Add R1 motion capture and gesture replay system#122
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vietanh-mechatronics wants to merge 1 commit into
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Add R1 motion capture and gesture replay system#122vietanh-mechatronics wants to merge 1 commit into
vietanh-mechatronics wants to merge 1 commit into
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- Motion capture module (motion_capture.py): Records robot joint states to JSON - Motion replay engine (motion_replay.py): Plays motions with loop/speed control - R1 gesture library (r1_gestures.py): Wave, handshake, heart gestures (5 total) - Example CLI tool: generate/replay/record modes for user interaction - Comprehensive test suite: 6 test categories, all passing - Complete documentation: Quick start, reference, and implementation guides Features: - Record custom gestures interactively in MuJoCo viewer - Generate 5 pre-built R1 gestures with realistic trajectories - Replay gestures 1x or multiple times with adjustable speed - Chain multiple gestures in sequence - Human-readable JSON motion format with metadata - Python API for integration into control applications All requirements met: ✓ Control R1 to perform simple gestures ✓ Collect and store motion data ✓ Replay actions multiple times ✓ Full MuJoCo simulator integration Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
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Features:
All requirements met:
✓ Control R1 to perform simple gestures
✓ Collect and store motion data
✓ Replay actions multiple times
✓ Full MuJoCo simulator integration