GitHub Actions: Format

envision/server.py

@@ -53,7 +53,8 @@
 # Mapping of simulation ID to the Frames data store
 FRAMES = {}
 
-class AllowCORSMixin():
+
+class AllowCORSMixin:
     """A mixin that adds CORS headers to the page."""
 
     _HAS_DYNAMIC_ATTRIBUTES = True

smarts/core/agent_manager.py

@@ -19,7 +19,7 @@
 # THE SOFTWARE.
 
 import logging
-from typing import Any, Dict, Set, Tuple, Optional, Union
+from typing import Any, Dict, Optional, Set, Tuple, Union
 
 import cloudpickle
 
@@ -161,7 +161,10 @@ def observe_from(
     def observe(
         self, sim
     ) -> Tuple[
-        Dict[str, Union[Dict[str, Observation], Observation]], Dict[str, Union[Dict[str, float], float]], Dict[str, Union[Dict[str, float], float]], Dict[str, Union[Dict[str, bool], bool]]
+        Dict[str, Union[Dict[str, Observation], Observation]],
+        Dict[str, Union[Dict[str, float], float]],
+        Dict[str, Union[Dict[str, float], float]],
+        Dict[str, Union[Dict[str, bool], bool]],
     ]:
         """Generate observations from all vehicles associated with an active agent."""
         observations = {}
@@ -224,7 +227,7 @@ def observe(
                 else:
                     logging.log(
                         logging.DEBUG,
-                        f"Agent `{agent_id}` has raised done with {obs.events}", 
+                        f"Agent `{agent_id}` has raised done with {obs.events}",
                     )
 
                 rewards[agent_id] = vehicle.trip_meter_sensor(increment=True)
@@ -234,7 +237,7 @@ def observe(
             dones = {agent_id: True for agent_id in self.agent_ids}
             dones["__sim__"] = True
 
-        return observations, rewards, scores, dones 
+        return observations, rewards, scores, dones
 
     def _vehicle_reward(self, vehicle_id, sim) -> float:
         return sim.vehicle_index.vehicle_by_id(vehicle_id).trip_meter_sensor(

smarts/core/bubble_manager.py

@@ -187,12 +187,12 @@ def admissibility(
             # pytype: disable=unsupported-operands
             all_hijacked_vehicle_ids = (
                 current_hijacked_vehicle_ids
-                | vehicle_ids_by_bubble_state[BubbleState.InAirlock][self] 
+                | vehicle_ids_by_bubble_state[BubbleState.InAirlock][self]
             ) - {vehicle_id}
 
             all_shadowed_vehicle_ids = (
                 current_shadowed_vehicle_ids
-                | vehicle_ids_by_bubble_state[BubbleState.InBubble][self] 
+                | vehicle_ids_by_bubble_state[BubbleState.InBubble][self]
             ) - {vehicle_id}
             # pytype: enable=unsupported-operands
 
@@ -510,7 +510,7 @@ def _airlock_social_vehicle_with_social_agent(
         )
 
         if social_agent is None:
-            return 
+            return
 
         self._start_social_agent(
             sim, agent_id, social_agent, social_agent_actor, bubble

smarts/core/chassis.py

@@ -183,6 +183,7 @@ def set_pose(self, pose: Pose):
         chassis."""
         raise NotImplementedError
 
+
 class BoxChassis(Chassis):
     """Control a vehicle by setting its absolute position and heading. The collision
     shape of the vehicle is a box of the provided dimensions.

smarts/core/plan.py

@@ -23,10 +23,11 @@
 
 import math
 import random
-import numpy as np
 from dataclasses import dataclass, field
 from typing import Optional, Tuple, Union
 
+import numpy as np
+
 from smarts.sstudio.types import EntryTactic, TrapEntryTactic
 
 from .coordinates import Dimensions, Heading, Point, Pose, RefLinePoint

smarts/core/sensors.py

@@ -217,7 +217,9 @@ class Sensors:
     _log = logging.getLogger("Sensors")
 
     @staticmethod
-    def observe_batch(sim, agent_id, sensor_states, vehicles) -> Tuple[Dict[str, Observation], Dict[str, bool]]:
+    def observe_batch(
+        sim, agent_id, sensor_states, vehicles
+    ) -> Tuple[Dict[str, Observation], Dict[str, bool]]:
         """Operates all sensors on a batch of vehicles for a single agent."""
         # TODO: Replace this with a more efficient implementation that _actually_
         #       does batching

smarts/core/tests/test_notebook.py

@@ -92,6 +92,7 @@ def notebook():
     _, tmppath = tempfile.mkstemp(suffix=".ipynb")
     with open(tmppath, "w") as f:
         import smarts.core.tests
+
         # pytype: disable=module-attr
         f.write(importlib_resources.read_text(smarts.core.tests, NOTEBOOK_NAME))
         # pytype: enable=module-attr

