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[BE] Spot leg animation #1748
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[BE] Spot leg animation #1748
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*the checkpoint of leg animation was uploaded when we did P0 demo |
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Thanks for building this. I have a few design comments.
I feel we could either:
- Push this down into the Spot code
or - Make it a bit more generic for animating legged robots
animate_leg: bool = False | ||
# Leg animation checkpoint file | ||
leg_animation_checkpoint: str = ( | ||
"data/robots/spot_data/spot_walking_trajectory.csv" |
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Where does this come from? Is it hosted on HF?
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I found the working code present in the below merge request and was able to run the leg animation successfully - |
Motivation and Context
In the P0 demo and hab3 paper, we use leg animation to simulate Spot walking behavior. However, such a feature was never merged into the main. In addition, we receive a hab3 user request to add leg animation here: #1721How Has This Been Tested
Run interactive play to visually verify the correctnessTypes of changes
Checklist