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erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
Apache License 2.0
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Project dependencies may have API risk issues #79

Open PyDeps opened 2 years ago

PyDeps commented 2 years ago

Hi, In motion_imitation, inappropriate dependency versioning constraints can cause risks.

Below are the dependencies and version constraints that the project is using

attrs==19.3.0
gym==0.17.1
mpi4py==3.0.3
numpy==1.17.3
pybullet>=3.0.6
tensorflow==1.15.4
tensorboard==1.15.0
typing==3.7.4.1
stable-baselines==2.10.0
tqdm
numba
quadprog
inputs

The version constraint == will introduce the risk of dependency conflicts because the scope of dependencies is too strict. The version constraint No Upper Bound and * will introduce the risk of the missing API Error because the latest version of the dependencies may remove some APIs.

After further analysis, in this project, The version constraint of dependency numpy can be changed to >=1.8.0,<=1.23.0rc3. The version constraint of dependency tqdm can be changed to >=4.36.0,<=4.64.0. The version constraint of dependency numba can be changed to >=0.7.2,<=0.11.0.

The above modification suggestions can reduce the dependency conflicts as much as possible, and introduce the latest version as much as possible without calling Error in the projects.

The invocation of the current project includes all the following methods.

The calling methods from the numpy 
distutils.extension.Extension
numpy.linalg.norm
numpy.linalg.pinv
distutils.extension.Extension.__init__
numpy.linalg.inv
distutils.core.setup
The calling methods from the tqdm 
tqdm.tqdm
The calling methods from the numba 
random.seed
The calling methods from the all methods 
argparse.ArgumentParser.add_argument
inspect.currentframe
self._pybullet_client.setJointMotorControlArray
motion_imitation.utilities.motion_data.MotionData
self._BuildUrdfIds
writer.add_run_metadata
self.GetPDObservation
p.connect
numpy.asarray
compiler._get_cc_args
self.set_random_seed
self._pybullet_client.resetJointState
self._enable_curriculum
self._pybullet_client.loadURDF
self._pybullet_client.getQuaternionFromEuler
self._env.np_random.uniform
_gen_parabola
self._action_filter.filter
self._value_deque.append
minitaur.GetLegInertiasFromURDF
stable_baselines.common.mpi_adam.MpiAdam
_gen_swing_foot_trajectory
self._GetDefaultInitPosition
tensorflow.summary.histogram
self._joint_angles.items
self.reset
compute_objective_matrix
len
com_vels.append
self._get_pybullet_client.resetBaseVelocity
tensorflow.minimum
motion_imitation.robots.kinematics.compute_jacobian
motion_imitation.envs.env_builder.build_laikago_env.reset
minitaur.GetNumKneeJoints
get_neutral_motor_angles
s.on_terminate
self._FilterAction
f.write
self.extra_link_args.append
self._pybullet_client.resetBasePositionAndOrientation
round
lower_bound.append
self.get_active_motion.set_frame_root_pos
self._get_pybullet_client.getBasePositionAndOrientation
self.robot.ComputeJacobian.dot
self.old.append
self.GetBasePosition
self.get_frame_root_vel
self.get_frame_root_ang_vel
motion_imitation.envs.env_builder.build_laikago_env.step
self._stepper.is_com_stable
self.yhist.clear
self._robot.GetMotorPositionGains
self._sync_ref_origin
self._flatten_observation
self.Step
foot_position_in_hip_frame_to_joint_angle
stable_baselines.common.distributions.make_proba_dist_type
self.install
env.action_space.sample
self.xhist.clear
sys.platform.startswith
self._knee_link_ids.sort
motion_imitation.utilities.pose3d.QuaternionNormalize
self._state_estimator.update
self._get_sim_base_rotation
self.Laikago.super.__init__
main
numpy.append
self.HistoricSensorWrapper.super.on_reset
self.get_active_motion.calc_phase
self._robot.Terminate
self._BuildActionFilter
tensorflow.layers.flatten
self.GetBaseRollPitchYaw
self.bullet_client.changeVisualShape
self._update_ref_model
command_function
super
self.set_frame_joints_vel
minitaur.SetFootFriction
tuple
self._LoadRobotURDF
s.get_upper_bound
env.step
self._gym_env.render
self._robot.pybullet_client.getMatrixFromQuaternion
self._stance_leg_controller.get_action
