How to unlock more motion?

[howardchina]

As the current motion mode is walking.
I want to let the TRON1A to sit, stand, and jump in developer mode.

[limxdynamics]

Thanks for the feedback and for your interest in the project!

Currently the code only supports two modes: STAND (transition) and WALK (the RL walking policy) — there's no SIT or JUMP mode built in. If you'd like to add support for these, you can extend the if/elif branches on self.mode in the controller (e.g. PointfootController.py) and plug in a corresponding trained policy.

If we open-source additional skills/policies for these motions in the future, we'll update this repo accordingly. Thanks again for following the project!