etaoxing

Does this work? https://github.com/etaoxing/multigame-dt/issues/2#issuecomment-1497583406

any updates on this? can submit a quick pr if needed.

FYI this might be helpful, here's how I usually create a free-joint rigid object for Featherstone in [Rewarped](https://github.com/rewarped/rewarped): ```python def create_cube(self, builder): p = wp.vec3(0.5, 0.0, 0.055) q = wp.quat_identity()...

Additional context: DT uses [0...49](https://github.com/kzl/decision-transformer/blob/e2d82e68f330c00f763507b3b01d774740bee53f/atari/create_dataset.py#L33), while SGI uses [1...50](https://github.com/mila-iqia/SGI/blob/fbc0b6930d3f2a530dad3498d9566c57d4372a48/scripts/download_replay_dataset.sh#L3).

I believe we ended up using 1x DYNAMIXEL XC330-T288-T (for the base), 2x DYNAMIXEL XM430-W210-T, and 4x DYNAMIXEL XC330-M288-T. You will need one 12V -> 5V voltage converter to daisy...

@Yuchen-Song I would expect 5x XC330-T288-T to work as well, to keep everything 12V. Did not have them on hand since we originally purchased XC330-M288-T.

1. Thanks for finding that, just pushed a fix (https://github.com/etaoxing/kitchen-shift/commit/6d0928000d4843df43791d3efd9e58af72c3acac), though this shouldn't affect results. 2. Reward and done were computed in a [separate wrapper](https://github.com/etaoxing/domain-shift-benchmark/blob/9aa40dbe1e6b1abe45bbd25f4f8da8db047f0795/dsb/envs/kitchen_shift/gc_kitchen_env_wrapper.py#L188-L216). The o.g adept_envs Env class...