Inquiry About Whole-Body Control Demo

[xuai05]

I would like to inquire if there are any available demos within the bigym environment that focus on whole-body control tasks. If there are no such demos, could you please guide me on how to obtain whole-body control demonstration data in the bigym framework?

Additionally, I noticed that the VR-based method provided appears to be limited to floating base demos for data collection. I would appreciate any insights on how to adapt or extend this method to include whole-body control tasks.

[chernyadev]

Thanks for the question! Currently, there are no whole-body demos in bi-gym - the demo-collection system only supports floating-base control, and our focus has been limited to that mode.

To get full-body demos, you'd need to extend the current system significantly. One possible approach is to combine a locomotion controller to match the base pose from floating demos, and reuse the upper-body motions - but this would be a non-trivial effort.

If you're interested in contributing in that direction, we'd be happy to support!