feat: support setting joint names for each state dim in URDF viz#108
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shuheng-liu wants to merge 3 commits intomainfrom
Open
feat: support setting joint names for each state dim in URDF viz#108shuheng-liu wants to merge 3 commits intomainfrom
shuheng-liu wants to merge 3 commits intomainfrom
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Pull request overview
This PR adds support to the dataset URDF visualization script for associating each observed state dimension with a specific URDF joint name, defaulting to dataset metadata when not explicitly provided.
Changes:
- Added a
joint_namesparameter tovisualize_dataset()and used it to label/log state scalars and drive URDF joint transforms by name. - Added
--joint-namesCLI argument (comma-separated) and wired it into the script’smain()argument handling. - Switched URDF joint lookup from positional indexing to a name→joint mapping.
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What this does
This PR supports setting joint names for each state dim in URDF visualization. If unset, will default to the names in info.json of the dataset.
How it was tested
Ran URDF visaulization script on a local dataset with and without --joint-names arg
How to checkout & try? (for the reviewer)
Run URDF visaulization script on a local dataset with and without --joint-names arg
Checklist
Note: Before submitting this PR, please read the contributor guideline.