordinate of this eef representation? Is the origin of the coordinate system on the manipulator base, +x is front, +y is left, and +z is top? Thanks.