habitat.articulated_agent_controllers.HumanoidBaseController class

Generic class to replay SMPL-X Motions.


def get_pose(self) -> typing.List[float]
Obtains the controller joints, offset and base transform in a vectorized form so that it can be passed as an argument to HumanoidJointAction.
def reset(self, base_transformation: _magnum.Matrix4) -> None
Reset the joints on the human. (Put in rest state)

Special methods

def __init__(self, motion_fps: int = 30, base_offset: _magnum.Vector3 = Vector(0, 0.9, 0))