self._wrapped_sensor.get_observation
self._env.robot.GetDefaultInitJointPose.append
pybullet.getLinkState
self._pybullet_client.configureDebugVisualizer
sensor_.get_name
wrapped_sensor.get_lower_bound
map
self._GetControlObservation
task.get_ref_model
j_vel_diff.dot
numpy.sqrt
foot_angles.reshape.reshape
Q.mass_matrix.T.dot.dot
self._robot.GetTimeSinceReset
self._calc_reward_root_velocity
numpy.random.randn
self._pybullet_client.loadPlugin
motion_imitation.envs.env_wrappers.imitation_wrapper_env.ImitationWrapperEnv
self.GetTrueBaseRollPitchYawRate
tempfile.mkdtemp
self._leg_inertia_urdf.extend
self.butter_filter
motion_imitation.robots.a1_robot.A1Robot
motion_imitation.robots.a1_robot_velocity_estimator.VelocityEstimator
env.robot.GetFootLinkIDs
numpy.min
threading.Lock
motion_imitation.robots.kinematics.joint_angles_from_link_position
robot.GetBaseRollPitchYawRate.np.array.copy
math.atan2
rot_z.T.dot
self.get_num_motions
numpy.random.randint
self._swing_leg_controller.reset
self.get_frame_size
self._wrapped_sensor.get_robot
robot.GetBasePosition
self._pybullet_client.getContactPoints
motion_imitation.utilities.motion_util.calc_heading
six.iteritems
self._initial_state_ratio_in_cycle.append
self._velocity_estimator.estimated_velocity.copy
self._clock
self._next_leg_state.append
self._base_orientation.copy
super.__init__
cnn_extractor
mpc_controller.raibert_swing_leg_controller.RaibertSwingLegController
self.pybullet_client.getJointStates
open
self._velocity_filter_z.calculate_average
self._robot.GetBaseRollPitchYawRate
s.get_lower_bound
self.get_active_motion.get_frame_root_pos
callback.on_step
value.low.np.asarray.flatten
self.ProcessAction
self._neumaier_sum
self._get_num_joints
stable_baselines.common.tf_util.function
self._randomize_minitaur
numpy.array.dot
self.get_active_motion
self.bullet_client.invertTransform
self.get_frame_time
self._robot.GetTrueBaseRollPitchYaw
self._reset_ref_motion
codegen
self._swing_leg_controller.get_action
self._record_default_pose
self._env.robot.GetDefaultInitOrientation
self._chassis_link_ids.append
self.GetTrueMotorAngles
threading.Thread
self._ResetActionFilter
self.GetMotorTorques
datetime.datetime.now.strftime
numpy.ceil
pybullet.setGravity
self._bracket_link_ids.sort
calc_heading
self._pybullet_client.setAdditionalSearchPath
stable_baselines.common.tf_util.get_globals_vars
minitaur.SetMotorViscousDamping
self.get_num_tar_frames
self.get_pose_size
self._GetPDObservation
self._stance_leg_controller.update
all
self.robot.ComputeJacobian
robot_class.get_neutral_motor_angles
self._calc_reward_pose
self.proba_distribution_from_flat
argparse.ArgumentParser.print_help
self.FeedForwardPolicy.super.__init__
action_upper_bound.extend
max
self.GetTrueMotorVelocities
self._velocity_estimator.reset
mpi4py.MPI.COMM_WORLD.allgather
minitaur.GetBaseInertiasFromURDF
self.get_active_motion.set_frame_root_rot
setuptools.find_packages
build_model.predict
self._get_pybullet_client.loadURDF
callback.on_rollout_end
self._ClipMotorCommands
sys.exit
minitaur.SetControlLatency
self.MotorAngleSensor.super.__init__
self._sync_sim_model
robot.GetBaseVelocity.np.array.copy
self.get_active_motion.calc_frame_vel
root_vel_diff.dot
self.set_frame_root_ang_vel
self.pybullet_client.getQuaternionFromEuler
numpy.mean.append
s.set_robot
self._calc_ref_pose
tar_poses.append
self.GetFootLinkIDs
_update_controller_params
action_lower_bound.append
self._calc_ref_pose_warmup
pybullet.getBasePositionAndOrientation
format
self.read_thread.start
self.get_active_motion.get_frame_vel_size
env_randomizer.randomize_env
self._np_random.seed
self.ComputeJacobian
joint_limit_low.append
scipy.interpolate.interp1d
datetime.datetime.now
numpy.random.seed
self._world_dict.copy
self.MinitaurLegPoseSensor.super.__init__
self._change_ref_motion
minitaur.GetLegMassesFromURDF
self._np_random.randint
self.GetURDFFile
self._action_filter.init_history
self.HistoricSensorWrapper.super.on_step
p.getBasePositionAndOrientation
observation_dict_after_flatten.items
numpy.inner
math.sin
_to_int
numpy.tile
self.pybullet_client.invertTransform
value.high.np.asarray.flatten
numpy.reshape
int
A1MotorModel
new_dict.copy
self._env.close
