observation.state

[ptman12]

"I noticed that the state information corresponding to the robotic arm's initial position during your data collection is different from my arm of the same model. What could be the reason for this discrepancy?"

[ptman12]

数据采集问题

[Tradewindycc]

"I noticed that the state information corresponding to the robotic arm's initial position during your data collection is different from my arm of the same model. What could be the reason for this discrepancy?"

Hi, thanks for your question.
Yes, during data collection our teleoperators put the master arm’s handle on Piper’s first/second joint shown in this pic, so it’s easy to grab at the start of collection. That means the slave arm’s starting pose won’t match Piper’s initial pose, which is why they looks different.