repo stringlengths 7 90 | file_url stringlengths 81 315 | file_path stringlengths 4 228 | content stringlengths 0 32.8k | language stringclasses 1
value | license stringclasses 7
values | commit_sha stringlengths 40 40 | retrieved_at stringdate 2026-01-04 14:38:15 2026-01-05 02:33:18 | truncated bool 2
classes |
|---|---|---|---|---|---|---|---|---|
ChenQian0618/TFN | https://github.com/ChenQian0618/TFN/blob/bb8af32c380fa047631b960e6a08ed0b261f1874/Models/__init__.py | Models/__init__.py | from Models.BackboneCNN import CNN as Backbone_CNN
from Models.TFN import TFN_STTF, TFN_Chirplet, TFN_Morlet, Random_CNN
| python | MIT | bb8af32c380fa047631b960e6a08ed0b261f1874 | 2026-01-05T07:14:43.861108Z | false |
kpdemetriou/fuuid | https://github.com/kpdemetriou/fuuid/blob/caa236449b45eb14fe1a1d3499d3dfedb307c2a3/fuuid/__init__.py | fuuid/__init__.py | import os
import uuid
from base64 import b64encode
from time import time, time_ns
from base58 import b58encode
__all__ = ["raw_fuuid", "raw_fuuid_ns", "b58_fuuid", "b58_fuuid_ns", "b64_fuuid", "b64_fuuid_ns", "fuuid", "fuuid_ns"]
def raw_fuuid():
ts = int(time() - 16 * 10 ** 8)
return ts.to_bytes(4, "big") ... | python | BSD-3-Clause | caa236449b45eb14fe1a1d3499d3dfedb307c2a3 | 2026-01-05T07:14:45.385867Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/setup.py | setup.py | #
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/setup.py | third_party/unitree_legged_sdk/pybind11/setup.py | #!/usr/bin/env python
# -*- coding: utf-8 -*-
# Setup script for PyPI; use CMakeFile.txt to build extension modules
import contextlib
import os
import re
import shutil
import string
import subprocess
import sys
import tempfile
import setuptools.command.sdist
DIR = os.path.abspath(os.path.dirname(__file__))
VERSION_... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tools/libsize.py | third_party/unitree_legged_sdk/pybind11/tools/libsize.py | # -*- coding: utf-8 -*-
from __future__ import print_function, division
import os
import sys
# Internal build script for generating debugging test .so size.
# Usage:
# python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the
# ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_smart_ptr.py | third_party/unitree_legged_sdk/pybind11/tests/test_smart_ptr.py | # -*- coding: utf-8 -*-
import pytest
m = pytest.importorskip("pybind11_tests.smart_ptr")
from pybind11_tests import ConstructorStats # noqa: E402
def test_smart_ptr(capture):
# Object1
for i, o in enumerate([m.make_object_1(), m.make_object_2(), m.MyObject1(3)], start=1):
assert o.getRefCount() == ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_custom_type_casters.py | third_party/unitree_legged_sdk/pybind11/tests/test_custom_type_casters.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import custom_type_casters as m
def test_noconvert_args(msg):
a = m.ArgInspector()
assert msg(a.f("hi")) == """
loading ArgInspector1 argument WITH conversion allowed. Argument value = hi
"""
assert msg(a.g("this is a", "this is b")) =... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_builtin_casters.py | third_party/unitree_legged_sdk/pybind11/tests/test_builtin_casters.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import builtin_casters as m
from pybind11_tests import UserType, IncType
def test_simple_string():
assert m.string_roundtrip("const char *") == "const char *"
def test_unicode_conversion():
"""Tests unicode conversion and e... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_local_bindings.py | third_party/unitree_legged_sdk/pybind11/tests/test_local_bindings.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import local_bindings as m
def test_load_external():
"""Load a `py::module_local` type that's only registered in an external module"""
import pybind11_cross_module_tests as cm
assert m.load_external1(cm.ExternalType1(11)... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_docstring_options.py | third_party/unitree_legged_sdk/pybind11/tests/test_docstring_options.py | # -*- coding: utf-8 -*-
from pybind11_tests import docstring_options as m
def test_docstring_options():
# options.disable_function_signatures()
assert not m.test_function1.__doc__
assert m.test_function2.__doc__ == "A custom docstring"
# docstring specified on just the first overload definition:
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_buffers.py | third_party/unitree_legged_sdk/pybind11/tests/test_buffers.py | # -*- coding: utf-8 -*-
import io
import struct
import ctypes
import pytest
import env # noqa: F401
from pybind11_tests import buffers as m
from pybind11_tests import ConstructorStats
np = pytest.importorskip("numpy")
def test_from_python():
with pytest.raises(RuntimeError) as excinfo:
m.Matrix(np.ar... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_numpy_array.py | third_party/unitree_legged_sdk/pybind11/tests/test_numpy_array.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import numpy_array as m
np = pytest.importorskip("numpy")
def test_dtypes():
