Incorrect ee_target inside ArmEEAction

[Murkey8895]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: v0.2.4 Habitat-Sim: v0.2.3

🐛 Bug

I'm trying to control the arm with ArmEEAction. Howerver, I find the ee_target ArmEEAction which is calculated from _ik_helper is not aligned with the end effector. Thus, I can not correctly move the end effector to the desired position. The visualized ee_target and the visualized end effector position using the function visualize_position are here:

Expected behavior

The ee_target should be aligned with the end-effector

Would you please give any suggestions on this?

Thank you so much!

[vantony1]

@Murkey8895 Hello, I am trying to achieve similar functionality of the end-effector. could you possibly share your ArmEEAction code?

[vantony1]

Specifically, I am getting env.sim.agent_mgrs[0].ik_helper = None @Murkey8895