self.include_dirs.append
self._RemoveDefaultJointDamping
self.num_joints.x.reshape.copy
sim_env.pybullet_client.readUserDebugParameter
tensorflow.placeholder
self._EndEffectorIK
stable_baselines.common.tf_util.is_image
self._pybullet_client.getDynamicsInfo
self.pybullet_client.getEulerFromQuaternion
stable_baselines.common.explained_variance
NotImplementedError
self._leg_link_ids.append
numpy.full
self.GetTrueObservation
self._env.get_time_since_reset
self._AddSensorNoise
task.is_motion_over
self._get_motion_time
self._foot_link_ids.sort
self._build_randomization_function_dict
self.get_num_frames
self._wrapped_sensor.set_robot
self._pybullet_client.getCameraImage
numpy.cos
exit
env.reset.reshape
numpy.sum
numpy.log
os.path.getsize
mpi4py.MPI.COMM_WORLD.allreduce
self._get_joint_vel_size
self.load
self._check_all_randomization_parameter_in_rejection_range
tensorflow.square
numpy.hstack
self.pybullet_client.getJointInfo
motion_imitation.envs.env_wrappers.observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper
self._RecordMassInfoFromURDF
self._reward
motion_imitation.envs.locomotion_gym_config.LocomotionGymConfig
self._get_pybullet_client
self._get_sim_base_position
foot_positions.append
multiprocessing.pool.ThreadPool
com_force_torque.foot_force_to_com.np.linalg.pinv.np.matmul.transpose
self.pybullet_client.getBaseVelocity
robot_class.convert_leg_pose_to_motor_angles.insert
p.getLinkStates
getattr
self._leg_link_ids.extend
tensorflow.summary.image
self._pybullet_client.getBaseVelocity
self._enable_warmup
shutil.rmtree
distutils.core.setup
tensorflow.RunMetadata
minitaur.SetMotorStrengthRatios
s.get_dtype
self._motor_angles.copy
self._leg_masses_urdf.append
mass_matrix.T.dot
minitaur.SetFootRestitution
numpy.eye
value.np.asarray.flatten
self._termination
self._pybullet_client.multiplyTransforms
motion_imitation.envs.env_builder.build_regular_env.reset
self._motor_model.convert_to_torque
self.ROT_SIZE.self.POS_SIZE.self.POS_SIZE.frame.copy
motion_imitation.robots.laikago_pose_utils.LaikagoPose
self.Reset
pybullet_utils.transformations.quaternion_from_matrix
self._pybullet_client.getJointStates
self.GetActionDimension
QuaternionFromAxisAngle
self.get_active_motion.calc_frame
self._gait_generator.reset
self.get_active_motion.set_frame_root_vel
commands.get_include
enumerate
numpy.sum.reshape
Pybind11Extension.cxx_std.__set__
numpy.array.extend
self._pybullet_client.resetSimulation
copy.deepcopy
minitaur.SetJointFriction
numpy.linalg.inv
math.fmod
TemporaryDirectory
self.SensorWrapper.super.__init__
a_coeffs.append
numpy.sin
self._pybullet_client.getBasePositionAndOrientation
opts.contents.decode.string.Template.substitute.encode
motion_imitation.envs.sensors.sensor_wrappers.HistoricSensorWrapper
motion_imitation.envs.sensors.environment_sensors.LastActionSensor
self._observation_history.appendleft
self._compile
os.path.basename
minitaur.SetBaseInertias
build_model.learn
self.get_active_motion.get_frame_root_vel
self._pybullet_client.setPhysicsEngineParameter
collections.deque
env.pybullet_client.getMatrixFromQuaternion
self.robot.GetFootContacts
collections.OrderedDict
self._robot.SetTimeSteps
os.path.abspath
self._stance_leg_controller.reset
self._cpp_mpc.compute_contact_forces
build_markers
unique_dirs.append
numpy.concatenate.append
env.robot.GetBasePosition
numpy.identity.eye.np.isclose.all
self._pybullet_client.getEulerFromQuaternion
self._compute_delta_time
callback.on_rollout_start
motor_torques.append
self._load_ref_motions
self.graph.as_default
self.policy
re.compile
self.ANG_VEL_SIZE.self.VEL_SIZE.frame.copy
self._get_pybullet_client.getJointStateMultiDof
self._GetDefaultInitOrientation
self._swing_leg_controller.update
self.robot.GetBaseOrientation
numpy.expand_dims.reshape
os.path.join
self._pybullet_client.changeVisualShape
self._pybullet_client.createConstraint
self._robot.pybullet_client.multiplyTransforms
motion_imitation.envs.env_wrappers.trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv
self.get_active_motion.is_over
self.pybullet_client.multiplyTransforms
self._motor_model.set_voltage
pybullet.getQuaternionFromEuler
self.bullet_client.getQuaternionFromEuler
self._robot.GetBaseOrientation