# See issue #1328.
# - Platform-dependent sizes.
for size_check in m.get_platform_dtype_size_checks():
print(size_check)
assert... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_operator_overloading.py | third_party/unitree_legged_sdk/pybind11/tests/test_operator_overloading.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import operators as m
from pybind11_tests import ConstructorStats
def test_operator_overloading():
v1 = m.Vector2(1, 2)
v2 = m.Vector(3, -1)
v3 = m.Vector2(1, 2) # Same value as v1, but different instance.
assert v1 is not v3
assert str(v... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_methods_and_attributes.py | third_party/unitree_legged_sdk/pybind11/tests/test_methods_and_attributes.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import methods_and_attributes as m
from pybind11_tests import ConstructorStats
def test_methods_and_attributes():
instance1 = m.ExampleMandA()
instance2 = m.ExampleMandA(32)
instance1.add1(instance2)
instance1.add2(i... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_eigen.py | third_party/unitree_legged_sdk/pybind11/tests/test_eigen.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import ConstructorStats
np = pytest.importorskip("numpy")
m = pytest.importorskip("pybind11_tests.eigen")
ref = np.array([[ 0., 3, 0, 0, 0, 11],
[22, 0, 0, 0, 17, 11],
[ 7, 5, 0, 1, 0, 11],
[ 0, 0, ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_eval_call.py | third_party/unitree_legged_sdk/pybind11/tests/test_eval_call.py | # -*- coding: utf-8 -*-
# This file is called from 'test_eval.py'
if 'call_test2' in locals():
call_test2(y) # noqa: F821 undefined name
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_numpy_dtypes.py | third_party/unitree_legged_sdk/pybind11/tests/test_numpy_dtypes.py | # -*- coding: utf-8 -*-
import re
import pytest
import env # noqa: F401
from pybind11_tests import numpy_dtypes as m
np = pytest.importorskip("numpy")
@pytest.fixture(scope='module')
def simple_dtype():
ld = np.dtype('longdouble')
return np.dtype({'names': ['bool_', 'uint_', 'float_', 'ldbl_'],
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_chrono.py | third_party/unitree_legged_sdk/pybind11/tests/test_chrono.py | # -*- coding: utf-8 -*-
from pybind11_tests import chrono as m
import datetime
import pytest
import env # noqa: F401
def test_chrono_system_clock():
# Get the time from both c++ and datetime
date0 = datetime.datetime.today()
date1 = m.test_chrono1()
date2 = datetime.datetime.today()
# The retu... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_tagbased_polymorphic.py | third_party/unitree_legged_sdk/pybind11/tests/test_tagbased_polymorphic.py | # -*- coding: utf-8 -*-
from pybind11_tests import tagbased_polymorphic as m
def test_downcast():
zoo = m.create_zoo()
assert [type(animal) for animal in zoo] == [
m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther
]
assert [animal.name for animal in zoo] == [
"Fido", "Ginger", "Hertzl",... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_copy_move.py | third_party/unitree_legged_sdk/pybind11/tests/test_copy_move.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import copy_move_policies as m
def test_lacking_copy_ctor():
with pytest.raises(RuntimeError) as excinfo:
m.lacking_copy_ctor.get_one()
assert "is non-copyable!" in str(excinfo.value)
def test_lacking_move_ctor():
with pytest.raises(Runti... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_opaque_types.py | third_party/unitree_legged_sdk/pybind11/tests/test_opaque_types.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import opaque_types as m
from pybind11_tests import ConstructorStats, UserType
def test_string_list():
lst = m.StringList()
lst.push_back("Element 1")
lst.push_back("Element 2")
assert m.print_opaque_list(lst) == "Opaque list: [Element 1, Eleme... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_factory_constructors.py | third_party/unitree_legged_sdk/pybind11/tests/test_factory_constructors.py | # -*- coding: utf-8 -*-
import pytest
import re
import env # noqa: F401
from pybind11_tests import factory_constructors as m
from pybind11_tests.factory_constructors import tag
from pybind11_tests import ConstructorStats
def test_init_factory_basic():
"""Tests py::init_factory() wrapper around various ways of ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_eval.py | third_party/unitree_legged_sdk/pybind11/tests/test_eval.py | # -*- coding: utf-8 -*-
import os
import pytest
import env # noqa: F401
from pybind11_tests import eval_ as m
def test_evals(capture):
with capture:
assert m.test_eval_statements()
assert capture == "Hello World!"