smarts/core/tests/test_observations.py

@@ -24,7 +24,7 @@
 import gym
 import numpy as np
 import pytest
-from panda3d.core import OrthographicLens, Point2, Point3 
+from panda3d.core import OrthographicLens, Point2, Point3
 
 from smarts.core.agent import Agent
 from smarts.core.agent_interface import (

smarts/core/tests/test_renderers.py

@@ -84,7 +84,8 @@ def smarts_wo_renderer():
 @pytest.fixture
 def scenario():
     mission = Mission(
-        start=Start(np.array([71.65, 63.78]), Heading(math.pi * 0.91)), goal=EndlessGoal()
+        start=Start(np.array([71.65, 63.78]), Heading(math.pi * 0.91)),
+        goal=EndlessGoal(),
     )
     scenario = Scenario(
         scenario_root="scenarios/loop",

smarts/core/tests/test_trajectory_interpolation_provider.py

@@ -299,7 +299,7 @@ def test_trajectory_interpolation_provider_in_smarts(smarts, agent_spec, scenari
         if agent_obs.events.reached_goal:
             reached_goal = True
             break
-    
+
     curr_position = agent_obs.ego_vehicle_state.position
     curr_heading = agent_obs.ego_vehicle_state.heading
     curr_speed = agent_obs.ego_vehicle_state.speed

smarts/core/utils/import_utils.py

@@ -33,4 +33,4 @@ def import_module_from_file(module_name, path: Path):
     spec = importlib.util.spec_from_file_location(module_name, f"{path}")
     module = importlib.util.module_from_spec(spec)
     sys.modules[module_name] = module
-    spec.loader.exec_module(module) # pytype: disable=attribute-error
+    spec.loader.exec_module(module)  # pytype: disable=attribute-error

smarts/core/vehicle.py

@@ -22,7 +22,7 @@
 import os
 from dataclasses import dataclass
 from functools import lru_cache
-from typing import Any, Dict, List, Tuple, Optional, Sequence, Union
+from typing import Any, Dict, List, Optional, Sequence, Tuple, Union
 
 import numpy as np
 
@@ -31,7 +31,7 @@
 
 from . import models
 from .chassis import AckermannChassis, BoxChassis, Chassis
-from .colors import SceneColors, Colors
+from .colors import Colors, SceneColors
 from .coordinates import Dimensions, Heading, Pose
 from .sensors import (
     AccelerometerSensor,
@@ -142,7 +142,8 @@ class VehicleConfig:
 
 class Vehicle:
     """Represents a single vehicle."""
-    _HAS_DYNAMIC_ATTRIBUTES=True
+
+    _HAS_DYNAMIC_ATTRIBUTES = True
 
     _HAS_DYNAMIC_ATTRIBUTES = True  # pytype dynamic
 
@@ -385,7 +386,9 @@ def build_agent_vehicle(
         else:
             start_pose = Pose.from_center(start.position, start.heading)
 
-        vehicle_color = SceneColors.Agent.value if trainable else SceneColors.SocialAgent.value     
+        vehicle_color = (
+            SceneColors.Agent.value if trainable else SceneColors.SocialAgent.value
+        )
 
         if agent_interface.vehicle_type == "sedan":
             urdf_name = "vehicle"

smarts/core/vehicle_index.py

@@ -463,7 +463,7 @@ def stop_agent_observation(self, vehicle_id):
 
         vehicle = self._vehicles[vehicle_id]
         # pytype: disable=attribute-error
-        Vehicle.detach_all_sensors_from_vehicle(vehicle) 
+        Vehicle.detach_all_sensors_from_vehicle(vehicle)
         # pytype: enable=attribute-error
 
         v_index = self._controlled_by["vehicle_id"] == vehicle_id

smarts/env/wrappers/frame_stack.py

@@ -71,7 +71,7 @@ def _get_observations(
             frames_list = list(self._frames[agent_id])
             new_frames[agent_id] = copy.deepcopy(frames_list)
 
-        return dict(new_frames) 
+        return dict(new_frames)
 
     def step(
         self, agent_actions: Dict

smarts/ros/src/smarts_ros/scripts/ros_driver.py

@@ -28,7 +28,7 @@
 from threading import Lock
 from typing import Any, Dict, Optional, Sequence, Tuple
 
