what dose "action"，"effector_translation" and "effector_target_translation" mean?

[oym1994]

"action": "description": "An action representing a 2D delta cartesian setpoint for the robot."
"effector_translation": "description": "The current end effector translation as a 2D cartesian coordinate."
"effector_target_translation": "description": "The target location for the end effector as a 2D cartesian setpoint."

Hi, thanks for your great job!
The description of the dataset is pretty ambigous for me. What do ”cartesian setpoint for the robot“, "end effector translation " and "location for the end effector " mean? Are they describe the same thing (robot arm end effector)?

Thanks for your attention and I am waiting for your kind response.

[HARVEYDOU]

I have the same question.

[felixmin]

"action" is the relative movement from the current to the target position. It is described as "delta cartesian setpoint", since it's the difference ("delta") from current cartesian setpoint ("effector_translation") to target cartesian setpoint ("effector_target_translation").

We are always and only talking about different (absolute and relative) positions of the end effector here.

[HARVEYDOU]

"action" is the relative movement from the current to the target position. It is described as "delta cartesian setpoint", since it's the difference ("delta") from current cartesian setpoint ("effector_translation") to target cartesian setpoint ("effector_target_translation").

We are always and only talking about different (absolute and relative) positions of the end effector here.

@felixmin Thanks for your answer!
But in the datasets, the "action" are not the difference between "effector_translation" and "effector_target_translation".
and why the "effector_target_translation" in time_0 is not the same as "effector_translation" in time_1
as shown below:

In each line, the two-dimensional vectors are respectively "action", "effector_translation" and "effector_target_translation".
Thanks for your attention and I am waiting for your kind response too.

[ZhefeiGong]

@HARVEYDOU
Hi, I have the same question with you. Have you solved the problem? If so, could you please share the answer of it. Thanks a lot.

[HARVEYDOU]

@ZhefeiGong Sorry. I have turned to other work, and this question is still not solved.