Apply black and codespell pre-commit hooks (#222)

* Configure pre-commit hooks

* Configure black in pre-commit and pyproject.toml

* Configure codespell in pre-commit

* Ignore formating config sections

* Apply black forma to skrl folder

* Apply black format to tests folder

* Apply codespell

* Update CHANGELOG

.pre-commit-config.yaml

@@ -14,18 +14,22 @@ repos:
     - id: end-of-file-fixer
     - id: name-tests-test
       args: ["--pytest-test-first"]
+      exclude: ^(tests/strategies.py|tests/utils.py)
     - id: no-commit-to-branch
     - id: trailing-whitespace
 - repo: https://github.com/codespell-project/codespell
   rev: v2.3.0
   hooks:
     - id: codespell
+      exclude: ^(docs/source/_static|docs/_build|pyproject.toml)
       additional_dependencies:
         - tomli
 - repo: https://github.com/python/black
   rev: 24.8.0
   hooks:
     - id: black
+      args: ["--line-length=120"]
+      exclude: ^(docs/)
 - repo: https://github.com/pycqa/isort
   rev: 5.13.2
   hooks:

CHANGELOG.md

@@ -14,6 +14,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Make flattened tensor storage in memory the default option (revert changed introduced in version 1.3.0)
 - Drop support for PyTorch versions prior to 1.10 (the previous supported version was 1.9).
 
+### Changed (breaking changes: style)
+- Format code using Black code formatter (it's ugly, yes, but it does its job)
+
 ### Fixed
 - Moved the batch sampling inside gradient step loop for DQN, DDQN, DDPG (RNN), TD3 (RNN), SAC and SAC (RNN)
 

docs/source/api/agents/sarsa.rst

@@ -3,7 +3,7 @@ State Action Reward State Action (SARSA)
 
 SARSA is a **model-free** **on-policy** algorithm that uses a **tabular** Q-function to handle **discrete** observations and action spaces
 
-Paper: `On-Line Q-Learning Using Connectionist Systems <https://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.17.2539>`_
+Paper: `On-Line Q-Learning Using Connectionist Systems <https://scholar.google.com/scholar?q=On-line+Q-learning+using+connectionist+system>`_
 
 .. raw:: html
 

docs/source/examples/real_world/franka_emika_panda/reaching_franka_real_env.py

@@ -141,7 +141,7 @@ def _get_observation_reward_done(self):
         return self.obs_buf, reward, done
 
     def reset(self):
-        print("Reseting...")
+        print("Resetting...")
 
         # end current motion
         if self.motion is not None:

docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_real_env.py

@@ -84,7 +84,7 @@ def _get_observation_reward_done(self):
         return self.obs_buf, reward, done
 
     def reset(self):
-        print("Reseting...")
+        print("Resetting...")
 
         # go to 1) safe position, 2) random position
         self.robot.command_joint_position(self.robot_default_dof_pos)

docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_real_ros2_env.py

@@ -113,8 +113,8 @@ def _callback_joint_states(self, msg):
         self.robot_state["joint_velocity"] = np.array(msg.velocity)
 
     def _callback_end_effector_pose(self, msg):
-        positon = msg.position
-        self.robot_state["cartesian_position"] = np.array([positon.x, positon.y, positon.z])
+        position = msg.position
+        self.robot_state["cartesian_position"] = np.array([position.x, position.y, position.z])
 
     def _get_observation_reward_done(self):
         # observation
@@ -146,7 +146,7 @@ def _get_observation_reward_done(self):
         return self.obs_buf, reward, done
 
     def reset(self):
-        print("Reseting...")
+        print("Resetting...")
 
