Xianqi Zhang

Hi, Thanks for your sharing. I have a question about rotation. In controllers.ik.py Line-393 ```python # Update reference target orientation self.reference_target_orn = T.quat_multiply(self.reference_target_orn, base_orn_in_world) ``` I am very confused about...

Controllers and Fetch description files.

3

Hi, Thanks for your sharing. 1. For impedance: `_step() -> _step_continuous() -> _setup_action() -> _do_simulation()` In _setup_action(), it just setup gripper part action, rescale and set gravity compensation, without explicit...

How to get environment_graph after rander_script() ?

3

Hi I use comm.render_script() to execute actions and comm.environment_graph() to get state infromation, but the state (environment_graph) is not changed. ``` import sys sys.path.append('./virtualhome/simulation') sys.path.append('./virtualhome/dataset_utils') from virtualhome.simulation.unity_simulator.comm_unity import UnityCommunication if...

Hi, I have 2 problems. 1. How to judge whether the action is executed correctly？ First, add a cat in one of the sofas and a character in the kitchen....