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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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1
examples/pybullet/gym/pybullet_envs/prediction/__init__.py
View File

@@ -1,3 +1,2 @@
from . import boxstack_pybullet_sim
from . import pybullet_sim_gym_env

111
examples/pybullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py
View File

@@ -14,10 +14,7 @@ class BoxStackPyBulletSim(object):
"""
def __init__(self,
pybullet_client,
urdf_root= pybullet_data.getDataPath(),
time_step=0.01):
def __init__(self, pybullet_client, urdf_root=pybullet_data.getDataPath(), time_step=0.01):
"""Constructs an example simulation and reset it to the initial states.
Args:
@@ -28,11 +25,10 @@ class BoxStackPyBulletSim(object):
"""
self._pybullet_client = pybullet_client
self._urdf_root = urdf_root
self.m_actions_taken_since_reset=0
self.m_actions_taken_since_reset = 0
self.time_step = time_step
self.stateId = -1
self.Reset(reload_urdf=True)
def Reset(self, reload_urdf=False):
"""Reset the minitaur to its initial states.
@@ -41,58 +37,59 @@ class BoxStackPyBulletSim(object):
reload_urdf: Whether to reload the urdf file. If not, Reset() just place
the minitaur back to its starting position.
"""
self.m_actions_taken_since_reset=0
xPosRange=0.025
yPosRange=0.025
self.m_actions_taken_since_reset = 0
xPosRange = 0.025
yPosRange = 0.025
boxHalfExtents = 0.025
if reload_urdf:
camInfo = self._pybullet_client.getDebugVisualizerCamera()
cameraDistance=camInfo[10]
print("cameraYaw=",camInfo[8])
print("cameraPitch=",camInfo[9])
print("camtarget=",camInfo[11])
print("projectionMatrix=",camInfo[3])
self._pybullet_client.resetDebugVisualizerCamera(cameraDistance=0.3, cameraYaw=camInfo[8], cameraPitch=camInfo[9],cameraTargetPosition=camInfo[11])
cameraDistance = camInfo[10]
print("cameraYaw=", camInfo[8])
print("cameraPitch=", camInfo[9])
print("camtarget=", camInfo[11])
print("projectionMatrix=", camInfo[3])
self._pybullet_client.resetDebugVisualizerCamera(cameraDistance=0.3,
cameraYaw=camInfo[8],
cameraPitch=camInfo[9],
cameraTargetPosition=camInfo[11])
plane = self._pybullet_client.loadURDF("plane.urdf")
texUid = self._pybullet_client.loadTexture("checker_blue.png")
self._pybullet_client.changeVisualShape(plane,-1, textureUniqueId = texUid)
self._numObjects=4 #random number?
self._cubes=[]
red=[0.97,0.25,0.25,1]
green=[0.41,0.68,0.31,1]
yellow=[0.92,0.73,0,1]
blue=[0,0.55,0.81,1]
colors=[red,green,yellow,blue]
for i in range (self._numObjects):
pos=[0,0,boxHalfExtents + i*2*boxHalfExtents]
orn = self._pybullet_client.getQuaternionFromEuler([0,0,0])
orn=[0,0,0,1]
cube = self._pybullet_client.loadURDF("cube_small.urdf",pos,orn)
self._pybullet_client.changeVisualShape(cube,-1,rgbaColor=colors[i])
self._cubes.append(cube)