         # go to 1) safe position, 2) random position
         msg = sensor_msgs.msg.JointState()

docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_real_ros_env.py

@@ -90,8 +90,8 @@ def _callback_joint_states(self, msg):
         self.robot_state["joint_velocity"] = np.array(msg.velocity)
 
     def _callback_end_effector_pose(self, msg):
-        positon = msg.position
-        self.robot_state["cartesian_position"] = np.array([positon.x, positon.y, positon.z])
+        position = msg.position
+        self.robot_state["cartesian_position"] = np.array([position.x, position.y, position.z])
 
     def _get_observation_reward_done(self):
         # observation
@@ -123,7 +123,7 @@ def _get_observation_reward_done(self):
         return self.obs_buf, reward, done
 
     def reset(self):
-        print("Reseting...")
+        print("Resetting...")
 
         # go to 1) safe position, 2) random position
         msg = sensor_msgs.msg.JointState()

docs/source/examples/utils/tensorboard_file_iterator.py

@@ -19,7 +19,7 @@
 mean = np.mean(rewards[:,:,1], axis=0)
 std = np.std(rewards[:,:,1], axis=0)
 
-# creae two subplots (one for each reward and one for the mean)
+# create two subplots (one for each reward and one for the mean)
 fig, ax = plt.subplots(1, 2, figsize=(15, 5))
 
 # plot the rewards for each experiment

pyproject.toml

@@ -60,6 +60,11 @@ tests = [
 
 [tool.black]
 line-length = 120
+extend-exclude = """
+(
+  ^/docs
+)
+"""
 
 
 [tool.codespell]

skrl/__init__.py

@@ -13,6 +13,7 @@
 # read library version from metadata
 try:
     import importlib.metadata
+
     __version__ = importlib.metadata.version("skrl")
 except ImportError:
     __version__ = "unknown"
@@ -21,15 +22,18 @@
 # logger with format
 class _Formatter(logging.Formatter):
     _format = "[%(name)s:%(levelname)s] %(message)s"
-    _formats = {logging.DEBUG: f"\x1b[38;20m{_format}\x1b[0m",
-                logging.INFO: f"\x1b[38;20m{_format}\x1b[0m",
-                logging.WARNING: f"\x1b[33;20m{_format}\x1b[0m",
-                logging.ERROR: f"\x1b[31;20m{_format}\x1b[0m",
-                logging.CRITICAL: f"\x1b[31;1m{_format}\x1b[0m"}
+    _formats = {
+        logging.DEBUG: f"\x1b[38;20m{_format}\x1b[0m",
+        logging.INFO: f"\x1b[38;20m{_format}\x1b[0m",
+        logging.WARNING: f"\x1b[33;20m{_format}\x1b[0m",
+        logging.ERROR: f"\x1b[31;20m{_format}\x1b[0m",
+        logging.CRITICAL: f"\x1b[31;1m{_format}\x1b[0m",
+    }
 
     def format(self, record):
         return logging.Formatter(self._formats.get(record.levelno)).format(record)
 
+
 _handler = logging.StreamHandler()
 _handler.setLevel(logging.DEBUG)
 _handler.setFormatter(_Formatter())
@@ -42,13 +46,11 @@ def format(self, record):
 # machine learning framework configuration
 class _Config(object):
     def __init__(self) -> None:
-        """Machine learning framework specific configuration
-        """
+        """Machine learning framework specific configuration"""
 
         class PyTorch(object):
             def __init__(self) -> None:
-                """PyTorch configuration
-                """
+                """PyTorch configuration"""
                 self._device = None
                 # torch.distributed config
                 self._local_rank = int(os.getenv("LOCAL_RANK", "0"))
@@ -59,7 +61,10 @@ def __init__(self) -> None:
                 # set up distributed runs
                 if self._is_distributed:
                     import torch
-                    logger.info(f"Distributed (rank: {self._rank}, local rank: {self._local_rank}, world size: {self._world_size})")
+
+                    logger.info(
+                        f"Distributed (rank: {self._rank}, local rank: {self._local_rank}, world size: {self._world_size})"
+                    )
                     torch.distributed.init_process_group("nccl", rank=self._rank, world_size=self._world_size)
                     torch.cuda.set_device(self._local_rank)
 