assert m.test_eval()
assert m.test_eval_single_statement()
assert m.te... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_class.py | third_party/unitree_legged_sdk/pybind11/tests/test_class.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import class_ as m
from pybind11_tests import UserType, ConstructorStats
def test_repr():
# In Python 3.3+, repr() accesses __qualname__
assert "pybind11_type" in repr(type(UserType))
assert "UserType" in repr(UserType)
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_pickling.py | third_party/unitree_legged_sdk/pybind11/tests/test_pickling.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import pickling as m
try:
import cPickle as pickle # Use cPickle on Python 2.7
except ImportError:
import pickle
@pytest.mark.parametrize("cls_name", ["Pickleable", "PickleableNew"])
def test_roundtrip(cls_name):
cls = ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_kwargs_and_defaults.py | third_party/unitree_legged_sdk/pybind11/tests/test_kwargs_and_defaults.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import kwargs_and_defaults as m
def test_function_signatures(doc):
assert doc(m.kw_func0) == "kw_func0(arg0: int, arg1: int) -> str"
assert doc(m.kw_func1) == "kw_func1(x: int, y: int) -> str"
assert doc(m.kw_func2) == "k... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/conftest.py | third_party/unitree_legged_sdk/pybind11/tests/conftest.py | # -*- coding: utf-8 -*-
"""pytest configuration
Extends output capture as needed by pybind11: ignore constructors, optional unordered lines.
Adds docstring and exceptions message sanitizers: ignore Python 2 vs 3 differences.
"""
import contextlib
import difflib
import gc
import re
import textwrap
import pytest
impo... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_union.py | third_party/unitree_legged_sdk/pybind11/tests/test_union.py | # -*- coding: utf-8 -*-
from pybind11_tests import union_ as m
def test_union():
instance = m.TestUnion()
instance.as_uint = 10
assert instance.as_int == 10
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_call_policies.py | third_party/unitree_legged_sdk/pybind11/tests/test_call_policies.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import call_policies as m
from pybind11_tests import ConstructorStats
@pytest.mark.xfail("env.PYPY", reason="sometimes comes out 1 off on PyPy", strict=False)
def test_keep_alive_argument(capture):
n_inst = ConstructorStats.detai... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_modules.py | third_party/unitree_legged_sdk/pybind11/tests/test_modules.py | # -*- coding: utf-8 -*-
from pybind11_tests import modules as m
from pybind11_tests.modules import subsubmodule as ms
from pybind11_tests import ConstructorStats
def test_nested_modules():
import pybind11_tests
assert pybind11_tests.__name__ == "pybind11_tests"
assert pybind11_tests.modules.__name__ == "p... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_callbacks.py | third_party/unitree_legged_sdk/pybind11/tests/test_callbacks.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import callbacks as m
from threading import Thread
def test_callbacks():
from functools import partial
def func1():
return "func1"
def func2(a, b, c, d):
return "func2", a, b, c, d
def func3(a):
return "func3({})".for... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_stl.py | third_party/unitree_legged_sdk/pybind11/tests/test_stl.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import stl as m
from pybind11_tests import UserType
from pybind11_tests import ConstructorStats
def test_vector(doc):
"""std::vector <-> list"""
lst = m.cast_vector()
assert lst == [1]
lst.append(2)
assert m.load_vector(lst)
assert m.l... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_multiple_inheritance.py | third_party/unitree_legged_sdk/pybind11/tests/test_multiple_inheritance.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import ConstructorStats
from pybind11_tests import multiple_inheritance as m
