Soroush Nasiriany

@squarefk also I wanted to press S and start moving the other arm (at the start). but if I do it at the start the other arm does not move....

Thanks for raising this! The issue was that while we load the xml from state_dict correctly, and most meta data information from the state_dict (layout id, object categories), we were...

Hi, perhaps "weld" elements can achieve this. Please see these references: https://mujoco.readthedocs.io/en/stable/XMLreference.html#equality-weld https://github.com/google-deepmind/mujoco/issues/789 You can programmatically activate the weld when the object and robot get close. To get the distance...

I think the issue is that you're recreating the self.sim variable: ``` self.sim = self.sim.from_xml_string(xml_str) ``` you will probably need to modify it "in place" - ie access and change...