implement zero offset - #538
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b-vm
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Oct 27, 2025
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proper zero offset implementation, where the observation offset matches the engine offset
for reading qpos: if current "true"
qposis 0 but the zero position is set to0.1, then on the real robot, we will readqposas-0.1. similarly, if the policy outputs a target position of 0, then on the real robot, we will actually go to the target position of0.1