27 match sim timing to robot

.gitattributes

@@ -0,0 +1,3 @@
+.stl filter=lfs diff=lfs merge=lfs -text
+.step filter=lfs diff=lfs merge=lfs -text
+.f3z filter=lfs diff=lfs merge=lfs -text

.pre-commit-config.yaml

@@ -1,6 +1,87 @@
+default_language_version:
+  python: python3
+
 repos:
--   repo: https://gitlab.com/pycqa/flake8
-    rev: 3.7.9
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+      # list of supported hooks: https://pre-commit.com/hooks.html
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-docstring-first
+      - id: check-yaml
+      - id: debug-statements
+      - id: detect-private-key
+      - id: check-executables-have-shebangs
+      - id: check-toml
+      - id: check-case-conflict
+      - id: check-added-large-files
+
+  # python code formatting
+  - repo: https://github.com/psf/black
+    rev: 22.6.0
+    hooks:
+      - id: black
+        args: [--line-length, "99"]
+
+  # python import sorting
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.10.1
+    hooks:
+      - id: isort
+        args: ["--profile", "black", "--filter-files"]
+
+  # python upgrading syntax to newer version
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v2.32.1
     hooks:
-    - id: flake8
+      - id: pyupgrade
+        args: [--py38-plus]
+
+  # python docstring formatting
+  - repo: https://github.com/myint/docformatter
+    rev: v1.4
+    hooks:
+      - id: docformatter
+        args: [--in-place, --wrap-summaries=99, --wrap-descriptions=99]
+
+  # python check (PEP8), programming errors and code complexity
+  - repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+      - id: flake8
+        args:
+          [
+            "--extend-ignore",
+            "E203,E402,E501,F401,F841",
+            "--exclude",
+            "logs/*,data/*",
+          ]
+
+  # yaml formatting
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v2.7.1
+    hooks:
+      - id: prettier
+        types: [yaml]
+
+#   # jupyter notebook cell output clearing
+#   - repo: https://github.com/kynan/nbstripout
+#     rev: 0.5.0
+#     hooks:
+#       - id: nbstripout
 
+#   # jupyter notebook linting
+#   - repo: https://github.com/nbQA-dev/nbQA
+#     rev: 1.4.0
+#     hooks:
+#       - id: nbqa-black
+#         args: ["--line-length=99"]
+#       - id: nbqa-isort
+#         args: ["--profile=black"]
+#       - id: nbqa-flake8
+#         args:
+#           [
+#             "--extend-ignore=E203,E402,E501,F401,F841",
+#             "--exclude=logs/*,data/*",
+#           ]

furuta_gym/__init__.py

@@ -1,10 +1,10 @@
-from gym.envs.registration import register
+from gymnasium.envs.registration import register
 
 register(
-    id='FurutaReal-v0',
-    entry_point='furuta_gym.envs:FurutaReal',
+    id="FurutaReal-v0",
+    entry_point="furuta_gym.envs:FurutaReal",
 )
 register(
-    id='FurutaSim-v0',
-    entry_point='furuta_gym.envs:FurutaSim',
+    id="FurutaSim-v0",
+    entry_point="furuta_gym.envs:FurutaSim",
 )

furuta_gym/algos.py

@@ -0,0 +1,16 @@
+import stable_baselines3
+
+
+# wrapper class for stable-baselines3.SAC
+# TODO can we make one class for all algos?
+# check if they all have the train freq param
+# check if they have other tuple args
+# check if it would be cleaner for sb3 to accept list instead of tuple?
+# TODO also does having the sb3 import means i need sb3 when importing from everywhere else in the package?
+class SAC(stable_baselines3.SAC):
+    def __init__(self, **kwargs):
+        # sb3 expects tuple, omegaconf returns list
+        # so we need to convert kwarg train_freq from tuple to list
+        kwargs.update({"train_freq": tuple(kwargs["train_freq"])})
+
+        super().__init__(**kwargs)

furuta_gym/envs/__init__.py

@@ -1,3 +1,3 @@
-from furuta_gym.envs.furuta_base import FurutaBase   # noqa F420
-from furuta_gym.envs.furuta_real import FurutaReal  # noqa F420
-from furuta_gym.envs.furuta_sim import FurutaSim   # noqa F420
+# from furuta_gym.envs.furuta_base import FurutaBase   # noqa F420
+# from furuta_gym.envs.furuta_real import FurutaReal  # noqa F420
+# from furuta_gym.envs.furuta_sim import FurutaSim   # noqa F420