def test_multiple_inheritance_cpp():
mt = m.MIType(3, 4)
assert mt.foo() == 3
assert mt.bar() == 4
@pytest.mark.skipif("env.PYPY and env.PY2"... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_iostream.py | third_party/unitree_legged_sdk/pybind11/tests/test_iostream.py | # -*- coding: utf-8 -*-
from pybind11_tests import iostream as m
import sys
from contextlib import contextmanager
try:
# Python 3
from io import StringIO
except ImportError:
# Python 2
try:
from cStringIO import StringIO
except ImportError:
from StringIO import StringIO
try:
#... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_exceptions.py | third_party/unitree_legged_sdk/pybind11/tests/test_exceptions.py | # -*- coding: utf-8 -*-
import sys
import pytest
from pybind11_tests import exceptions as m
import pybind11_cross_module_tests as cm
def test_std_exception(msg):
with pytest.raises(RuntimeError) as excinfo:
m.throw_std_exception()
assert msg(excinfo.value) == "This exception was intentionally thrown... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_sequences_and_iterators.py | third_party/unitree_legged_sdk/pybind11/tests/test_sequences_and_iterators.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import sequences_and_iterators as m
from pybind11_tests import ConstructorStats
def isclose(a, b, rel_tol=1e-05, abs_tol=0.0):
"""Like math.isclose() from Python 3.5"""
return abs(a - b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
def allclose(a_l... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_pytypes.py | third_party/unitree_legged_sdk/pybind11/tests/test_pytypes.py | # -*- coding: utf-8 -*-
from __future__ import division
import pytest
import sys
import env # noqa: F401
from pybind11_tests import pytypes as m
from pybind11_tests import debug_enabled
def test_int(doc):
assert doc(m.get_int) == "get_int() -> int"
def test_iterator(doc):
assert doc(m.get_iterator) == "g... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_enum.py | third_party/unitree_legged_sdk/pybind11/tests/test_enum.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import enums as m
def test_unscoped_enum():
assert str(m.UnscopedEnum.EOne) == "UnscopedEnum.EOne"
assert str(m.UnscopedEnum.ETwo) == "UnscopedEnum.ETwo"
assert str(m.EOne) == "UnscopedEnum.EOne"
assert repr(m.UnscopedEnum.EOne) == "<UnscopedEn... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_numpy_vectorize.py | third_party/unitree_legged_sdk/pybind11/tests/test_numpy_vectorize.py | # -*- coding: utf-8 -*-
import pytest
from pybind11_tests import numpy_vectorize as m
np = pytest.importorskip("numpy")
def test_vectorize(capture):
assert np.isclose(m.vectorized_func3(np.array(3 + 7j)), [6 + 14j])
for f in [m.vectorized_func, m.vectorized_func2]:
with capture:
assert n... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_virtual_functions.py | third_party/unitree_legged_sdk/pybind11/tests/test_virtual_functions.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
m = pytest.importorskip("pybind11_tests.virtual_functions")
from pybind11_tests import ConstructorStats # noqa: E402
def test_override(capture, msg):
class ExtendedExampleVirt(m.ExampleVirt):
def __init__(self, state):
super(Ext... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_async.py | third_party/unitree_legged_sdk/pybind11/tests/test_async.py | # -*- coding: utf-8 -*-
import pytest
asyncio = pytest.importorskip("asyncio")
m = pytest.importorskip("pybind11_tests.async_module")
@pytest.fixture
def event_loop():
loop = asyncio.new_event_loop()
yield loop
loop.close()
async def get_await_result(x):
return await x
def test_await(event_loop):... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_gil_scoped.py | third_party/unitree_legged_sdk/pybind11/tests/test_gil_scoped.py | # -*- coding: utf-8 -*-
import multiprocessing
import threading
from pybind11_tests import gil_scoped as m
def _run_in_process(target, *args, **kwargs):
"""Runs target in process and returns its exitcode after 10s (None if still alive)."""
