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feat: SimBackend unified model property API - #176
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Add abstract methods (num_actuators, num_dof_vel, get_actuator_ctrl_range, get_keyframe_qpos, get_init_qvel, get_body_ids, get_joint_range) to SimBackend base class with implementations in MuJoCoBackend and MotrixBackend. Refactor G1/Go1/Go2 base.py and tracking.py to use the unified interface, eliminating all hasattr(model, ...) branches that leaked backend differences into environment code. Closes #131
Add explicit type annotations for intermediate variables and use np.array with dtype instead of np.asarray to satisfy mypy's no-any-return checks on untyped third-party model attributes.
TATP-233
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May 4, 2026
feat: SimBackend unified model property API
TATP-233
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this pull request
May 30, 2026
feat: SimBackend unified model property API
TATP-233
added a commit
that referenced
this pull request
Sep 4, 2026
feat: SimBackend unified model property API
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Summary
SimBackendbase class:num_actuators,num_dof_vel,get_actuator_ctrl_range(),get_keyframe_qpos(),get_init_qvel(),get_body_ids(),get_joint_range()MuJoCoBackendandMotrixBackend, normalizing API differences (e.g. ctrl range shape transposition, keyframe access patterns)base.py: replace allhasattr(model, ...)branches with unified backend calls, removeimport mujocodependencytracking.py: useget_body_ids()for body ID resolution andget_joint_range()delegationTest plan
ruff checkpasses on all changed filespyrightpasses with 0 errorspytest— 568 passed, 0 failures (includes new model property tests + cross-backend consistency)Closes #131