Merge pull request #46 from dfki-ric/fix/blacken-codestyle

Fix/blacken codestyle

.pre-commit-config.yaml

@@ -0,0 +1,16 @@
+exclude: ^(object_data/|robots/|doc/)
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-yaml
+    -   id: end-of-file-fixer
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 24.4.2
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort

README.md

@@ -1,6 +1,7 @@
-# DeformableGym
-
 [![Tests](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml/badge.svg)](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+# DeformableGym
 
 This repository contains a collection of [gymnasium](https://github.com/Farama-Foundation/Gymnasium) environments built with [PyBullet](https://pybullet.org/). In these environments, the agent 
 needs to learn to grasp deformable object such as shoe insoles or pillows from sparse reward signals.

deformable_gym/__init__.py

@@ -3,13 +3,17 @@
 register(
     id="FloatingMiaGraspInsole-v0",
     entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv",
-    kwargs={"object_name": "insole_on_conveyor_belt/back",
-            "observable_object_pos": True}
+    kwargs={
+        "object_name": "insole_on_conveyor_belt/back",
+        "observable_object_pos": True,
+    },
 )
 
 register(
     id="FloatingShadowGraspInsole-v0",
     entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv",
-    kwargs={"object_name": "insole_on_conveyor_belt/back",
-            "observable_object_pos": True}
+    kwargs={
+        "object_name": "insole_on_conveyor_belt/back",
+        "observable_object_pos": True,
+    },
 )

deformable_gym/envs/__init__.py

@@ -1,4 +1,5 @@
 """Deformable Gym environments."""
+
 from .base_env import BaseBulletEnv
 from .floating_mia_grasp_env import FloatingMiaGraspEnv
 from .floating_shadow_grasp_env import FloatingShadowGraspEnv
@@ -10,5 +11,5 @@
     "FloatingMiaGraspEnv",
     "FloatingShadowGraspEnv",
     "UR5MiaGraspEnv",
-    "UR10ShadowGraspEnv"
+    "UR10ShadowGraspEnv",
 ]

deformable_gym/envs/base_env.py

@@ -26,6 +26,7 @@ class BaseBulletEnv(gym.Env, abc.ABC):
     :param verbose_dt: Time after which simulation info should be printed.
     :param pybullet_options: Options to pass to pybullet.connect().
     """
+
     gui: bool
     verbose: bool
     horizon: int
@@ -37,15 +38,16 @@ class BaseBulletEnv(gym.Env, abc.ABC):
     action_space: spaces.Box
 
     def __init__(
-            self,
-            gui: bool = True,
-            real_time: bool = False,
-            horizon: int = 100,
-            soft: bool = False,
-            verbose: bool = False,
-            time_delta: float = 0.001,
-            verbose_dt: float = 10.00,
-            pybullet_options: str = ""):
+        self,
+        gui: bool = True,
+        real_time: bool = False,
+        horizon: int = 100,
+        soft: bool = False,
+        verbose: bool = False,
+        time_delta: float = 0.001,
+        verbose_dt: float = 10.00,
+        pybullet_options: str = "",
+    ):
 
         self.gui = gui
         self.verbose = verbose
@@ -59,7 +61,8 @@ def __init__(
             real_time=real_time,
             mode=mode,
             verbose_dt=verbose_dt,
-            pybullet_options=pybullet_options)
+            pybullet_options=pybullet_options,
+        )
 
         self.pb_client = self.simulation.pb_client
 
@@ -75,9 +78,7 @@ def _create_robot(self):
     def _load_objects(self):
         """Load objects to PyBullet simulation."""
         self.plane = self.pb_client.loadURDF(
-            "plane.urdf",
-            (0, 0, 0),
-            useFixedBase=1
+            "plane.urdf", (0, 0, 0), useFixedBase=1
         )
 
     def _hard_reset(self):
@@ -140,11 +141,11 @@ def _get_observation(self) -> npt.ArrayLike:
         return self.robot.get_joint_positions()
 
     def _get_info(
-            self,
-            observation: npt.ArrayLike = None,
-            action: npt.ArrayLike = None,
-            reward: float = None,
-            next_observation: npt.ArrayLike = None
+        self,
+        observation: npt.ArrayLike = None,
+        action: npt.ArrayLike = None,
+        reward: float = None,
+        next_observation: npt.ArrayLike = None,
     ) -> dict:
         """Returns the current environment state.
 