-import numpy as np 
+import numpy as np
 import rospy
 from smarts_ros.msg import (
     AgentReport,
@@ -41,7 +41,7 @@
 from smarts_ros.srv import SmartsInfo, SmartsInfoRequest, SmartsInfoResponse
 
 from envision.client import Client as Envision
-from smarts.core.coordinates import Dimensions, Heading, Pose, Point
+from smarts.core.coordinates import Dimensions, Heading, Point, Pose
 from smarts.core.plan import (
     EndlessGoal,
     Mission,
@@ -283,13 +283,17 @@ def _decode_vehicle_type(vehicle_type: int) -> str:
     @staticmethod
     def _pose_from_ros(ros_pose) -> Pose:
         return Pose(
-            position=np.array([ros_pose.position.x, ros_pose.position.y, ros_pose.position.z]),
-            orientation=np.array([
-                ros_pose.orientation.x,
-                ros_pose.orientation.y,
-                ros_pose.orientation.z,
-                ros_pose.orientation.w,
-            ]),
+            position=np.array(
+                [ros_pose.position.x, ros_pose.position.y, ros_pose.position.z]
+            ),
+            orientation=np.array(
+                [
+                    ros_pose.orientation.x,
+                    ros_pose.orientation.y,
+                    ros_pose.orientation.z,
+                    ros_pose.orientation.w,
+                ]
+            ),
         )
 
     def _agent_spec_callback(self, ros_agent_spec: AgentSpec):
@@ -299,7 +303,7 @@ def _agent_spec_callback(self, ros_agent_spec: AgentSpec):
         task = ros_agent_spec.tasks[0]
         task_params = json.loads(task.params_json) if task.params_json else {}
         task_version = task.task_ver or "latest"
-        agent_locator = f"{self._zoo_module}:{task.task_ref}-{task_version}" # pytype: disable=attribute-error
+        agent_locator = f"{self._zoo_module}:{task.task_ref}-{task_version}"  # pytype: disable=attribute-error
         agent_spec = None
         try:
             agent_spec = registry.make(agent_locator, **task_params)
@@ -647,7 +651,7 @@ def run_forever(self):
             raise RuntimeError("must call setup_smarts() first.")
 
         # pytype: disable=attribute-error
-        rospy.Service(self._service_name, SmartsInfo, self._get_smarts_info) 
+        rospy.Service(self._service_name, SmartsInfo, self._get_smarts_info)
         # pytype: enable=attribute-error
 
         warned_scenario = False

smarts/ros/src/smarts_ros/scripts/test_smarts_ros.py

@@ -150,7 +150,7 @@ def _reset_callback(self, reset_msg: SmartsReset):
             self._create_agent()
         for agent_spec in self._agents.values():
             # pytype: disable=attribute-error
-            self._agent_publisher.publish(agent_spec) 
+            self._agent_publisher.publish(agent_spec)
             # pytype: enable=attribute-error
 
     def run_forever(self):

ultra/tests/test_episode.py

@@ -28,14 +28,15 @@
 import ray
 
 from smarts.zoo.registry import make
-from ultra.utils.episode import episodes, Episode
+from ultra.utils.episode import Episode, episodes
 
 AGENT_ID = "001"
 timestep_sec = 0.1
 seed = 2
 task_id = "00"
 task_level = "easy"
 
+
 class EpisodeTest(unittest.TestCase):
     # Put generated files and folders in this directory.
     OUTPUT_DIRECTORY = "tests/episode_test/"
@@ -115,8 +116,8 @@ def run_experiment():
             #     #     abs(result[key] - episode_info["Train"][AGENT_ID].data[key]) <= 0.001
             #     # )
 
-    @unittest.skip("Experiment test is not necessary at this time.") 
-    def test_episode_counter(self): 
+    @unittest.skip("Experiment test is not necessary at this time.")
+    def test_episode_counter(self):
         @ray.remote(max_calls=1, num_gpus=0, num_cpus=1)
         def run_experiment():
             agent, env = prepare_test_env_agent()

ultra/tests/test_evaluate.py

@@ -27,8 +27,7 @@
 import time
 import unittest
 
-
-import dill 
+import dill
 import gym
 import ray
 
@@ -378,7 +377,7 @@ def extract(path):
             )
 
             try:
-                policy_class = m.group(0) # pytype: disable=attribute-error
+                policy_class = m.group(0)  # pytype: disable=attribute-error
             except AttributeError as e:
                 self.assertTrue(False)
 
@@ -472,7 +471,7 @@ def run_experiment(scenario_info, num_agents, log_dir, headless=True):
             active_agent_ids = observations.keys() & next_observations.keys()
             # pytype: disable=attribute-error
             loss_outputs = {
-                agent_id: agents[agent_id].step( 
+                agent_id: agents[agent_id].step(
                     state=observations[agent_id],
                     action=actions[agent_id],
                     reward=rewards[agent_id],

ultra/ultra/evaluate.py

@@ -21,7 +21,7 @@
 # THE SOFTWARE.
 import os
 import pickle
-from typing import Sequence, Tuple, Optional
+from typing import Optional, Sequence, Tuple
 
 # Set environment to better support Ray
 os.environ["MKL_NUM_THREADS"] = "1"

zoo/policies/open-agent/open_agent/agent.py

@@ -23,6 +23,7 @@
 
 # pytype: disable=attribute-error
 
+
 def angle_error(a, b):
 
     return cs.fabs(