About generating dataset and evaluating in the environment

[AaronChuh]

Hi, thanks for this excellent work!

I want to generate some data to train an imitation learning model and evaluating in this environment. I read the codes and notice that there is a script named dataset_generator.py which can generate some data. I give it a try and it works. However, I'm a little confused about some configurations.

First, the action mode is set to JointVelocity by default and most of the states infomation are saved in low_dim_obs.pkl like gripper_pose. However, I want to train a model that predicts the pose of end effector and I find another action mode class named EndEffectorPoseViaPlanning. So if I train the model using gripper pose as end effector pose, can I just substitute the the action mode with EndEffectorPoseViaPlanning during evaluation?

Second, I find the gripper pose have a dimension of 7. Is it 3 for postion and 4 for rotation?

Looking forward to your reply, thanks!