Humanoid details #1703
Merged
Humanoid details #1703
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
facebook-github-bot
added
the
CLA Signed
aclegg3
reviewed
Nov 29, 2023
There was a problem hiding this comment.
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 |
There was a problem hiding this comment.
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
Outdated
Show resolved
Hide resolved
habitat-lab/habitat/articulated_agent_controllers/humanoid_seq_pose_controller.py
Outdated
Show resolved
Hide resolved
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
aclegg3
approved these changes
Dec 4, 2023
dannymcy
pushed a commit
to dannymcy/habitat-lab
that referenced
this pull request
Jul 8, 2024
* 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
pushed a commit
to SgtVincent/EMOS
that referenced
this pull request
Aug 31, 2024
* 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>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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