Regarding the target posture of the robot

[yyl957491]

Hello, I noticed that there is no reward function related to the target pose in the reward function. May I ask how the target pose is achieved?
您好，我看到奖励函数中没有关于和目标姿态的奖励函数，请问设置的机器人的目标姿态是如何实现的呢

[TaoHuang13]

Hi, we have upper-body pose target
https://github.com/OpenRobotLab/HoST/blob/0c2902cd6bf2e67877eca53f90383f50743df0f1/legged_gym/legged_gym/envs/g1/g1_config_ground.py#L248