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add yapf style and apply yapf to format all Python files

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This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
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149
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
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@@ -1,7 +1,7 @@
import os, inspect
import os, 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)
os.sys.path.insert(0, parentdir)
import math
import gym
@@ -19,11 +19,9 @@ from pkg_resources import parse_version
RENDER_HEIGHT = 720
RENDER_WIDTH = 960
class RacecarZEDGymEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second' : 50
}
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}
def __init__(self,
urdfRoot=pybullet_data.getDataPath(),
@@ -44,8 +42,7 @@ class RacecarZEDGymEnv(gym.Env):
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(
connection_mode=pybullet.GUI)
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
@@ -59,11 +56,14 @@ class RacecarZEDGymEnv(gym.Env):
if (isDiscrete):
self.action_space = spaces.Discrete(9)
else:
action_dim = 2
self._action_bound = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4), dtype=np.uint8)
action_dim = 2
self._action_bound = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self._height, self._width, 4),
dtype=np.uint8)
self.viewer = None
@@ -72,23 +72,24 @@ class RacecarZEDGymEnv(gym.Env):
#p.setPhysicsEngineParameter(numSolverIterations=300)
self._p.setTimeStep(self._timeStep)
#self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
stadiumobjects = self._p.loadSDF(os.path.join(self._urdfRoot,"stadium.sdf"))
stadiumobjects = self._p.loadSDF(os.path.join(self._urdfRoot, "stadium.sdf"))
#move the stadium objects slightly above 0
for i in stadiumobjects:
pos,orn = self._p.getBasePositionAndOrientation(i)
newpos = [pos[0],pos[1],pos[2]+0.1]
self._p.resetBasePositionAndOrientation(i,newpos,orn)
pos, orn = self._p.getBasePositionAndOrientation(i)
newpos = [pos[0], pos[1], pos[2] + 0.1]
self._p.resetBasePositionAndOrientation(i, newpos, orn)
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
dist = 5 + 2. * random.random()
ang = 2. * 3.1415925438 * random.random()
ballx = dist * math.sin(ang)
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2red.urdf"),[ballx,bally,ballz])
self._p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot, "sphere2red.urdf"),
[ballx, bally, ballz])
self._p.setGravity(0, 0, -10)
self._racecar = racecar.Racecar(self._p, urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
for i in range(100):
self._p.stepSimulation()
@@ -103,38 +104,50 @@ class RacecarZEDGymEnv(gym.Env):
return [seed]
def getExtendedObservation(self):
carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
carmat = self._p.getMatrixFromQuaternion(carorn)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
dist0 = 0.3
dist1 = 1.
eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
up = [carmat[2],carmat[5],carmat[8]]
viewMat = self._p.computeViewMatrix(eyePos,targetPos,up)
#viewMat = self._p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
#print("projectionMatrix:")
#print(self._p.getDebugVisualizerCamera()[3])
projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
img_arr = self._p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
rgb=img_arr[2]
np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
self._observation = np_img_arr
return self._observation
carpos, carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
carmat = self._p.getMatrixFromQuaternion(carorn)
ballpos, ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos, invCarOrn = self._p.invertTransform(carpos, carorn)
ballPosInCar, ballOrnInCar = self._p.multiplyTransforms(invCarPos, invCarOrn, ballpos, ballorn)
dist0 = 0.3
dist1 = 1.
eyePos = [
carpos[0] + dist0 * carmat[0], carpos[1] + dist0 * carmat[3],
carpos[2] + dist0 * carmat[6] + 0.3
]
targetPos = [
carpos[0] + dist1 * carmat[0], carpos[1] + dist1 * carmat[3],
carpos[2] + dist1 * carmat[6] + 0.3
]
up = [carmat[2], carmat[5], carmat[8]]
viewMat = self._p.computeViewMatrix(eyePos, targetPos, up)
#viewMat = self._p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
#print("projectionMatrix:")
#print(self._p.getDebugVisualizerCamera()[3])
projMatrix = [
0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0,
0.0, 0.0, -0.02000020071864128, 0.0
]
img_arr = self._p.getCameraImage(width=self._width,
height=self._height,
viewMatrix=viewMat,
projectionMatrix=projMatrix)
rgb = img_arr[2]
np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
self._observation = np_img_arr
return self._observation
def step(self, action):
if (self._renders):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
basePos, orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
if (self._isDiscrete):
fwd = [-1,-1,-1,0,0,0,1,1,1]
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
forward = fwd[action]
steer = steerings[action]
realaction = [forward,steer]
fwd = [-1, -1, -1, 0, 0, 0, 1, 1, 1]
steerings = [-0.6, 0, 0.6, -0.6, 0, 0.6, -0.6, 0, 0.6]
forward = fwd[action]
steer = steerings[action]
realaction = [forward, steer]
else:
realaction = action
@@ -157,35 +170,37 @@ class RacecarZEDGymEnv(gym.Env):
def render(self, mode='human', close=False):
if mode != "rgb_array":
return np.array([])
base_pos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._p.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._p.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
base_pos, orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._p.computeProjectionMatrixFOV(fov=60,
aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
nearVal=0.1,
farVal=100.0)
(_, _, px, _, _) = self._p.getCameraImage(width=RENDER_WIDTH,
height=RENDER_HEIGHT,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
def _termination(self):
return self._envStepCounter>1000
return self._envStepCounter > 1000
def _reward(self):
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId, self._ballUniqueId,
10000)
numPt = len(closestPoints)
reward=-1000
reward = -1000
#print(numPt)
if (numPt>0):
if (numPt > 0):
#print("reward:")
reward = -closestPoints[0][8]
#print(reward)