habitat.articulated_agent_controllers module


class HumanoidBaseController
Generic class to replay SMPL-X Motions.
class HumanoidRearrangeController
Humanoid Controller, converts high level actions such as walk, or reach into joints positions
class HumanoidSeqPoseController
Humanoid Seq Pose Controller, replays a sequence of humanoid poses.
class Pose
Represents a single humanoid pose: global root transform + joint state in generalized coordinates (dofs). NOTE: assumes a SMPLX representation of humanoids where all joints are represented as quaternions.
class Motion
Represents a sequential motion, corresponding to a sequence of Poses.