self._pybullet_client.changeVisualShape(plane, -1, textureUniqueId=texUid)
self._numObjects = 4 #random number?
self._cubes = []
red = [0.97, 0.25, 0.25, 1]
green = [0.41, 0.68, 0.31, 1]
yellow = [0.92, 0.73, 0, 1]
blue = [0, 0.55, 0.81, 1]
colors = [red, green, yellow, blue]
for i in range(self._numObjects):
pos = [0, 0, boxHalfExtents + i * 2 * boxHalfExtents]
orn = self._pybullet_client.getQuaternionFromEuler([0, 0, 0])
orn = [0, 0, 0, 1]
cube = self._pybullet_client.loadURDF("cube_small.urdf", pos, orn)
self._pybullet_client.changeVisualShape(cube, -1, rgbaColor=colors[i])
self._cubes.append(cube)
self._pybullet_client.setGravity(0, 0, -10)
self.stateId = self._pybullet_client.saveState()
else:
if (self.stateId>=0):
if (self.stateId >= 0):
self._pybullet_client.restoreState(self.stateId)
index=0
index = 0
for i in self._cubes:
posX = random.uniform(-xPosRange,xPosRange)
posY = random.uniform(-yPosRange,yPosRange)
yaw = random.uniform(-math.pi,math.pi)
pos=[posX,posY,boxHalfExtents + index*2*boxHalfExtents]
index+=1
orn = self._pybullet_client.getQuaternionFromEuler([0,0,yaw])
self._pybullet_client.resetBasePositionAndOrientation(i,pos,orn)
posX = random.uniform(-xPosRange, xPosRange)
posY = random.uniform(-yPosRange, yPosRange)
yaw = random.uniform(-math.pi, math.pi)
pos = [posX, posY, boxHalfExtents + index * 2 * boxHalfExtents]
index += 1
orn = self._pybullet_client.getQuaternionFromEuler([0, 0, yaw])
self._pybullet_client.resetBasePositionAndOrientation(i, pos, orn)
def GetActionDimension(self):
"""Get the length of the action list.
@@ -100,7 +97,7 @@ class BoxStackPyBulletSim(object):
Returns:
The length of the action list.
"""
return 4#self.num_motors
return 4 #self.num_motors
def GetObservationUpperBound(self):
"""Get the upper bound of the observation.
@@ -124,7 +121,7 @@ class BoxStackPyBulletSim(object):
The length of the observation list.
"""
sz = len(self.GetObservation())
print("sz=",sz)
print("sz=", sz)
return sz
def GetObservation(self):
@@ -135,7 +132,7 @@ class BoxStackPyBulletSim(object):
"""
observation = []
for i in self._cubes:
pos,orn=self._pybullet_client.getBasePositionAndOrientation(i)
pos, orn = self._pybullet_client.getBasePositionAndOrientation(i)
observation.extend(list(pos))
observation.extend(list(orn))
return observation
@@ -143,14 +140,14 @@ class BoxStackPyBulletSim(object):
def ApplyAction(self, action):
"""Set the desired action.
"""
self.m_actions_taken_since_reset+=1
self.m_actions_taken_since_reset += 1
def Termination(self):
return self.m_actions_taken_since_reset>=200
def CreateSim(pybullet_client,urdf_root,time_step):
return self.m_actions_taken_since_reset >= 200
def CreateSim(pybullet_client, urdf_root, time_step):
sim = BoxStackPyBulletSim(pybullet_client=pybullet_client,
urdf_root=urdf_root,
time_step=time_step)
urdf_root=urdf_root,
time_step=time_step)
return sim

