ke.motion_module¶

Python motion sampling, editor panels, and debug visualization modules.

API overview¶

`MotionEditor`	Motion playback, sequencer UI, and pluggable motion modules.
`MotionPlayer`	Track playback time and select frames from a sampled motion.
`MotionModule`	Base interface for optional MotionEditor processing and visualization.
`RootTrajectoryModule`	Visualize root positions, directions, and velocities around the playhead.
`TrackingModule`	Visualize selected joint trajectories and velocities around the playhead.
`ContactModule`	Estimate and visualize foot contacts from motion samples.

class kangengine.motion_module.MotionSampleData( positions: ndarray, matrices: ndarray, velocities: ndarray, node_names: list[str], fps: float, mapper: JointMapper, ) → None[python]¶

classmethod from_motion( motion, profiles=None, ) → MotionSampleData¶

Return type:: MotionSampleData

joint_indices(names: list[str]) → list[int]¶

Return type:: list[int]

semantic_indices( semantics: list[JointSemantic | str], ) → list[int]¶

Return type:: list[int]

positions¶

matrices¶

velocities¶

node_names¶

fps¶

mapper¶

class kangengine.motion_module.RootTrajectoryData( positions: ndarray, velocities: ndarray, directions: ndarray, ) → None[python]¶

classmethod from_motion( motion, root_index: int = 0, samples: MotionSampleData | None = None, ) → RootTrajectoryData¶

Return type:: RootTrajectoryData

positions¶

velocities¶

directions¶

class kangengine.motion_module.TrackingData( positions: ndarray, velocities: ndarray, joint_indices: list[int], joint_names: list[str], ) → None[python]¶

Return type:: TrackingData

positions¶

velocities¶

joint_indices¶

joint_names¶

class kangengine.motion_module.ContactData( positions: ndarray, velocities: ndarray, foot_indices: list[int], foot_names: list[str], up_axis: int = 1, ) → None[python]¶

contacts( height_threshold: float, velocity_threshold: float, ) → ndarray¶

Return type:: ndarray

Return type:: ContactData

up_axis = 1¶

positions¶

velocities¶

foot_indices¶

foot_names¶

class kangengine.motion_module.MotionCameraFollower( motion, samples: MotionSampleData | None = None, target_semantic: JointSemantic | str = JointSemantic.HIPS, target_index: int | None = None, target_offset=(0.0, 0.85, 0.0), camera_offset=(0.0, 0.65, 3.2), smoothing: float = 0.12, )[python]¶

target_at(frame_index: int) → ndarray¶

Return type:: ndarray

update(camera, frame_index: int, force: bool = False) → None¶

Return type:: None

class kangengine.motion_module.MotionPlayer( duration: float, fps: float, num_frames: int, time: float = 0.0, playing: bool = True, loop: bool = True, time_scale: float = 1.0, ) → None[python]¶

Track playback time and select frames from a sampled motion.

property frame_index¶

classmethod from_motion( motion, playing: bool = True, ) → MotionPlayer¶

Return type:: MotionPlayer

loop = True¶

property normalized_time¶

property playback_duration¶

playing = True¶

reset() → None¶

Return type:: None

set_frame(frame: int) → None¶

Return type:: None

time = 0.0¶

time_scale = 1.0¶

update(dt: float) → bool¶

Return type:: bool

duration¶

fps¶

num_frames¶

class kangengine.motion_module.MotionEditor( motion, motion_name: str = 'Motion', panel_name: str = 'MotionSequencer', fit_to_content: bool = True, ) → None[python]¶

Motion playback, sequencer UI, and pluggable motion modules.

add_module(module)¶

global_positions() → ndarray¶

Return type:: ndarray

motion_samples() → MotionSampleData¶

Return type:: MotionSampleData

render() → bool¶

Return type:: bool

render_modules_ui() → bool¶

Return type:: bool

render_panel(motion_name: str | None = None) → bool¶

Return type:: bool

render_panel_py(motion_name: str | None = None) → bool¶

Return type:: bool

reset() → None¶

Return type:: None

set_playing(playing: bool)¶

update(dt: float) → bool¶

Return type:: bool

update_modules(state=None) → None¶

Return type:: None

class kangengine.motion_module.MotionModule(name: str)[python]¶

Base interface for optional MotionEditor processing and visualization.

initialize(editor: MotionEditor) → None¶

Return type:: None

ui(editor: MotionEditor) → bool¶

Return type:: bool

update(editor: MotionEditor, state=None) → None¶

Return type:: None

class kangengine.motion_module.RootTrajectoryModule( app, path: str = '/debug/root_trajectory', root_index: int = 0, line_width: float = 2.0, point_size: float = 10.0, )[python]¶

Bases: MotionModule

Visualize root positions, directions, and velocities around the playhead.

initialize(editor: MotionEditor) → None¶

Return type:: None

ui(editor: MotionEditor) → bool¶

Return type:: bool

update( editor: MotionEditor, state=None, ) → None¶

Return type:: None

class kangengine.motion_module.TrackingModule( app, path: str = '/debug/motion_tracking', joint_names: list[str] | None = None, joint_indices: list[int] | None = None, joint_semantics: list[JointSemantic | str] | None = None, line_width: float = 2.0, point_size: float = 9.0, )[python]¶

Bases: MotionModule

Visualize selected joint trajectories and velocities around the playhead.

initialize(editor: MotionEditor) → None¶

Return type:: None

ui(editor: MotionEditor) → bool¶

Return type:: bool

update( editor: MotionEditor, state=None, ) → None¶

Return type:: None

class kangengine.motion_module.ContactModule( app, path: str = '/debug/motion_contacts', foot_names: list[str] | None = None, foot_indices: list[int] | None = None, foot_semantics: list[JointSemantic | str] | None = None, up_axis: int = 1, point_size: float = 20.0, )[python]¶

Bases: MotionModule

Estimate and visualize foot contacts from motion samples.

initialize(editor: MotionEditor) → None¶

Return type:: None

ui(editor: MotionEditor) → bool¶

Return type:: bool

update(editor: MotionEditor, state=None) → None¶

Return type:: None

class kangengine.motion_module.TargetModule( app, path: str = '/debug/motion_target', source_semantic: JointSemantic | str = JointSemantic.RIGHT_HAND, source_index: int | None = None, target_offset=(0.25, 0.15, 0.0), target_euler_extrinsic_xyz_deg=(0.0, 0.0, 0.0), target_transform=None, offset_frame: str = 'root', point_size: float = 18.0, line_width: float = 2.0, )[python]¶

Bases: MotionModule

OFFSET_FRAMES = ('world', 'root', 'source')¶

initialize(editor: MotionEditor) → None¶

Return type:: None

offset_frame_rotation(frame_index: int) → ndarray¶

Return type:: ndarray

source_position(frame_index: int) → ndarray¶

Return type:: ndarray

source_rotation(frame_index: int) → ndarray¶

Return type:: ndarray

target_position(frame_index: int) → ndarray¶

Return type:: ndarray

target_rotation(frame_index: int) → ndarray¶

Return type:: ndarray

target_world_transform(frame_index: int) → ndarray¶

Return type:: ndarray

ui(editor: MotionEditor) → bool¶

Return type:: bool

update(editor: MotionEditor, state=None) → None¶

Return type:: None