process = multiprocessing.Process(target=target, args=args, kwargs=kw... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_constants_and_functions.py | third_party/unitree_legged_sdk/pybind11/tests/test_constants_and_functions.py | # -*- coding: utf-8 -*-
import pytest
m = pytest.importorskip("pybind11_tests.constants_and_functions")
def test_constants():
assert m.some_constant == 14
def test_function_overloading():
assert m.test_function() == "test_function()"
assert m.test_function(7) == "test_function(7)"
assert m.test_fun... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_stl_binders.py | third_party/unitree_legged_sdk/pybind11/tests/test_stl_binders.py | # -*- coding: utf-8 -*-
import pytest
import env # noqa: F401
from pybind11_tests import stl_binders as m
def test_vector_int():
v_int = m.VectorInt([0, 0])
assert len(v_int) == 2
assert bool(v_int) is True
# test construction from a generator
v_int1 = m.VectorInt(x for x in range(5))
asse... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/env.py | third_party/unitree_legged_sdk/pybind11/tests/env.py | # -*- coding: utf-8 -*-
import platform
import sys
LINUX = sys.platform.startswith("linux")
MACOS = sys.platform.startswith("darwin")
WIN = sys.platform.startswith("win32") or sys.platform.startswith("cygwin")
CPYTHON = platform.python_implementation() == "CPython"
PYPY = platform.python_implementation() == "PyPy"
P... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/extra_setuptools/test_setuphelper.py | third_party/unitree_legged_sdk/pybind11/tests/extra_setuptools/test_setuphelper.py | # -*- coding: utf-8 -*-
import os
import sys
import subprocess
from textwrap import dedent
import pytest
DIR = os.path.abspath(os.path.dirname(__file__))
MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
@pytest.mark.parametrize("parallel", [False, True])
@pytest.mark.parametrize("std", [11, 0])
def test_simple_setu... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_cmake_build/test.py | third_party/unitree_legged_sdk/pybind11/tests/test_cmake_build/test.py | # -*- coding: utf-8 -*-
import sys
import test_cmake_build
assert test_cmake_build.add(1, 2) == 3
print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1]))
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/extra_python_package/test_files.py | third_party/unitree_legged_sdk/pybind11/tests/extra_python_package/test_files.py | # -*- coding: utf-8 -*-
import contextlib
import os
import string
import subprocess
import sys
import tarfile
import zipfile
# These tests must be run explicitly
# They require CMake 3.15+ (--install)
DIR = os.path.abspath(os.path.dirname(__file__))
MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
main_headers = {
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/tests/test_embed/test_interpreter.py | third_party/unitree_legged_sdk/pybind11/tests/test_embed/test_interpreter.py | # -*- coding: utf-8 -*-
from widget_module import Widget
class DerivedWidget(Widget):
def __init__(self, message):
super(DerivedWidget, self).__init__(message)
def the_answer(self):
return 42
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/pybind11/setup_helpers.py | third_party/unitree_legged_sdk/pybind11/pybind11/setup_helpers.py | # -*- coding: utf-8 -*-
"""
This module provides helpers for C++11+ projects using pybind11.
LICENSE:
Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/pybind11/commands.py | third_party/unitree_legged_sdk/pybind11/pybind11/commands.py | # -*- coding: utf-8 -*-
import os
DIR = os.path.abspath(os.path.dirname(__file__))
def get_include(user=False):
installed_path = os.path.join(DIR, "include")
source_path = os.path.join(os.path.dirname(DIR), "include")
return installed_path if os.path.exists(installed_path) else source_path
def get_cma... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/pybind11/_version.py | third_party/unitree_legged_sdk/pybind11/pybind11/_version.py | # -*- coding: utf-8 -*-
def _to_int(s):
try:
return int(s)
except ValueError:
return s
__version__ = "2.6.0rc1"
version_info = tuple(_to_int(s) for s in __version__.split("."))