os.environ.get
self.save
print
Vector3RandomUnit
tensorflow.variable_scope
stable_baselines.common.tf_util.flatgrad
self._get_pybullet_client.getLinkState
build_model.load_parameters
time.time
numpy.multiply.tolist
stable_baselines.common.tf_util.make_session
self._motor_velocities.copy
self.pybullet_client.getNumJoints
motion_imitation.robots.a1.A1.GetBaseVelocity
tensorflow.to_float
json.load
kwargs.pop
self.blend_frames
self.pybullet_client.getLinkState
desired_acc.g.T.dot
self.assign_old_eq_new
minitaur.SetLegMasses
numpy.linalg.norm
self._terminal_condition
self.A1Robot.super.__init__
atarg.std.mean
self._motor_link_ids.append
self._BuildMotorIdList
utilities.pose3d.QuaternionToAxisAngle
re.compile.match
observation.extend
pybullet.configureDebugVisualizer
numpy.multiply
print_includes
hasattr
numpy.identity
self._link_urdf.append
numpy.isclose
tensorflow.RunOptions
sys.stderr.write
self._velocity_estimator.update
self._SettleDownForReset
numpy.arctan2
os.path.realpath
numpy.maximum
self._init_callback
ext.__class__.cxx_std.__set__
self._robot.GetTrueBaseOrientation
self._update_ref_motion
motion_imitation.learning.imitation_runners.traj_segment_generator
numpy.arccos
self._get_joint_vel_idx
compute_constraint_matrix
randomizers.append
self.VEL_SIZE.frame.copy
losses.append
os.system
os.mkdir
pybullet_utils.bullet_client.BulletClient.createCollisionShape
f.read.decode
pybullet_data.getDataPath
argparse.ArgumentParser.parse_args
sensors_dict.items
self._sample_ref_motion
load_ref_data
numpy.transpose
input
self.calc_cycle_count
isinstance
self.get_active_motion.get_frame_joints
self.calc_phase
policy.step
Gamepad
tensorflow.greater
self.pybullet_client.resetJointState
motion_imitation.utilities.pose3d.QuaternionToAxisAngle
self._velocity_filter_y.calculate_average
self._wrapped_sensor.on_reset
self._motor_link_ids.sort
wrapped_sensor.get_name
self._update_time_limit
contents.string.Template.substitute
dict
os.makedirs
self._wrapped_sensor
pybullet_utils.transformations.quaternion_inverse
CXX_FLAGS.split
self.LastActionSensor.super.__init__
math.floor
j_pose_diff.dot
self.policy_pi.proba_distribution.entropy
self._robot.GetFootPositionsInBaseFrame
numpy.round
minitaur.SetLegInertias
self._randint
self.ReceiveObservation
motion_imitation.envs.env_builder.build_imitation_env.step
self._setup_compile
root_ang_vel_diff.dot
utilities.motion_util.normalize_rotation_angle
numpy.max
get_root_pos
robot.urdf_loader.get_end_effector_id_dict.values
pybullet_utils.transformations.quaternion_about_axis
seg_gen.__next__.get
self._foot_link_ids.extend
self._stepper.next_foot
action_lower_bound.extend
motion_imitation.envs.locomotion_gym_env.LocomotionGymEnv
gym.spaces.Dict
os.sys.path.insert
_single_compile
os.unlink
self._robot_class
action_upper_bound.append
self._wrapped_sensor.on_step
attr.astuple
numpy.interp
numpy.all
globals
self.adam.update
retarget_motion
tensorflow.Graph
pybullet.getJointInfo
sf.write
s.get_dimension
self._env.step
robots.minitaur_pose_utils.motor_angles_to_leg_pose
self._apply_state_perturb
joint_pos.copy
self._robot.GetBasePosition
self._calc_frame_vels
tensorflow.constant_initializer
imu_rates.append
self._env.robot.ReceiveObservation
list
motion_imitation.robots.a1.A1.Step
p.removeBody
self._update_ref_state
self.bullet_client.loadURDF
self._pybullet_client.invertTransform
param_name.self._randomization_function_dict
numpy.expand_dims
self._robot_interface.receive_observation
random.uniform
attr.ib
numpy.array.append
motion_imitation.learning.ppo_imitation.PPOImitation
minitaur.GetBaseMassesFromURDF
motion_imitation.robots.kinematics.link_position_in_base_frame
self.Laikago.super.ComputeJacobian
self._motor_angles.minitaur.MapToMinusPiToPi.copy
self.enable_loop
mpc_controller.com_velocity_estimator.COMVelocityEstimator
observations.append
mpc_controller.torque_stance_leg_controller_quadprog.TorqueStanceLegController
numpy.set_printoptions
self._get_robot_from_env
seg_gen.__next__.reshape
self.bullet_client.setCollisionFilterGroupMask
functools.partial
self.get_vel_size
info.get
stance_foot_ids.append
self._robot.pybullet_client.invertTransform
f.read
