Questions on simulator details

[rl-max]

Hi, thank you for the nice work! I have read the paper and appreciate the many explanations of details.

Still, I was curious how you initialized the robot state for every environment reset. Is it like randomly adding joint noise for robot or is the robot always initialized at the same pose?

Plus, I am curious if the algorithms benchmarked in the paper were tested in whole-body or bi-manual mode.

Thank you!

[nbackshall]

The robot is always initialised in the same pose, and the benchmarks were tested in bi-manual mode.

[helen9975]

Just a follow-up question on this, it seems that the reset is only done for the robot pelvis position and orientation, as shown here: https://github.com/chernyadev/bigym/blob/master/bigym/bigym_env.py#L404

Is there another function that I should be looking at for setting the pose and orientation of arms?