repo stringlengths 7 90 | file_url stringlengths 81 315 | file_path stringlengths 4 228 | content stringlengths 0 32.8k | language stringclasses 1
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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 |
|---|---|---|---|---|---|---|---|---|
lauramsmith/fine-tuning-locomotion | https://github.com/lauramsmith/fine-tuning-locomotion/blob/583f1de43e91cdd24d632d783872528eb1337480/motion_imitation/envs/gym_envs/__init__.py | motion_imitation/envs/gym_envs/__init__.py | """Setup such that environment can be created using gym.make()."""
from motion_imitation.envs.gym_envs.a1_gym_env import A1GymEnv
| 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/utilities/heightfield_randomizer.py | motion_imitation/envs/utilities/heightfield_randomizer.py | """Generates a random bumpy terrain at environment reset."""
import numpy as np
from pybullet_envs.minitaur.envs import env_randomizer_base
class HeightfieldRandomizer(env_randomizer_base.EnvRandomizerBase):
"""Generates an uneven terrain in the gym env."""
def __init__(self, max_height_perturbation=.05):
"... | 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/utilities/fallen_robot_randomizer.py | motion_imitation/envs/utilities/fallen_robot_randomizer.py | """Drops the robot with random orientation at episode start."""
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
import numpy as np
from motion_imitation.envs.utilit... | 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/utilities/env_randomizer_base.py | motion_imitation/envs/utilities/env_randomizer_base.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/utilities/minitaur_env_randomizer.py | motion_imitation/envs/utilities/minitaur_env_randomizer.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/utilities/env_utils.py | motion_imitation/envs/utilities/env_utils.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/utilities/controllable_env_randomizer_from_config.py | motion_imitation/envs/utilities/controllable_env_randomizer_from_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/utilities/minitaur_env_randomizer_config.py | motion_imitation/envs/utilities/minitaur_env_randomizer_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/utilities/controllable_env_randomizer_base.py | motion_imitation/envs/utilities/controllable_env_randomizer_base.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/utilities/__init__.py | motion_imitation/envs/utilities/__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/utilities/minitaur_env_randomizer_from_config.py | motion_imitation/envs/utilities/minitaur_env_randomizer_from_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/sensors/robot_sensors.py | motion_imitation/envs/sensors/robot_sensors.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/sensors/space_utils.py | motion_imitation/envs/sensors/space_utils.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/sensors/environment_sensors.py | motion_imitation/envs/sensors/environment_sensors.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/sensors/sensor_wrappers.py | motion_imitation/envs/sensors/sensor_wrappers.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/sensors/sensor.py | motion_imitation/envs/sensors/sensor.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/sensors/__init__.py | motion_imitation/envs/sensors/__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/learning/ppo_imitation.py | motion_imitation/learning/ppo_imitation.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/learning/imitation_policies.py | motion_imitation/learning/imitation_policies.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/learning/__init__.py | motion_imitation/learning/__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/learning/imitation_runners.py | motion_imitation/learning/imitation_runners.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/robots/minitaur_motor.py | motion_imitation/robots/minitaur_motor.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/robots/minitaur_pose_utils.py | motion_imitation/robots/minitaur_pose_utils.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/robots/laikago_motor.py | motion_imitation/robots/laikago_motor.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/robots/robot_config.py | motion_imitation/robots/robot_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/robots/action_filter.py | motion_imitation/robots/action_filter.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/robots/robot_pose_utils.py | motion_imitation/robots/robot_pose_utils.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/robots/a1_robot_velocity_estimator.py | motion_imitation/robots/a1_robot_velocity_estimator.py | """Estimates base velocity for A1 robot from accelerometer readings."""
import numpy as np
from filterpy.kalman import KalmanFilter
from motion_imitation.utilities.moving_window_filter import MovingWindowFilter
class VelocityEstimator:
"""Estimates base velocity of A1 robot.
