ee_pose values from droid robot is inconsistent with the droid dataset
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- Dominant language
- Python
- Stars
- 508
- Forks
- 81
- Avg merge
- 14d 21h
- Merged PRs (30d)
- 2
Description
In the droid registration, ee_pose is read from base_link, and its pitch values reach around ±90 degrees when the robot is in the home position. Is this intended behavior? I changed the joint link to panda_link8, and my model eval performance improved (trained on droid ee_poses). Home position value made sense after this change, i.e., roll: ~180, pitch: ~0, yaw: ~0 (in degrees).
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Research direction
Start at the droid registration entry point that reads ee_pose from base_link, then compare that frame with the droid dataset convention and the reported panda_link8 alternative. Confirm which link is intended by checking the home-position pose values and model-evaluation behavior; done means the registration and dataset use a consistent pose convention.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 42/100