what does action space 'pose delta' mean?
ssvision opened this issue · comments
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
- The action space output from the transformer model i.e the end effector pose. Is it defined in camera frame?
- what are the pose values ? are they absolute values or delta values as i am a bit confused with the terminology being used in the README section?