rlightning.humanoid.types

class rlightning.humanoid.types.DataRetrieverCfg(**data: Any)

Bases: Config

gender: Literal['neutral', 'male', 'female'] = 'neutral'

motion_dataset: str = None

robot: HumanoidBatchCfg

shape_fitting: SMPLShapeFittingCfg = <rlightning.humanoid.types.SMPLShapeFittingCfg object>

class rlightning.humanoid.types.ExtendConfig(**data: Any)

Bases: Config

Configuration for extending the humanoid model with additional joints.

joint_name: str

Name of the joint to be added.

parent_name: str

Name of the parent joint to which the new joint will be attached.

pos: list[float]

Local position of the new joint relative to its parent.

rot: list[float]

Local rotation of the new joint relative to its parent.

class rlightning.humanoid.types.HumanoidBatchCfg(**data: Any)

Bases: Config

Configuration for initializing HumanoidBatch.

asset_file_path: str

File path to the MJCF asset.

extend_configs: list[ExtendConfig] = None

List of configurations for extending the humanoid model with additional joints.

humanoid_type: str

Type of the humanoid model.

joint_matches: list[tuple[str, str]]

smpl_pose_modifier: dict[str, str]

class rlightning.humanoid.types.RetargetCfg(**data: Any)

Bases: Config

formatter: str

loader: str

loader_cfg: Config

motion_dataset: str

retargetting: str

robot: HumanoidBatchCfg

class rlightning.humanoid.types.RetargetGroup(**data: Any)

Bases: Config

retarget_list: List[RetargetCfg]

A list of retargetting tasks

class rlightning.humanoid.types.RetargetedMotion(root_pos: MockModule('numpy.ndarray'), root_rot: MockModule('numpy.ndarray'), pose_aa: MockModule('numpy.ndarray'), dof_pos: MockModule('numpy.ndarray'), fps: float, joint_pos_robot: MockModule('numpy.ndarray'), joint_pos_smpl: MockModule('numpy.ndarray'))

Bases: object

dof_pos: MockModule('numpy.ndarray')

fps: float

classmethod from_dict(data: dict) → RetargetedMotion

joint_pos_robot: MockModule('numpy.ndarray')

joint_pos_smpl: MockModule('numpy.ndarray')

pose_aa: MockModule('numpy.ndarray')

root_pos: MockModule('numpy.ndarray')

root_rot: MockModule('numpy.ndarray')

class rlightning.humanoid.types.SMPLShapeFittingCfg(**data: Any)

Bases: Config

learning_rate: float = 0.1

train_iterations: int = 3000

visualize: bool = False

class rlightning.humanoid.types.SMPLXMotion(pose_aa: MockModule('numpy.ndarray'), gender: str, trans: MockModule('numpy.ndarray'), betas: MockModule('numpy.ndarray'), fps: float)

Bases: object

betas: MockModule('numpy.ndarray')

fps: float

classmethod from_dict(data: dict) → SMPLXMotion

gender: str

pose_aa: MockModule('numpy.ndarray')

trans: MockModule('numpy.ndarray')