rlightning.humanoid.loader.actorcore_loader¶ class rlightning.humanoid.loader.actorcore_loader.ActorCoreLoader(config: LoaderCfg)[source]¶ Bases: MotionLoader config: ActorCoreLoaderCfg¶ load(data_path: str)[source]¶ Load raw motions from a given file/directory. Parameters: data_path (str) – File or directory path. class rlightning.humanoid.loader.actorcore_loader.ActorCoreLoaderCfg(**data: Any)[source]¶ Bases: LoaderCfg optim_iterations: int¶ optim_joint_matches: Any¶ robot: RobotCfg¶ use_optimized_shape: bool = True¶ Enable optimized shaping class rlightning.humanoid.loader.actorcore_loader.RobotCfg(**data: Any)[source]¶ Bases: Config robot_reset_height: bool¶ robot_type: str¶ robot_xml_path: str¶