rlightning.humanoid.loader.optimizer.fit_smplx_shape¶ class rlightning.humanoid.loader.optimizer.fit_smplx_shape.SPMLXShapeFitting[source]¶ Bases: object static optimize(robot_type: str, robot_xml_path: str, body_model_path: str, optim_joint_matches: str, optim_iterations: int, device: str = 'cuda:0')[source]¶