Language

unilab.tasks.motion_tracking.common.manager_terms.MotionCommandParamsCfg¶

class unilab.tasks.motion_tracking.common.manager_terms.MotionCommandParamsCfg[source]¶

Bases: object

Hydra-owned motion data and sampling parameters.

Parameters:

motion_file (str | list[str])
anchor_body_name (str)
body_names (tuple[str, ...] | list[str])
sampling_mode (Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'])
sampling_start_ratio (float)
truncate_on_clip_end (bool)
pose_range (dict[str, tuple[float, float]])
velocity_range (dict[str, tuple[float, float]])
joint_position_range (tuple[float, float])
joint_default_position_range (tuple[float, float])
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)

Methods

__init__(motion_file, anchor_body_name, ...)

Attributes

`adaptive_alpha`
`adaptive_kernel_size`
`adaptive_lambda`
`adaptive_uniform_ratio`
`joint_default_position_range`
`joint_position_range`
`sampling_mode`
`sampling_start_ratio`
`truncate_on_clip_end`
`motion_file`
`anchor_body_name`
`body_names`
`pose_range`
`velocity_range`

motion_file: str | list[str]¶

anchor_body_name: str¶

body_names: tuple[str, ...] | list[str]¶

sampling_mode: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'] = 'adaptive'¶

sampling_start_ratio: float = 0.0¶

truncate_on_clip_end: bool = False¶

pose_range: dict[str, tuple[float, float]]¶

velocity_range: dict[str, tuple[float, float]]¶

joint_position_range: tuple[float, float] = (-0.1, 0.1)¶

joint_default_position_range: tuple[float, float] = (0.0, 0.0)¶

adaptive_lambda: float = 0.8¶

adaptive_kernel_size: int = 1¶

adaptive_uniform_ratio: float = 0.1¶

adaptive_alpha: float = 0.001¶

__init__(motion_file, anchor_body_name, body_names, sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, pose_range=<factory>, velocity_range=<factory>, joint_position_range=(-0.1, 0.1), joint_default_position_range=(0.0, 0.0), adaptive_lambda=0.8, adaptive_kernel_size=1, adaptive_uniform_ratio=0.1, adaptive_alpha=0.001)¶

Parameters:

motion_file (str | list[str])
anchor_body_name (str)
body_names (tuple[str, ...] | list[str])
sampling_mode (Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'])
sampling_start_ratio (float)
truncate_on_clip_end (bool)
pose_range (dict[str, tuple[float, float]])
velocity_range (dict[str, tuple[float, float]])
joint_position_range (tuple[float, float])
joint_default_position_range (tuple[float, float])
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)