Humanoid details #1703
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Humanoid details #1703
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aclegg3
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Overall nice to see feature completion, documentation, and testing. Added some nits and questions.
Need type hints and complete docstrings throughout.
I'm fine merging changes sequentially, but I think we need to do a bit of redesign to make the system more friendly for generic skeleton representations.
| class Motion: | ||
| """ | ||
| Contains a sequential motion, corresponding to a sequence of poses | ||
| :param joints_quat_array: num_poses x num_joints x 4 array, containing the join orientations |
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Are we assuming that all humanoids will have quaternions only for joint rep? This may apply to AMASS, but is not generic.
The ManagedBulletArticulatedObject class has functionality to represent and query degrees of freedom (dofs) generically.
habitat-lab/habitat/articulated_agent_controllers/humanoid_base_controller.py
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habitat-lab/habitat/articulated_agent_controllers/humanoid_seq_pose_controller.py
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Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
…h/habitat-lab into humanoid_details
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
…h/habitat-lab into humanoid_details
aclegg3
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Dec 4, 2023
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* updates * any motion with humanoids * update * update * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * remove title without content * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * added todo comment --------- Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
HHYHRHY
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* updates * any motion with humanoids * update * update * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * remove title without content * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * Update habitat-lab/habitat/articulated_agents/humanoids/README.md Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * added todo comment --------- Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
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Motivation and Context
Improve the humanoid structure, add tests and a script to convert SMPL-X to humanoid motions.
How Has This Been Tested
Ran and verified tests.
Types of changes
Checklist