HumanoidRearrangeController class
Humanoid Controller, converts high level actions such as walk, or reach into joints positions
Methods
- def _trilinear_interpolate_pose(self, position: _magnum.Vector3, hand_data: typing.Tuple[typing.List[numpy.ndarray], typing.List[numpy.ndarray], typing.List[numpy.ndarray]]) -> typing.Tuple[typing.List[numpy.ndarray], _magnum.Matrix4]
- Given a 3D coordinate position, computes the humanoid’s joints states + root rotations and translations to reach that position using trilinear interpolation.
- def build_ik_vectors(self, hand_motion: Motion) -> typing.Tuple[typing.List[numpy.ndarray], typing.List[numpy.ndarray], typing.List[numpy.ndarray]]
- Given a hand_motion Motion file containing different humanoid poses to reach objects with the hand, builds matrices of joint angles, root offset translations, and rotations so that they can be easily interpolated when reaching poses.
- def calculate_reach_pose(self, obj_pos: _magnum.Vector3, index_hand: int = 0) -> None
- Updates the controller’s humanoid state to reach position, obj_pos, with the hand.
- def calculate_stop_pose(self) -> None
- Calculates a stationary standing pose and sets it in the controller. Does not update the ManagedArticulatedObject state.
- def calculate_turn_pose(self, target_position: _magnum.Vector3) -> None
- Calculates next frame of motion (joint positions + root rotation) to rotate the character towards the target position without translation and sets it in the controller. Does not update the ManagedArticulatedObject state.
- def calculate_walk_pose(self, target_position: _magnum.Vector3, distance_multiplier: float = 1.0) -> None
- Calculates next frame of a walking motion (joint positions + root rotation and translation), so that the humanoid moves toward the relative target_position. Does not update the ManagedArticulatedObject state.
- def calculate_walk_pose_directional(self, target_position: _magnum.Vector3, distance_multiplier = 1.0, target_dir: typing.Optional[_magnum.Vector3] = None) -> None
- Calculates next frame of a walking motion (joint positions + root rotation and translation), so that the humanoid moves toward the relative target_position while facing the direction ‘target_dir’. Does not update the ManagedArticulatedObject state.
- 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)
- def set_framerate_for_linspeed(self, lin_speed: float, ang_speed: float, ctrl_freq: int) -> None
- Set the linear and angular speed of the humanoid’s root motion based on the relative framerate of the simulator and the motion trajectory.
- def translate_and_rotate_with_gait(self, forward_delta: float, rot_delta: float)
- Translates the character in the forward direction and rotates the character
Special methods
Method documentation
def habitat.
Given a 3D coordinate position, computes the humanoid’s joints states + root rotations and translations to reach that position using trilinear interpolation.
| Parameters | |
|---|---|
| position | The position to reach for. |
| hand_data | The joint quats, root rotations, and root translation for each frame of the input reaching Motion. |
def habitat.
Given a hand_motion Motion file containing different humanoid poses to reach objects with the hand, builds matrices of joint angles, root offset translations, and rotations so that they can be easily interpolated when reaching poses.
| Parameters | |
|---|---|
| hand_motion | The hand Motion object. |
def habitat.
Updates the controller’s humanoid state to reach position, obj_pos, with the hand.
| Parameters | |
|---|---|
| obj_pos | The position to reach with the hand |
| index_hand | is 0 or 1 corresponding to the left or right hand |
def habitat.
Calculates next frame of a walking motion (joint positions + root rotation and translation), so that the humanoid moves toward the relative target_position. Does not update the ManagedArticulatedObject state.
| Parameters | |
|---|---|
| target_position | target position to move the character towards. Relative to the character’s root translation. |
| distance_multiplier | multiplier on translation speed. ‘== 0’ creates a walk motion while not translating, for example to turn in place. |
def habitat.
Calculates next frame of a walking motion (joint positions + root rotation and translation), so that the humanoid moves toward the relative target_position while facing the direction ‘target_dir’. Does not update the ManagedArticulatedObject state.
| Parameters | |
|---|---|
| target_position | target position to move the character towards. Relative to the character’s root translation. |
| distance_multiplier | multiplier on translation speed. ‘== 0’ creates a walk motion while not translating, for example to turn in place. |
| target_dir | the relative position we should be looking at. If None, rotates the agent to face target_position. Otherwise, it moves the agent towards target_position but facing target_dir. This is important for moving backwards. |
def habitat.
Set the linear and angular speed of the humanoid’s root motion based on the relative framerate of the simulator and the motion trajectory.
| Parameters | |
|---|---|
| lin_speed | Speed of linear translation. |
| ang_speed | Speed of the angular rotation (about Y-axis). |
| ctrl_freq | Simulator step frequency. How many times does Simulator step to progress 1 second. |
def habitat.
Translates the character in the forward direction and rotates the character
| Parameters | |
|---|---|
| forward_delta | how much to move forward or backward |
| rot_delta | how much to rotate (in radians) |