rlightning.humanoid.retarget.gmr_retargeter¶

class rlightning.humanoid.retarget.gmr_retargeter.GmrRetargeter(config: RetargeterCfg = None, **kwargs)[source]¶

Bases: Retargeter

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

Bases: Config

damping: float = 0.5¶

ik_config_path: str = ''¶

robot_xml_path: str = ''¶

solver: str = 'daqp'¶

use_velocity_limit: bool = False¶

apply_ground_offset(human_data)[source]¶

error1()[source]¶

error2()[source]¶

offset_human_data(human_data, pos_offsets, rot_offsets)[source]¶: the pos offsets are applied in the local frame

offset_human_data_to_ground(human_data)[source]¶: find the lowest point of the human data and offset the human data to the ground

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

retarget_frame(human_data, offset_to_ground=False)[source]¶

scale_human_data(human_data, human_root_name, human_scale_table)[source]¶

set_ground_offset(ground_offset)[source]¶

to_numpy(human_data)[source]¶

update_targets(human_data, offset_to_ground=False)[source]¶