69
examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
View File

@@ -5,8 +5,7 @@
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 time
@@ -30,20 +29,18 @@ class PyBulletSimGymEnv(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,pybullet_sim_factory = boxstack_pybullet_sim,
def __init__(self,
pybullet_sim_factory=boxstack_pybullet_sim,
render=True,
render_sleep=False,
debug_visualization=True,
hard_reset = False,
hard_reset=False,
render_width=240,
render_height=240,
action_repeat=1,
time_step = 1./240.,
time_step=1. / 240.,
num_bullet_solver_iterations=50,
urdf_root=pybullet_data.getDataPath()):
"""Initialize the gym environment.
@@ -55,45 +52,46 @@ class PyBulletSimGymEnv(gym.Env):
self._time_step = time_step
self._urdf_root = urdf_root
self._observation = []
self._action_repeat=action_repeat
self._action_repeat = action_repeat
self._num_bullet_solver_iterations = num_bullet_solver_iterations
self._env_step_counter = 0
self._is_render = render
self._debug_visualization = debug_visualization
self._render_sleep = render_sleep
self._render_width=render_width
self._render_height=render_height
self._render_width = render_width
self._render_height = render_height
self._cam_dist = .3
self._cam_yaw = 50
self._cam_pitch = -35
self._hard_reset = True
self._last_frame_time = 0.0
optionstring='--width={} --height={}'.format(render_width,render_height)
optionstring = '--width={} --height={}'.format(render_width, render_height)
print("urdf_root=" + self._urdf_root)
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=pybullet.GUI, options=optionstring)
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI,
options=optionstring)
else:
self._pybullet_client = bullet_client.BulletClient()
if (debug_visualization==False):
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,enable=0)
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_RGB_BUFFER_PREVIEW,enable=0)
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_DEPTH_BUFFER_PREVIEW,enable=0)
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,enable=0)
if (debug_visualization == False):
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,
enable=0)
self._pybullet_client.configureDebugVisualizer(
flag=self._pybullet_client.COV_ENABLE_RGB_BUFFER_PREVIEW, enable=0)
self._pybullet_client.configureDebugVisualizer(
flag=self._pybullet_client.COV_ENABLE_DEPTH_BUFFER_PREVIEW, enable=0)
self._pybullet_client.configureDebugVisualizer(
flag=self._pybullet_client.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, enable=0)
self._pybullet_client.setAdditionalSearchPath(urdf_root)
self.seed()
self.reset()
observation_high = (
self._example_sim.GetObservationUpperBound())
observation_low = (
self._example_sim.GetObservationLowerBound())
observation_high = (self._example_sim.GetObservationUpperBound())
observation_low = (self._example_sim.GetObservationLowerBound())
action_dim = self._example_sim.GetActionDimension()
self._action_bound = 1
@@ -104,7 +102,6 @@ class PyBulletSimGymEnv(gym.Env):
self.viewer = None
self._hard_reset = hard_reset # This assignment need to be after reset()
def configure(self, args):
self._args = args
@@ -163,7 +160,6 @@ class PyBulletSimGymEnv(gym.Env):
#self._pybullet_client.resetDebugVisualizerCamera(
# self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos)
for _ in range(self._action_repeat):
self._example_sim.ApplyAction(action)
self._pybullet_client.stepSimulation()
@@ -176,7 +172,7 @@ class PyBulletSimGymEnv(gym.Env):
def render(self, mode="rgb_array", close=False):
if mode != "rgb_array":
return np.array([])
base_pos = [0,0,0]
base_pos = [0, 0, 0]
view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
@@ -185,19 +181,24 @@ class PyBulletSimGymEnv(gym.Env):
roll=0,
upAxisIndex=2)
proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_width,
nearVal=0.01, farVal=100.0)
proj_matrix=[1.0, 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]
fov=60, aspect=float(self._render_width) / self._render_width, nearVal=0.01, farVal=100.0)
proj_matrix = [
1.0, 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
]
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)#ER_TINY_RENDERER)
width=self._render_width,
height=self._render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) #ER_TINY_RENDERER)
rgb_array = np.array(px, dtype=np.uint8)
rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4))
rgb_array = rgb_array[:, :, :3]
return rgb_array
def _termination(self):
terminate=self._example_sim.Termination()
terminate = self._example_sim.Termination()
return terminate
def _reward(self):

47
examples/pybullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py
View File

@@ -5,7 +5,7 @@ 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)
os.sys.path.insert(0, parentdir)
import math
import numpy as np
@@ -16,18 +16,18 @@ import time
from pybullet_envs.prediction import boxstack_pybullet_sim
from gym.wrappers.monitoring import video_recorder
def ResetPoseExample(steps):
"""An example that the minitaur stands still using the reset pose."""
environment = pybullet_sim_gym_env.PyBulletSimGymEnv(
pybullet_sim_factory=boxstack_pybullet_sim,
debug_visualization=False,
render=True, action_repeat=30)
environment = pybullet_sim_gym_env.PyBulletSimGymEnv(pybullet_sim_factory=boxstack_pybullet_sim,
debug_visualization=False,
render=True,
action_repeat=30)
action = [math.pi / 2] * 8
vid = video_recorder.VideoRecorder(env=environment,path="vid.mp4")
vid = video_recorder.VideoRecorder(env=environment, path="vid.mp4")
for _ in range(steps):
print(_)
startsim = time.time()
@@ -37,24 +37,21 @@ def ResetPoseExample(steps):
#environment.render(mode='rgb_array')
vid.capture_frame()
stoprender = time.time()
print ("env.step " , (stopsim - startsim))
print ("env.render " , (stoprender - startrender))
print("env.step ", (stopsim - startsim))
print("env.render ", (stoprender - startrender))
if done:
environment.reset()
environment.reset()
def main():
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--env', help='environment ID (0==reset)',type=int, default=0)
args = parser.parse_args()
print("--env=" + str(args.env))
if (args.env == 0):
ResetPoseExample(steps = 1000)
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--env', help='environment ID (0==reset)', type=int, default=0)
args = parser.parse_args()
print("--env=" + str(args.env))
if (args.env == 0):
ResetPoseExample(steps=1000)
if __name__ == '__main__':
main()
main()