The velocity estimator consists of 2 ... | 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/robots/minitaur.py | motion_imitation/robots/minitaur.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/robots/laikago.py | motion_imitation/robots/laikago.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/robots/a1_robot.py | motion_imitation/robots/a1_robot.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/robots/laikago_constants.py | motion_imitation/robots/laikago_constants.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/robots/minitaur_constants.py | motion_imitation/robots/minitaur_constants.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/robots/__init__.py | motion_imitation/robots/__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/robots/laikago_pose_utils.py | motion_imitation/robots/laikago_pose_utils.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/robots/kinematics.py | motion_imitation/robots/kinematics.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/robots/a1.py | motion_imitation/robots/a1.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/robots/gamepad/gamepad_reader.py | motion_imitation/robots/gamepad/gamepad_reader.py | from absl import app
from absl import flags
from inputs import get_gamepad
import threading
import time
FLAGS = flags.FLAGS
MAX_ABS_RX = 32768
MAX_ABS_RY = 32768
def _interpolate(raw_reading, max_raw_reading, new_scale):
return raw_reading / max_raw_reading * new_scale
class Gamepad:
"""Interface for reading c... | 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/examples/test_robot_interface.py | motion_imitation/examples/test_robot_interface.py | """Test the C++ robot interface.
Follow the
"""
from robot_interface import RobotInterface # pytype: disable=import-error
i = RobotInterface()
o = i.receive_observation()
| 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/examples/mpc_example.py | motion_imitation/examples/mpc_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(os.path.dirname(curre... | 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/examples/a1_robot_sim_to_real.py | motion_imitation/examples/a1_robot_sim_to_real.py | """Apply the same action to the simulated and real A1 robot.
As a basic debug tool, this script allows you to execute the same action
(which you choose from the pybullet GUI) on the simulation and real robot
simultaneouly. Make sure to put the real robot on rack before testing.
"""
import os
import inspect
currentdi... | 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/examples/a1_print_angles.py | motion_imitation/examples/a1_print_angles.py | """Reads and prints joint angles from A1 robot without powering them.
By default prints all joint angles. To select specific joints:
`python a1_print_angles.py --joint FR_hip_motor --joint RL_upper_joint`
"""
import inspect
import os
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentfr... | 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/examples/replay_actions.py | motion_imitation/examples/replay_actions.py | """Replays pre-recorded actions on the robot."""
from absl import app
from absl import flags
import numpy as np
import pybullet # pytype:disable=import-error
import pybullet_data
from pybullet_utils import bullet_client
import time
# from motion_imitation.robots import a1
from motion_imitation.robots import a1_robot
... | 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/examples/example.py | motion_imitation/examples/example.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/examples/whole_body_controller_example.py | motion_imitation/examples/whole_body_controller_example.py | """Example of whole body controller on A1 robot."""
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
from absl import app
from absl import flags
from absl import logg... | 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/examples/a1_test_imu.py | motion_imitation/examples/a1_test_imu.py | """Executes scripted motions and logs IMU readings.
Pitches the robot forward and backward and rolls it slightly left and right with
fixed joint positions. By running this in both sim and real, the real robot's
IMU readings can be compared to simulation.
"""
import inspect
import os
currentdir = os.path.dirname(
... | 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/examples/__init__.py | motion_imitation/examples/__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/examples/random_action.py | motion_imitation/examples/random_action.py | """Simple script for executing random actions on A1 robot."""
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
from absl import app
from absl import flags
from tqdm ... | 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/examples/test_env_gui.py | motion_imitation/examples/test_env_gui.py | """Simple script for executing random actions on A1 robot."""
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
from absl import app
from absl import flags
import num... | 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/examples/a1_robot_exercise.py | motion_imitation/examples/a1_robot_exercise.py | """Commands A1 robot to raise and lower its legs so it crouches and stands up.
Can be run in sim by setting --real_robot=False.
"""
import inspect
import os
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
grandparentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys... | 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/utilities/motion_util.py | motion_imitation/utilities/motion_util.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/utilities/motion_data.py | motion_imitation/utilities/motion_data.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/utilities/moving_window_filter.py | motion_imitation/utilities/moving_window_filter.py | """Moving window filter to smooth out sensor readings."""
import collections
class MovingWindowFilter(object):
"""A stable O(1) moving filter for incoming data streams.
We implement the Neumaier's algorithm to calculate the moving window average,
which is numerically stable.
