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redo black (#2272)

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This commit is contained in:
J K Terry
2021-07-29 15:39:42 -04:00
committed by GitHub
parent ff8c269abb
commit 78d2b512d8
104 changed files with 1350 additions and 418 deletions
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30
gym/envs/robotics/fetch_env.py
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@@ -81,7 +81,9 @@ class FetchEnv(robot_env.RobotEnv):
def _set_action(self, action):
assert action.shape == (4,)
action = action.copy() # ensure that we don't change the action outside of this scope
action = (
action.copy()
) # ensure that we don't change the action outside of this scope
pos_ctrl, gripper_ctrl = action[:3], action[3]
pos_ctrl *= 0.05 # limit maximum change in position
@@ -118,9 +120,13 @@ class FetchEnv(robot_env.RobotEnv):
object_rel_pos = object_pos - grip_pos
object_velp -= grip_velp
else:
object_pos = object_rot = object_velp = object_velr = object_rel_pos = np.zeros(0)
object_pos = (
object_rot
) = object_velp = object_velr = object_rel_pos = np.zeros(0)
gripper_state = robot_qpos[-2:]
gripper_vel = robot_qvel[-2:] * dt # change to a scalar if the gripper is made symmetric
gripper_vel = (
robot_qvel[-2:] * dt
) # change to a scalar if the gripper is made symmetric
if not self.has_object:
achieved_goal = grip_pos.copy()
@@ -169,7 +175,9 @@ class FetchEnv(robot_env.RobotEnv):
if self.has_object:
object_xpos = self.initial_gripper_xpos[:2]
while np.linalg.norm(object_xpos - self.initial_gripper_xpos[:2]) < 0.1:
object_xpos = self.initial_gripper_xpos[:2] + self.np_random.uniform(-self.obj_range, self.obj_range, size=2)
object_xpos = self.initial_gripper_xpos[:2] + self.np_random.uniform(
-self.obj_range, self.obj_range, size=2
)
object_qpos = self.sim.data.get_joint_qpos("object0:joint")
assert object_qpos.shape == (7,)
object_qpos[:2] = object_xpos
@@ -180,13 +188,17 @@ class FetchEnv(robot_env.RobotEnv):
def _sample_goal(self):
if self.has_object:
goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(-self.target_range, self.target_range, size=3)
goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(
-self.target_range, self.target_range, size=3
)
goal += self.target_offset
goal[2] = self.height_offset
if self.target_in_the_air and self.np_random.uniform() < 0.5:
goal[2] += self.np_random.uniform(0, 0.45)
else:
goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(-self.target_range, self.target_range, size=3)
goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(
-self.target_range, self.target_range, size=3
)
return goal.copy()
def _is_success(self, achieved_goal, desired_goal):
@@ -200,9 +212,9 @@ class FetchEnv(robot_env.RobotEnv):
self.sim.forward()
# Move end effector into position.
gripper_target = np.array([-0.498, 0.005, -0.431 + self.gripper_extra_height]) + self.sim.data.get_site_xpos(
"robot0:grip"
)
gripper_target = np.array(
[-0.498, 0.005, -0.431 + self.gripper_extra_height]
) + self.sim.data.get_site_xpos("robot0:grip")
gripper_rotation = np.array([1.0, 0.0, 1.0, 0.0])
self.sim.data.set_mocap_pos("robot0:mocap", gripper_target)
self.sim.data.set_mocap_quat("robot0:mocap", gripper_rotation)