A1 motion retarget config + binary tweaks.

erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

Apache License 2.0

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Closed priority-kew closed 3 years ago

priority-kew commented 3 years ago

Added retarget_config_a1.py to enable retargeting dog motions to A1 robot.
Set robot to its default pose before retargeting. The inverse kinematics starts from the robot's current pose, so this biases it to get the knees bending in the right direction.
Added motion_imitation to the path. Without this the motion_util import fails.

erwincoumans commented 3 years ago

Nice, thanks for the contribution! LGTM.