"""
def __init__(self, window... | 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/utilities/pose3d.py | motion_imitation/utilities/pose3d.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/utilities/__init__.py | motion_imitation/utilities/__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/utilities/a1/a1.py | motion_imitation/utilities/a1/a1.py | import pybullet as p
import time
import pybullet_data as pd
import numpy as np
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
dt = 1./240.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane.urdf")
robot = p.loadURDF("a1/a1.urdf",[0,0,0.5])
p.configureDebugVisualizer(p.COV_ENABLE_RENDE... | 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/data/__init__.py | motion_imitation/data/__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/sac_dev/run.py | sac_dev/run.py | import argparse
import gym
import numpy as np
import os
import random
import sys
import tensorflow as tf
import time
import sac_configs
import learning.sac_agent as sac_agent
import util.mpi_util as mpi_util
arg_parser = None
def parse_args(args):
parser = argparse.ArgumentParser(description="Train or test contr... | 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/sac_dev/sac_configs.py | sac_dev/sac_configs.py | SAC_CONFIGS = {
"Ant-v2":
{
"actor_net": "fc_2layers_256units",
"critic_net": "fc_2layers_256units",
"actor_stepsize": 0.0003,
"actor_init_output_scale": 0.01,
"actor_batch_size": 256,
"actor_steps": 256,
"action_std": 0.2,
"critic_stepsi... | 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/sac_dev/util/mpi_util.py | sac_dev/util/mpi_util.py | import copy
import numpy as np
# from mpi4py import MPI
ROOT_PROC_RANK = 0
class MockMPI(object):
class MockCommWorld(object):
def Get_size(self):
return 1
def Get_rank(self):
return 0
def Bcast(self, x, root):
return x
def Allreduce(self, x... | 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/sac_dev/util/rl_path.py | sac_dev/util/rl_path.py | import enum
import numpy as np
import time
class Terminate(enum.Enum):
Null = 0
Fail = 1
class RLPath(object):
def __init__(self):
self.states = []
self.actions = []
self.logps = []
self.rewards = []
self.max_torques = []
self.terminate = Terminate.... | 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/sac_dev/util/saved_policy.py | sac_dev/util/saved_policy.py | """Run inference with a saved policy."""
import numpy as np
import tensorflow.compat.v1 as tf
class SavedPolicy(object):
"""Load a policy saved with sac_agent.py."""
def __init__(self, export_dir):
"""Constructor.
Args:
export_dir: Directory and model identifier for reloading policy. Must
... | 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/sac_dev/util/logger.py | sac_dev/util/logger.py | """
Some simple logging functionality, inspired by rllab's logging.
Assumes that each diagnostic gets logged each iteration
Call logz.configure_output_file() to start logging to a
tab-separated-values file (some_file_name.txt)
To load the learning curves, you can do, for example
A = np.genfromtxt('/tmp/expt_146898... | 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/sac_dev/util/net_util.py | sac_dev/util/net_util.py | import tensorflow as tf
def build_fc_net(input_tfs, layers,
activation=tf.nn.relu,
weight_init=tf.contrib.layers.xavier_initializer(),
reuse=False):
curr_tf = tf.concat(axis=-1, values=input_tfs)
for i, size in enumerate(layers):
with tf.vari... | 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/sac_dev/util/__init__.py | sac_dev/util/__init__.py | from . import * | 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/sac_dev/util/tf_util.py | sac_dev/util/tf_util.py | import tensorflow as tf
import numpy as np
def var_shape(x):
out = [k.value for k in x.get_shape()]
assert all(isinstance(a, int) for a in out), "shape function assumes that shape is fully known"
return out
def intprod(x):
return int(np.prod(x))
def numel(x):
n = intprod(var_shape(x))
return ... | 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/sac_dev/util/replay_buffer.py | sac_dev/util/replay_buffer.py | import numpy as np
import copy
import sac_dev.util.logger as logger
import sac_dev.util.rl_path as rl_path
INVALID_IDX = -1
class ReplayBuffer(object):
TERMINATE_KEY = "terminate"
PATH_START_KEY = "path_start"
PATH_END_KEY = "path_end"
def __init__(self, buffer_size):
