question on gen2sim

[yolo01826]

Hello author, I greatly appreciate your work on gen2sim. I noticed that in the microwave door opening task, your reward function involves obtaining the position of the door handle. However, I found that in the PartNet-Mobility Dataset, the handle is not a separate link. How can I obtain its position? Do I need to perform additional post-processing?

[yolo01826]

@pushkalkatara

[pushkalkatara]

Hi @yolo01826 , We use the GAPartNet dataset which contains the handle as a separate link. This allows to get the handle's position from simulator.