tools/dataset_generator.py

[SatireY]

Hi，I want to produce some RLBench data for my current research, I run this file to only get some png images, why no action data?I think most imitation learning tasks require groundtruth actions, can you supplement the preservation of action?

[andykim0723]

actions depend on arm_action_mode and I found out the actions from arm mode JointVelocity and JointPosition can be found in observations. For other arm modes, you should find out how these actions are generated and I think most of them can be calculated with the observations from the environment.

[SatireY]

actions depend on arm_action_mode and I found out the actions from arm mode JointVelocity and JointPosition can be found in observations. For other arm modes, you should find out how these actions are generated and I think most of them can be calculated with the observations from the environment.

Thanks for your reply. By reading the source code, I think I should understand the meaning of the action. Here's a question for you: Does RLBench give you a range of data? Because I want to use the maximum and minimum values of the data to do some discretization.