How to move an Articulation / RigidObject to a desired pose physically (not teleporting)?

[strn18]

Hi, I’m trying to move an Articulation (or a RigidObject) to a target pose in simulation without teleporting.

Assume that at some timestep t, I know the desired position and desired rotation (target pose) where I want the object (or robot) to be place. What’s the recommended way to make the object move physically through the simulation (i.e., following dynamics / collisions), rather than instantly teleporting to that pose?

I tried using write_root_pose_to_sim(), but that seems to teleport the object (instant pose override) instead of producing motion over time.

What I want is: the object should transition to the target pose in a physically plausible way.

I tried using set_external_force_and_torque(), but I don't know the exact force and torque value to move the object to the desired position and rotation.

Any pointers to the recommended APIs / example code would be greatly appreciated.

Thanks!