@@ -72,6 +77,7 @@ def device(self) -> "torch.device":
                 """
                 try:
                     import torch
+
                     if self._device is None:
                         return torch.device(f"cuda:{self._local_rank}" if torch.cuda.is_available() else "cpu")
                     return torch.device(self._device)
@@ -116,8 +122,7 @@ def is_distributed(self) -> bool:
 
         class JAX(object):
             def __init__(self) -> None:
-                """JAX configuration
-                """
+                """JAX configuration"""
                 self._backend = "numpy"
                 self._key = np.array([0, 0], dtype=np.uint32)
                 # distributed config (based on torch.distributed, since JAX doesn't implement it)
@@ -126,19 +131,26 @@ def __init__(self) -> None:
                 self._local_rank = int(os.getenv("JAX_LOCAL_RANK", "0"))
                 self._rank = int(os.getenv("JAX_RANK", "0"))
                 self._world_size = int(os.getenv("JAX_WORLD_SIZE", "1"))
-                self._coordinator_address = os.getenv("JAX_COORDINATOR_ADDR", "127.0.0.1") + ":" + os.getenv("JAX_COORDINATOR_PORT", "1234")
+                self._coordinator_address = (
+                    os.getenv("JAX_COORDINATOR_ADDR", "127.0.0.1") + ":" + os.getenv("JAX_COORDINATOR_PORT", "1234")
+                )
                 self._is_distributed = self._world_size > 1
                 # device
                 self._device = f"cuda:{self._local_rank}"
 
                 # set up distributed runs
                 if self._is_distributed:
                     import jax
-                    logger.info(f"Distributed (rank: {self._rank}, local rank: {self._local_rank}, world size: {self._world_size})")
-                    jax.distributed.initialize(coordinator_address=self._coordinator_address,
-                                               num_processes=self._world_size,
-                                               process_id=self._rank,
-                                               local_device_ids=self._local_rank)
+
+                    logger.info(
+                        f"Distributed (rank: {self._rank}, local rank: {self._local_rank}, world size: {self._world_size})"
+                    )
+                    jax.distributed.initialize(
+                        coordinator_address=self._coordinator_address,
+                        num_processes=self._world_size,
+                        process_id=self._rank,
+                        local_device_ids=self._local_rank,
+                    )
 
             @staticmethod
             def parse_device(device: Union[str, "jax.Device", None]) -> "jax.Device":
@@ -148,7 +160,7 @@ def parse_device(device: Union[str, "jax.Device", None]) -> "jax.Device":
 
                     This function supports the PyTorch-like ``"type:ordinal"`` string specification (e.g.: ``"cuda:0"``).
 
-                :param device: Device specification. If the specified device is ``None`` ot it cannot be resolved,
+                :param device: Device specification. If the specified device is ``None`` or it cannot be resolved,
                                the default available device will be returned instead.
 
                 :return: JAX Device.
@@ -158,7 +170,7 @@ def parse_device(device: Union[str, "jax.Device", None]) -> "jax.Device":
                 if isinstance(device, jax.Device):
                     return device
                 elif isinstance(device, str):
-                    device_type, device_index = f"{device}:0".split(':')[:2]
+                    device_type, device_index = f"{device}:0".split(":")[:2]
                     try:
                         return jax.devices(device_type)[int(device_index)]
                     except (RuntimeError, IndexError) as e:
@@ -196,11 +208,11 @@ def backend(self, value: str) -> None:
 
             @property
             def key(self) -> "jax.Array":
-                """Pseudo-random number generator (PRNG) key
-                """
+                """Pseudo-random number generator (PRNG) key"""
                 if isinstance(self._key, np.ndarray):
                     try:
                         import jax
+
                         with jax.default_device(self.device):
                             self._key = jax.random.PRNGKey(self._key[1])
                     except ImportError:
@@ -257,4 +269,5 @@ def is_distributed(self) -> bool:
         self.jax = JAX()
         self.torch = PyTorch()
 
+
 config = _Config()