habitat.articulated_agent_controllers.HumanoidBaseController class

Generic class to replay SMPL-X motions

param motion_fps:

the FPS at which we should be playing the motion.

param base_offset:

what is the offset between the root of the character and their feet.

Methods

def get_pose(self)

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 = 30, base_offset = (0, 0.9, 0))