motion_imitation.robots.a1_robot.A1Robot.Terminate
numpy.get_include
self.set_frame_root_pos
compiler.compile
threads.ThreadPool.imap_unordered
__version__.split
tensorflow.compat.v1.logging.info
observation_spaces.spaces.items
issubclass
mpc_controller.foot_stepper.FootStepper
get_and_replace
self.all_sensors
self.GetTrueMotorTorques
mpc_controller.openloop_gait_generator.OpenloopGaitGenerator
self.extra_compile_args.append
StepOutput
self.GetTrueBaseOrientation
self._randn
self.A1.super.__init__
self._trajectory_generator.get_observation
ep_rets.append
numpy.sign
stable_baselines.common.tf_util.total_episode_reward_logger
numpy.clip.append
quat.copy
stable_baselines.common.TensorboardWriter
_setup_controller.get_action
compile
motion_imitation.envs.env_wrappers.simple_openloop.LaikagoPoseOffsetGenerator
self._foot_link_ids.append
warnings.warn
self._gym_env.robot.GetTimeSinceReset
self._calc_reward_velocity
self._robot.GetAllSensors
inertia_value.np.asarray.any
os.sysconf
absl.flags.DEFINE_string
self._robot.Step
self.bullet_client.multiplyTransforms
robot.pybullet_client.multiplyTransforms
time.sleep
self._calc_cycle_offset_rot
self._set_state
self.pybullet_client.setJointMotorControlArray
observation_dict.items
setuptools.command.sdist.sdist.make_release_tree
policy.value
build_model
self._get_joint_pose_idx
pybullet_utils.transformations.quaternion_slerp
random.randint
self.get_duration
update_camera
self.set_frame_root_rot
os.chdir
pybullet.getDebugVisualizerCamera
motion_imitation.envs.env_builder.build_imitation_env
self._estimate_robot_height
self.SetAllSensors
self.pybullet_client.getContactPoints
s.get_dtype.count
self._reset_motion_time_offset
self._pybullet_client.getJointInfo
self._calc_ref_vel
self.GetMotorVelocities
self._base_mass_urdf.append
pybullet_utils.bullet_client.BulletClient
self.BoxSpaceSensor.super.__init__
motion_imitation.envs.env_builder.build_regular_env.step
motion_imitation.envs.env_wrappers.default_task.DefaultTask
abs
commands.get_cmake_dir
self._env.robot.GetDefaultInitJointPose
argparse.ArgumentParser
robot.urdf_loader.get_end_effector_id_dict
numpy.array
p.removeAllUserDebugItems
self._default_pose.copy
self._convert_to_torque_from_pwm
self.ROT_SIZE.self.POS_SIZE.frame.copy
self._build_action_space
inspect.getfile
self._get_ref_base_position
self.GetMotorPositionGains
self._lower_link_ids.append
actions.append
motion_imitation.envs.env_builder.build_imitation_env.reset
speed_points.time_points.scipy.interpolate.interp1d
self._CreateRackConstraint
numpy.any
s.get_name
range
numpy.loadtxt
p.configureDebugVisualizer
numpy.stack
joint_limit_high.append
self._calc_reward_root_pose
robot.pybullet_client.calculateInverseKinematics
self._get_default_root_rotation
_setup_controller.update
tmp_chdir
self.get_active_motion.get_duration
pybullet.createMultiBody
self._get_pybullet_client.getNumJoints
pybullet_utils.bullet_client.BulletClient.connect
motion_imitation.envs.utilities.controllable_env_randomizer_from_config.ControllableEnvRandomizerFromConfig
motion_imitation.robots.a1_robot.A1Robot.Step
self.get_active_motion.get_frame_root_ang_vel
self._stepper.swing_foot
pybullet_utils.transformations.quaternion_from_euler
pybullet.getJointStateMultiDof
platform.python_implementation
self.reward
self._get_pybullet_client.getJointInfo
self._get_pybullet_client.changeVisualShape
absl.flags.DEFINE_enum
numpy.savez
self._sensors.append
self._BuildJointNameToIdDict
self.seed
self._pybullet_client.computeViewMatrixFromYawPitchRoll
numpy.arcsin
self.pybullet_client.calculateJacobian
mpc_osqp.ConvexMpc
self._robot.Reset
numpy.random.normal
tensorflow.set_random_seed
stable_baselines.common.Dataset
self._leg_link_ids.sort
self.get_frame_root_pos
pybullet.resetJointStateMultiDof
self._rejection_param_range.items
minitaur.SetBaseMasses
self._calc_reward_end_effector
self._init_callback.on_training_end
mpc_controller.qp_torque_optimizer.compute_contact_force
atarg.std.std
self._get_pybullet_client.changeDynamics
tensorflow.assign
multiprocessing.pool.ThreadPool.imap
tar_toe_pos.append
self.ResetPose
self._gait_generator.update
subprocess.check_call
os.stat
sorted
motion_imitation.utilities.motion_util.normalize_rotation_angle