@@ -153,10 +154,10 @@ def _get_info(
         return {}
 
     def _is_terminated(
-            self,
-            observation: npt.ArrayLike,
-            action: npt.ArrayLike,
-            next_observation: npt.ArrayLike
+        self,
+        observation: npt.ArrayLike,
+        action: npt.ArrayLike,
+        next_observation: npt.ArrayLike,
     ) -> bool:
         """Checks whether the current episode is terminated.
 
@@ -168,10 +169,10 @@ def _is_terminated(
         return self.step_counter >= self.horizon
 
     def _is_truncated(
-            self,
-            state: npt.ArrayLike,
-            action: npt.ArrayLike,
-            next_state: npt.ArrayLike
+        self,
+        state: npt.ArrayLike,
+        action: npt.ArrayLike,
+        next_state: npt.ArrayLike,
     ) -> bool:
         """Checks whether the current episode is truncated.
 
@@ -216,16 +217,19 @@ def step(self, action: npt.ArrayLike):
 
         # calculate the reward
         reward = self.calculate_reward(
-            observation, action, next_observation, terminated)
+            observation, action, next_observation, terminated
+        )
 
         info = self._get_info(observation, action, reward)
 
         if self.verbose:
-            print(f"Finished environment step: "
-                  f"{next_observation=}, "
-                  f"{reward=}, "
-                  f"{terminated=}, "
-                  f"{truncated=}")
+            print(
+                f"Finished environment step: "
+                f"{next_observation=}, "
+                f"{reward=}, "
+                f"{terminated=}, "
+                f"{truncated=}"
+            )
 
         return next_observation, reward, terminated, truncated, info
 
@@ -234,11 +238,11 @@ def close(self):
 
     @abc.abstractmethod
     def calculate_reward(
-            self,
-            state: npt.ArrayLike,
-            action: npt.ArrayLike,
-            next_state: npt.ArrayLike,
-            terminated: bool
+        self,
+        state: npt.ArrayLike,
+        action: npt.ArrayLike,
+        next_state: npt.ArrayLike,
+        terminated: bool,
     ) -> float:
         """Calculate reward.
 
@@ -295,7 +299,8 @@ def get_object_pose(self):
                  quaternion: (x, y, z, qw, qx, qy, qz)
         """
         return MultibodyPose.internal_pose_to_external_pose(
-            np.hstack((self.object_position, self.object_orientation)))
+            np.hstack((self.object_position, self.object_orientation))
+        )
 
 
 class FloatingHandMixin:
@@ -309,11 +314,10 @@ def _init_hand_pose(self, robot: BulletRobot):
         """
         desired_robot2world_pos = self.hand_world_pose[:3]
         desired_robot2world_orn = pb.getQuaternionFromEuler(
-            self.hand_world_pose[3:])
+            self.hand_world_pose[3:]
+        )
         self.multibody_pose = MultibodyPose(
-            robot.get_id(),
-            desired_robot2world_pos,
-            desired_robot2world_orn
+            robot.get_id(), desired_robot2world_pos, desired_robot2world_orn
         )
 
     def set_world_pose(self, world_pose):
@@ -323,13 +327,15 @@ def set_world_pose(self, world_pose):
                            quaternion: (x, y, z, qw, qx, qy, qz)
         """
         self.hand_world_pose = MultibodyPose.external_pose_to_internal_pose(
-            world_pose)
+            world_pose
+        )
         desired_robot2world_pos = self.hand_world_pose[:3]
         desired_robot2world_orn = pb.getQuaternionFromEuler(
-            self.hand_world_pose[3:])
+            self.hand_world_pose[3:]
+        )
         self.multibody_pose.set_pose(
-            desired_robot2world_pos,
-            desired_robot2world_orn)
+            desired_robot2world_pos, desired_robot2world_orn
+        )
 
     def get_world_pose(self):
         """Get pose of the hand.

