Make Robohive useable in Kitchen Environment

[Toradus]

The current starting position of the default simulation is located inside the Kitchen (nearly the same cartesian coords as the robot resting pose ).
We need to either create a new clean simulation (e.g. copy the one from SimulationFramework, where the starting position is located somewhere else, or implement a simulation of the Kitchen environment. The XML + Assets for the kitchen env are already created (Max / Marcel have them), feel free to ask for a copy if you want to implement it.

[omeryagmurlu]

If we start polymetis with the correct configuration (eg resting pose set correctly: intuitive-robots/irl_polymetis#5 (comment)), then this is a non-issue since robohive uses the resting pose from polymetis by default:

robohive/robohive/robot/hardware_franka.py

Line 155 in 719a194

reset_pos = torch.Tensor(self.robot.metadata.rest_pose)

[Toradus]

Hmm, we need to recheck this!
From my memory the simulation starts in a slightly different location then the resting pose and the robot always made a small "jump" from resting_pose -> sim_start_pose
Maybe the simulation is just configurated wrong and provides a "reset_pos" to the reset command you linked.

[Toradus]

Yeah, we simply have to adapt this line
good catch!