rlightning.humanoid.loader.optimizer.fit_actorcore_shape¶ class rlightning.humanoid.loader.optimizer.fit_actorcore_shape.ActorCoreShapeFitting[source]¶ Bases: object static optimize(robot_type, robot_xml_path, robot_rest_height, bvh_file, optim_joint_matches, optim_iterations, device='cuda:0')[source]¶