Skip to content

support holomotion #17

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Asthestarsfalll wants to merge 4 commits into
base: master
Choose a base branch
from
Open

support holomotion #17

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d3d8366
support holomotion
Asthestarsfalll Dec 9, 2025
cba6311
support holomotion velocity tracking
Asthestarsfalll Dec 10, 2025
0279326
Fix motion tracking
Asthestarsfalll Dec 10, 2025
a415e2c
clean up
Asthestarsfalll Dec 11, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions FSM/FSM.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
from policy.kick.Kick import Kick
from policy.kungfu2.KungFu2 import KungFu2
from policy.beyond_mimic.BeyondMimic import BeyondMimic
from policy.holomotion.HoloMotion import HoloMotion
from FSM.FSMState import *
import time
from common.ctrlcomp import *
Expand Down Expand Up @@ -39,6 +40,7 @@ def __init__(self, state_cmd:StateAndCmd, policy_output:PolicyOutput):
self.kick_policy = Kick(state_cmd, policy_output)
self.kungfu2_policy = KungFu2(state_cmd, policy_output)
self.beyond_mimic_policy = BeyondMimic(state_cmd, policy_output)
self.holomotion_policy = HoloMotion(state_cmd, policy_output)

print("initalized all policies!!!")

Expand Down Expand Up @@ -99,6 +101,8 @@ def get_next_policy(self, policy_name:FSMStateName):
self.cur_policy = self.kungfu2_policy
elif((policy_name == FSMStateName.SKILL_BEYOND_MIMIC)):
self.cur_policy = self.beyond_mimic_policy
elif((policy_name == FSMStateName.SKILL_HOLOMOTION)):
self.cur_policy = self.holomotion_policy
else:
pass

Expand Down
4 changes: 3 additions & 1 deletion common/utils.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,8 @@ class FSMStateName(Enum):
SKILL_KICK = 8
SKILL_KungFu2 = 9
SKILL_BEYOND_MIMIC = 10

SKILL_HOLOMOTION = 11


@unique
class FSMCommand(Enum):
Expand All @@ -28,6 +29,7 @@ class FSMCommand(Enum):
SKILL_2 = 6
SKILL_3 = 7
SKILL_4 = 8
SKILL_5 = 11



Expand Down
2 changes: 2 additions & 0 deletions deploy_mujoco/deploy_mujoco.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,8 @@ def pd_control(target_q, q, kp, target_dq, dq, kd):
state_cmd.skill_cmd = FSMCommand.SKILL_3
if joystick.is_button_released(JoystickButton.Y) and joystick.is_button_pressed(JoystickButton.L1):
state_cmd.skill_cmd = FSMCommand.SKILL_4
if joystick.is_button_released(JoystickButton.B) and joystick.is_button_pressed(JoystickButton.L1):
state_cmd.skill_cmd = FSMCommand.SKILL_5

state_cmd.vel_cmd[0] = -joystick.get_axis_value(1)
state_cmd.vel_cmd[1] = -joystick.get_axis_value(0)
Expand Down
Loading