assert buffer_size > 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/sac_dev/util/normalizer.py | sac_dev/util/normalizer.py | import copy
import numpy as np
import tensorflow as tf
from sac_dev.util.logger import Logger
import sac_dev.util.mpi_util as mpi_util
class Normalizer(object):
CHECK_SYNC_COUNT = 50000 # check synchronization after a certain number of entries
def __init__(self,
sess,
... | 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/sac_dev/learning/rl_agent.py | sac_dev/learning/rl_agent.py | import abc
import collections
import copy
import gym
import numpy as np
import os
import tensorflow as tf
import time
import sac_dev.util.logger as logger
import sac_dev.util.mpi_util as mpi_util
import sac_dev.util.normalizer as normalizer
import sac_dev.util.replay_buffer as replay_buffer
import sac_dev.util.rl_path... | 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/sac_dev/learning/sac_agent.py | sac_dev/learning/sac_agent.py | import gym
import numpy as np
import tensorflow as tf
import time
import sac_dev.learning.nets.net_builder as net_builder
import sac_dev.learning.rl_agent as rl_agent
import sac_dev.learning.mpi_solver as mpi_solver
import sac_dev.util.rl_path as rl_path
import sac_dev.util.mpi_util as mpi_util
import sac_dev.util.net... | 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/sac_dev/learning/__init__.py | sac_dev/learning/__init__.py | from . import * | 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/sac_dev/learning/mpi_solver.py | sac_dev/learning/mpi_solver.py | import tensorflow as tf
import numpy as np
import sac_dev.util.tf_util as TFUtil
import sac_dev.util.mpi_util as MPIUtil
from sac_dev.util.logger import Logger
class MPISolver():
CHECK_SYNC_ITERS = 1000
def __init__(self, sess, optimizer, vars):
self._vars = vars
self._sess = sess
self... | 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/sac_dev/learning/nets/fc_2layers_256units.py | sac_dev/learning/nets/fc_2layers_256units.py | import tensorflow as tf
import sac_dev.util.net_util as net_util
NAME = "fc_2layers_256units"
def build_net(input_tfs, reuse=False):
layers = [256, 128]
activation = tf.nn.relu
h = net_util.build_fc_net(input_tfs=input_tfs, layers=layers, activation=activation, reuse=reuse)
return h | 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/sac_dev/learning/nets/net_builder.py | sac_dev/learning/nets/net_builder.py | import sac_dev.learning.nets.fc_2layers_256units as fc_2layers_256units
import sac_dev.learning.nets.fc_2layers_512units as fc_2layers_512units
def build_net(net_name, input_tfs, reuse=False):
net = None
if (net_name == fc_2layers_256units.NAME):
net = fc_2layers_256units.build_net(input_tfs, reuse)
... | 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/sac_dev/learning/nets/fc_2layers_512units.py | sac_dev/learning/nets/fc_2layers_512units.py | import tensorflow as tf
import sac_dev.util.net_util as net_util
NAME = "fc_2layers_512units"
def build_net(input_tfs, reuse=False):
layers = [512, 256]
activation = tf.nn.relu
h = net_util.build_fc_net(input_tfs=input_tfs, layers=layers, activation=activation, reuse=reuse)
return h | 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/sac_dev/learning/nets/__init__.py | sac_dev/learning/nets/__init__.py | from . import * | 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/phasespace/grpc_stream_client.py | phasespace/grpc_stream_client.py | """Basic python library to receive motion capture data over GRPC.
Basic usage:
client = grpc_stream_client.GrpcStreamClient(server_address_and_port)
stream = client.get_marker_data()
for data in stream:
# Do something with marker data in data.
# This loop should be able to run at least at the streaming frequency (... | 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/phasespace/marker_data_pb2_grpc.py | phasespace/marker_data_pb2_grpc.py | # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
"""Client and server classes corresponding to protobuf-defined services."""
import grpc
from phasespace import marker_data_pb2 as marker__data__pb2
class MarkerTrackerStub(object):
"""Missing associated documentation comment in .proto file."""... | 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/phasespace/phasespace_robot_tracker.py | phasespace/phasespace_robot_tracker.py | """Class to read in motion capture data and output position and orientation."""
