habitat.articulated_agent_controllers.HumanoidSeqPoseController class

Humanoid Seq Pose Controller, replays a sequence of humanoid poses.

param motion_pose_path:
file containing the motion poses we want to play.
param motion_fps:
the FPS at which we should be advancing the pose.
param base_offset:
what is the offset between the root of the character and their feet.

Methods

def apply_base_transformation(self, base_transformation: _magnum.Matrix4) -> None
Sets the current pose to the base transformation, making the rest of poses are relative to this one
def calculate_pose(self, advance_pose = False) -> None
Set the joint transforms according to the current frame :param advance_pose: whether this function should move to the next pose
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 next_pose(self, cycle = False) -> None
Move to the next pose in the motion sequence
def prev_pose(self, cycle = False) -> None
Move to the previous pose in the motion sequence :param cycle: boolean indicating whether we should stop or cycle when reaching the first pose
def reset(self, base_transformation: _magnum.Matrix4) -> None
Reset the joints on the human. (Put in rest state)

Special methods

def __init__(self, motion_pose_path, motion_fps = 30, base_offset = (0, 0.9, 0))

Method documentation

def habitat.articulated_agent_controllers.HumanoidSeqPoseController.next_pose(self, cycle = False) -> None

Move to the next pose in the motion sequence

param cycle:
boolean indicating whether we should stop or cycle when reaching the last pose