Project dependencies may have API risk issues #79
Description
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.