deformable_gym/envs/bullet_simulation.py

@@ -1,9 +1,9 @@
 import pybullet as pb
 import pybullet_data
-
 from pybullet_utils import bullet_client as bc
-from ..robots.bullet_robot import BulletRobot
+
 from ..helpers import pybullet_helper as pbh
+from ..robots.bullet_robot import BulletRobot
 
 
 class BulletSimulation:
@@ -18,15 +18,17 @@ class BulletSimulation:
     :param pybullet_options: Options that should be passed to PyBullet
     connection command.
     """
+
     def __init__(
-            self,
-            time_delta: float = 0.001,
-            mode: int = pb.GUI,
-            gravity: float = -9.81,
-            soft: bool = False,
-            real_time: bool = False,
-            verbose_dt: float = 0.01,
-            pybullet_options: str = ""):
+        self,
+        time_delta: float = 0.001,
+        mode: int = pb.GUI,
+        gravity: float = -9.81,
+        soft: bool = False,
+        real_time: bool = False,
+        verbose_dt: float = 0.01,
+        pybullet_options: str = "",
+    ):
 
         self.time_delta = time_delta
         self.mode = mode
@@ -36,8 +38,7 @@ def __init__(
 
         with pbh.stdout_redirected():
             self.pb_client = bc.BulletClient(
-                connection_mode=self.mode,
-                options=pybullet_options
+                connection_mode=self.mode, options=pybullet_options
             )
         self.pb_client.setAdditionalSearchPath(pybullet_data.getDataPath())
 
@@ -107,13 +108,13 @@ def disconnect(self) -> None:
 
 class BulletTiming:
     """This class handles all timing issues for a single BulletSimulation."""
+
     def __init__(
-            self,
-            pb_client: bc.BulletClient,
-            dt: float = 0.001,
-            verbose_dt: float = 0.01,
+        self,
+        pb_client: bc.BulletClient,
+        dt: float = 0.001,
+        verbose_dt: float = 0.01,
     ):
-
         """
         Create new BulletTiming instance.
 
@@ -146,7 +147,9 @@ def add_subsystem(self, name, frequency, callback=None):
         """
         if name not in self.subsystems.keys():
             self.subsystems[name] = (
-                max(1, round(1.0/frequency/self.dt)), callback)
+                max(1, round(1.0 / frequency / self.dt)),
+                callback,
+            )
 
     def remove_subsystem(self, name):
         """
@@ -182,8 +185,10 @@ def step(self):
         self.sim_time += self.dt
 
         if (self.sim_time % self.verbose_dt) < self.dt:
-            print(f"Step: {self.time_step}, Time: {self.sim_time}, "
-                  f"Triggers: {triggers}")
+            print(
+                f"Step: {self.time_step}, Time: {self.sim_time}, "
+                f"Triggers: {triggers}"
+            )
 
     def reset(self):
         self.time_step = 0
@@ -192,13 +197,14 @@ def reset(self):
 
 class BulletCamera:
     """This class handles all camera operations for one BulletSimulation."""
+
     def __init__(
-            self,
-            pb_client: bc.BulletClient,
-            position: tuple = (0, 0, 0),
-            pitch: int = -52,
-            yaw: int = 30,
-            distance: int = 3,
+        self,
+        pb_client: bc.BulletClient,
+        position: tuple = (0, 0, 0),
+        pitch: int = -52,
+        yaw: int = 30,
+        distance: int = 3,
     ):
         self.position = position
         self.pitch = pitch
@@ -209,12 +215,15 @@ def __init__(
         self._active = False
         self._logging_id = None
 
-        self.pb_client.resetDebugVisualizerCamera(distance, yaw, pitch, position)
+        self.pb_client.resetDebugVisualizerCamera(
+            distance, yaw, pitch, position
+        )
 
     def start_recording(self, path):
         if not self._active:
             self._logging_id = self.pb_client.startStateLogging(
-                pb.STATE_LOGGING_VIDEO_MP4, path)
+                pb.STATE_LOGGING_VIDEO_MP4, path
+            )
             return self._logging_id
         else:
             return None
@@ -230,4 +239,5 @@ def reset(self, position, pitch, yaw, distance):
         self.distance = distance
 
         self.pb_client.resetDebugVisualizerCamera(
-            distance, yaw, pitch, position)
+            distance, yaw, pitch, position
+        )