Add pyink and isort config. Reformat.
PiperOrigin-RevId: 704533915 Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
This commit is contained in:
Baruch Tabanpour
committed by
Copybara-Service
Copybara-Service
parent
6f6244b739
commit
f3b3024291
+35
-22
@@ -42,7 +42,7 @@ PERCENT_REALTIME = (
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10, 8, 6.6, 5, 4, 3.3, 2.5, 2, 1.6, 1.3,
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1, 0.8, 0.66, 0.5, 0.4, 0.33, 0.25, 0.2, 0.16, 0.13,
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0.1
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)
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) # fmt: skip
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# Maximum time mis-alignment before re-sync.
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MAX_SYNC_MISALIGN = 0.1
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@@ -194,12 +194,13 @@ def _file_loader(path: str) -> _LoaderWithPathType:
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def _reload(
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simulate: _Simulate, loader: _InternalLoaderType,
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notify_loaded: Optional[Callable[[], None]] = None
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simulate: _Simulate,
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loader: _InternalLoaderType,
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notify_loaded: Optional[Callable[[], None]] = None,
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) -> Optional[Tuple[mujoco.MjModel, mujoco.MjData]]:
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"""Internal function for reloading a model in the viewer."""
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try:
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simulate.load_message('') # path is unknown at this point
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simulate.load_message('') # path is unknown at this point
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load_tuple = loader()
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except Exception as e: # pylint: disable=broad-except
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simulate.load_error = str(e)
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@@ -275,14 +276,16 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
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# Inject noise.
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if simulate.ctrl_noise_std != 0.0:
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# Convert rate and scale to discrete time (Ornstein–Uhlenbeck).
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rate = math.exp(-m.opt.timestep /
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max(simulate.ctrl_noise_rate, mujoco.mjMINVAL))
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rate = math.exp(
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-m.opt.timestep / max(simulate.ctrl_noise_rate, mujoco.mjMINVAL)
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)
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scale = simulate.ctrl_noise_std * math.sqrt(1 - rate * rate)
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for i in range(m.nu):
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# Update noise.
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ctrl_noise[i] = (rate * ctrl_noise[i] +
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scale * mujoco.mju_standardNormal(None))
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ctrl_noise[i] = rate * ctrl_noise[
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i
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] + scale * mujoco.mju_standardNormal(None)
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# Apply noise.
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d.ctrl[i] = ctrl_noise[i]
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@@ -291,12 +294,18 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
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slowdown = 100 / PERCENT_REALTIME[simulate.real_time_index]
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# Misalignment: distance from target sim time > MAX_SYNC_MISALIGN.
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misaligned = abs(elapsedcpu / slowdown -
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elapsedsim) > MAX_SYNC_MISALIGN
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misaligned = (
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abs(elapsedcpu / slowdown - elapsedsim) > MAX_SYNC_MISALIGN
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)
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# Out-of-sync (for any reason): reset sync times, step.
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if (elapsedsim < 0 or elapsedcpu < 0 or synccpu == 0 or misaligned or
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simulate.speed_changed):
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if (
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elapsedsim < 0
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or elapsedcpu < 0
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or synccpu == 0
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or misaligned
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or simulate.speed_changed
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):
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# Re-sync.
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synccpu = startcpu
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syncsim = d.time
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@@ -312,9 +321,9 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
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prevsim = d.time
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refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate
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# Step while sim lags behind CPU and within refreshtime.
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while (((d.time - syncsim) * slowdown <
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(time.time() - synccpu)) and
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((time.time() - startcpu) < refreshtime)):
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while (
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(d.time - syncsim) * slowdown < (time.time() - synccpu)
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) and ((time.time() - startcpu) < refreshtime):
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# Measure slowdown before first step.
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if not measured and elapsedsim:
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simulate.measured_slowdown = elapsedcpu / elapsedsim
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@@ -329,7 +338,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
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break
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# save current state to history buffer
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if (stepped):
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if stepped:
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simulate.add_to_history()
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else: # simulate.run is False: GUI is paused.
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@@ -355,7 +364,8 @@ def _launch_internal(
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raise ValueError('mjData is specified but mjModel is not')
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elif callable(model) and data is not None:
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raise ValueError(
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'mjData should not be specified when an mjModel loader is used')
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'mjData should not be specified when an mjModel loader is used'
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)
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elif loader is not None and model is not None:
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raise ValueError('model and loader are both specified')
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elif run_physics_thread and handle_return is not None:
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@@ -398,14 +408,17 @@ def _launch_internal(
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if run_physics_thread:
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side_thread = threading.Thread(
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target=_physics_loop, args=(simulate, loader))
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target=_physics_loop, args=(simulate, loader)
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)
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else:
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side_thread = threading.Thread(
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target=_reload, args=(simulate, loader, notify_loaded))
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target=_reload, args=(simulate, loader, notify_loaded)
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)
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def make_exit(simulate):
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def exit_simulate():
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simulate.exit()
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return exit_simulate
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exit_simulate = make_exit(simulate)
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@@ -456,8 +469,7 @@ def launch_passive(
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if not isinstance(data, mujoco.MjData):
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raise ValueError(f'`data` is not a mujoco.MjData: got {data!r}')
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if key_callback is not None and not callable(key_callback):
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raise ValueError(
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f'`key_callback` is not callable: got {key_callback!r}')
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raise ValueError(f'`key_callback` is not callable: got {key_callback!r}')
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mujoco.mj_forward(model, data)
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handle_return = queue.Queue(1)
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@@ -480,7 +492,8 @@ def launch_passive(
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if not isinstance(_MJPYTHON, _MjPythonBase):
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raise RuntimeError(
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'`launch_passive` requires that the Python script be run under '
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'`mjpython` on macOS')
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'`mjpython` on macOS'
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)
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_MJPYTHON.launch_on_ui_thread(
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model,
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data,
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