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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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143
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
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@@ -3,83 +3,90 @@ from .env_bases import MJCFBaseBulletEnv
from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import pybullet
import pybullet
import os, sys
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId=-1
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def reset(self):
if (self.stateId>=0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def reset(self):
if (self.stateId >= 0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)
def camera_adjust(self):
self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
class InvertedPendulumSwingupBulletEnv(InvertedPendulumBulletEnv):
def __init__(self):
self.robot = InvertedPendulumSwingup()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId=-1
def __init__(self):
self.robot = InvertedPendulumSwingup()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedDoublePendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def reset(self):
if (self.stateId>=0):
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
# upright position: 0.6 (one pole) + 0.6 (second pole) * 0.5 (middle of second pole) = 0.9
# using <site> tag in original xml, upright position is 0.6 + 0.6 = 1.2, difference +0.3
dist_penalty = 0.01 * self.robot.pos_x ** 2 + (self.robot.pos_y + 0.3 - 2) ** 2
# v1, v2 = self.model.data.qvel[1:3] TODO when this fixed https://github.com/bulletphysics/bullet3/issues/1040
#vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
vel_penalty = 0
alive_bonus = 10
done = self.robot.pos_y + 0.3 <= 1
self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def __init__(self):
self.robot = InvertedDoublePendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def camera_adjust(self):
self.camera.move_and_look_at(0,1.2,1.2, 0,0,0.5)
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def reset(self):
if (self.stateId >= 0):
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
# upright position: 0.6 (one pole) + 0.6 (second pole) * 0.5 (middle of second pole) = 0.9
# using <site> tag in original xml, upright position is 0.6 + 0.6 = 1.2, difference +0.3
dist_penalty = 0.01 * self.robot.pos_x**2 + (self.robot.pos_y + 0.3 - 2)**2
# v1, v2 = self.model.data.qvel[1:3] TODO when this fixed https://github.com/bulletphysics/bullet3/issues/1040
#vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
vel_penalty = 0
alive_bonus = 10
done = self.robot.pos_y + 0.3 <= 1
self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.2, 0, 0, 0.5)