motions.append
self.TransformAngularVelocityToLocalFrame
self.A1.super.ApplyAction
self.ANG_VEL_SIZE.self.VEL_SIZE.self.VEL_SIZE.frame.copy
stable_baselines.common.policies.mlp_extractor
self._env.robot.GetDefaultInitPosition
robot.GetFootPositionsInBaseFrame
self.get_frame_vel
absl.logging.info
zip
contact_forces.items
self.GetBaseOrientation
numpy.floor
self.compute_losses
self._StepInternal
self.get_reference_pos_swing_foot
pybind11.get_include
self.IMUSensor.super.__init__
self.get_active_motion.set_frame_root_ang_vel
extensions.append
pybullet.resetBasePositionAndOrientation
self._pybullet_client.getDebugVisualizerCamera
self.filter.update
self._init_num_timesteps
self.moving_window_filter_y.calculate_average
gym.utils.seeding.np_random
self.BasePositionSensor.super.__init__
string.Template
self._get_pybullet_client.getBaseVelocity
self._ResetPoseForLeg
tensorflow.logging.info
self._pybullet_client.getJointInfo.decode
numpy.dot
self.update_command
env.get_ground
motion_imitation.robots.a1_robot.A1Robot.GetBaseVelocity
tqdm.tqdm
motion_imitation.robots.gamepad.gamepad_reader.Gamepad
self.pybullet_client.getJointInfo.decode
s.get_observation
self._kwargs_check
pybullet.addUserDebugParameter
upper_bound.append
analytical_leg_jacobian
self._setup_init
motion_imitation.learning.imitation_runners.traj_segment_generator.__next__
self._robot_interface.send_command
env.set_time_step
self._bracket_link_ids.append
pybullet_utils.bullet_client.BulletClient.setPhysicsEngineParameter
self._get_cc_args
motion_imitation.envs.sensors.robot_sensors.IMUSensor
self.get_frame_root_rot
pybullet_utils.bullet_client.BulletClient.loadURDF
pybullet.calculateInverseKinematics2
robot_class.convert_leg_pose_to_motor_angles
numpy.arange
motion_imitation.envs.sensors.robot_sensors.MotorAngleSensor
n1.n2.total_seconds
sysconfig.get_path
stable_baselines.common.tf_util.initialize
real_env.robot.GetMotorAngles
self._hip_link_ids.sort
rot_mat.np.array.reshape.dot
motor_ids.append
numpy.exp
s.on_reset
motion_imitation.envs.env_builder.build_regular_env.Terminate
stable_baselines.logger.log
quadprog.solve_qp
self._get_joint_pose_size
stable_baselines.common.Dataset.iterate_once
ep_lens.append
motion_imitation.envs.sensors.robot_sensors.BaseDisplacementSensor
min
self._velocity_filter_x.calculate_average
STD_TMPL.format
tensorflow.abs
src.endswith
self._stepper.update
join
stable_baselines.common.policies.linear
self.policy_pi.pdtype.sample_placeholder
stable_baselines.trpo_mpi.utils.add_vtarg_and_adv
numpy.vstack
self.link_position_in_base_frame
pybullet_utils.bullet_client.BulletClient.setAdditionalSearchPath
motion_imitation.utilities.pose3d.QuaternionRotatePoint
motion_imitation.robots.a1.A1
test
MapToMinusPiToPi
self._robot.ComputeMotorAnglesFromFootLocalPosition
minitaur.SetBatteryVoltage
self._wrapped_sensor.on_terminate
self._ApplyOverheatProtection
self._task.done
self._sample_time_offset
self._modify_observation
collections.deque.extend
self._add_lflags
self._env.reset
ImportError
self._pybullet_client.changeDynamics
app.connect
self._robot.GetHipPositionsInBaseFrame
numpy.cross
self._postprocess_frames
numpy.matmul
self.adam.sync
mpc_controller.torque_stance_leg_controller.TorqueStanceLegController
retarget_pose
self.get_frame_joints
get_joint_limits
foot_positions_in_base_frame
numpy.clip
motion_imitation.envs.sensors.space_utils.convert_sensors_to_gym_space_dictionary
self.pybullet_client.stepSimulation
com_torque.com_force.np.concatenate.transpose
gym.spaces.Box
DiagGaussianFixedVarProbabilityDistributionType
self._pybullet_client.stepSimulation
reward_giver.get_reward
self._robot.GetTrueBaseRollPitchYawRate
s.on_step
self._pybullet_client.setGravity
distutils.util.get_platform
inv_inertia.rot_z.T.dot.dot
distutils.extension.Extension.__init__
self.get_active_motion.get_frame_joints_vel
robot.pybullet_client.getLinkState
subprocess.call
self._get_pybullet_client.resetJointStateMultiDof
random.seed
self._task.get_target_obs_bounds
self._knee_link_ids.append
self._randomization_param_dict.items
swing_extend_to_motor_angles
self._motor_model.set_strength_ratios
self._foot_link_ids.index