from typing import Sequence, Text
import numpy as np
from phasespace import grpc_stream_client
from pybullet_utils import transformations
_ARRAY = Sequence[float]
MILLIMETER_TO_METER = 0.001
# ID that Phasespace has assigned to each mar... | 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/phasespace/marker_data_pb2.py | phasespace/marker_data_pb2.py | # -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# source: marker_data.proto
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from google.protobuf import reflection as _reflection
from google.pro... | python | Apache-2.0 | 583f1de43e91cdd24d632d783872528eb1337480 | 2026-01-05T07:14:12.892242Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/run_freescale.py | run_freescale.py | import os
import torch
from PIL import Image
from pipeline_freescale import StableDiffusionXLPipeline
from utils import load_prompts
from free_lunch_utils import register_free_upblock2d, register_free_crossattn_upblock2d
model_ckpt = "stabilityai/stable-diffusion-xl-base-1.0"
prompts_file = 'prompts/demo.txt'
prompts... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/gradio_app.py | gradio_app.py | import gradio as gr
import torch
from free_lunch_utils import register_free_upblock2d, register_free_crossattn_upblock2d
from pipeline_freescale import StableDiffusionXLPipeline
from pipeline_freescale_turbo import StableDiffusionXLPipeline_Turbo
dtype = torch.float16
device = "cuda"
model_ckpt = "stabilityai/stable... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/pipeline_freescale_imgen.py | pipeline_freescale_imgen.py | import inspect
import os
from typing import Any, Callable, Dict, List, Optional, Tuple, Union
import torch
from transformers import CLIPTextModel, CLIPTextModelWithProjection, CLIPTokenizer
from diffusers.image_processor import VaeImageProcessor
from diffusers.loaders import FromSingleFileMixin, LoraLoaderMixin, Text... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | true |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/pipeline_freescale_turbo.py | pipeline_freescale_turbo.py | import inspect
import os
from typing import Any, Callable, Dict, List, Optional, Tuple, Union
import torch
from transformers import CLIPTextModel, CLIPTextModelWithProjection, CLIPTokenizer
from diffusers.image_processor import VaeImageProcessor
from diffusers.loaders import FromSingleFileMixin, LoraLoaderMixin, Text... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | true |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/free_lunch_utils.py | free_lunch_utils.py | import torch
import torch.fft as fft
from diffusers.models.unet_2d_condition import logger
from diffusers.utils import is_torch_version
from typing import Any, Dict, List, Optional, Tuple, Union
""" Borrowed from https://github.com/ChenyangSi/FreeU/blob/main/demo/free_lunch_utils.py
"""
def isinstance_str(x: object, ... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/run_sdxl.py | run_sdxl.py | import os
import torch
from PIL import Image
from pipeline_sdxl import StableDiffusionXLPipeline
from utils import load_prompts
from free_lunch_utils import register_free_upblock2d, register_free_crossattn_upblock2d
model_ckpt = "stabilityai/stable-diffusion-xl-base-1.0"
prompts_file = 'prompts/imgen.txt'
prompts = l... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/utils.py | utils.py | def load_prompts(prompt_file):
f = open(prompt_file, 'r')
prompt_list = []
for idx, line in enumerate(f.readlines()):
l = line.strip()
if len(l) != 0:
prompt_list.append(l)
f.close()
return prompt_list | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/scale_attention.py | scale_attention.py | from typing import Any, Dict, Optional
import torch
import torch.nn.functional as F
from einops import rearrange
import random
def gaussian_kernel(kernel_size=3, sigma=1.0, channels=3):
x_coord = torch.arange(kernel_size)
gaussian_1d = torch.exp(-(x_coord - (kernel_size - 1) / 2) ** 2 / (2 * sigma ** 2))
... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/scale_attention_turbo.py | scale_attention_turbo.py | from typing import Any, Dict, Optional
import torch
import torch.nn.functional as F
from einops import rearrange
import random
def gaussian_kernel(kernel_size=3, sigma=1.0, channels=3):
x_coord = torch.arange(kernel_size)
gaussian_1d = torch.exp(-(x_coord - (kernel_size - 1) / 2) ** 2 / (2 * sigma ** 2))
... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/pipeline_sdxl.py | pipeline_sdxl.py | # Copyright 2023 The HuggingFace Team. All rights reserved.
