Articulation support getting target qpos #88
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yuecideng
requested changes
Jan 23, 2026
| return self._target_qpos[:, : self.dof].clone() | ||
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| @property | ||
| def qvel(self) -> torch.Tensor: |
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Maybe also add target_qvel
yuecideng
reviewed
Jan 23, 2026
| # TODO: trigger qpos getter to sync data, otherwise crash | ||
| if joint_ids is not None: | ||
| self.body_data.qpos | ||
| self.body_data.target_qpos |
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Also need to check whether target=True is applied. If target is False, we can apply qpos to articulation
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Description
Articulationnow support getting target qposType of change
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