rlightning.humanoid.formatter.kinematic_formatter¶

class rlightning.humanoid.formatter.kinematic_formatter.KinematicFormatter(config: FormatterCfg = None, **kwargs)[source]¶

Bases: Formatter

class FormatterCfg(**data: Any)[source]¶

Bases: Config

height_adjust: bool = False¶

kinematic_model_device: str = 'cpu'¶

quat_order: str = 'xyzw'¶

robot_xml_path: str¶

root_offset: bool = False¶

class Motion(fps: float, root_pos: MockModule('numpy.ndarray'), root_rot: MockModule('numpy.ndarray'), dof_pos: MockModule('numpy.ndarray'))[source]¶

Bases: object

dof_pos: MockModule('numpy.ndarray')¶

fps: float¶

root_pos: MockModule('numpy.ndarray')¶

root_rot: MockModule('numpy.ndarray')¶

cfg: FormatterCfg¶

format(qpos_list, extras)[source]¶