rlightning.humanoid.data_retriever¶

This script integrates the full stack of downloading, processing, and loading data for humanoid simulations in a rlightning learning framework.

rlightning.humanoid.data_retriever.cli(cfg: DataRetrieverCfg, device: str, task: str)[source]¶

rlightning.humanoid.data_retriever.fit_smpl_motion(cfg: DataRetrieverCfg, device: str = 'cpu')[source]¶

rlightning.humanoid.data_retriever.fit_smpl_shape(cfg: DataRetrieverCfg, device: str = 'cpu')[source]¶

rlightning.humanoid.data_retriever.get_joint_names(cfg: DataRetrieverCfg)[source]¶: get the joint names for both robot and SMPL. Please note that the joint names for robot is actually the link names