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/pybind11/__main__.py | third_party/unitree_legged_sdk/pybind11/pybind11/__main__.py | # -*- coding: utf-8 -*-
from __future__ import print_function
import argparse
import sys
import sysconfig
from .commands import get_include, get_cmake_dir
def print_includes():
dirs = [
sysconfig.get_path("include"),
sysconfig.get_path("platinclude"),
get_include(),
]
# Make uni... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/pybind11/__init__.py | third_party/unitree_legged_sdk/pybind11/pybind11/__init__.py | # -*- coding: utf-8 -*-
from ._version import version_info, __version__
from .commands import get_include, get_cmake_dir
__all__ = (
"version_info",
"__version__",
"get_include",
"get_cmake_dir",
)
| python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/docs/benchmark.py | third_party/unitree_legged_sdk/pybind11/docs/benchmark.py | # -*- coding: utf-8 -*-
import random
import os
import time
import datetime as dt
nfns = 4 # Functions per class
nargs = 4 # Arguments per function
def generate_dummy_code_pybind11(nclasses=10):
decl = ""
bindings = ""
for cl in range(nclasses):
decl += "class cl%03i;\n" % cl
decl += '\n'
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/third_party/unitree_legged_sdk/pybind11/docs/conf.py | third_party/unitree_legged_sdk/pybind11/docs/conf.py | #!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# pybind11 documentation build configuration file, created by
# sphinx-quickstart on Sun Oct 11 19:23:48 2015.
#
# This file is execfile()d with the current directory set to its
# containing dir.
#
# Note that not all possible configuration values are present in this
# a... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/a1_sim.py | mpc_controller/a1_sim.py | import re
import numpy as np
URDF_NAME = "a1/a1.urdf"
START_POS = [0, 0, 0.32]
MPC_BODY_MASS = 108 / 9.8
MPC_BODY_INERTIA = np.array(
(0.017, 0, 0, 0, 0.057, 0, 0, 0, 0.064)) * 0.1#* 2
MPC_BODY_HEIGHT = 0.24
MPC_VELOCITY_MULTIPLIER = 0.5
ACTION_REPEAT = 5
_IDENTITY_ORIENTATION=[0,0,0,1]
HIP_NAME_PATTERN ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/laikago_sim.py | mpc_controller/laikago_sim.py | import re
import numpy as np
URDF_NAME = "laikago/laikago_toes_zup.urdf"
START_POS = [0, 0, 0.48]
MPC_BODY_MASS = 215/9.8
MPC_BODY_INERTIA = (0.07335, 0, 0, 0, 0.25068, 0, 0, 0, 0.25447)
MPC_BODY_HEIGHT = 0.42
MPC_VELOCITY_MULTIPLIER = 1.0
ACTION_REPEAT = 10
_IDENTITY_ORIENTATION=[0,0,0,1]
CHASSIS_NAME_PATTERN = ... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/openloop_gait_generator.py | mpc_controller/openloop_gait_generator.py | """Gait pattern planning module."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = o... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/torque_stance_leg_controller.py | mpc_controller/torque_stance_leg_controller.py | # Lint as: python3
"""A torque based stance controller framework."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspec... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/raibert_swing_leg_controller.py | mpc_controller/raibert_swing_leg_controller.py | """The swing leg controller class."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir =... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/locomotion_controller_example.py | mpc_controller/locomotion_controller_example.py |
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
os.sys.pa... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/spirit40_sim.py | mpc_controller/spirit40_sim.py | import re
import numpy as np
URDF_NAME = "quadruped/spirit40newer.urdf"
START_POS = [0, 0, 0.43]
MPC_BODY_MASS = 12
MPC_BODY_INERTIA = (0.07335, 0, 0, 0, 0.25068, 0, 0, 0, 0.25447)
MPC_BODY_HEIGHT = 0.32
time_step = 0.001
ACTION_REPEAT = 10
MPC_VELOCITY_MULTIPLIER = 0.7
_IDENTITY_ORIENTATION=[0,0,0,1]
HIP_NAME_PATTE... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/static_gait_controller.py | mpc_controller/static_gait_controller.py | # Lint as: python3
"""A static gait controller for a quadruped robot. Experimental code."""
