Is gripper position in linear or angular space ? #352
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Hi everyone, I was going through ALOHA gripper position conversion code and was confused on how these values are passed through the network. Are gripper positions used for training gripper joint positions (radians or angular)? Or gripper clamp positions which are linear (meters) in space ? |
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Replies: 2 comments
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Hi, since pi0 is a cross embodiment model, we have applied a per-robot-type normalization on the gripper positions before passing them to the network. To better aligning with our pre-training, I'd recommend starting with a linear representation for the gripper. |
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Thanks a lot for the explanation. I will close this discussion now, thanks again. |
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Hi, since pi0 is a cross embodiment model, we have applied a per-robot-type normalization on the gripper positions before passing them to the network. To better aligning with our pre-training, I'd recommend starting with a linear representation for the gripper.