Description
Hello,
I want to kindly ask what rotation representation is used in the dataset? For the rotation dimension of action and the end-effector orientation from the ee_states. It is not described, whether it is Euler-angle or axis-angle representation.
From robosuite documentation, it is said the action for OSC_POSE controller is delta rotation expressed in global coordinate angle-axis representation. I want to ask whether it is the same for the actions and ee_states.
This is kind of important for me. I try to use policy to predict desired pose. For the training, I need to use your ee_states and actions to get the desired pose. And for evaluation, I have to use the difference between policy predicted desired pose and current robot pose to get the delta action for the OSC_POSE controller, where the orientation from env obersevation robot0_eef_quat is quaternions.
So I really want to know, what is the rotation representation used in your collected data. Thanks.