Datasets:
Missing (constant?) joint positions?
Thanks for the great dataset!
Going by the provided .urdf model for the Lift2, there should be a torso lift joint as well as a pan-tilt mechanism for the head. However, the corresponding joint positions are not included with the dataset samples (also not as per the example meta/info.json in the dataset card). There is a similar problem for the Genie1, but I have not checked the other robots yet.
Were these joint values constant (per episode?). If so, could you please share them for each robot? If they are not constant, it would be great if you could bundle them with the lerobot datasets.
The torso lift joint in ARX Lift-2 is 0.46，and the pan-tilt is not recorded, since we record the camera extrinsics. But in real-world, we set the pan-tilt as 45 degrees.
The lift joint in Split Aloha is -0.6.
The joint in Genie1 is not recorded and set not as a constant, we will update the dataset in Genie-1 soon.
Since the Genie1 has joints for head pan + tilt as well, it would be great if you would include those too when updating the dataset with the torso lift positions. I agree the camera extrinsics carry similar information, but its always nice when the data is self-contained with respect to articulating every DoF on the robot, because that leaves no room for wondering what the values of the unknown joints might be to anyone who might not have read this conversation.
Anyhow, thank you for the helpful answer, the settings for the Lift-2 and Aloha setup are useful to us :)