#
# 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 applicabl... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | true |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/pipeline_freescale.py | pipeline_freescale.py | import inspect
import os
from typing import Any, Callable, Dict, List, Optional, Tuple, Union
import torch
from transformers import CLIPTextModel, CLIPTextModelWithProjection, CLIPTokenizer
from diffusers.image_processor import VaeImageProcessor
from diffusers.loaders import FromSingleFileMixin, LoraLoaderMixin, Text... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | true |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/run_freescale_turbo.py | run_freescale_turbo.py | import os
import torch
from PIL import Image
from pipeline_freescale_turbo import StableDiffusionXLPipeline_Turbo
from utils import load_prompts
from free_lunch_utils import register_free_upblock2d, register_free_crossattn_upblock2d
model_ckpt = "stabilityai/sdxl-turbo"
prompts_file = 'prompts/demo.txt'
prompts = loa... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
ali-vilab/FreeScale | https://github.com/ali-vilab/FreeScale/blob/7161bfcf2c180818db6a9f04f65e5b3963582ac7/run_freescale_imgen.py | run_freescale_imgen.py | import os
import torch
from PIL import Image
from pipeline_freescale_imgen import StableDiffusionXLPipeline
from utils import load_prompts
from free_lunch_utils import register_free_upblock2d, register_free_crossattn_upblock2d
img_path = 'imgen_intermediates/tmp_img.png'
mask_path = 'imgen_intermediates/tmp_mask.png'... | python | Apache-2.0 | 7161bfcf2c180818db6a9f04f65e5b3963582ac7 | 2026-01-05T07:14:43.712841Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/setup.py | setup.py | import pocketcasts
from setuptools import setup, find_packages
setup(
name="pocketcasts-api",
version=pocketcasts.api.__version__,
description=pocketcasts.api.__doc__,
url=pocketcasts.api.__url__,
author=pocketcasts.api.__author__,
author_email='ferguslongley@live.com',
license='MIT',
... | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/pocketcasts/api.py | pocketcasts/api.py | """Unofficial API for pocketcasts.com"""
import requests
from .podcast import Podcast
from .episode import Episode
__version__ = "0.2.3"
__author__ = "Fergus Longley"
__url__ = "https://github.com/exofudge/Pocket-Casts"
class Pocketcasts(object):
"""The main class for making getting and setting information from ... | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/pocketcasts/episode.py | pocketcasts/episode.py | from datetime import datetime
class Episode(object):
"""Class for podcast episodes"""
class PlayingStatus(object):
"""Class to allow ease of reference to play statuses"""
Unplayed = 0
Playing = 2
Played = 3
def __init__(self, uuid, podcast, **kwargs):
"""
A... | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/pocketcasts/__init__.py | pocketcasts/__init__.py | from .api import Pocketcasts
from .episode import Episode
from .podcast import Podcast | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/pocketcasts/podcast.py | pocketcasts/podcast.py | class Podcast(object):
"""Class for podcast information and methods"""
class SortOrder(object):
"""Class to allow ease of reference to sort orders"""
NewestToOldest = 3
OldestToNewest = 2
def __init__(self, uuid, api, **kwargs):
"""
Args:
uuid (str): Pod... | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
furgoose/Pocket-Casts | https://github.com/furgoose/Pocket-Casts/blob/54db3425a99a412a1fd3784c8e0247cd44356f3a/tests/test_api.py | tests/test_api.py | import os
import unittest
import pocketcasts
USERNAME = os.environ.get('POCKETCAST_USER')
PASSWORD = os.environ.get('POCKETCAST_PASSWORD')
class PocketcastTest(unittest.TestCase):
pocket = pocketcasts.Pocketcasts(USERNAME, PASSWORD)
def test_invalid_method(self):
self.assertRaises(Exception, self.po... | python | MIT | 54db3425a99a412a1fd3784c8e0247cd44356f3a | 2026-01-05T07:14:47.067072Z | false |
cqparts/cqparts | https://github.com/cqparts/cqparts/blob/018e87e14c2c4d1d40b4bfe6a7e22bcf9baf0a53/src/cqparts_fasteners/params.py | src/cqparts_fasteners/params.py | import six
from cqparts.params import Parameter, ParametricObject
# Types of things... not parts on their own, but utilised in many
from .solidtypes import fastener_heads
from .solidtypes import screw_drives
from .solidtypes import threads
# --------- Custom Parameter types ---------
class FastenerComponentParam(Pa... | python | Apache-2.0 | 018e87e14c2c4d1d40b4bfe6a7e22bcf9baf0a53 | 2026-01-05T07:14:41.025281Z | false |
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