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[Question] Quadrupedal locomotion on deformable terrain #90

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COST-97 opened this issue Jun 5, 2023 · 1 comment
Closed

[Question] Quadrupedal locomotion on deformable terrain #90

COST-97 opened this issue Jun 5, 2023 · 1 comment

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@COST-97
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COST-97 commented Jun 5, 2023

Question

In the current or future versions, are various deformable and soft terrains supported for quadruped robot locomotion tasks?
Similar to this paper Learning quadrupedal locomotion on deformable terrain.
Mayankm96 added a commit that referenced this issue Oct 25, 2023
@hhansen-bdai @Mayankm96
Renames VIEWPORT_ENABLED to OFFSCREEN_RENDERING for clarity (#167)
f733830 
# Description

- Made SimulationContext correctly report RenderMode for streaming
- Changed language about HEADLESS in RenderMode to instead be NO_GUI,
because headlessness still requires rendering when livestreaming is
active, whereas NO_GUI is unambiguous. Also did some reordering of
docstrings for clarity.
- Removed unnecessary RENDER and VIEWPORT class vars from LauncherApp,
now that this signal is being taken from SimulationContext.

I will propagate this change to all standalone scripts/update docs once
I have conceptual approval.

Fixes #90, #145 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------

Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
@Mayankm96
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We don't have this in our internal development plans. However, if you are interested in working on this topic, we can definitely see how we can assist.

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@Mayankm96 @COST-97