self.HistoricSensorWrapper.super.__init__
self._imu_link_ids.append
self.pybullet_client.setJointMotorControl2
self._check_change_clip
root_pos_diff.dot
numpy.abs
motion_imitation.envs.locomotion_gym_config.ScalarField
numpy.mean
self.compute_jacobian
MovingWindowFilter
numpy.load
self.xhist.appendleft
UnsupportedConversionError
contacts.append
robot.GetBaseOrientation
self.Laikago.super.ApplyAction
env_randomizer.randomize_step
self.DiagGaussianFixedVarProbabilityDistributionType.super.__init__
self._pybullet_client.getNumJoints
motion_imitation.envs.utilities.env_utils.flatten_observations
pybullet.resetSimulation
output_motion
self._pybullet_client.readUserDebugParameter
numpy.concatenate.copy
self._raw_state.imu.gyroscope.np.array.copy
inputs.get_gamepad
numpy.ones
reversed
stable_baselines.common.SetVerbosity
self.sess.as_default
tensorflow.summary.merge_all
self.ApplyAction
tensorflow.app.run
foot_position_in_hip_frame
process_ref_joint_pos_data
mpi4py.MPI.COMM_WORLD.Get_rank
self._gym_env.reset
self._robot.motor_angles_from_foot_positions
markers.append
str
self._RecordInertiaInfoFromURDF
self._add_cflags
stable_baselines.common.mpi_moments.mpi_moments
self.joint_angles_from_link_position
self._task.reset
ep_true_rets.append
self._task
motion_imitation.envs.env_wrappers.imitation_task.ImitationTask
self._robot.GetBaseVelocity
self._get_pybullet_client.setCollisionFilterGroupMask
compiler._compile
remove_output
self._pybullet_client.resetBaseVelocity
self._SetMotorTorqueByIds
self._chassis_link_ids.sort
robot.pybullet_client.calculateJacobian
self._calc_cycle_delta_heading
self.policy_pi.proba_distribution.logp
retarget_root_pose
compute_mass_matrix
stable_baselines.common.callbacks.CheckpointCallback
env.robot.GetBaseOrientation
tensorflow.clip_by_value
sf.readline
rot_mat.np.array.reshape
self.set_env_from_randomization_parameters
self.moving_window_filter_z.calculate_average
self.blend_frame_vels
old_pi.proba_distribution.kl
contents.decode.string.Template.substitute
motion_imitation.envs.locomotion_gym_config.SimulationParameters
self._trajectory_generator.get_action
tensorflow.exp
env.reset
mpc_controller.a1_sim.SimpleRobot
numpy.diag
self.get_frame_duration
config
self.filter.predict
self.set_frame_joints
self._get_ref_base_rotation
self._reset_clip_change_time
absl.flags.DEFINE_bool
self._get_observation
self.pybullet_client.getBasePositionAndOrientation
set_maker_pos
motor_model_class
self.yhist.appendleft
sum
absl.app.run
p.multiplyTransforms
self.get_active_motion.set_frame_joints_vel
self._action_filter.reset
auto_cpp_level
self._setup_learn
self._robot.MapContactForceToJointTorques.items
self.moving_window_filter_x.calculate_average
tensorflow.summary.scalar
self._env.robot.GetURDFFile
self._env.np_random.randn
six.moves.range
self.get_active_motion.set_frame_joints
tensorflow.get_variable
self._gym_env.step
tensorflow.concat
stable_baselines.common.tf_util.get_trainable_vars
locals
logging.info
math.cos
stable_baselines.common.zipsame
pybullet.disconnect
motion_imitation.envs.utilities.env_utils.flatten_observation_spaces
self._build_joint_data
self._robot.GetTrueMotorAngles
self.GetMotorAngles
distutils.command.build_ext.build_ext.build_extensions
pybullet.createVisualShape
self.bullet_client.resetBasePositionAndOrientation
_setup_controller
numpy.power
get_root_rot
self._get_pybullet_client.resetBasePositionAndOrientation
b_coeffs.append
self.function
wrapped_sensor.get_upper_bound
absl.flags.DEFINE_float
motion_imitation.robots.a1_robot.A1Robot.ReceiveObservation
self._stepper.get_reference_pos_swing_foot
stable_baselines.logger.dump_tabular
numpy.fmod
self._motor_model.set_viscous_damping
robot.MPC_BODY_INERTIA.np.array.reshape
m.get_frames
pybullet.getNumJoints
self._init_callback.on_training_start
self._lower_link_ids.sort
self.PoseSensor.super.__init__
env.robot.GetTimeSinceReset
self._GetDelayedObservation
motion_imitation.robots.a1_robot.A1Robot.GetMotorAngles
AmbiguousDataTypeError
self._env.np_random.randint
self._build_ref_model
mpi4py.MPI.COMM_WORLD.Get_size
motion_imitation.utilities.motion_data.MotionData.get_duration
self._calc_ref_vel_warmup
self._calc_cycle_delta_pos
callbacks.append