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
os.sys.path.insert(0, parentdir)
import numpy as np
from mpc_controller i... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/locomotion_controller.py | mpc_controller/locomotion_controller.py | """A model based controller framework."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentd... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/model_predictive_control.py | mpc_controller/model_predictive_control.py | # Lint as: python3
"""Classic model predictive control methods."""
from __future__ import absolute_import
from __future__ import division
from __future__ import google_type_annotations
from __future__ import print_function
import math
from typing import Sequence
import numpy as np
_MAX_ABS_RPY = 0.3
_MAX_ABS_ANGULAR... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/__init__.py | mpc_controller/__init__.py | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false | |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/torque_stance_leg_controller_quadprog.py | mpc_controller/torque_stance_leg_controller_quadprog.py | # Lint as: python3
"""A torque based stance controller framework."""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
from typing import Any, Sequence, Tuple
import numpy as np
# import time
from mpc_controller import gait_generator as gait_generator_lib
f... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/foot_stepper.py | mpc_controller/foot_stepper.py | # Lint as: python3
"""A state machine that steps each foot for a static gait. Experimental code."""
import copy
import math
import numpy as np
class StepInput(object):
def __init__(self):
self.base_com_pos = np.array([0, 0, 0])
self.base_com_orn = np.array([0, 0, 0, 1])
self.toe_pos_world = np.array(... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/gait_generator.py | mpc_controller/gait_generator.py | """Gait pattern planning module."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import abc
import enum
class LegState(enum.Enum):
"""The state of a leg during locomotion."""
SWING = 0
STANCE = 1
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/leg_controller.py | mpc_controller/leg_controller.py | """The leg controller class interface."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import abc
from typing import Any
class LegController(object): # pytype: disable=ignored-metaclass
"""Generates th... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/com_velocity_estimator.py | mpc_controller/com_velocity_estimator.py | """State estimator."""
from __future__ import absolute_import
from __future__ import division
#from __future__ import google_type_annotations
from __future__ import print_function
import numpy as np
from typing import Any, Sequence
import collections
_DEFAULT_WINDOW_SIZE = 20
class MovingWindowFilter(object):
"... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/mpc_controller/qp_torque_optimizer.py | mpc_controller/qp_torque_optimizer.py | """Set up the zeroth-order QP problem for stance leg control.
For details, please refer to section XX of this paper:
https://arxiv.org/abs/2009.10019
"""
import numpy as np
# import numba
import quadprog # pytype:disable=import-error
np.set_printoptions(precision=3, suppress=True)
ACC_WEIGHT = np.array([1., 1., 1.,... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/retarget_motion/retarget_config_vision60.py | retarget_motion/retarget_config_vision60.py | import numpy as np
from motion_imitation.utilities import pose3d
from pybullet_utils import transformations
URDF_FILENAME = "quadruped/vision60.urdf"
REF_POS_SCALE = 1
INIT_POS = np.array([0, 0, 0])
INIT_ROT = np.array([0, 0, 0, 1.0])
SIM_TOE_JOINT_IDS = [
3, # left hand
7, # left foot
11, # right hand
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/retarget_motion/retarget_config_a1.py | retarget_motion/retarget_config_a1.py | import numpy as np
URDF_FILENAME = "a1/a1.urdf"
REF_POS_SCALE = 0.825
INIT_POS = np.array([0, 0, 0.32])
INIT_ROT = np.array([0, 0, 0, 1.0])
SIM_TOE_JOINT_IDS = [
5, # right hand
15, # right foot
10, # left hand
20, # left foot
]
SIM_HIP_JOINT_IDS = [1, 11, 6, 16]
SIM_ROOT_OFFSET = np.array([0, 0,... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/retarget_motion/retarget_config_laikago.py | retarget_motion/retarget_config_laikago.py | import numpy as np
from motion_imitation.utilities import pose3d
from pybullet_utils import transformations
URDF_FILENAME = "laikago/laikago_toes.urdf"
REF_POS_SCALE = 1
INIT_POS = np.array([0, 0, 0])
INIT_ROT = transformations.quaternion_from_euler(ai=np.pi / 2.0, aj=0, ak=np.pi / 2.0, axes="sxyz")
SIM_TOE_JOINT_I... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/retarget_motion/retarget_motion.py | retarget_motion/retarget_motion.py | """Run from motion_imitation/retarget_motion to find data correctly."""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirn... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/safe_outdoor/resetters.py | safe_outdoor/resetters.py | """For resetting the robot to a ready pose."""
