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Question Regarding the Creation of Training Data #46
Description
Hello, I am a master's student interested in imitation learning using humanoids. First, thank you for sharing such an amazing project. I would like to conduct imitation learning myself using the imitation learning code you provided, but I want to use data I have collected myself rather than the data you provided.
To this end, I checked the hdf5 file and discovered that the key data points are cmd, qpos, and joint_pos. Among these, I learned through the replay_demo.py code that joint_pos represents the joint angles of the robot. However, I am still unsure about the meaning of qpos and cmd. If possible, could you please explain the meaning of qpos and cmd?
Activity
horizoneee commentedon Jan 3, 2025
the same questions with you, Have you figured out how to record your own dataset?
eking158 commentedon Jan 4, 2025
You can record your own dataset using h5py python library.
But, I still find the meaning of qpos...
horizoneee commentedon Jan 5, 2025
horizoneee commentedon Jan 9, 2025
Excuse me, in the corresponding inspire_hand_left.urdf file, I see 12 joints defined:I think whether it is these 12 joints
L_thumb_proximal_yaw_jointL_thumb_proximal_pitch_jointL_thumb_intermediate_jointL_thumb_distal_jointL_index_proximal_jointL_index_intermediate_jointL_middle_proximal_jointL_middle_intermediate_jointL_ring_proximal_jointL_ring_intermediate_jointL_pinky_proximal_jointL_pinky_intermediate_jointwait1027 commentedon Sep 26, 2025
Excuse me, has the data collection operation been implemented?