rlightning.humanoid.retarget.base¶

class rlightning.humanoid.retarget.base.Retargeter[source]¶

Bases: object

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

Bases: Config

damping: float = 0.0¶

ik_config_path: str = ''¶

robot_xml_path: str = ''¶

solver: str = ''¶

use_velocity_limit: bool = False¶

finish()[source]¶

key_callback(keycode)[source]¶

retarget(frames: Sequence[Any], extras: Dict[str, Any])[source]¶