import inspect
import os
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
os.sys.path.insert(0, parentdir)
from motion_imitation.envs.env_wrappers import reset_task
from motion_imitation.... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/safe_outdoor/learning/yielding_sac_agent.py | safe_outdoor/learning/yielding_sac_agent.py | """SAC agent that yields after every environment episode."""
import collections
import numpy as np
import os
import tensorflow as tf
import time
import sac_dev.learning.sac_agent as sac_agent
import sac_dev.util.logger as logger
import sac_dev.util.mpi_util as mpi_util
import sac_dev.util.replay_buffer as replay_buff... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/run.py | motion_imitation/run.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/__init__.py | motion_imitation/__init__.py | """Set up gym interface for locomotion environments."""
import gym
from gym.envs.registration import registry, make, spec
def register(env_id, *args, **kvargs):
if env_id in registry.env_specs:
return
else:
return gym.envs.registration.register(env_id, *args, **kvargs)
register(
env_id='A1GymEnv-v1',... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/run_sac.py | motion_imitation/run_sac.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_builder.py | motion_imitation/envs/env_builder.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/locomotion_gym_env.py | motion_imitation/envs/locomotion_gym_env.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/__init__.py | motion_imitation/envs/__init__.py | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false | |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/locomotion_gym_config.py | motion_imitation/envs/locomotion_gym_config.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/simple_forward_task.py | motion_imitation/envs/env_wrappers/simple_forward_task.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/survival_task.py | motion_imitation/envs/env_wrappers/survival_task.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/reset_task.py | motion_imitation/envs/env_wrappers/reset_task.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/observation_dictionary_to_array_wrapper.py | motion_imitation/envs/env_wrappers/observation_dictionary_to_array_wrapper.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/default_task.py | motion_imitation/envs/env_wrappers/default_task.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/boundary_terminal_conditions.py | motion_imitation/envs/env_wrappers/boundary_terminal_conditions.py | """Ends episode if robot is outside workspace bounds."""
class BoundaryTerminalCondition(object):
"""Ends episode if robot is outside workspace bounds."""
def __init__(self, x_space_m=5, y_space_m=5):
"""Constructor.
:param x_space_m: Length of workspace in meters.
:param y_space_m: Width of workspa... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/imitation_task.py | motion_imitation/envs/env_wrappers/imitation_task.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | true |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/logging_wrapper.py | motion_imitation/envs/env_wrappers/logging_wrapper.py | """Env wrapper that saves logs."""
import atexit
import os
import numpy as np
from phasespace import phasespace_robot_tracker
class LoggingWrapper(object):
"""Env wrapper that saves logs."""
def __init__(self,
env,
output_dir,
mocap_grpc_server=None,
... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/__init__.py | motion_imitation/envs/env_wrappers/__init__.py | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false | |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/trajectory_generator_wrapper_env.py | motion_imitation/envs/env_wrappers/trajectory_generator_wrapper_env.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/imitation_wrapper_env.py | motion_imitation/envs/env_wrappers/imitation_wrapper_env.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/simple_openloop.py | motion_imitation/envs/env_wrappers/simple_openloop.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/env_wrappers/imitation_terminal_conditions.py | motion_imitation/envs/env_wrappers/imitation_terminal_conditions.py | # coding=utf-8
# Copyright 2020 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicab... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/gym_envs/a1_gym_env.py | motion_imitation/envs/gym_envs/a1_gym_env.py | """Wrapper to make the a1 environment suitable for OpenAI gym."""
import gym
from motion_imitation.envs import env_builder
from motion_imitation.robots import a1
from motion_imitation.robots import robot_config
class A1GymEnv(gym.Env):
"""A1 environment that supports the gym interface."""
metadata = {'render.mod... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
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