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LeCAR-Lab / human2humanoid

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
https://omni.human2humanoid.com/
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Different tasks for display #12

Closed xuai05 closed 1 month ago

xuai05 commented 1 month ago

How can I set different tasks for display when running play_hydra.py?

xuai05 commented 1 month ago

Such as playing OmniH2O_TEACHER：The visualization shows a person standing with his back to the screen performing a side-to-side swaying motion. python legged_gym/scripts/play_hydra.py --config-name=config_teleop task=h1:teleop env.num_observations=913 env.num_privileged_obs=990 motion.future_tracks=True motion.teleop_obs_version=v-teleop-extend-max-full motion=motion_full motion.extend_head=True asset.zero_out_far=False asset.termination_scales.max_ref_motion_distance=10.0 sim_device=cuda:0 load_run=OmniH2O_TEACHER checkpoint=XXXX num_envs=1 headless=False 1729499978239

Such as playing OmniH2O_STUDENT：The visualization shows a person standing sideways facing the screen and swinging his hand. python legged_gym/scripts/play_hydra.py --config-name=config_teleop task=h1:teleop env.num_observations=1665 env.num_privileged_obs=1742 motion.teleop_obs_version=v-teleop-extend-vr-max-nolinvel motion.teleop_selected_keypoints_names=[] motion.extend_head=True num_envs=1 asset.zero_out_far=False asset.termination_scales.max_ref_motion_distance=10.0 sim_device=cuda:0 load_run=OmniH2O_STUDENT checkpoint=XXXX env.add_short_history=True env.short_history_length=25 headless=False 1729499836319

TairanHe commented 1 month ago

keyboard press T then you get to the next motion