self._robot.GetBaseRollPitchYaw
numpy.zeros
pybullet_utils.bullet_client.BulletClient.setGravity
mpc_controller.a1_sim.SimpleRobot.Step
self._pybullet_client.setJointMotorControl2
distutils.extension.Extension
self._robot.MapContactForceToJointTorques
self.num_joints.y.reshape.copy
stable_baselines.logger.record_tabular
pybullet_utils.transformations.quaternion_multiply
self._env.render
self._rand_uniform
numpy.random.RandomState
self._build_observation_space
motion_imitation.utilities.motion_util.standardize_quaternion
new_toe_pos_world.append
self._calc_heading
os.path.dirname
re.compile.findall
bool
robot_interface.RobotInterface
compute_contact_force_projection_matrix
self._origin_offset_pos.fill
self._calc_cycle_offset_pos
jacobians.append
numpy.absolute
pybullet_utils.bullet_client.BulletClient.setTimeStep
RuntimeError
has_flag
self._history_buffer.appendleft
self._calc_heading_rot
math.sqrt
numpy.isfinite
body_height.append
os.path.exists
self._task.build_target_obs
Q.desired_acc.g.T.dot.dot
pybullet.loadURDF
self._pybullet_client.resetDebugVisualizerCamera
motion_imitation.robots.minitaur.MapToMinusPiToPi
self.POS_SIZE.frame.copy
_run_example
os.getcwd
env.pybullet_client.getContactPoints
self._motor_model.set_motor_gains
quadprog.solve_qp.reshape
self.get_frame
self.BaseDisplacementSensor.super.__init__
_interpolate
convert_1d_box_sensors_to_gym_space
mpc_controller.a1_sim.SimpleRobot.GetTimeSinceReset
numpy.linalg.pinv
mpc_controller.locomotion_controller.LocomotionController
scipy.signal.butter
action_selector_ids.append
self.calc_blend_idx
absl.logging.warning
self._state_estimator.reset
self._trajectory_generator.reset
writer.add_summary
numpy.minimum
self._flatten_observation_spaces
pybullet_utils.bullet_client.BulletClient.createMultiBody
motion_imitation.envs.env_builder.build_regular_env
self._task.update
self._observation_history.clear
numpy.random.normal.extend
motion_imitation.robots.minitaur_pose_utils.MinitaurPose
numpy.empty
self.old.pop
self.get_active_motion.get_frame_root_rot
compiler._setup_compile
_generate_example_linear_angular_speed
LaikagoMotorModel
numpy.zeros.copy
motion_imitation.robots.gamepad.gamepad_reader.Gamepad.stop
ValueError
self.A1Robot.super.Reset
motion_imitation.robots.a1.A1.GetTimeSinceReset
self._pybullet_client.setTimeStep
stable_baselines.common.fmt_row
motion_imitation.robots.action_filter.ActionFilterButter
pybullet.submitProfileTiming
pybullet_utils.transformations.quaternion_conjugate
motion_imitation.envs.env_builder.build_laikago_env
self.ActionFilterButter.super.__init__
self._robot.GetMotorVelocityGains
numpy.concatenate
pyb.getBasePositionAndOrientation
self._estimated_velocity.copy
mpc_controller.foot_stepper.StepInput
numpy.random.uniform
motion_imitation.robots.a1.A1.GetBaseRollPitchYawRate
self._SetDesiredMotorAngleById
float
self.set_frame_root_vel
self.lossandgrad
multiprocessing.cpu_count
self._pybullet_client.computeProjectionMatrixFOV
motion_imitation.utilities.motion_util.calc_heading_rot
self.ActionFilterExp.super.__init__
old_pi.proba_distribution.logp
set_pose
self._np_random.uniform
motion_imitation.utilities.moving_window_filter.MovingWindowFilter
self._robot.GetFootPositionsInBaseFrame.flatten
self.robot.pybullet_client.getMatrixFromQuaternion
self.GetMotorVelocityGains
self.pdtype.proba_distribution_from_latent
self._hip_link_ids.append
self.get_active_motion.get_frame_size
robot.pybullet_client.invertTransform
filterpy.kalman.KalmanFilter
motion_imitation.envs.env_wrappers.simple_forward_task.SimpleForwardTask
pybullet.resetDebugVisualizerCamera
self._robot.GetFootContacts
pybullet_utils.bullet_client.BulletClient.submitProfileTiming
pybullet.setAdditionalSearchPath
self._robot.GetMotorAngles
self._GetMotorNames
exec
numpy.zeros.extend
self.get_frame_vel_size
_setup_controller.reset
self._enable_perturb_init_state
tensorflow.reduce_mean
pybullet_utils.bullet_client.BulletClient.configureDebugVisualizer
motion_imitation.robots.minitaur_pose_utils.leg_pose_to_motor_angles
train
sphinx_rtd_theme.get_html_theme_path

@developer Could please help me check this issue? May I pull a request to fix it? Thank you very much.