Fix targets

StanfordVL · Dec 13, 2023 · 7348f8d · 7348f8d
1 parent 2c81195
commit 7348f8d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/omnigibson/prims/joint_prim.py b/omnigibson/prims/joint_prim.py
@@ -622,8 +622,8 @@ def get_target(self, normalized=False):
 
         # Grab raw states
         targets = self._articulation_view.get_applied_actions()
-        pos = targets.joint_positions
-        vel = targets.joint_velocities
+        pos = targets.joint_positions[0][self.dof_indices]
+        vel = targets.joint_velocities[0][self.dof_indices]
 
         # Potentially normalize if requested
         if normalized: