Gripper orientation inputs

[ahundt]

We need to evaluate a number of inputs to determine what is the best possible grasp command format.

We are inputting an angle of the form sin(theta), cos(theta), and the value of the angle theta can take the following forms:

1. current gripper location to final gripper location
   • we have trained with this setting, not good results yet but may be due to a bug elsewhere)?
2. Angle between robot base and final gripper orientation
3. both 1 and 2
4. camera frame to final gripper frame
   • Problem: The camera is not at a straightforward square orientation relative to the ground
   • Should we include more angles like pitch and yaw
5. delta depth + quaterion from camera frame
6. delta depth + rpy from camera frame
7. No theta at all
8. 3 class problem where the 3 classes are the 3 different possible gripper heights.