Enquiry About the implementation

[tajish]

Hello guys,
Hope you are doing well. Actually I had some small queries about the implementation environment. I am a begineer at robotics so pardon me if questions sounds stupid. The queries I had that are:-

1. Was the octo model was implemented on the robots using ros2 or ros1?
2. Did you guys simulated the robots on virtual environment first like in gazebo or isaac sim to test it for the best?
3. Do the training datasets had the examples of visual simulation as well while pre training?
4. Do I need to specify the name somewhere of the robot like "ur5, ur10" during inference?

These are the basic kind of questions I had to work with the model, it would be very kind of you if someone could answer.

Thank you

[fleuryal]

According to me :

1. It hasn't been implement specifically for ros, but you can definitely integrate octo in ros
2. It hasn't been trained on virtual environment but you could use Octo in gazebo for example with a finetuning stage before
3. Didn't really understand your question
4. No you don't need, it can be applied to any robotic arm or setup, but obviously you will need to finetune for this environment