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Motphys
UniLab
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Feat/sim backend kinematics api
- #42
#42
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TATP-233
merged 6 commits into
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Motphys/UniLab:main
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feat/
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Motphys/UniLab:feat/sim-backend-kinematics-api
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Mar 16, 2026
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Feat/sim backend kinematics api
#42
TATP-233
merged 6 commits into
main
Motphys/UniLab:main
from
feat/
sim-
backend-
kinematics-
api
Motphys/UniLab:feat/sim-backend-kinematics-api
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Commits on Mar 16, 2026
feat: extend SimBackend with full kinematics API
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test: add cross-backend consistency tests and fix backend correctness
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refactor: consolidate quat helpers into math_utils and fix type errors
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refactor: remove SimBackend.get_qpos, replace with get_base_pos
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refactor: rename body_name → base_name across backends and env configs
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fix: add future annotations to xml_utils and fix stale body_name key in tests
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